Brake pedal control method and device, controller and hydraulic brake system

Abstract

The invention provides a control method and device of a brake pedal, a controller and a hydraulic brake system. The method comprises the steps that stroke data of the brake pedal are obtained; according to the stroke data, the state of the brake pedal is determined, and the state comprises a brake state or a return stroke state; and if the brake pedal is in the return stroke state, controlling the aperture size of a line control valve in the hydraulic brake system according to the stroke data. According to the method, the hole diameter of the drive-by-wire valve is adjusted in the return stroke process of the pedal, the hole diameter of the drive-by-wire valve is reduced, the flowing-back speed of liquid in an oil way is adjusted, compared with a mode in the prior art, the pressure of the flowing-back liquid is reduced, the return speed of the brake pedal is reduced, kinetic energy generated during collision is reduced, and noise generated by collision is further reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and in particular to a brake pedal control method, device, controller and hydraulic brake system. Background Art

[0002] When the brake pedal returns quickly, there will be a rebound sound from the brake pedal. This is mainly because the collision sound between the master cylinder piston and the bottom of the master cylinder is transmitted to the brake pedal and the front panel through the push rod and is amplified. This rebound sound seriously affects the user's quality experience.

[0003] There are many methods in the current industry to reduce this brake pedal rebound sound, and most of them are implemented around the brake pedal hardware. For example, a layer of rubber is added to the bottom of the master cylinder. When the pedal returns to its position, the piston and the bottom of the master cylinder are buffered by the rubber layer, which can reduce the brake pedal rebound sound. However, this method has limited effect on reducing the brake pedal rebound sound, and with daily use, the rubber ages and needs to be replaced, which is a cumbersome process.

[0004] Therefore, how to reduce the rebound sound during the pedal return process is an urgent problem to be solved. Summary of the invention

[0005] The present application provides a brake pedal control method, device, controller and hydraulic brake system for reducing the rebound sound during the pedal return process.

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

[0007] Get the travel data of the brake pedal;

[0008] determining a state of the brake pedal according to the travel data, wherein the state includes a braking state or a return state;

[0009] If the brake pedal is in a return state, the aperture size of the wire control valve in the hydraulic brake system is controlled according to the stroke data.

[0010] Optionally, controlling the aperture size of a wire-controlled valve in a hydraulic brake system according to the stroke data includes:

[0011] determining a current travel of the brake pedal according to the travel data;

[0012] If the current stroke is smaller than a preset first stroke, the aperture size of the wire-controlled valve is controlled according to a mapping relationship between a preset stroke size and an aperture size.

[0013] Optionally, the mapping relationship between the stroke size and the aperture size includes:

[0014] When the stroke is between the first stroke and the preset second stroke, the aperture is a preset target aperture, wherein the second stroke is smaller than the first stroke, and the target aperture is smaller than the maximum aperture of the wire-controlled valve;

[0015] When the stroke is 0, the aperture is the maximum aperture of the wire-controlled valve.

[0016] Optionally, the mapping relationship between the stroke size and the aperture size includes:

[0017] The aperture size is in a functional relationship with the stroke size. In the functional relationship, as the stroke decreases from a first stroke to 0, the aperture expands from a preset target aperture to a maximum aperture value of the wire-controlled valve.

[0018] Optionally, the method further includes:

[0019] If the current stroke is greater than or equal to the first stroke, the aperture size of the wire-controlled valve is controlled to be the maximum aperture value.

[0020] Optionally, the method further includes:

[0021] If the brake pedal is in a braking state, the aperture size of the wire-controlled valve is controlled to be the maximum aperture size.

[0022] In a second aspect, the present application further provides a brake pedal control device, comprising:

[0023] An acquisition module, used for acquiring the travel data of the brake pedal;

[0024] a determination module, configured to determine a state of the brake pedal according to the travel data, wherein the state includes a braking state or a return state;

[0025] A control module is used to control the aperture size of the wire control valve in the hydraulic brake system according to the stroke data if the brake pedal is in a return state.

[0026] In a third aspect, the present application further provides a controller, including: a memory, a processor;

[0027] The memory stores computer-executable instructions;

[0028] The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method as described in any one of the first aspects.

