Brake control method and device, electronic control unit, system, automobile and medium

Abstract

The invention discloses a brake control method and device, an electronic control unit, a system, an automobile and a medium. The method comprises the steps that pedal induction data corresponding to a brake pedal are obtained, the pedal induction data comprise first induction data, and the first induction data comprise two original digital signals; and controlling a brake execution unit to execute brake operation based on the two original digital signals. According to the method, braking operation can be carried out based on the effective digital signals which are small in loss and high in precision in the transmission process, the braking control precision can be guaranteed, and driving safety signals are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle brake control, and in particular to a brake control method, device, electronic control unit, system, automobile and medium. Background Art

[0002] The electro-hydraulic brake assembly generally includes a brake master cylinder, a master cylinder piston disposed on the brake master cylinder, and a brake actuator connected to the brake master cylinder through a brake fluid transmission mechanism. The master cylinder piston is connected to the brake pedal. In order to achieve precise control of the electro-hydraulic brake assembly, a matching brake control assembly is required. The brake control assembly includes an electronic control unit and a sensing unit connected to the electronic control unit; the sensing unit is used to sense the sensing data corresponding to the change in the depth of the brake pedal when the brake pedal is stepped on, and send the sensing data to the electronic control unit; the electronic control unit processes the sensing data to control the brake actuator unit to perform the braking operation.

[0003] Existing sensing units generally use analog signals to transmit sensing data. During the analog signal transmission process, it is easily affected by noise and distortion, resulting in large losses in the analog signal transmission process. The electronic control unit cannot receive more accurate sensing data, thereby affecting the braking control accuracy, causing braking operation to lag and affecting driving safety. Summary of the invention

[0004] The embodiments of the present invention provide a braking control method, device, electronic control unit, system, automobile and medium to solve the problem that the loss in the existing inductive data transmission process is large and affects the braking control accuracy.

[0005] A braking control method, comprising:

[0006] Acquire pedal sensing data corresponding to a brake pedal, wherein the pedal sensing data includes first sensing data, and the first sensing data includes two original digital signals;

[0007] Based on the two original digital signals, the brake execution unit is controlled to execute a brake operation.

[0008] Preferably, the first sensing data includes two original digital signals determined based on the electromagnetic intensity signal.

[0009] Preferably, controlling the brake execution unit to execute the brake operation based on the two original digital signals comprises:

[0010] Verifying the two original digital signals to determine a valid digital signal;

[0011] Based on the effective digital signal, the brake actuating unit is controlled to perform a braking operation.

[0012] Preferably, the checking of the two original digital signals to determine a valid digital signal includes:

[0013] Based on the pedal sensing data, determining a target indicator corresponding to the pedal sensing data;

[0014] Based on the target indicator, the two original digital signals are verified to determine a valid digital signal.

[0015] Preferably, the first sensing data includes two original digital signals determined based on the electromagnetic intensity signal and the target magnetic field angle;

[0016] The step of determining a target indicator corresponding to the pedal sensing data based on the pedal sensing data includes:

[0017] Based on the target magnetic field angle, a target indicator corresponding to the target magnetic field angle is determined.

[0018] Preferably, the pedal sensing data further includes second sensing data;

[0019] The step of determining a target indicator corresponding to the pedal sensing data based on the pedal sensing data includes:

[0020] determining a measured displacement corresponding to the brake pedal based on the second sensing data;

[0021] Based on the measured displacement, a target indicator corresponding to the measured displacement is determined.

[0022] Preferably, the second sensing data includes the measured acceleration corresponding to the brake pedal or the master cylinder piston, and the master cylinder piston is connected to the brake pedal;

[0023] The determining, based on the second sensing data, a measured displacement corresponding to the brake pedal comprises:

[0024] Based on the measured acceleration, a measured displacement corresponding to the brake pedal is determined.

[0025] Preferably, the second sensing data includes a measured pressure corresponding to a brake master cylinder, the brake master cylinder being connected to the brake pedal via a master cylinder piston;

[0026] The determining, based on the second sensing data, a measured displacement corresponding to the brake pedal comprises:

[0027] Based on the measured pressure, a measured displacement corresponding to the brake pedal is determined.

