A brake control method and device, electronic equipment and storage medium

Abstract

The application provides a brake control method and device, electronic equipment and a storage medium, wherein the brake control method comprises: detecting a brake pedal during vehicle driving, and determining a failure type when the brake pedal is detected to fail; wherein the failure type comprises a signal failure type and a mechanical failure type; and sending a brake request to a drive motor control unit according to the failure type and a vehicle driving parameter, so that the drive motor control unit controls a drive motor to brake the vehicle. The application can make the drive motor timely intervene in braking the vehicle when the brake pedal fails, and make the brake control more accurate and effective by distinguishing the failure type and formulating a brake strategy in combination with the vehicle driving parameter, so that the vehicle is prevented from losing control due to brake failure, and the driving safety is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobiles, and in particular to a brake control method and device, an electronic device, and a storage medium. BACKGROUND

[0002] With the development of vehicle electronics and electrical systems, automobile brake systems have developed from mechanical hydraulic brakes to integrated electronic brakes. While achieving faster and more stable brake system braking response and operation experience, more attention needs to be paid to ensuring brake safety. Due to the relatively complex information interaction of new energy vehicles, once the integrated electronic brake system completely fails, the vehicle cannot be stopped in a short time, which can easily cause safety accidents. SUMMARY

[0003] Embodiments of the present application provide a brake control method, device, electronic device, and storage medium to solve the problem of how to stop the vehicle in a short time when the electronic brake system completely fails.

[0004] In a first aspect, embodiments of the present application provide a brake control method, which includes:

[0005] During vehicle travel, the brake pedal is detected, and when the brake pedal is detected to fail, the failure type is determined; wherein the failure type includes a signal failure type and a mechanical failure type;

[0006] According to the failure type and the vehicle travel parameter, a brake request is sent to the drive motor control unit to control the drive motor control unit to control the drive motor to brake the vehicle.

[0007] Optionally, detecting the brake pedal and determining the failure type when the brake pedal fails includes:

[0008] The brake pedal control signal is detected.

[0009] When the brake pedal control signal is abnormal, the failure type is determined to be a signal failure type.

[0010] When the brake pedal control signal is not abnormal and the brake pedal control signal indicates that the brake pedal is depressed, the vehicle travel parameter is obtained, including: a first deceleration calculated by a chassis brake controller based on a brake pedal stroke signal, a current vehicle speed, and a current motor speed.

[0011] A second deceleration is calculated based on the current vehicle speed.

[0012] A third deceleration is calculated based on the current motor speed.

[0013] determining a difference between the first deceleration and the second deceleration as a first deceleration difference;

[0014] determining a difference between the first deceleration and the third deceleration as a second deceleration difference;

[0015] determining that the failure type is a mechanical failure type when both the first deceleration difference and the second deceleration difference are greater than zero.

[0016] The application distinguishes the failure type of the brake pedal as a signal failure type or a mechanical failure type through the abnormal brake pedal control signal condition, and comprehensively considers the deceleration calculated by the chassis brake controller, the deceleration calculated based on the vehicle speed, and the deceleration calculated based on the motor speed, thereby providing a reliable basis for subsequent targeted braking measures.

[0017] Optionally, when the failure type is the signal failure type, a brake request is sent to a drive motor control unit according to the failure type and a vehicle driving parameter, including:

[0018] first indication information indicating that the brake pedal has a signal failure is sent to the drive motor control unit; wherein the drive motor control unit limits the maximum available torque for driving the vehicle to run based on the first indication information; wherein the maximum available positive torque is limited when the vehicle runs forward, and the maximum available negative torque is limited when the vehicle runs in reverse;

[0019] a current vehicle speed and a current motor speed in the vehicle driving parameter are obtained;

[0020] a demand brake torque corresponding to the current vehicle speed is determined when the current vehicle speed is greater than a preset vehicle speed threshold and the motor speed is greater than a preset speed threshold;

[0021] a brake request carrying the demand brake torque is sent to the drive motor control unit.

[0022] Further, in the case of signal failure, the motor torque is limited to effectively prevent the vehicle from accelerating out of control due to signal errors, thereby reducing the safety risk. In addition, the brake torque is dynamically determined according to the vehicle speed and the motor speed, which can adapt to the braking demand under different driving conditions, for example, when the vehicle is running at high speed and has a large kinetic energy, sufficient brake torque is provided to ensure that the vehicle can quickly decelerate, thereby improving the effectiveness and adaptability of braking.

[0023] Optionally, when the failure type is the mechanical failure type, a brake request is sent to a drive motor control unit according to the failure type and a vehicle driving parameter, including:

[0024] determine a mechanical failure level according to the vehicle driving parameter;

[0025] determine a target speed limit according to the mechanical failure level;

[0026] determine a demand braking torque corresponding to the current vehicle speed when the current vehicle speed is greater than the target speed limit;

[0027] send a braking request carrying the demand braking torque to the drive motor control unit.

[0028] Optionally, the determining of the demand braking torque corresponding to the current vehicle speed comprises:

[0029] obtaining a correspondence between vehicle speed and braking torque;

[0030] determining the demand braking torque corresponding to the current vehicle speed according to the correspondence and the current vehicle speed.

