Vehicle braking method and device, electronic control unit and vehicle

Abstract

The invention is suitable for the technical field of automobiles, and provides a vehicle braking method and device, an electronic control unit and a vehicle. The method comprises the steps that when an electronic mechanical braking system of the vehicle has a fault, the fault type is determined; based on the fault type, determining a braking mode of the vehicle; and in response to the vehicle braking instruction, a cooperative regenerative braking system of the vehicle is controlled based on the braking mode, so that braking of the vehicle is achieved. According to the method, when the electronic mechanical braking system breaks down, braking of the vehicle can be achieved through an existing cooperative regenerative braking system of the vehicle, no mechanical device needs to be additionally arranged, and therefore the cost is reduced, and the complexity of the braking system is reduced. Meanwhile, according to the method, the braking mode of the vehicle can be flexibly determined based on the type of the fault in the electronic mechanical braking system, so that flexible control over the cooperative regenerative braking system is achieved, the control accuracy of the cooperative regenerative braking system is improved, and the braking success rate of the vehicle is increased.

Description

Technical Field

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

[0002] The Electronic Mechanical Brake (EMB) system is a braking system that replaces the traditional hydraulic or pneumatic braking system with an electronic control system. Compared with the traditional hydraulic braking system, the control unit in the EMB directly controls the operation of the caliper motor instead of assisting the driver to step on the brake pedal and then use hydraulic braking. At the same time, the traditional hydraulic braking system generally has mechanical redundancy, so it can still generate enough deceleration to stop the vehicle when the electronic components fail. However, if an electronic component fails in the EMB, it will cause the PTS sensor and / or caliper motor to fail, making it impossible to stop the vehicle, thereby threatening the driver's life safety.

[0003] The prior art usually adds an additional independent mechanical device to brake when certain components in the electronic mechanical brake system fail. However, adding an additional independent mechanical device to the vehicle not only increases the cost, but also increases the complexity of the brake system. Summary of the invention

[0004] The embodiments of the present application provide a vehicle braking method, device, electronic control unit and vehicle to solve the problem in the prior art that adding an additional independent mechanical device to the vehicle not only increases the cost but also increases the complexity of the braking system.

[0005] In a first aspect, an embodiment of the present application provides a vehicle braking method, comprising:

[0006] When there is a fault in the vehicle's electromechanical brake system, determine the type of fault;

[0007] Based on the fault type, determining a braking method for the vehicle;

[0008] In response to a vehicle braking command, a cooperative regenerative braking system of the vehicle is controlled based on the braking method to achieve braking of the vehicle.

[0009] Optionally, determining a braking method for the vehicle based on the fault type includes:

[0010] When the fault type is a failure of a brake pedal sensor in the electronic mechanical braking system, determining the braking mode is to control the cooperative regenerative braking system to enter a first braking mode;

[0011] When the fault type is a failure of a caliper motor in the electronic mechanical braking system, the braking mode is determined to be controlling the cooperative regenerative braking system to enter a second braking mode; the second braking mode is different from the first braking mode.

[0012] Optionally, the controlling the cooperative regenerative braking system of the vehicle based on the braking mode includes:

[0013] activating a redundant brake status bit of the vehicle;

[0014] activating the cooperative regenerative braking system based on the redundant braking status bit;

[0015] When the braking method is to control the cooperative regenerative braking system to enter the first braking mode, the cooperative regenerative braking system is controlled to enter a working state; the first braking mode is used to represent the normal working mode of the cooperative regenerative braking system.

[0016] Optionally, after activating the cooperative regenerative braking system based on the redundant braking status bit, the method further includes:

[0017] When the braking mode is to control the cooperative regenerative braking system to enter a second braking mode, the cooperative regenerative braking system is controlled to enter a working state; the second braking mode is used to represent a mode in which the cooperative regenerative braking system brakes based on a brake pedal sensor in the electronic mechanical braking system;

[0018] Acquiring a brake pedal signal collected by the brake pedal sensor;

[0019] determining a regenerative braking torque of the cooperative regenerative braking system based on the brake pedal signal;

[0020] The cooperative regenerative braking is controlled to cooperatively perform a braking operation on the vehicle based on the regenerative braking torque.

[0021] Optionally, before controlling the cooperative regenerative braking system of the vehicle based on the braking mode, the method further includes:

[0022] Outputting a prompt message for reminding the driver not to step on the accelerator pedal;

[0023] When an accelerator pedal signal output by the accelerator pedal is detected, the accelerator pedal signal is set as an invalid signal to stop the accelerator pedal signal from controlling the power system of the vehicle;

[0024] The vehicle is controlled to enter a glide mode.