[0028] Preferably, the verifying the two original digital signals based on the target indicator to determine a valid digital signal includes:

[0029] Based on the target indicator, determining a calibration digital signal corresponding to the target indicator;

[0030] Based on the calibrated digital signal, the two original digital signals are verified to determine a valid digital signal.

[0031] Preferably, the verifying the two original digital signals based on the calibrated digital signal to determine a valid digital signal includes:

[0032] Performing difference processing on the calibrated digital signal and each of the original digital signals to determine a first signal difference absolute value corresponding to each of the original digital signals;

[0033] The original digital signal with the smaller absolute value of the first signal difference is determined as a valid digital signal.

[0034] Preferably, the verifying the two original digital signals based on the target indicator to determine a valid digital signal includes:

[0035] Based on the target indicator, determining a target signal range corresponding to the target indicator;

[0036] Based on the target signal range, the two original digital signals are verified to determine a valid digital signal.

[0037] Preferably, determining the target signal range corresponding to the target indicator based on the target indicator includes:

[0038] Based on the target indicator, determining a calibration digital signal corresponding to the target indicator;

[0039] Based on the calibrated digital signal and the target coefficient, a target signal range corresponding to the target indicator is determined.

[0040] Preferably, the verifying the two original digital signals based on the target signal range to determine a valid digital signal includes:

[0041] comparing the two original digital signals with the target signal range;

[0042] If both of the two original digital signals are within the target signal range, weighted processing is performed on the two original digital signals to determine a valid digital signal;

[0043] If both of the two original digital signals are outside the target signal range, determining a valid digital signal based on the two original digital signals and the target signal range;

[0044] If one of the original digital signals is within the target signal range and the other original digital signal is outside the target signal range, the original digital signal within the target signal range is determined as a valid digital signal.

[0045] Preferably, the target signal range includes a signal upper threshold and a signal lower threshold;

[0046] The determining of the effective digital signal based on the two original digital signals and the target signal range comprises:

[0047] Comparing the original digital signal with the signal upper threshold and the signal lower threshold;

[0048] If the original digital signal is greater than the signal upper threshold, performing difference processing on the signal upper threshold and the original digital signal to determine a second signal difference absolute value corresponding to the original digital signal;

[0049] If the original digital signal is less than the signal lower limit threshold, performing difference processing on the signal lower limit threshold and the original digital signal to determine a second signal difference absolute value corresponding to the original digital signal;

[0050] The original digital signal with the smaller absolute value of the second signal difference is determined as a valid digital signal.

[0051] An electronic control unit comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned braking control method when executing the computer program.

[0052] A brake control assembly, comprising a sensing unit and the above-mentioned electronic control unit;

[0053] The sensing unit is used to collect pedal sensing data corresponding to the brake pedal and send the pedal sensing data to the electronic control unit, wherein the pedal sensing data includes first sensing data, and the first sensing data includes two original digital signals;

[0054] The electronic control unit is connected to the sensing unit and is used to control the brake execution unit to execute a braking operation based on the two original digital signals.

[0055] Preferably, the sensing unit comprises an electromagnetic sensor for collecting an electromagnetic intensity signal, determining two original digital signals based on the electromagnetic intensity signal, and sending the two original digital signals to the electronic control unit.

[0056] Preferably, the electromagnetic sensor is further used to determine the target magnetic field angle based on the electromagnetic intensity signal, and send the two original digital signals and the target magnetic field angle to the electronic control unit;

[0057] The electronic control unit is also used to determine the target index corresponding to the target magnetic field angle based on the target magnetic field angle; based on the target index, verify the two original digital signals to determine the valid digital signal; and based on the valid digital signal, control the braking execution unit to perform the braking operation.