[0029] In a fourth aspect, the present application further provides a hydraulic brake system, comprising:

[0030] Brake pedal, travel sensor, master cylinder piston, brake pedal simulator, drive-by-wire valve and controller;

[0031] The wire control valve is arranged in the oil circuit between the master cylinder piston and the brake pedal simulator;

[0032] The controller is respectively connected to the wire-controlled valve and the stroke sensor;

[0033] The controller is used to execute the method as described in any one of the first aspects.

[0034] In a fifth aspect, the present application also provides a vehicle, comprising the hydraulic braking system as described in the fourth aspect.

[0035] In a sixth aspect, the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method as described in any one of the first aspects.

[0036] In a seventh aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementations of the first aspect.

[0037] The present application provides a control method, device, controller and hydraulic brake system for a brake pedal, the method comprising: obtaining the travel data of the brake pedal; determining the state of the brake pedal according to the travel data, the state including the braking state or the return state; if the brake pedal is in the return state, controlling the aperture size of the wire control valve in the hydraulic brake system according to the travel data. Through this method, the aperture of the wire control valve is adjusted during the return process of the pedal, so that the aperture of the wire control valve is reduced to adjust the return speed of the liquid in the oil circuit. Compared with the previous method, the pressure of the refluxed liquid becomes smaller, the return rate of the brake pedal is reduced, the kinetic energy during the collision is reduced, and the noise generated by the collision is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0039] Figure 1 Schematic diagram of the scenario provided for this application;

[0040] Figure 2 A schematic diagram of the structure of the hydraulic brake system provided for this application;

[0041] Figure 3 A schematic flow chart of a brake pedal control method provided in this application;

[0042] Figure 4 Schematic diagram of the relationship between the aperture of the wire-controlled valve and the pedal stroke provided in this application Figure 1 ;

[0043] Figure 5 Schematic diagram of the relationship between the aperture of the wire-controlled valve and the pedal stroke provided in this application Figure 2 ;

[0044] Figure 6 Schematic diagram of the relationship between the aperture of the wire-controlled valve and the pedal stroke provided in this application Figure 3 ;

[0045] Figure 7 A schematic diagram of the structure of a brake pedal control device provided in the present application;

[0046] Figure 8 A schematic diagram of the structure of the electronic device provided in this application.

[0047] Description of reference numerals:

[0048] 1-brake pedal; 2-push rod; 3-master cylinder assembly; 4-rear master cylinder piston; 5-stroke sensor; 6-TSV valve; 7-oil pot; 8-rear master cylinder spring; 9-front master cylinder piston; 10-front master cylinder spring; 11-CSV valve; 12-pressure sensor; 13-oil circuit; 14-wire control valve; 15-brake pedal simulator; 16-ECU controller; 17-OV valve; 18-IV valve; 19-PSV valve; 20-hydraulic cylinder; 21-motor; 22-left front brake; 23-right front brake; 24-left rear brake; 25-right rear brake.

[0049] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0050] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0051] Figure 1 The scenario diagram provided for this application is as follows: Figure 1 As shown, the user steps on the brake pedal to brake, and the user releases the brake pedal to return to the original position. When the brake pedal is pressed to a certain depth and the brake pedal is released quickly, the master cylinder piston and the bottom of the master cylinder will produce a collision sound. This collision sound is related to the depth of the brake pedal. The deeper the brake pedal is pressed, the louder the rebound sound. It is also related to the speed of releasing the brake pedal. The faster the brake pedal is released, the louder the rebound sound.

[0052] The methods commonly used in the current industry:

[0053] 1) Add a return torsion spring to the brake pedal. When the brake pedal is pressed, the torsion spring acts as a booster, and when the brake pedal is released, the torsion spring acts as a resistance, reducing the rebound rate of the pedal arm, thereby reducing the rebound sound of the brake pedal. This method has a greater impact on the force value of the pedal feel, causing the pedal feel to change in force value during the stepping process.

[0054] 2) Increasing riveting pressure on the rotating shaft of the brake pedal increases the resistance of the brake pedal arm when it rotates around the rotating shaft, which also reduces the pedal return rate, thereby reducing the brake pedal rebound sound. This method is difficult to install, the force value variation tolerance is difficult to control, and it is not durable, and it also affects the consistency of the pedal feel.

[0055] 3) Add a layer of rubber at the bottom of the master cylinder. When the pedal returns to its original position, the piston and the bottom of the master cylinder are buffered by the rubber layer, which can reduce the rebound sound of the brake pedal. This method has limited effect on reducing the rebound sound of the brake pedal. The thickness of the added layer of rubber should not be too thick, so the effect is limited.