[0025] Optionally, after controlling the cooperative regenerative braking system of the vehicle based on the braking mode, the method further includes:

[0026] Obtaining the speed of the vehicle;

[0027] When the vehicle speed is zero, the control of the cooperative regenerative braking system is stopped.

[0028] Optionally, before determining the fault type, the method further includes:

[0029] receiving a first state signal of a caliper motor in the electronic mechanical brake system and a second state signal of a brake pedal sensor output by the electronic mechanical brake system;

[0030] If the first state signal is different from the first setting signal, it is determined that the caliper motor fails;

[0031] If the second state signal is different from the second setting signal, it is determined that the brake pedal sensor is faulty.

[0032] In a second aspect, an embodiment of the present application provides a vehicle braking device, comprising:

[0033] a type determination unit, for determining a fault type when a fault occurs in the electronic mechanical brake system of the vehicle;

[0034] A first mode determination unit, configured to determine a braking mode for the vehicle based on the fault type;

[0035] The first control unit is used to control the cooperative regenerative braking system of the vehicle based on the braking method in response to the vehicle braking command to achieve braking of the vehicle.

[0036] In a third aspect, an embodiment of the present application provides an electronic control unit, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, a vehicle braking method as described in any one of the first aspects above is implemented.

[0037] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle braking method as described in any one of the above-mentioned first aspects is implemented.

[0038] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on an electronic control unit, enables the electronic control unit to execute the vehicle braking method described in any one of the first aspects above.

[0039] In a sixth aspect, an embodiment of the present application provides a vehicle, comprising an electronic control unit, wherein the electronic control unit is used to execute the vehicle braking method as described in any one of the first aspects.

[0040] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0041] A vehicle braking method provided in an embodiment of the present application determines the type of fault when a fault occurs in the electronic mechanical braking system of the vehicle; determines the braking method for the vehicle based on the type of fault; and controls the vehicle's cooperative regenerative braking system based on the braking method in response to a vehicle braking command to achieve braking of the vehicle. Compared with the prior art, when a fault occurs in the electronic mechanical braking system, the present method can achieve braking of the vehicle through the vehicle's existing cooperative regenerative braking system without the need for additional mechanical devices, thereby reducing costs and the complexity of the braking system. At the same time, the present method can also flexibly determine the braking method for the vehicle based on the type of fault in the electronic mechanical braking system, thereby achieving flexible control of the cooperative regenerative braking system, improving the control accuracy of the cooperative regenerative braking system, and further improving the braking success rate of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0043] Figure 1 is a flow chart of an implementation of a vehicle braking method provided in an embodiment of the present application;

[0044] Figure 2 is a flow chart of an implementation of a vehicle braking method provided by another embodiment of the present application;

[0045] Figure 3 is a flow chart of a vehicle braking method according to another embodiment of the present application;

[0046] Figure 4 is a flow chart of a vehicle braking method according to another embodiment of the present application;

[0047] Figure 5 is a structural schematic diagram of a vehicle braking device provided by an embodiment of the present application;

[0048] Figure 6 It is a schematic diagram of the structure of an electronic control unit provided in one embodiment of the present application. DETAILED DESCRIPTION

[0049] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0050] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0051] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0052] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0053] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0054] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0055] In practical applications, the Electronic Mechanical Brake (EMB) system is a braking system that replaces the traditional hydraulic or pneumatic braking system with an electronic control system. The EMB system is mainly composed of sensors, electronic control units, motor units, and brake actuator units. The sensors sense parameters such as brake pedal force and vehicle speed, and transmit data to the electronic control unit, which adjusts the braking force based on real-time information. At the same time, the motor unit acts as an actuator to achieve rapid response and adjustment of the braking force through electronic control of the brake disc or drum.

[0056] Therefore, compared with the traditional hydraulic brake system, the control unit in the EMB can directly control the operation of the caliper motor instead of assisting the driver to step on the brake pedal and then use hydraulic braking. At the same time, the traditional hydraulic brake system generally has mechanical redundancy, so when the electronic components fail, it can still generate enough deceleration to stop the vehicle. However, if an electronic component fails in the EMB, it will cause the sensor and / or caliper motor to fail, making it impossible to stop the vehicle, thereby threatening the driver's life safety.

[0057] The prior art usually adds an additional independent mechanical device to brake when certain components in the electronic mechanical brake system fail. However, adding an additional independent mechanical device to the vehicle not only increases the cost, but also increases the complexity of the brake system.