[0031] Optionally, the determining of the mechanical failure level according to the vehicle driving parameter comprises:

[0032] determining a first threshold value and a second threshold value corresponding to the first deceleration, wherein the second threshold value is greater than the first threshold value;

[0033] determining that the mechanical failure level is a first level when both the first deceleration difference and the second deceleration difference are greater than the first threshold value;

[0034] determining that the mechanical failure level is a second level when both the first deceleration difference and the second deceleration difference are greater than the second threshold value.

[0035] Optionally, the determining of the target speed limit according to the mechanical failure level comprises:

[0036] determining that the target speed limit is a first vehicle speed when the mechanical failure level is the first level;

[0037] determining that the target speed limit is a second vehicle speed when the mechanical failure level is the second level;

[0038] wherein the first vehicle speed is greater than the second vehicle speed.

[0039] In the case of mechanical failure, the mechanical failure level and the corresponding target speed limit are determined to realize the grading processing of the mechanical failure. Different speed limits and braking strategies can be adopted for mechanical failures of different severity, making the braking control more flexible, reducing the risk of accidents caused by high-speed driving and insufficient braking force, and improving the driving safety. In addition, the mechanical failure level is divided by setting a clear threshold to realize the quantitative evaluation of the mechanical failure. Different target speed limits are set according to different mechanical failure levels, which can be well adapted to the fault risk of the braking system. When the braking system fault is light, a relatively loose speed limit is given, and when the fault is serious, the vehicle speed is strictly limited, thereby greatly reducing the possibility of accidents.

[0040] In addition, based on the accurate correspondence between the vehicle speed and the braking torque, the required braking torque at different vehicle speeds can be accurately determined, so that the braking process is more stable and effective, and problems such as vehicle instability or excessive braking distance caused by excessive or insufficient braking torque can be avoided.

[0041] In a second aspect, the embodiments of the present application further provide a braking control device, which comprises:

[0042] The detection module is configured to detect the brake pedal during vehicle driving, and determine the failure type when detecting that the brake pedal fails; wherein the failure type includes a signal failure type and a mechanical failure type.

[0043] The sending module is configured to send a braking request to the drive motor control unit according to the failure type and the vehicle driving parameter, so that the drive motor control unit controls the drive motor to brake the vehicle.

[0044] In a third aspect, the embodiments of the present application further provide an electronic device, which comprises a processor, a memory, and a computer program stored in the memory and executable on the processor, and the computer program is executed by the processor to realize the above-mentioned braking control method.

[0045] In a fourth aspect, the embodiments of the present application further provide a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the above-mentioned braking control method.

[0046] The embodiments of the present application at least have the following technical effects:

[0047] The technical scheme of the embodiment of the application detects the state of the brake pedal in real time when the vehicle is running, and once the brake pedal failure is detected, sends a brake request to the drive motor control unit according to the failure type and the vehicle running parameter, so that the drive motor can timely intervene in braking the vehicle when the brake pedal fails, and the failure type is distinguished, and the braking strategy is formulated in combination with the vehicle running parameter, so that the braking control is more accurate and effective, the vehicle is prevented from losing control due to brake failure, and the driving safety is improved. BRIEF DESCRIPTION OF DRAWINGS

[0048] In order to more clearly illustrate the technical schemes in the embodiments of the application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below.

[0049] Figure 1 is a flow diagram of the brake control method provided by the embodiment of the application;

[0050] Figure 2 is a structural diagram of the brake control device provided by the embodiment of the application;

[0051] Figure 3 is a block diagram of the electronic device provided by the embodiment of the application. DETAILED DESCRIPTION

[0052] The technical schemes in the embodiments of the application will be clearly and completely described below in combination with the drawings in the embodiments of the application. Obviously, the described embodiments are a part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the application.

[0053] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily mean the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner.

[0054] In various embodiments of the application, it should be understood that the size of the serial number of the following processes does not mean the execution order, and the execution order of the processes should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the application.

[0055] In the prior art, due to the relatively complex information interaction of new energy vehicles, once the integrated electronic brake system completely fails, the vehicle cannot be stopped in a short time, which is extremely easy to cause safety accidents.

[0056] Based on this, in order to solve the problem of how to stop the vehicle in a short time when the electronic brake system fails completely, the application provides a brake control method and device, electronic equipment and storage medium, which can make the driving motor intervene in braking the vehicle in time when the brake pedal fails, and make the brake control more accurate and effective by distinguishing the failure type and combining the vehicle running parameters to formulate a braking strategy, so as to avoid the vehicle out of control due to brake failure and improve the driving safety.

[0057] As shown in Figure 1 The application embodiment provides a brake control method, which comprises:

[0058] Step 101, detecting the brake pedal during vehicle running, and determining the failure type when detecting that the brake pedal fails; wherein the failure type includes a signal failure type and a mechanical failure type.