[0058] Preferably, the sensing unit further includes an acceleration sensor;

[0059] The acceleration sensor is used to collect the measured acceleration corresponding to the brake pedal or the master cylinder piston and send the measured acceleration to the electronic control unit, and the master cylinder piston is connected to the brake pedal;

[0060] The electronic control unit is used to determine the measured displacement corresponding to the brake pedal based on the measured acceleration; determine the target indicator corresponding to the measured displacement based on the measured displacement; verify the two original digital signals based on the target indicator to determine a valid digital signal; and control the brake execution unit to perform a braking operation based on the valid digital signal.

[0061] Preferably, the sensing unit further comprises a pressure sensor;

[0062] The pressure sensor is used to collect the measured pressure corresponding to the brake master cylinder and send the measured pressure to the electronic control unit. The brake master cylinder is connected to the brake pedal through the master cylinder piston.

[0063] The electronic control unit is used to determine the measured displacement corresponding to the brake pedal based on the measured pressure; determine the target indicator corresponding to the measured displacement based on the measured displacement; verify the two original digital signals based on the target indicator to determine the valid digital signal; and control the brake execution unit to perform the braking operation based on the valid digital signal.

[0064] An automobile comprises an electro-hydraulic brake assembly and the above-mentioned brake control assembly, wherein the electro-hydraulic brake assembly is connected to a brake pedal;

[0065] The brake control assembly is connected to the electro-hydraulic brake assembly and is used to control the electro-hydraulic brake assembly to perform a braking operation.

[0066] A computer-readable storage medium stores a computer program, and the computer program implements the above-mentioned braking control method when executed by a processor.

[0067] The above-mentioned brake control method, device, electronic control unit, system, automobile and medium obtain pedal sensing data including two original digital signals. Due to the digital signal transmission process, it is less affected by noise and distortion, so that the loss of the original digital signal received by the ECU is small, and it can be determined that the loss of the effective digital signal is small, which can affect the loss of the signal transmission process and affect its braking control accuracy, thereby ensuring driving safety. Based on the two original digital signals, the brake execution unit is controlled to perform the braking operation to ensure the braking control accuracy, thereby ensuring driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0069] Figure 1 is a flow chart of a braking control method in one embodiment of the present invention;

[0070] Figure 2 yes Figure 1 A flow chart of step S102;

[0071] Figure 3 yes Figure 2 A flow chart of step S201;

[0072] Figure 4 yes Figure 3 A flow chart of step S301;

[0073] Figure 5 yes Figure 3 A flow chart of step S302;

[0074] Figure 6 yes Figure 5 A flow chart of step S501;

[0075] Figure 7 yes Figure 3 Another flow chart of step S302;

[0076] Figure 8 yes Figure 7 A flow chart of step S701;

[0077] Fig. 9 yes Figure 7 A flow chart of step S702;

[0078] Fig.10 yes Fig. 9 A flow chart of step S903 in FIG. DETAILED DESCRIPTION

[0079] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0080] The embodiment of the present invention provides a brake control method, which is described by taking the method applied to a brake control assembly as an example, wherein the brake control assembly is connected to an electro-hydraulic brake assembly. The electro-hydraulic brake assembly generally includes a brake master cylinder, a master cylinder piston disposed on the brake master cylinder, and a brake execution unit connected to the brake master cylinder through a brake fluid transmission mechanism, wherein the master cylinder piston is connected to a brake pedal. The brake control assembly includes an electronic control unit (hereinafter referred to as ECU) and a sensing unit. The sensing unit is used to sense when the brake pedal is stepped on, obtain pedal sensing data corresponding to the brake pedal, and send the pedal sensing data to the ECU. The pedal sensing data may only include two original digital signals determined based on the first sensing data, or may include two original digital signals and the first sensing data, or may include two original digital signals and the second sensing data. The ECU is connected to the sensing unit and the brake execution unit, and may directly control the brake execution unit to perform a braking operation based on the two original digital signals. The two original digital signals may also be verified based on the first sensing data, or the two original digital signals may be verified based on the second sensing data, and a valid digital signal with higher accuracy may be determined from the two original digital signals, and a braking operation may be performed based on the valid digital signal to ensure the braking control accuracy, avoid safety accidents caused by delayed braking operation, and thus ensure driving safety. The first sensing data and the second sensing data here are sensing data collected by two different sensors, wherein the first sensing data is sensing data that can be converted and processed to determine the two original digital signals, and the second sensing data is sensing data used to verify the two original digital signals.