[0058] Therefore, an embodiment of the present application provides a vehicle braking method. When the electronic braking of the vehicle's electronic mechanical braking system fails, that is, there is no deceleration after stepping on the brake pedal, the energy recovery function of the cooperative regenerative braking system can be used to enable the motor in the cooperative regenerative braking system to provide a reverse torque to provide deceleration to the vehicle, thereby ultimately stopping the vehicle, that is, achieving braking of the vehicle.

[0059] It should be noted that the vehicle in the embodiment of the present application is a vehicle equipped with an electronic mechanical braking system and a cooperative regenerative braking system.

[0060] See also Figure 1 , Figure 1 The flowchart of the vehicle braking method provided by an embodiment of the present application is shown in FIG.

[0061] In practical applications, the Electronic Control Unit (ECU), also known as the driving computer or on-board computer, can calculate, process, judge, and output instructions to control the actions of related actuators based on the programs stored in itself, so as to achieve the purpose of fast, accurate, and automatic control of the engine. With the improvement of the degree of automotive electronic automation, the control range of ECU is also getting larger and larger, such as lighting control, airbag control, fuel heating control, exhaust control, and brake control.

[0062] like Figure 1 As shown, the vehicle braking method provided in one embodiment of the present application may include S101 to S103, which are described in detail as follows:

[0063] In S101 , when there is a fault in the electronic mechanical brake system of the vehicle, the type of the fault is determined.

[0064] In the embodiment of the present application, when the electronic control unit detects that a fault indicator light associated with the electronic mechanical braking system in the vehicle is lit, it can determine that there is a fault in the electronic mechanical braking system.

[0065] In one embodiment of the present application, since the electronic mechanical brake system includes multiple different electronic components (such as a caliper motor and a brake pedal sensor, etc.), in order to clarify which electronic component in the electronic mechanical brake system has a fault, so as to subsequently determine the fault type, the electronic control unit can specifically perform the following steps, which are described in detail as follows:

[0066] receiving a first state signal of a caliper motor in the electronic mechanical brake system and a second state signal of a brake pedal sensor output by the electronic mechanical brake system;

[0067] If the first state signal is different from the first setting signal, it is determined that the caliper motor fails;

[0068] If the second state signal is different from the second setting signal, it is determined that the brake pedal sensor is faulty.

[0069] In this embodiment, the electronic control unit can receive a first state signal of a caliper motor and a second state signal of a brake pedal sensor output by the electronic mechanical brake system, wherein the first state signal is used to describe the state of the caliper motor and the second state signal is used to describe the state of the brake pedal sensor.

[0070] The caliper motor status includes but is not limited to: normal status and fault status.

[0071] The brake pedal sensor status includes but is not limited to: normal status and fault status.

[0072] In this embodiment, after receiving the first state signal, the electronic control unit can compare the first state signal with the first setting signal, and when detecting that the first state signal is different from the first setting signal, it indicates that the first state signal is different from the signal output when the caliper motor is in a normal state, so the electronic control unit can determine that the caliper motor has a fault. The first setting signal can be set according to the signal output when the caliper motor is in a normal state in actual applications.

[0073] After receiving the second state signal, the electronic control unit can compare the second state signal with the second setting signal, and when it is detected that the second state signal is different from the second setting signal, it means that the second state signal is different from the signal output by the brake pedal sensor in a normal state, so the electronic control unit can determine that the brake pedal sensor has a fault. The second setting signal can be set according to the signal output by the brake pedal sensor in a normal state in actual applications.

[0074] In an embodiment of the present application, when the electronic control unit detects a fault in the electronic mechanical braking system, in order to improve the subsequent braking success rate and braking accuracy of the vehicle, the electronic control unit can determine the cause of the fault in the electronic mechanical braking system and determine the fault type based on the cause.

[0075] Specifically, when the electronic control unit detects that the first state signal of the caliper motor is different from the first setting signal, it can determine that the cause of the failure of the electronic mechanical brake system is a failure of the caliper motor. Therefore, the electronic control unit can determine that the fault type at this time is a failure of the caliper motor in the electronic mechanical brake system.

[0076] When the electronic control unit detects that the second state signal of the brake pedal sensor is different from the second setting signal, it can determine that the cause of the failure of the electronic mechanical braking system is a failure of the brake pedal sensor. Therefore, the electronic control unit can determine that the fault type at this time is a failure of the brake pedal sensor in the electronic mechanical braking system.

[0077] In S102, based on the fault type, a braking method for the vehicle is determined.