[0059] The brake control method provided by the application embodiment is applied to the vehicle controller. During vehicle running, the vehicle controller detects the brake pedal to find out whether the brake pedal fails in time. Once it is detected that the brake pedal fails, the failure type is further determined, wherein the failure type includes a signal failure type and a mechanical failure type.

[0060] Specifically, the brake pedal failure caused by the abnormality of the related signals of the brake pedal is the signal failure type, such as loss or error value of the brake pedal state signal, loss or error value of the brake pedal stroke signal, etc. When the related signals of the brake pedal are normal, that is, when the driver steps on the brake pedal, the vehicle controller can detect the change of the brake pedal state signal, and can obtain the brake pedal stroke, that is, the depth of the driver stepping on the brake pedal, according to the brake pedal stroke signal, but the brake system cannot exert enough braking force on the vehicle, so that the actual deceleration of the vehicle is less than the expected deceleration, at this time, the brake pedal failure caused by the mechanical failure type may be that the brake system has insufficient brake fluid level or air enters, or the brake control system fails, etc.

[0061] Different failure types correspond to different braking measures, and the failure type is determined so as to take targeted braking measures subsequently.

[0062] Step 102, sending a brake request to the driving motor control unit according to the failure type and the vehicle running parameters, so as to control the driving motor to brake the vehicle.

[0063] After the failure type is determined, a suitable brake request is sent to the drive motor control unit in combination with vehicle driving parameters (such as vehicle speed, motor speed, etc.). After receiving the request, the drive motor control unit controls the drive motor to generate a corresponding brake torque, thereby achieving brake operation on the vehicle to ensure safe driving of the vehicle in the event of brake pedal failure.

[0064] It should be noted that when the brake pedal failure is detected, the vehicle controller also needs to send a brake pedal failure signal to the instrument to output a failure prompt information, such as "brake system failure, partial function failure, please reduce the vehicle speed and go to the 4S store for troubleshooting", so that the driver can timely understand the status of the vehicle brake system and take corresponding measures, such as reducing the vehicle speed to increase the safety factor of driving, and going to the professional 4S store as soon as possible for inspection and maintenance of the vehicle.

[0065] According to the application, the state of the brake pedal is detected in real time when the vehicle is driving. Once the brake pedal failure is detected, a brake request is sent to the drive motor control unit according to the failure type and the vehicle driving parameters. The drive motor can be timely intervened to brake the vehicle when the brake pedal fails. By distinguishing the failure type and combining the vehicle driving parameters to formulate a brake strategy, the brake control is more accurate and effective, the vehicle is prevented from losing control due to brake failure, and the driving safety is improved.

[0066] In an optional embodiment of the application, the brake pedal is detected, and when the brake pedal failure is detected, the failure type is determined, including:

[0067] The brake pedal control signal is detected;

[0068] When the brake pedal control signal is abnormal, the failure type is determined as a signal failure type;

[0069] When the brake pedal control signal is not abnormal and the brake pedal control signal indicates that the brake pedal is depressed, the vehicle driving parameters are obtained, including: a first deceleration calculated by a chassis brake controller based on a brake pedal stroke signal, a current vehicle speed, and a current motor speed;

[0070] A second deceleration is calculated based on the current vehicle speed;

[0071] A third deceleration is calculated based on the current motor speed;

[0072] The difference between the first deceleration and the second deceleration is determined as a first deceleration difference;

[0073] The difference between the first deceleration and the third deceleration is determined as a second deceleration difference;

[0074] When both the first deceleration difference and the second deceleration difference are greater than zero, the failure type is determined as a mechanical failure type.

[0075] In the implementation, first, the brake pedal control signal is monitored, which includes but is not limited to the brake pedal state signal and the brake pedal stroke signal. The brake pedal control signal is usually generated and transmitted by a sensor and directly reflects the driver's intention to operate the brake pedal. When the brake pedal control signal is abnormal, the brake pedal control signal abnormality can be manifested in various forms, such as signal interruption, which can be caused by a fault in the connection line between the sensor for detecting the brake pedal control signal and the vehicle controller, resulting in the signal being unable to be normally transmitted; or signal value error, which can be caused by a fault in the sensor itself, such as internal circuit short circuit, making the output signal always high or low, irrelevant to the actual position of the brake pedal, or the sensor being subjected to strong electromagnetic interference, causing the output signal to appear random code or deviate from the normal range. In this case, although the mechanical structure of the brake pedal itself can be intact, the vehicle brake system will not work normally according to the driver's intention because the vehicle controller cannot receive the correct brake pedal control signal. At this time, the failure type is determined as a signal failure type.

[0076] When the brake pedal control signal is normal and the brake pedal control signal indicates that the brake pedal is depressed, the vehicle running parameters need to be further acquired to determine whether the brake pedal has a mechanical failure, wherein the vehicle running parameters include the first deceleration calculated by the chassis brake controller based on the brake pedal stroke signal, the current vehicle speed, and the current motor speed.