[0056] It can be seen that the above methods are not ideal in solving the rebound sound. In view of this, the present application designs a control algorithm based on the braking system, and adopts a wire-controlled valve instead of a solenoid valve connection between the brake pedal feel simulator and the master cylinder. As long as the brake pedal return is identified, the aperture size of the wire-controlled valve is controlled, that is, the return fluid of the master cylinder is throttled, and the return rate of the piston and the brake pedal arm connected by the push rod is effectively controlled, thereby reducing the impact rate of the piston with the bottom of the master cylinder, thereby reducing or eliminating the brake pedal rebound sound.

[0057] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0058] Figure 2 The structural diagram of the hydraulic brake system provided for this application is as follows: Figure 2The hydraulic brake system shown in FIG. 1 , wherein 1 is a brake pedal, 2 is a push rod, 3 is a master cylinder assembly, 4 is a rear master cylinder piston, 5 is a stroke sensor, 6 is a TSV valve, 7 is an oil pot, 8 is a rear master cylinder spring, 9 is a front master cylinder piston, 10 is a front master cylinder spring, 11 is a CSV valve, 12 is a pressure sensor, 13 is an oil circuit, 14 is a wire-controlled valve, 15 is a brake pedal simulator, 16 is an ECU controller, 17 is an OV valve, 18 is an IV valve, 19 is a PSV valve, 20 is a hydraulic cylinder, 21 is a motor, 22 is a left front brake, 23 is a right front brake, 24 is a left rear brake, and 25 is a right rear brake.

[0059] The controller 16 is connected to the wire-controlled valve 14 , and the controller 16 is also connected to the stroke sensor 5 .

[0060] The wire control valve 14 is arranged in the oil circuit between the front master cylinder piston and the brake pedal simulator 15, and the aperture of the wire control valve can be controlled by a signal.

[0061] The present application changes the solenoid valve in the previous hydraulic control system to a wire-controlled valve 14, and the hydraulic aperture of the wire-controlled valve can be controlled in real time by the controller 16. In the prior art, when the pedal is released, the spring of the brake pedal simulator 15 drives the liquid pressure to release, and the auxiliary pedal returns to its position. The pedal has a certain speed, so that the rear master cylinder piston 4 collides with the bottom of the master cylinder 3 to produce a rebound sound. In the hydraulic system of the present application, when it is detected that the pedal returns to a preset position, the aperture of the wire-controlled valve is reduced, which can slow down the return speed of the liquid. Compared with the previous method, the pressure of the refluxed liquid becomes smaller, thereby reducing the return rate of the brake pedal, reducing the kinetic energy during the collision, and thus reducing the noise generated.

[0062] In addition, the position of the wire control valve 14 has a significant impact on the pedal return and needs to be calibrated in advance. The closer the wire control valve is to the front master cylinder piston, the shorter the oil path distance between the wire control valve and the front master cylinder piston, and the volume of the liquid is reduced accordingly. However, the distance of pedal withdrawal is certain, which means that when the diameter of the wire control valve becomes smaller, the oil path distance between the wire control valve and the front master cylinder piston becomes shorter, and the pressure changes quickly, which will make the pedal speed change more obvious.

[0063] If the remote control valve is far from the master cylinder piston, the length of the oil circuit will increase, and the hysteresis of the liquid and the buffering effect of the flow will be more obvious, which may cause the system to react more slowly. When the valve is close to the front master cylinder, the dynamic pressure of the fluid will change more dramatically, so the pedal withdrawal speed will show more sensitive and rapid changes. Therefore, the position and aperture of the remote control valve need to be calibrated in advance.

[0064] The entire braking and releasing process of the hydraulic brake system is explained below.