[0078] In practical applications, the working principle of the cooperative regenerative braking system mainly involves converting the vehicle's kinetic energy into electrical energy for storage in order to achieve energy recovery and utilization. This process is based on regenerative braking technology, that is, when braking, by switching the motor to generator mode, using the vehicle's inertia to drive the motor rotor to rotate to generate a reverse torque, and converting part of the kinetic energy or potential energy into electrical energy and storing or utilizing it. Among them, the specific working principle of the cooperative regenerative braking system is as follows:

[0079] In the non-working state, when the driver does not step on the accelerator, the MCV valve opens, the upper brake fluid line is connected to the lower brake fluid line, the PESV valve is closed, the PFS does not feedback hydraulic pressure to the braking system, the operation control center does not send instructions to the motor, and the brake fluid line is in a free state.

[0080] During normal braking, when the driver presses the brake pedal, the brake pedal moves and pushes the hydraulic cylinder of the operating system at the same time. At this time, the PFSV valve opens, the brake fluid fills the PFS and establishes braking. Under the command of the ECU, the PFS feeds back the hydraulic pressure to the automatic operating system, forming a pedal reaction force corresponding to the driver's braking intention and pedal force. At the same time, the MCV valve is closed to cut off the up and down flow of the brake fluid pipeline. The motor drives the piston of the master brake cylinder to move according to the requirements of the command forward rotation, thereby establishing the hydraulic pressure of the brake fluid from the master brake cylinder to the brake pipeline and then to the wheel cylinder, completing the vehicle's brake disc clamping force.

[0081] In regenerative coordination, that is, in zero-pressure regenerative braking in the middle stage of braking, during the energy recovery process, the master cylinder points to the master cylinder, the hydraulic pressure moves the piston of the master cylinder, and then transmits part of the braking force to the motor. The motor moves in the opposite direction under the action of the force, achieving the purpose of converting hydraulic energy into electrical energy.

[0082] In the event of a fault, when the electric servo brake fails, the motor stops working and cannot build up the hydraulic pressure of the master brake cylinder and the brake pipe. At this time, the MCV valve opens to achieve low hydraulic pressure management. The driver presses the pedal to drive the BOS piston, and builds up the hydraulic pressure of the brake pipe to the TMOC through hydraulic braking, thereby achieving the braking effect.

[0083] Through the above operations, the cooperative regenerative braking system not only achieves efficient energy recovery, but also provides necessary mechanical braking when necessary to ensure driving safety.

[0084] Based on this, in the embodiment of the present application, due to a fault in the electronic mechanical braking system, that is, the vehicle cannot be braked by the electronic mechanical braking system at a later stage, however, the cooperative regenerative braking system in the vehicle can also achieve vehicle braking to a certain extent. Therefore, in order to achieve successful braking of the vehicle at a later stage, the electronic control unit can determine the braking method of the vehicle based on the fault type, that is, the control method of the cooperative regenerative braking system of the vehicle.

[0085] In some possible embodiments, the electronic control unit may specifically determine the braking method for the vehicle according to the following steps, which are described in detail as follows:

[0086] When the fault type is a failure of a brake pedal sensor in the electronic mechanical braking system, determining the braking mode is to control the cooperative regenerative braking system to enter a first braking mode;

[0087] When the fault type is a failure of a caliper motor in the electronic mechanical braking system, the braking mode is determined to be controlling the cooperative regenerative braking system to enter a second braking mode; the second braking mode is different from the first braking mode.

[0088] In this embodiment, when the fault type is the failure of the brake pedal sensor in the electronic mechanical brake system, the electronic control unit cannot identify the displacement of the brake pedal due to the failure of the brake pedal sensor, that is, the electronic brake of the vehicle fails, that is, the driver cannot brake the vehicle by stepping on the brake pedal, that is, the driver loses the way to control the vehicle. Therefore, in order to achieve successful braking of the vehicle later, the electronic control unit can determine the braking method of the vehicle to control the cooperative regenerative braking system to enter the first braking mode. Among them, the first braking mode is used to represent the normal working mode of the cooperative regenerative braking system.

[0089] It should be noted that the normal working mode of the cooperative regenerative braking system specifically refers to a mode in which the cooperative regenerative braking system works when it is normally triggered in actual applications.

[0090] In this embodiment, when the fault type is the failure of the caliper motor in the electronic mechanical brake system, the caliper motor cannot provide the braking torque due to the failure of the caliper motor, that is, it cannot generate the braking force, that is, the electronic brake of the vehicle fails. At the same time, since the fault type is the failure of the caliper motor in the electronic mechanical brake system, that is, the brake pedal sensor in the electronic mechanical brake system can still work normally, that is, the electronic control unit can identify the displacement of the brake pedal through the brake pedal sensor, that is, the driver can still brake the vehicle by stepping on the brake pedal. Therefore, in order to achieve successful braking of the vehicle later, the electronic control unit can determine the braking method of the vehicle to control the cooperative regenerative braking system to enter the second braking mode. The second braking mode is different from the first braking mode.