[0077] Specifically, the vehicle controller sends the brake pedal stroke signal to the chassis brake controller and further acquires the first deceleration calculated by the chassis brake controller based on the brake pedal stroke signal. The brake pedal stroke signal reflects the degree to which the driver depresses the brake pedal, and the chassis brake controller can calculate the deceleration that the vehicle should theoretically reach under the current brake pedal stroke, i.e., the first deceleration. For example, the greater the brake pedal stroke, the greater the theoretical braking force and the greater the deceleration of the vehicle. The chassis brake controller calculates the first deceleration according to the pre-calibrated relationship curve between the brake pedal stroke and the braking force and deceleration. It should be noted that when the vehicle has brake energy recovery, the motor and battery capacity parameters also need to be considered when calculating the first deceleration.

[0078] Meanwhile, the second deceleration of the vehicle in the current running state and the third deceleration are calculated according to the current actual vehicle speed and the current motor speed, respectively. Specifically, the second deceleration and the third deceleration reflect the deceleration trend of the vehicle from different angles.

[0079] Afterwards, the difference between the first deceleration and the second deceleration is determined as a first deceleration difference, and the difference between the first deceleration and the third deceleration is determined as a second deceleration difference. By calculating the two deceleration differences, the degree of deviation between the theoretical deceleration calculated by the chassis brake controller and the actual deceleration can be evaluated.

[0080] When both the first deceleration difference and the second deceleration difference are greater than zero, it indicates that the deceleration expected by the chassis brake controller is greater than the actual deceleration that the vehicle can achieve, that is, the brake system cannot exert sufficient braking force on the vehicle, at this time, the failure type is determined as the mechanical failure type.

[0081] The above-mentioned embodiments of the present application distinguish between the signal failure type and the mechanical failure type of the brake pedal by comprehensively considering the deceleration calculated by the chassis brake controller, the deceleration calculated based on the vehicle speed, and the deceleration calculated based on the motor speed, thereby providing a reliable basis for subsequent targeted braking measures.

[0082] In an optional embodiment of the present application, when the failure type is the signal failure type, a brake request is sent to a drive motor control unit according to the failure type and a vehicle driving parameter, comprising:

[0083] First indication information indicating that the brake pedal has signal failure is sent to the drive motor control unit; wherein the drive motor control unit limits the maximum available torque for driving the vehicle to run based on the first indication information; wherein the maximum available positive torque is limited when the vehicle is running forward, and the maximum available negative torque is limited when the vehicle is running in reverse;

[0084] The current vehicle speed and the current motor speed in the vehicle driving parameter are obtained;

[0085] When the current vehicle speed is greater than a preset vehicle speed threshold and the motor speed is greater than a preset speed threshold, a required braking torque corresponding to the current vehicle speed is determined;

[0086] A brake request carrying the required braking torque is sent to the drive motor control unit.

[0087] In the specific implementation process, after determining the signal failure type, first indication information is sent to the drive motor control unit. After receiving the first indication information, the drive motor control unit limits the maximum available torque for driving the vehicle to run. Wherein, the maximum available positive torque is limited when the vehicle is running forward, and the maximum available negative torque is limited when the vehicle is running in reverse.

[0088] Specifically, the drive motor control unit will first determine the driving direction of the vehicle, whether it is forward driving or reverse driving, after receiving the first indication information. Optionally, it can be determined according to the positive and negative of the vehicle speed and the motor speed. When the vehicle speed and the motor speed are both positive, it is determined that the vehicle is driving forward. When the vehicle speed and the motor speed are both negative, it is determined that the vehicle is driving in reverse.

[0089] When the vehicle is driving forward, the motor drives the vehicle in the forward direction. At this time, the abnormality of the brake pedal signal will bring potential safety risks. Since the brake pedal signal is normally used to control the deceleration of the vehicle, the loss of signal may cause the vehicle to fail to brake normally. At this time, the maximum available positive torque is limited, such as setting the maximum available positive torque to zero. Then, even if the driver misoperates the accelerator pedal or other faults of the vehicle control system cause the need to increase the positive torque of the motor, the system will prevent the motor from providing additional forward driving force, thereby avoiding the vehicle from accelerating uncontrollably in the case of abnormal brake signal. At the same time, the maximum negative torque value remains unchanged, which enables the vehicle to use the reverse torque of the motor to stop or slow down when emergency braking or deceleration is needed, thereby ensuring the safety of the vehicle during forward driving.

[0090] When the vehicle is driving in reverse, the motor drives the vehicle in the reverse direction. Similarly, the abnormality of the brake pedal signal will also cause safety problems in this case. At this time, the maximum available negative torque is limited, and the maximum available negative torque is set to zero, thereby preventing the vehicle from accelerating excessively during reverse driving due to abnormal brake signal. The maximum positive torque value remains unchanged, so that the positive torque of the motor can be used to control the vehicle when stopping reverse driving or changing the direction of reverse driving, thereby ensuring the safety during reverse driving.

[0091] It should be noted that when the motor speed is less than 100 rpm, regardless of the direction of the motor speed, which is positive or negative, the vehicle speed may swing around zero due to road bumps at this time. At this time, the maximum available torque can not be limited.