[0065] The control method of the existing hydraulic control system for stepping on the brake pedal is as follows: when the driver steps on the brake pedal 1, the two normally open CSV valves 11 and the TSV valve 6 are closed, the brake pedal 1 pushes the rear master cylinder piston 4 in the master cylinder 3 forward through the push rod 2, and the rear master cylinder spring 4 is compressed. Since the fluid path between the master cylinder 3 and the oil pot 7 is closed, the brake fluid passes through the oil path 13 and the SSV valve 14 to compress the PFS brake pedal simulator 15, and the spring in the brake pedal simulator 15 is compressed to form the force value of the pedal feel. Because the two CSV valves 11 are closed, the front master cylinder piston 9 cannot compress the front master cylinder spring and is stationary without displacement. At this time, the stroke sensor 5 recognizes that the brake pedal 1 is pressed, the four IV valves 18 are in the open state, the four OV valves 17 are in the closed state, and the motor 21 synchronously increases the pressure of the hydraulic cylinder 20 according to the depth of the brake pedal 1 being pressed. The hydraulic pressure passes through the two PSV valves 19 and the four normally open IV valves 18 to increase the pressure of the left front and right front brakes LF / RF and the left rear / right rear brakes LR / RR to implement the braking effect.

[0066] The control method of the existing hydraulic control system for releasing the brake pedal is as follows: when the driver releases the brake pedal 1, the two normally open CSV valves 11 are still in a closed state, the TSV valve 6 and the SSV valve 14 are both in an open state, and the rear master cylinder piston 4 pushes the push rod 2 and the brake pedal 1 to quickly return to their positions under the action of the hydraulic pressure, the PFS brake pedal simulator 15 and the rear master cylinder spring 8, until the rear master cylinder piston 4 collides with the bottom of the master cylinder 3 when it is fully returned, and the sound is amplified and sensed by the push rod 2 and the brake pedal 1. At this time, the stroke sensor 5 recognizes that when the brake pedal 1 is retreated, the four IV valves 18 are in an open state, and the four OV valves 17 are in a closed state. The motor 21 synchronously reduces the pressure of the hydraulic cylinder 20 according to the depth of the retreat of the brake pedal 1, and the hydraulic pressure is released through the two PSV valves 19 through the four normally open IV valves 18 to the left front and right front brakes LF / RF, and the left rear / right rear brakes LR / RR, and the braking force begins to decrease.

[0067] The present application changes the solenoid valve of the SSV valve 14 to a wire-controlled valve, and the hydraulic aperture of the wire-controlled valve can be controlled in real time by the ECU controller 16, thereby reducing the return rate of the brake pedal. The whole process of braking and releasing when the brake pedal is pressed and released is described in detail as follows:

[0068] When the driver steps on the brake pedal 1, the ECU controller 16 does not perform brake fluid throttling control on the SSV wire control valve 14, so the braking process is completely equivalent to the current working logic.

[0069] When the driver releases the brake pedal 1, the two normally open CSV valves 11 are still closed, the TSV valve 6 and the SSV valve 14 are both in the open state, and the rear master cylinder piston 4 pushes the push rod 2 and the brake pedal 1 to start returning under the action of hydraulic pressure, PFS brake pedal simulator 15 and rear master cylinder spring 8. At this time, the ECU adjusts the liquid flow aperture of the SSV wire control valve 14 in real time according to the information of the stroke sensor 5, throttling the brake fluid, causing the hydraulic pressure of the cavity of the rear master cylinder to form a negative pressure effect, so that the return rate of the rear master cylinder piston 4, the push rod 2 and the brake pedal 1 is reduced. Until they are fully returned, the rear master cylinder piston 4 will not produce a strong impact with the bottom of the master cylinder 3, but only a slight contact, thereby reducing or eliminating the rebound sound of the brake pedal.

[0070] When the driver releases the brake pedal 1, the working logic of the hydraulic pressure on the brake is completely equivalent to the current one.

[0071] On the basis of the above hydraulic brake system, taking the controller as the execution body, the control method is introduced below.

[0072] Figure 3 A flow chart of the brake pedal control method provided in this application, such as Figure 3 As shown, the method includes:

[0073] S101. Acquire brake pedal travel data.

[0074] In this step, the controller acquires the travel data of the brake pedal collected by the travel sensor in real time. The travel data includes the travel at each moment, which represents the distance from the initial position of the pedal. The larger the travel, the deeper the pedal is depressed.

[0075] S102: Determine the state of the brake pedal according to the travel data, where the state includes a braking state or a return state.

[0076] Determine whether the stroke is decreasing or increasing based on the current stroke and the stroke at the last moment. If the stroke is decreasing, it means that the pedal is in the return state. If the stroke is increasing, it means that the pedal is in the braking state.

[0077] When determining whether the pedal is in a braking state or a return state based on the travel data, it is possible not only to compare the data at two moments, but also to combine the data at multiple moments to determine, which will not be introduced here.