[0091] It should be noted that the second braking mode is used to represent a mode in which the cooperative regenerative braking system performs braking based on a brake pedal sensor in an electromechanical braking system.

[0092] In S103, in response to the vehicle braking command, the cooperative regenerative braking system of the vehicle is controlled based on the braking method to achieve braking of the vehicle.

[0093] In the embodiment of the present application, the electronic control unit detects the vehicle braking command may be: a preset operation is detected. The preset operation can be set according to actual needs and is not limited here. For example, the preset operation may be that the brake pedal is stepped on or the gear of the vehicle is adjusted to the braking gear. Based on this, when the electronic control unit detects that the brake pedal is stepped on or the gear of the vehicle is adjusted to the braking gear, it can determine that the preset operation is detected, that is, the vehicle braking command is detected.

[0094] The electronic control unit can respond to the vehicle braking command and, based on the previously determined braking method, control the vehicle's cooperative regenerative braking system to achieve braking of the vehicle.

[0095] In one embodiment of the present application, in order to improve the braking success rate of the vehicle, the electronic control unit can specifically Figure 2 Steps S201 to S203 shown implement step S103, which are described in detail as follows:

[0096] In S201 , a redundant braking status bit of the vehicle is activated.

[0097] In this embodiment, when the electronic control unit controls the collaborative regenerative braking system based on the braking mode, in order to improve the success rate of braking the vehicle through the collaborative regenerative braking system, the electronic control unit may activate the vehicle's redundant braking status bit so that the collaborative regenerative braking system can clearly understand its own working purpose at this time, so that the subsequent collaborative regenerative braking system can enter the working state for redundant braking of the vehicle at any time.

[0098] In S202 , the cooperative regenerative braking system is activated based on the redundant braking status bit.

[0099] In this embodiment, when the electronic control unit detects that the redundant braking status bit is activated, it indicates that the vehicle needs to be braked through the collaborative regenerative braking system at this time. Therefore, the electronic control unit can make an activation request to the collaborative regenerative braking system based on the corresponding signal of the redundant braking status bit to activate the collaborative regenerative braking system.

[0100] It should be noted that, since the braking mode includes but is not limited to: controlling the cooperative regenerative braking system to enter the first braking mode and controlling the cooperative regenerative braking system to enter the second braking mode, in order to improve the braking success rate of the vehicle, when the braking mode is to control the cooperative regenerative braking system to enter the first braking mode, the electronic control unit can continue to execute step S203; when the braking mode is to control the cooperative regenerative braking system to enter the second braking mode, the electronic control unit can execute as follows Figure 3 Steps S301 to S304 are shown.

[0101] In S203, when the braking method is to control the cooperative regenerative braking system to enter a first braking mode, the cooperative regenerative braking system is controlled to enter a working state; the first braking mode is used to represent a normal working mode of the cooperative regenerative braking system.

[0102] In this embodiment, when the braking method is to control the cooperative regenerative braking system to enter the first braking mode, it means that the fault type of the electronic mechanical braking system at this time is failure of the brake pedal sensor, that is, the driver cannot brake the vehicle by stepping on the brake pedal, that is, the driver loses control of the vehicle. At the same time, due to the working principle of the cooperative regenerative braking system, the cooperative regenerative braking system can provide the necessary mechanical braking when needed. Therefore, in order to improve the success rate of braking the vehicle, the electronic control unit can control the cooperative regenerative braking system to enter its original normal working state.

[0103] In one embodiment of the present application, when the braking mode is to control the cooperative regenerative braking system to enter the second braking mode, in order to improve the braking success rate of the vehicle, the electronic control unit can specifically perform the following steps: Figure 3 The steps S301 to S304 shown implement braking of the vehicle, as described in detail below:

[0104] In S301, when the braking method is to control the cooperative regenerative braking system to enter a second braking mode, the cooperative regenerative braking system is controlled to enter a working state; the second braking mode is used to characterize the braking mode of the cooperative regenerative braking system based on the brake pedal sensor in the electronic mechanical braking system.

[0105] In S302, a brake pedal signal collected by the brake pedal sensor is obtained.

[0106] In S303 , the regenerative braking torque of the cooperative regenerative braking system is determined based on the brake pedal signal.

[0107] In S304 , the cooperative regenerative braking is controlled to cooperatively perform a braking operation on the vehicle based on the regenerative braking torque.