[0092] After limiting the maximum available torque for driving the vehicle by the drive motor, the vehicle control unit further obtains the current vehicle speed and the current motor speed, and determines the required braking torque corresponding to the current vehicle speed when both the vehicle speed and the motor speed exceed a certain threshold, i.e., the current vehicle speed is greater than a preset vehicle speed threshold and the motor speed is greater than a preset speed threshold. It is determined that the vehicle is driving at high speed and the motor is working at a high speed, which has high kinetic energy and large motion inertia, and requires a large braking force to achieve braking. At this time, according to the current vehicle speed, the required braking torque is determined through the pre-set corresponding relationship between the vehicle speed and the braking torque.

[0093] Finally, the brake request carrying the required braking torque is sent to the drive motor control unit, and the drive motor control unit controls the drive motor to generate a corresponding braking torque based on the braking torque, thereby achieving braking of the vehicle.

[0094] It should be noted that when the vehicle speed is reduced to 0 kph (i.e., the vehicle is completely stopped) or the motor speed is less than or equal to 50 rpm, it indicates that the vehicle is in a relatively static or near-static state, and it is unnecessary to continue to execute the motor braking strategy, and even unnecessary wear and tear on the motor and other components can occur. Therefore, when these conditions are met, the motor braking strategy is automatically exited, and the vehicle enters a normal static state, waiting for subsequent possible operations, such as restarting, fault repair, and the like.

[0095] The above-mentioned embodiments of the present application effectively prevent the vehicle from accelerating out of control due to signal errors by limiting the motor torque in the case of signal failure, thereby reducing the safety risk. In addition, the braking torque is dynamically determined according to the vehicle speed and the motor speed, which can adapt to the braking demand under different driving conditions. When the vehicle is driving at high speed and has a large kinetic energy, sufficient braking torque is provided to ensure that the vehicle can quickly decelerate, thereby improving the effectiveness and adaptability of braking.

[0096] In an optional embodiment of the present application, when the failure type is a mechanical failure type, a brake request is sent to the drive motor control unit according to the failure type and the vehicle driving parameter, comprising:

[0097] According to the vehicle driving parameter, a mechanical failure level is determined;

[0098] According to the mechanical failure level, a target speed limit is determined;

[0099] When the current vehicle speed is greater than the target speed limit, a required braking torque corresponding to the current vehicle speed is determined;

[0100] The brake request carrying the required braking torque is sent to the drive motor control unit.

[0101] In the specific implementation process, when the failure type is a mechanical failure type, the severity of the mechanical failure is determined according to the driving parameter of the vehicle, and different levels are divided, i.e., the mechanical failure level is determined.

[0102] For different mechanical failure levels, a corresponding target speed limit is set. When the mechanical failure level is a first level, the target speed limit is determined to be a first vehicle speed; when the mechanical failure level is a second level, the target speed limit is determined to be a second vehicle speed, and the first vehicle speed is greater than the second vehicle speed. The setting of the target speed limit can reduce the risk of accidents by limiting the vehicle speed in the case of mechanical failure of the brake pedal, so that the vehicle can drive in a relatively safe speed range for subsequent processing or repair.

[0103] When the current vehicle speed exceeds the target speed limit, it indicates that the vehicle needs to be decelerated to reach the target speed limit. At this time, according to the current vehicle speed, the required braking torque is determined through the corresponding relationship between the vehicle speed and the braking torque.

[0104] The braking request carrying the required braking torque is sent to the drive motor control unit, and the drive motor control unit controls the drive motor to generate a braking torque based on this, so that the vehicle is decelerated to the target speed limit.

[0105] The above-mentioned embodiments of the present application realize the hierarchical processing of mechanical failure by determining the mechanical failure level and the corresponding target speed limit. Different speed limits and braking strategies can be adopted for mechanical failures of different severity, making the braking control more flexible, and also reducing the risk of accidents caused by high-speed driving and insufficient braking force, and improving the driving safety.

[0106] In an optional embodiment of the present application, determining the required braking torque corresponding to the current vehicle speed comprises:

[0107] Obtaining the corresponding relationship between the vehicle speed and the braking torque;

[0108] According to the corresponding relationship and the current vehicle speed, the required braking torque corresponding to the current vehicle speed is determined.

[0109] Specifically, the corresponding relationship between the vehicle speed and the braking torque can be pre-stored, for example, during the development of the vehicle, the braking torque required to achieve the expected deceleration effect at different vehicle speeds is determined, and these data are stored in the vehicle control unit in the form of a table or other form.

[0110] When the braking torque needs to be determined, the corresponding required braking torque is queried according to the current vehicle speed. For example, if the current vehicle speed is high, a larger braking torque is required according to the corresponding relationship to make the vehicle decelerate within a reasonable time; if the vehicle speed is low, the required braking torque is relatively small.

[0111] The above-mentioned embodiments of the present application can accurately determine the required braking torque at different vehicle speeds based on the accurate corresponding relationship between the vehicle speed and the braking torque, so that the braking process is more stable and effective, and problems such as vehicle instability or excessive braking distance caused by excessive or insufficient braking torque are avoided.