[0078] S103: If the brake pedal is in the return state, the aperture size of the wire control valve in the hydraulic brake system is controlled according to the stroke data.

[0079] In this step, when it is determined that the pedal is in the return state, the aperture of the wire-controlled valve is adjusted according to the current stroke according to a preset control strategy.

[0080] In one implementation, a first stroke is preset, which can be 3 mm, 4 mm, or 5 mm. When the stroke is greater than the first stroke, the aperture of the control valve is not adjusted. When the stroke is less than the first stroke, it indicates that the distance to the master cylinder is very close, and the aperture of the control valve is reduced. The specific method of reducing the first stroke can be adjusted according to the mapping relationship between the stroke size and the aperture size configured in advance, or it can be directly adjusted to a certain aperture, and then the aperture is released to the maximum value after the pedal returns to its original position. The purpose of releasing the aperture to the maximum value is to avoid affecting the braking process.

[0081] In another implementation, the aperture of the remote control valve is adjusted whenever the pedal return is determined.

[0082] This embodiment provides a control method for a brake pedal, the method comprising: obtaining the travel data of the brake pedal; determining the state of the brake pedal according to the travel data, the state including the braking state or the return state; if the brake pedal is in the return state, controlling the aperture size of the wire control valve in the hydraulic brake system according to the travel data. Through this method, the aperture of the wire control valve is adjusted during the return process of the pedal, so that the aperture of the wire control valve is reduced to adjust the return speed of the liquid in the oil circuit. Compared with the previous method, the pressure of the return liquid becomes smaller, thereby reducing the return rate of the brake pedal, reducing the kinetic energy during the collision, and thus reducing the noise generated by the collision.

[0083] The method of the present application controls the hardware through software, and can adjust the return rate of the brake pedal in real time, and can change the aperture size as needed, which is not possible by eliminating noise through hardware improvement.

[0084] Based on the above method embodiments, the relationship between the aperture of the wire-controlled valve and the pedal stroke is introduced in several specific ways below.

[0085] Method 1:

[0086] Figure 4 Schematic diagram of the relationship between the aperture of the wire-controlled valve and the pedal stroke provided in this application Figure 1 ,like Figure 4 As shown, during the pedal return process, when the pedal reaches the designated position, the aperture of the wire-controlled valve is instantly reduced. The first stroke and the second stroke are preset, and the second stroke is smaller than the first stroke. For example, the first stroke can be set to 3 mm, 5 mm or 10 mm, and the second stroke can be set to 0.5 mm, 0.4 mm, 0 mm or 1 mm.

[0087] When the stroke is between the first stroke and the preset second stroke, the aperture is a preset target aperture, and the target aperture can be set to half, one third, one quarter, etc. of the maximum aperture of the wire-controlled valve.

[0088] That is to say, when the pedal returns, the aperture of the control valve is the largest when it is greater than the first stroke. When the first stroke is reached, the aperture instantly decreases to the target aperture. In the area between the pedal return and the second stroke, the aperture of the control valve is always the target aperture. The reduced aperture reduces the amount of liquid flowing back to the oil pipe between the pedal and the control valve. Compared with the previous method of not controlling the aperture, the pressure in the oil pipe between the pedal and the control valve is reduced, which can reduce the force and acceleration of the pedal return, thereby reducing the speed of the pedal between the first stroke and the second stroke. When the target aperture of the control valve is very small, for example, only one-tenth of the opening, or even completely closed, then as the pedal returns, the liquid in the oil pipe between the pedal and the control valve remains basically unchanged, while the length of the oil pipe increases, making the pressure in the oil pipe less than the external pressure, thus generating a negative pressure effect, causing the pedal to slow down between the first stroke and the second stroke.

[0089] When the pedal returns to its original position, that is, when the stroke is 0, the aperture corresponds to the maximum aperture of the wire-controlled valve.

[0090] In this method, if the second stroke is not 0, for example 0.5 mm, the aperture of the wire-controlled valve can be slowly enlarged or remain unchanged when the pedal is in the area between 0.5 mm and 0 mm, but it cannot be instantly enlarged to the maximum aperture. The wire control needs to be adjusted according to actual needs to meet the user's pedal return experience.