[0108] In this embodiment, when the braking method is to control the cooperative regenerative braking system to enter the second braking mode, it means that the fault type of the electronic mechanical braking system at this time is failure of the caliper motor, and the brake pedal sensor in the electronic mechanical braking system can still work normally, that is, the electronic control unit can identify the displacement of the brake pedal through the brake pedal sensor, that is to say, the driver can still brake the vehicle by stepping on the brake pedal. Therefore, in order to improve the success rate of braking the vehicle, the electronic control unit can control the cooperative regenerative braking system to enter its original normal working state, and obtain the brake pedal signal collected by the brake pedal sensor.

[0109] Afterwards, the electronic control unit determines the regenerative braking torque of the cooperative regenerative braking system based on the collected brake pedal signal, and controls the cooperative regenerative braking to perform a braking operation on the vehicle based on the regenerative braking torque.

[0110] In some possible embodiments, in order to improve the riding experience of the passengers in the vehicle, the collaborative regenerative braking system can obtain the vehicle speed and deceleration in real time during the braking process of the vehicle, and adjust the speed and deceleration in real time to ensure that the vehicle is stable while gradually braking the vehicle.

[0111] From the above, it can be seen that a vehicle braking method provided by an embodiment of the present application determines the type of fault when a fault occurs in the electronic mechanical braking system of the vehicle; determines the braking method for the vehicle based on the type of fault; and controls the cooperative regenerative braking system of the vehicle based on the braking method in response to the vehicle braking command to achieve braking of the vehicle. Compared with the prior art, when a fault occurs in the electronic mechanical braking system, the present method can achieve braking of the vehicle through the existing cooperative regenerative braking system of the vehicle without adding additional mechanical devices, thereby reducing costs and reducing the complexity of the braking system. At the same time, the present method can also flexibly determine the braking method for the vehicle based on the type of fault in the electronic mechanical braking system, thereby achieving flexible control of the cooperative regenerative braking system, improving the control accuracy of the cooperative regenerative braking system, and further improving the braking success rate of the vehicle.

[0112] See also Figure 4 , Figure 4 FIG. 1 is a flow chart of a vehicle braking method according to another embodiment of the present invention. Figure 1 Corresponding embodiment, this embodiment may further include S401 to S403 after S103, which are described in detail as follows:

[0113] In S401, a prompting message for prompting the driver not to step on the accelerator pedal is output.

[0114] In S402, when an accelerator pedal signal output by the accelerator pedal is detected, the accelerator pedal signal is set as an invalid signal to stop the accelerator pedal signal from controlling the power system of the vehicle.

[0115] In S403, the vehicle is controlled to enter a gliding mode.

[0116] In this embodiment, since the vehicle's electronic mechanical braking system has failed and electronic braking of the vehicle cannot be achieved, in order to reduce the risk of failure in braking the vehicle through the collaborative regenerative braking system, the electronic control unit can output a prompt message to remind the driver not to step on the accelerator pedal.

[0117] In some possible embodiments, the electronic control unit may output the above prompt information through a display screen in the vehicle.

[0118] In some other possible embodiments, the electronic control unit may also output the above prompt information through a music player in the vehicle.

[0119] In this embodiment, since the electronic control unit cannot completely prevent the driver from stepping on the accelerator pedal after outputting the above-mentioned prompt information, in order to further reduce the risk of failure in braking the vehicle through the collaborative regenerative braking system, the electronic control unit can limit the issuance of the accelerator pedal signal when detecting the accelerator pedal signal output by the accelerator pedal, that is, the accelerator pedal signal can be set to an invalid signal to stop the accelerator pedal signal from controlling the vehicle's power system.

[0120] Afterwards, in order to further improve the braking success rate of the vehicle, the electronic control unit can control the vehicle to enter the coasting mode so that the vehicle can automatically decelerate.

[0121] From the above, it can be seen that the vehicle braking method provided in this embodiment can further improve the braking success rate of the vehicle by outputting a prompt message to remind the driver not to step on the accelerator pedal before controlling the vehicle's cooperative regenerative braking system based on the braking mode; and when the accelerator pedal signal output by the accelerator pedal is detected, the accelerator pedal signal is set to an invalid signal to stop the accelerator pedal signal from controlling the vehicle's power system and controlling the vehicle to enter the gliding mode.

[0122] In one embodiment of the present application, in order to improve the control accuracy of the vehicle, after step S103, the electronic control unit can obtain the vehicle speed in real time, and when it is detected that the speed is zero, it means that the vehicle has stopped at this time. Therefore, the electronic control unit can stop controlling the collaborative regenerative braking system.