[0112] In an optional embodiment of the present application, the mechanical failure level is determined according to the vehicle driving parameter, comprising:

[0113] A first threshold value and a second threshold value corresponding to the first deceleration are determined; wherein the second threshold value is greater than the first threshold value;

[0114] determining the mechanical failure level as a first level when both the first deceleration difference and the second deceleration difference are greater than the first threshold value;

[0115] determining the mechanical failure level as a second level when both the first deceleration difference and the second deceleration difference are greater than the second threshold value.

[0116] In the implementation process, the two threshold values for determining the mechanical failure level are determined according to the performance of the vehicle, design requirements and a large amount of test data. The first threshold value and the second threshold value correspond to different degrees of brake performance decline, and the second threshold value represents a more serious brake failure. Different first decelerations correspond to different first threshold values and second threshold values.

[0117] When the calculated first deceleration difference and second deceleration difference both exceed the first threshold value, it indicates that the brake system has a certain degree of mechanical failure, but it is relatively light, and the mechanical failure level is determined as the first level.

[0118] When the calculated first deceleration difference and second deceleration difference both exceed the second threshold value, it indicates that the mechanical failure of the brake system is relatively serious, and the brake performance is greatly reduced, and the mechanical failure level is determined as the second level.

[0119] The above-mentioned embodiments of the present application divide the mechanical failure level by setting clear threshold values, and realize the quantitative evaluation of the mechanical failure situation.

[0120] In an optional embodiment of the present application, according to the mechanical failure level, a target speed limit is determined, comprising:

[0121] when the mechanical failure level is the first level, the target speed limit is determined as a first vehicle speed;

[0122] when the mechanical failure level is the second level, the target speed limit is determined as a second vehicle speed;

[0123] wherein the first vehicle speed is greater than the second vehicle speed.

[0124] Specifically, when the mechanical failure level is the first level, a relatively high target speed limit, i.e. the first vehicle speed, is set according to the safety and maneuverability requirements of the vehicle. This speed can not only ensure that the vehicle can still travel a certain distance relatively safely in the case of partial failure of the brake pedal, but also provide a certain operation space for the driver, such as finding a safe parking place or waiting for rescue.

[0125] When the mechanical failure level is the second level, a lower target speed limit, i.e., a second vehicle speed, is set due to more serious brake system failure. The lower target speed limit can reduce the speed of the vehicle more quickly, reduce the risk of accidents caused by insufficient braking, and ensure that the vehicle operates in a safer speed range. For example, the first vehicle speed can be set to 10 km / h, and the second vehicle speed can be set to 0 km / h.

[0126] The above embodiments of the present application set different target speed limits according to different mechanical failure levels, which can well adapt to the risk of brake system failure. When the brake system failure is light, a relatively loose speed limit is given, and when the failure is serious, the vehicle speed is strictly limited, thereby minimizing the possibility of accidents.

[0127] The above describes the brake control method provided by the embodiments of the present application, and the brake control device provided by the embodiments of the present application will be described below with reference to the accompanying drawings.

[0128] As shown in Figure 2 The embodiments of the present application also provide a brake control device, which comprises:

[0129] The detection module 201 is configured to detect the brake pedal during vehicle driving, and determine a failure type when detecting that the brake pedal fails; wherein the failure type comprises a signal failure type and a mechanical failure type.

[0130] The sending module 202 is configured to send a brake request to the drive motor control unit according to the failure type and a vehicle driving parameter, so that the drive motor control unit controls the drive motor to brake the vehicle.

[0131] Optionally, the determination module comprises:

[0132] The first detection sub-module is configured to detect the brake pedal control signal.

[0133] The first determination sub-module is configured to determine that the failure type is the signal failure type when the brake pedal control signal is abnormal.

[0134] The first acquisition sub-module is configured to acquire a vehicle driving parameter when the brake pedal control signal is not abnormal and the brake pedal control signal indicates that the brake pedal is depressed, the vehicle driving parameter comprising: a first deceleration calculated by a chassis brake controller based on a brake pedal stroke signal, a current vehicle speed, and a current motor speed.

[0135] The first calculation sub-module is configured to calculate a second deceleration based on the current vehicle speed.

[0136] The second calculation sub-module is configured to calculate a third deceleration based on the current motor speed.

[0137] a third determining sub-module, configured to determine a first deceleration difference by subtracting the second deceleration from the first deceleration;

[0138] a fourth determining sub-module, configured to determine a second deceleration difference by subtracting the third deceleration from the first deceleration;

[0139] a fifth determining sub-module, configured to determine that the failure type is the mechanical failure type when both the first deceleration difference and the second deceleration difference are greater than zero.

[0140] Optionally, when the failure type is the signal failure type, the sending module comprises:

[0141] a first sending sub-module, configured to send first indication information indicating that the signal failure of the brake pedal occurs to the drive motor control unit; wherein the drive motor control unit limits the maximum available torque for driving the vehicle to run based on the first indication information; wherein the maximum available positive torque is limited when the vehicle runs forward, and the maximum available negative torque is limited when the vehicle runs in reverse;

[0142] a second acquiring sub-module, configured to acquire a current vehicle speed and a current motor speed in the vehicle running parameter;

[0143] a sixth determining sub-module, configured to determine a demand brake torque corresponding to the current vehicle speed when the current vehicle speed is greater than a preset vehicle speed threshold and the motor speed is greater than a preset speed threshold;

[0144] a second sending sub-module, configured to send a brake request carrying the demand brake torque to the drive motor control unit.