[0081] In one embodiment, if Figure 1 As shown, a braking control method is provided, which is described by taking the application of the method in an electronic control unit as an example, and includes the following steps:

[0082] S101: Acquire pedal sensing data corresponding to a brake pedal, where the pedal sensing data includes first sensing data, and the first sensing data includes two original digital signals;

[0083] S102: Based on the two original digital signals, control the brake execution unit to execute a braking operation.

[0084] The pedal sensing data is sensing data received by the ECU to reflect the change in brake pedal depth, specifically sensing data sent by the sensing unit to the ECU. The first sensing data is sensing data collected by a sensor in the sensing unit to reflect the change in brake pedal depth, and the first sensing data is sensing data that can be converted and processed to determine two original digital signals. The original digital signal is a digital signal determined by converting the first sensing data.

[0085] As an example, in step S101, the ECU is connected to a sensing unit, which can be set on the brake pedal, or on the master cylinder piston connected to the brake pedal, or in the brake master cylinder corresponding to the master cylinder piston, for collecting first sensing data reflecting the change in the depth of the brake pedal. The sensing unit can convert and process the first sensing data, determine two original digital signals, and output the two original digital signals as pedal sensing data to the ECU, so that the pedal sensing data acquired by the ECU includes the first sensing data, and the first sensing data includes two original digital signals. Since the brake pedal is connected to the master cylinder piston, the change in the pedal depth of the brake pedal will cause the master cylinder piston to move accordingly. Therefore, the first sensing data can be a direct sensing of the change in the pedal depth of the brake pedal, or it can be an indirect sensing of the change in the pedal depth of the brake pedal by sensing the change in the displacement of the master cylinder piston.

[0086] As an example, in step S102, after acquiring two original digital signals determined based on the first sensing data, the ECU performs redundant processing or fusion processing based on the two original digital signals, and controls the brake execution unit to execute the braking operation.

[0087] The redundant processing here refers to determining a valid digital signal and a redundant digital signal from two original digital signals, and controlling the brake execution unit to execute the braking operation only based on the valid digital signal.

[0088] The fusion processing here means that a target control signal needs to be determined based on two original digital signals, and then the brake execution unit is controlled to perform a braking operation based on the target control signal. For example, a table lookup or other processing can be performed based on each original digital signal to determine the original PWM signal corresponding to each original digital signal, and then the two original PWM signals are weighted or otherwise processed to determine the target PWM signal, and then the brake execution unit is controlled to perform a braking operation based on the target PWM signal. It is also possible to first perform mathematical operations based on the two original digital signals to determine a total target digital signal, and then look up a table or other processing based on the total target digital signal to determine the target PWM signal, and then control the brake execution unit to perform a braking operation based on the target PWM signal.

[0089] In this embodiment, two original digital signals are obtained based on the first sensing data corresponding to the brake pedal. Since the digital signal transmission process is less affected by noise and distortion, the loss of the original digital signal received by the ECU is small, and the loss of the effective digital signal can be determined to be small. The loss in the signal transmission process can affect the braking control accuracy, thereby ensuring driving safety. Based on the two original digital signals, the brake execution unit is controlled to perform the braking operation to ensure the braking control accuracy, thereby ensuring driving safety.

[0090] In one embodiment, the first sensing data includes two original digital signals determined based on the electromagnetic intensity signal.

[0091] Among them, the electromagnetic strength signal is the electromagnetic strength signal of the brake pedal collected by the electromagnetic sensor in real time. The electromagnetic sensor here can be set on the brake pedal, or on the master cylinder piston connected to the brake pedal, or on the brake master cylinder corresponding to the master cylinder piston.