[0123] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0124] Corresponding to a vehicle braking method described in the above embodiment, Figure 5 The structure diagram of a vehicle braking device provided by an embodiment of the present application is shown. For the convenience of description, only the part related to the embodiment of the present application is shown. Figure 5 The vehicle braking device 500 includes: a type determination unit 51, a first mode determination unit 52 and a first control unit 53. Among them:

[0125] The type determination unit 51 is used to determine the fault type when a fault occurs in the electronic mechanical brake system of the vehicle.

[0126] The first mode determination unit 52 is used to determine a braking mode for the vehicle based on the fault type.

[0127] The first control unit 53 is used to control the cooperative regenerative braking system of the vehicle based on the braking method in response to the vehicle braking command to achieve braking of the vehicle.

[0128] In one embodiment of the present application, the first mode determination unit 52 specifically includes: a second mode determination unit and a third mode determination unit. Among them:

[0129] The second mode determination unit is used to determine that the braking mode is to control the cooperative regenerative braking system to enter the first braking mode when the fault type is a failure of a brake pedal sensor in the electronic mechanical braking system.

[0130] The third mode determination unit is used to determine that the braking mode is to control the cooperative regenerative braking system to enter a second braking mode when the fault type is a failure of the caliper motor in the electronic mechanical braking system; the second braking mode is different from the first braking mode.

[0131] In one embodiment of the present application, the first control unit 53 specifically includes: a first activation unit, a second activation unit and a second control unit.

[0132] The first activation unit is used for activating a redundant braking state bit of the vehicle.

[0133] The second activation unit is used for activating the cooperative regenerative braking system based on the redundant braking status bit.

[0134] The second control unit is used to control the cooperative regenerative braking system to enter a working state when the braking method is to control the cooperative regenerative braking system to enter a first braking mode; the first braking mode is used to represent a normal working mode of the cooperative regenerative braking system.

[0135] In one embodiment of the present application, the vehicle braking device 500 further includes: a third control unit, a first acquisition unit, a torque determination unit and a fourth control unit.

[0136] The third control unit is used to control the collaborative regenerative braking system to enter a working state when the braking method is to control the collaborative regenerative braking system to enter a second braking mode; the second braking mode is used to characterize the braking mode of the collaborative regenerative braking system based on the brake pedal sensor in the electronic mechanical braking system.

[0137] The first acquisition unit is used to acquire the brake pedal signal collected by the brake pedal sensor.

[0138] The torque determination unit is used to determine the regenerative braking torque of the cooperative regenerative braking system based on the brake pedal signal.

[0139] The fourth control unit is used to control the cooperative regenerative braking to cooperatively perform a braking operation on the vehicle based on the regenerative braking torque.

[0140] In one embodiment of the present application, the vehicle braking device 500 further includes: an output unit, a setting unit and a fifth control unit.

[0141] The output unit is used to output a prompt message for prompting the driver not to step on the accelerator pedal.

[0142] The setting unit is used for setting the accelerator pedal signal as an invalid signal when the accelerator pedal signal output by the accelerator pedal is detected, so as to stop the accelerator pedal signal from controlling the power system of the vehicle.

[0143] The fifth control unit is used for controlling the vehicle to enter a gliding mode.

[0144] In one embodiment of the present application, the vehicle braking device 500 further includes: a second acquisition unit and a stop unit.

[0145] The second acquisition unit is used to acquire the vehicle speed of the vehicle.

[0146] The stopping unit is used for stopping the control of the cooperative regenerative braking system when the vehicle speed is zero.

[0147] In one embodiment of the present application, the vehicle braking device 500 further includes: a receiving unit, a first fault determination unit and a second fault determination unit.

[0148] The receiving unit is used for receiving a first state signal of a caliper motor in the electronic mechanical braking system and a second state signal of a brake pedal sensor output by the electronic mechanical braking system.

[0149] The first fault determination unit is used to determine that a fault occurs in the caliper motor if the first state signal is different from a first setting signal.

[0150] The second fault determination unit is used to determine that the brake pedal sensor has a fault if the second state signal is different from a second setting signal.

[0151] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0152] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0153] Figure 6 This is a schematic diagram of the structure of an electronic control unit provided in one embodiment of the present application. Figure 6 As shown, the electronic control unit 6 of this embodiment includes: at least one processor 60 ( Figure 6 Only one is shown in the figure) a processor, a memory 61, and a computer program 62 stored in the memory 61 and executable on the at least one processor 60, wherein when the processor 60 executes the computer program 62, the steps in any of the above-mentioned vehicle braking method embodiments are implemented.