[0145] Optionally, when the failure type is the mechanical failure type, the sending module comprises:

[0146] a seventh determining sub-module, configured to determine a mechanical failure level according to the vehicle running parameter;

[0147] an eighth determining sub-module, configured to determine a target speed limit according to the mechanical failure level;

[0148] a ninth determining sub-module, configured to determine a demand brake torque corresponding to the current vehicle speed when the current vehicle speed is greater than the target speed limit;

[0149] a third sending sub-module, configured to send a brake request carrying the demand brake torque to the drive motor control unit.

[0150] Optionally, the sixth determining sub-module and the ninth determining sub-module both comprise:

[0151] The acquisition unit is configured to acquire a correspondence between a vehicle speed and a braking torque;

[0152] The first determination unit is configured to determine a required braking torque corresponding to the current vehicle speed according to the correspondence and the current vehicle speed.

[0153] Optionally, the seventh determination sub-module comprises:

[0154] The second determination unit is configured to determine a first threshold value and a second threshold value corresponding to the first deceleration; the second threshold value is greater than the first threshold value.

[0155] The third determination unit is configured to determine that the mechanical failure level is a first level when the first deceleration difference and the second deceleration difference are both greater than the first threshold value.

[0156] The fourth determination unit is configured to determine that the mechanical failure level is a second level when the first deceleration difference and the second deceleration difference are both greater than the second threshold value.

[0157] Optionally, the eighth determination sub-module comprises:

[0158] The fifth determination unit is configured to determine that the target speed limit is a first vehicle speed when the mechanical failure level is the first level.

[0159] The sixth determination unit is configured to determine that the target speed limit is a second vehicle speed when the mechanical failure level is the second level.

[0160] The first vehicle speed is greater than the second vehicle speed.

[0161] The brake control device provided in the application can detect the state of the brake pedal in real time when the vehicle is running, and send a braking request to the drive motor control unit according to the failure type and the vehicle running parameter once the brake pedal failure is detected, so that the drive motor can intervene in braking the vehicle in time when the brake pedal fails, and the braking control is more accurate and effective by distinguishing the failure type and formulating a braking strategy in combination with the vehicle running parameter, so that the vehicle is prevented from losing control due to brake failure, and the driving safety is improved.

[0162] For the device embodiment, the description is relatively simple because it is basically similar to the method embodiment, and the related parts can be referred to the part of the method embodiment.

[0163] The electronic device provided in the application embodiment comprises a processor, a memory, and a computer program stored in the memory and executable on the processor. The computer program is executed by the processor to implement each process of the above brake control method embodiment and achieve the same technical effects. To avoid repetition, no further description is given here.

[0164] For example, Figure 3 An entity structure diagram of an electronic device is shown. As Figure 3 As shown, the electronic device can include a processor 310, a communications interface 320, a memory 330, and a communications bus 340, wherein the processor 310, the communications interface 320, and the memory 330 complete communications with each other through the communications bus 340. The processor 310 can invoke a logical instruction in the memory 330, and the processor 310 is configured to perform the following steps: detecting a brake pedal during vehicle driving, and determining a failure type when the brake pedal is detected to fail; wherein the failure type includes a signal failure type and a mechanical failure type; and sending a brake request to a drive motor control unit according to the failure type and a vehicle driving parameter, so that the drive motor control unit controls a drive motor to brake the vehicle. The processor 310 can also perform other solutions in the embodiments of the present application, which will not be further elaborated here.

[0165] In addition, the logical instruction in the memory 330 described above can be implemented in the form of a software function unit and sold or used as an independent product when used, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in the embodiments of the present application.

[0166] The embodiments of the present application also provide a computer readable storage medium, and the computer readable storage medium stores a computer program. The computer program is executed by a processor to implement each process of the above brake control method embodiments, and the same technical effects can be achieved. To avoid repetition, this will not be described here. The computer readable storage medium is, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0167] It should be noted that, in the present document, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises... a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0168] Those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by means of software and necessary general hardware platform, of course, it can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, or optical disc) and includes a plurality of instructions for causing a terminal (which can be a mobile phone, computer, server, air conditioner, or network device) to execute the methods described in various embodiments of the present application.

[0169] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific embodiments, which are only illustrative and not restrictive. Those skilled in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the protection scope of the claims.

[0170] Those skilled in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in the present application can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solutions. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0171] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be described here.

[0172] In the embodiments of the present application, it should be understood that the disclosed apparatus and method can be implemented in other manners. For example, the embodiments of the apparatus described above are merely schematic, and the division of the units is merely logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0173] The units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments.

[0174] In addition, each functional unit in the embodiments of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit.