[0091] Method 2:

[0092] Figure 5 Schematic diagram of the relationship between the aperture of the wire-controlled valve and the pedal stroke provided in this application Figure 2 ,like Figure 5 As shown, during the pedal return process, the aperture of the remote control valve is intermittently reduced to control the pedal return speed.

[0093] Pre-set multiple itineraries. Figure 5 In the example, the third stroke, the fourth stroke, the fifth stroke, and the sixth stroke are taken as examples. The third stroke is greater than the fourth stroke, the fourth stroke is greater than the fifth stroke, and the fifth stroke is greater than the sixth stroke. The specific value of the third stroke is not limited and can be 3 mm, 5 mm, 1 cm, 2 cm, etc.

[0094] Between the third and fourth strokes, the remote control valve has the first aperture. As the pedal returns, between the fourth and fifth strokes, the aperture continues to decrease to the second aperture. As the pedal continues to return, between the fifth and sixth strokes, the aperture continues to decrease to the third aperture. When the stroke reaches 0, the aperture of the remote control valve is enlarged to the maximum value.

[0095] Therefore, during the pedal return process, the speed of the pedal return can be gradually reduced to prevent the user from experiencing pedal frustration.

[0096] Method 3:

[0097] Figure 6 Schematic diagram of the relationship between the aperture of the wire-controlled valve and the pedal stroke provided in this application Figure 3 ,like Figure 6 As shown, as the stroke decreases from the first stroke to 0, the aperture expands from the preset target aperture to the maximum aperture of the wire-controlled valve.

[0098] That is, when the pedal reaches the position of the first stroke, the aperture of the wire control valve is instantly reduced to the target aperture, and then slowly enlarged to the maximum value of the control according to the functional relationship. The functional relationship can be a quadratic function, such as Figure 6 As shown in . It can also be other functions, such as power exponents, etc.

[0099] In the method provided by this method, the aperture of the wire-controlled valve changes continuously according to a functional relationship without causing sudden changes, so that the pressure change is also continuous, which can ensure the user's pedaling experience.

[0100] In the various methods provided by the present application, the return rate of the pedal is fixed after the aperture control logic is fixed, and the return rate of the pedal will not change due to use, thereby improving the user experience.

[0101] In addition, the present application can also automatically adjust the control logic of the control according to different vehicle usage scenarios. For example, the air temperature is obtained. When the temperature is less than minus ten degrees, the low temperature control logic is used. Under the low temperature control logic, the aperture size is larger than the aperture in the normal temperature control logic, and the specific degree of size can be adjusted proportionally. In this way, the problem of the brake pedal returning normally but not following the foot due to changes in the viscosity of the liquid at low temperatures can be avoided, which can improve the user experience.

[0102] In each of the above methods, the purpose of changing the aperture of the wire control valve is to change the liquid flow, thereby changing the pressure in the pipeline and reducing the pressure acting on the pedal. In order to improve performance, a pressure sensor can also be set in the oil circuit to detect the liquid pressure in the oil circuit between the wire control valve and the front master cylinder piston. That is, the target pressure value of the pressure sensor is pre-calibrated when the aperture of the wire control valve changes to the target aperture in the first stroke. In actual use, if the deviation between the actual pressure value obtained and the target pressure value exceeds a certain threshold, it means that the oil circuit or the wire control valve is abnormal, and the user is reminded to check in time. It can also be detected that the pressure collected each time in the first stroke exceeds a certain threshold of the target pressure value, and the user is reminded whether to calibrate automatically. Calibration is to change the aperture of the wire control valve in the first stroke so that its pressure value is within the target pressure value threshold range.

[0103] Figure 7 A schematic diagram of the structure of a brake pedal control device provided in this application, such as Figure 7As shown, the brake pedal control device 600 provided in this embodiment includes:

[0104] An acquisition module 601 is used to acquire the travel data of the brake pedal;

[0105] A determination module 602, configured to determine a state of the brake pedal according to the travel data, wherein the state includes a braking state or a return state;

[0106] The control module 603 is used to control the aperture size of the wire control valve in the hydraulic brake system according to the stroke data if the brake pedal is in the return state.

[0107] Optionally, the control module 603 is specifically used to:

[0108] determining a current travel of the brake pedal according to the travel data;

[0109] If the current stroke is smaller than a preset first stroke, the aperture size of the wire-controlled valve is controlled according to a mapping relationship between a preset stroke size and an aperture size.