[0154] The electronic control unit may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will appreciate that Figure 6 It is only an example of the electronic control unit 6 and does not constitute a limitation on the electronic control unit 6. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, it may also include input and output devices, network access devices, etc.

[0155] The processor 60 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0156] In some embodiments, the memory 61 may be an internal storage unit of the electronic control unit 6, such as the memory of the electronic control unit 6. In other embodiments, the memory 61 may also be an external storage device of the electronic control unit 6, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic control unit 6. Further, the memory 61 may also include both the internal storage unit of the electronic control unit 6 and an external storage device. The memory 61 is used to store an operating system, an application program, a boot loader (BootLoader), data and other programs, such as the program code of the computer program, etc. The memory 61 may also be used to temporarily store data that has been output or is to be output.

[0157] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0158] An embodiment of the present application provides a computer program product. When the computer program product runs on an electronic control unit, the electronic control unit can implement the steps in the above-mentioned various method embodiments when executing the computer program product.

[0159] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the electronic control unit, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0160] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0161] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A vehicle braking method, characterized in that: include: When there is a fault in the vehicle's electromechanical brake system, determine the type of fault; Based on the fault type, determining a braking method for the vehicle; In response to a vehicle braking command, a cooperative regenerative braking system of the vehicle is controlled based on the braking method to achieve braking of the vehicle.

2. The vehicle braking method according to claim 1, characterized in that: The step of determining a braking method for the vehicle based on the fault type includes: When the fault type is a failure of a brake pedal sensor in the electronic mechanical braking system, determining the braking mode is to control the cooperative regenerative braking system to enter a first braking mode; When the fault type is a failure of a caliper motor in the electronic mechanical braking system, the braking mode is determined to be controlling the cooperative regenerative braking system to enter a second braking mode; the second braking mode is different from the first braking mode.

3. The vehicle braking method according to claim 1, characterized in that: The controlling the cooperative regenerative braking system of the vehicle based on the braking mode includes: activating a redundant brake status bit of the vehicle; activating the cooperative regenerative braking system based on the redundant braking status bit; When the braking method is to control the cooperative regenerative braking system to enter the first braking mode, the cooperative regenerative braking system is controlled to enter a working state; the first braking mode is used to represent the normal working mode of the cooperative regenerative braking system.

4. The vehicle braking method according to claim 3, characterized in that: After activating the cooperative regenerative braking system based on the redundant braking status bit, the method further includes: When the braking mode is to control the cooperative regenerative braking system to enter a second braking mode, the cooperative regenerative braking system is controlled to enter a working state; the second braking mode is used to represent a mode in which the cooperative regenerative braking system brakes based on a brake pedal sensor in the electronic mechanical braking system; Acquiring a brake pedal signal collected by the brake pedal sensor; determining a regenerative braking torque of the cooperative regenerative braking system based on the brake pedal signal; The cooperative regenerative braking is controlled to cooperatively perform a braking operation on the vehicle based on the regenerative braking torque.

5. The vehicle braking method according to claim 1, characterized in that: Before controlling the cooperative regenerative braking system of the vehicle based on the braking method, the method further includes: Outputting a prompt message for reminding the driver not to step on the accelerator pedal; When an accelerator pedal signal output by the accelerator pedal is detected, the accelerator pedal signal is set as an invalid signal to stop the accelerator pedal signal from controlling the power system of the vehicle; The vehicle is controlled to enter a glide mode.

6. The vehicle braking method according to any one of claims 1 to 5, characterized in that: After the cooperative regenerative braking system of the vehicle is controlled based on the braking method, the method further includes: Obtaining the speed of the vehicle; When the vehicle speed is zero, the control of the cooperative regenerative braking system is stopped.

7. The vehicle braking method according to any one of claims 1 to 5, characterized in that: Before determining the fault type, the method further includes: receiving a first state signal of a caliper motor in the electronic mechanical brake system and a second state signal of a brake pedal sensor output by the electronic mechanical brake system; If the first state signal is different from the first setting signal, it is determined that the caliper motor fails; If the second state signal is different from the second setting signal, it is determined that the brake pedal sensor is faulty.

8. A vehicle braking device, characterized in that: include: a type determination unit, for determining a fault type when a fault occurs in the electronic mechanical brake system of the vehicle; A first mode determination unit, configured to determine a braking mode for the vehicle based on the fault type; The first control unit is used to control the cooperative regenerative braking system of the vehicle based on the braking method in response to the vehicle braking command to achieve braking of the vehicle.

9. An electronic control unit, 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, the vehicle braking method according to any one of claims 1 to 7 is implemented.

10. A vehicle, characterized in that: Comprising an electronic control unit as claimed in claim 9.

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