[0175] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that make contributions to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes various media that can store program codes, such as U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk, etc.

[0176] The above describes only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application.

Claims

1. A brake control method characterized by, The method comprises: During vehicle driving, the brake pedal is detected, and when the brake pedal is detected to be invalid, the invalid type is determined; wherein the invalid type comprises a signal invalid type and a mechanical invalid type; the detection of the brake pedal and the determination of the invalid type when the brake pedal is detected to be invalid comprises: detecting a brake pedal control signal; when the brake pedal control signal is abnormal, determining that the invalid type is a signal invalid type; when the brake pedal control signal is not abnormal and the brake pedal control signal indicates that the brake pedal is stepped on, obtaining vehicle driving parameters, the vehicle driving parameters comprising: a first deceleration calculated by a chassis brake controller based on a brake pedal stroke signal, a current vehicle speed, and a current motor speed; calculating a second deceleration based on the current vehicle speed; calculating a third deceleration based on the current motor speed; determining a first deceleration difference as a difference between the first deceleration and the second deceleration; determining a second deceleration difference as a difference between the first deceleration and the third deceleration; when the first deceleration difference and the second deceleration difference are both greater than zero, determining that the invalid type is a mechanical invalid type; sending a brake request to a drive motor control unit according to the invalid type and the vehicle driving parameters, so that the drive motor control unit controls the drive motor to brake the vehicle.

2. The brake control method according to claim 1, characterized by, When the invalid type is the signal invalid type, sending a brake request to a drive motor control unit according to the invalid type and the vehicle driving parameters comprises: sending first indication information indicating that the brake pedal has signal invalidity to the drive motor control unit; wherein the drive motor control unit limits the maximum available torque for driving the vehicle based on the first indication information; wherein the maximum available positive torque is limited when the vehicle is driving forward, and the maximum available negative torque is limited when the vehicle is driving backward; obtaining the current vehicle speed and the current motor speed in the vehicle driving parameters; when the current vehicle speed is greater than a preset vehicle speed threshold and the motor speed is greater than a preset speed threshold, determining a required brake torque corresponding to the current vehicle speed; sending a brake request carrying the required brake torque to the drive motor control unit.

3. The brake control method according to claim 1, characterized by, When the invalid type is a mechanical invalid type, sending a brake request to a drive motor control unit according to the invalid type and the vehicle driving parameters comprises: determining a mechanical invalid level according to the vehicle driving parameters; determining a target speed limit according to the mechanical invalid level; when the current vehicle speed is greater than the target speed limit, determining a required brake torque corresponding to the current vehicle speed; sending a brake request carrying the required brake torque to the drive motor control unit.

4. The brake control method according to claim 2 or 3, characterized by, Determining a required brake torque corresponding to the current vehicle speed comprises: obtaining a correspondence between vehicle speed and brake torque; determining a required brake torque corresponding to the current vehicle speed according to the correspondence and the current vehicle speed.

5. The brake control method according to claim 3, characterized by, Determining a mechanical invalid level according to the vehicle driving parameters comprises: determining a first threshold value and a second threshold value corresponding to the first deceleration; wherein the second threshold value is greater than the first threshold value; when both the first deceleration difference and the second deceleration difference are greater than the first threshold value, determining that the mechanical failure level is a first level; when both the first deceleration difference and the second deceleration difference are greater than the second threshold value, determining that the mechanical failure level is a second level.

6. The brake control method according to claim 5, characterized by, determining a target speed limit according to the mechanical failure level, including: when the mechanical failure level is the first level, determining that the target speed limit is a first vehicle speed; when the mechanical failure level is the second level, determining that the target speed limit is a second vehicle speed; wherein the first vehicle speed is greater than the second vehicle speed.

7. A brake control device employing the brake control method according to any one of claims 1 to 6, characterized by including: a detection module, configured to detect a brake pedal during vehicle driving, and determine a failure type when the brake pedal is detected to be failed; wherein the failure type includes a signal failure type and a mechanical failure type; the detection of the brake pedal and the determination of the failure type when the brake pedal is detected to be failed include: detecting a brake pedal control signal; when the brake pedal control signal is abnormal, determining that the failure type is the signal failure type; when the brake pedal control signal is not abnormal and the brake pedal control signal indicates that the brake pedal is stepped on, obtaining vehicle driving parameters, including: a first deceleration calculated by a chassis brake controller based on a brake pedal stroke signal, a current vehicle speed, and a current motor speed; calculating a second deceleration based on the current vehicle speed; calculating a third deceleration based on the current motor speed; determining a first deceleration difference as a difference between the first deceleration and the second deceleration; determining a second deceleration difference as a difference between the first deceleration and the third deceleration; when both the first deceleration difference and the second deceleration difference are greater than zero, determining that the failure type is the mechanical failure type; a sending module, configured to send a brake request to a drive motor control unit according to the failure type and the vehicle driving parameters, so that the drive motor control unit controls a drive motor to brake the vehicle.

8. An electronic device, comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor, and the computer program is executed by the processor to implement the brake control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the brake control method according to any one of claims 1 to 6.

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