[0110] Optionally, the mapping relationship between the stroke size and the aperture size includes:

[0111] When the stroke is between the first stroke and the preset second stroke, the aperture is a preset target aperture, wherein the second stroke is smaller than the first stroke, and the target aperture is smaller than the maximum aperture of the wire-controlled valve;

[0112] When the stroke is 0, the aperture is the maximum aperture of the wire-controlled valve.

[0113] Optionally, the mapping relationship between the stroke size and the aperture size includes:

[0114] The aperture size is in a functional relationship with the stroke size. In the functional relationship, as the stroke decreases from a first stroke to 0, the aperture expands from a preset target aperture to a maximum aperture value of the wire-controlled valve.

[0115] Optionally, the control module 603 is further used for:

[0116] If the current stroke is greater than or equal to the first stroke, the aperture size of the wire-controlled valve is controlled to be the maximum aperture value.

[0117] Optionally, the control module 603 is specifically used to: if the brake pedal is in a braking state, control the aperture size of the wire-controlled valve to be a maximum aperture value.

[0118] The brake pedal control device provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be described in detail here.

[0119] Figure 8 This is a schematic diagram of the structure of the electronic device provided in this application. Figure 8 As shown, the electronic device 50 provided in this embodiment includes: at least one processor 501 and a memory 502. Optionally, the device 50 also includes a communication component 503. The processor 501, the memory 502 and the communication component 503 are connected via a bus 504.

[0120] In a specific implementation process, at least one processor 501 executes the computer-executable instructions stored in the memory 502, so that at least one processor 501 executes the above method.

[0121] The specific implementation process of the processor 501 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0122] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0123] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0124] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0125] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0126] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0127] The present application also provides a vehicle, comprising the hydraulic brake system described in the above embodiment.

[0128] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0129] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0130] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, 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 an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0131] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0132] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0133] If the function 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 technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0134] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0135] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A method for controlling a brake pedal, characterized in that: include: Get the travel data of the brake pedal; determining a state of the brake pedal according to the travel data, wherein the state includes a braking state or a return state; If the brake pedal is in a return state, the aperture size of the wire control valve in the hydraulic brake system is controlled according to the stroke data.

2. The method according to claim 1, characterized in that: The method of controlling the aperture size of the wire-controlled valve in the hydraulic brake system according to the stroke data comprises: determining a current travel of the brake pedal according to the travel data; If the current stroke is smaller than a preset first stroke, the aperture size of the wire-controlled valve is controlled according to a mapping relationship between a preset stroke size and an aperture size.

3. The method according to claim 2, characterized in that The mapping relationship between the stroke size and the aperture size includes: When the stroke is between the first stroke and the preset second stroke, the aperture is a preset target aperture, wherein the second stroke is smaller than the first stroke, and the target aperture is smaller than the maximum aperture of the wire-controlled valve; When the stroke is 0, the aperture is the maximum aperture of the wire-controlled valve.

4. The method according to claim 2, characterized in that: The mapping relationship between the stroke size and the aperture size includes: The aperture size is in a functional relationship with the stroke size. In the functional relationship, as the stroke decreases from a first stroke to 0, the aperture expands from a preset target aperture to a maximum aperture value of the wire-controlled valve.

5. The method according to claim 2, characterized in that: The method further comprises: If the current stroke is greater than or equal to the first stroke, the aperture size of the wire-controlled valve is controlled to be the maximum aperture value.

6. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: If the brake pedal is in a braking state, the aperture size of the wire-controlled valve is controlled to be the maximum aperture size.

7. A brake pedal control device, characterized in that: include: An acquisition module, used for acquiring the travel data of the brake pedal; a determination module, configured to determine a state of the brake pedal according to the travel data, wherein the state includes a braking state or a return state; A control module is used to control the aperture size of the wire control valve in the hydraulic brake system according to the stroke data if the brake pedal is in a return state.

8. A controller, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 6.

9. A hydraulic brake system, characterized in that: include: Brake pedal, travel sensor, master cylinder piston, brake pedal simulator, drive-by-wire valve and controller; The wire control valve is arranged in the oil circuit between the master cylinder piston and the brake pedal simulator; The controller is respectively connected to the wire-controlled valve and the stroke sensor; The controller is used to execute the method according to any one of claims 1 to 6.

10. A vehicle, characterized in that: Comprising the hydraulic brake system as claimed in claim 9.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 6 when executed by a processor.

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