[0092] As an example, the sensing unit connected to the ECU may include an electromagnetic sensor, which includes a signal generator and a sensing element. A permanent magnet is provided in the signal generator. The signal generator may be set on a brake pedal, a master cylinder piston, or a brake master cylinder, so that the signal generator generates a magnetic field change as the brake pedal, the master cylinder piston, or the brake master cylinder moves, and the sensing element may sense an electromagnetic intensity signal as the first sensing data. After collecting the electromagnetic intensity signal, the sensing unit may convert the electromagnetic intensity signal to obtain two original digital signals determined based on the electromagnetic intensity signal.

[0093] In this example, the electromagnetic sensor connected to the ECU is generally detected based on the Hall effect. During the detection process, the front end of the Hall chip, a sensing element, detects an analog signal, an electromagnetic intensity signal, which is used to reflect the displacement change of the brake pedal, the master cylinder piston, or the brake master cylinder. Since the analog signal is more susceptible to noise and distortion during the transmission process, the loss is large. If the electromagnetic intensity signal is directly sent to the ECU, the loss of the electromagnetic intensity signal received by the ECU is large. In order to avoid this situation, after the sensing unit detects the first sensing data of the electromagnetic intensity signal, it can be converted and processed to determine two original digital signals, and then the two original digital signals are determined as pedal sensing data and output to the ECU. In this example, by converting the analog signal into a digital signal for transmission, the loss and distortion in the signal transmission process can be reduced, thereby ensuring the accuracy of the original digital signal received by the ECU.

[0094] In this example, the induction element processes the electromagnetic intensity signal corresponding to the displacement change of the master cylinder piston, and the specific processing process of determining the target magnetic field angle and the two original digital signals is as follows:

[0095] First, the sensing element can obtain the electromagnetic intensity signal sensed by the front end, which includes electromagnetic components in three directions (Bx / By / Bz) and the original analog signal (Vx / Vy / Vz) corresponding to each electromagnetic component (Bx / By / Bz). Then, the sensing element performs analog compensation operations such as signal amplification and noise reduction on the original analog signal (Vx1 / Vy1 / Vz1) to obtain the processed target analog signal (Vx2 / Vy2 / Vz2).

[0096] Then, the sensing element can be verified based on the target analog signals in any two directions to determine the target magnetic field angles corresponding to the two directions. For example, the function α=∠(V1, k·V2) is used for calculation to determine the corresponding target magnetic field angle α, ∠(V1, V2) is a function used to determine the corresponding target magnetic field angle according to the two target analog signals V1 and V2; V1 and V2 are the target analog signals of the two dimensions of the input, for example, when V1 is Vx2, its V2 can be Vy2 and Vz2; when V1 is Vy2, its V2 can be Vx2 and Vz2; when V1 is Vz2, its V2 can be Vx2 and Vy2, and k is a preset factor, which is a factor that can be determined independently according to the actual situation, and is used to match the amplitude between two target analog signals of different dimensions.

[0097] Finally, the sensing element can determine the two original digital signals corresponding to the target magnetic field angle based on the target magnetic field angle α. For example, a pre-set data table for reflecting the mapping relationship between the magnetic field angle and its corresponding digital signal can be queried based on the target magnetic field angle to determine the two corresponding original digital signals; or, the target magnetic field angle can be input into a mapping function of a pre-set mapping relationship between the magnetic field angle and its corresponding digital signal, and the two original digital signals can be determined based on its output result.

[0098] Furthermore, the electromagnetic sensor can also output two original digital signals and the electromagnetic intensity signal as pedal sensing data to the ECU, or output two original digital signals and a target magnetic field angle determined based on the electromagnetic intensity signal as pedal sensing data to the ECU. In addition to effectively reducing the loss and distortion in the signal transmission process, the two original digital signals can also be verified according to the target magnetic field angle determined based on the electromagnetic intensity signal, which can further eliminate the interference of loss and distortion in the signal transmission process.

[0099] In one embodiment, if Figure 2As shown, step S102, i.e., controlling the brake execution unit to execute the brake operation based on the two original digital signals, includes:

[0100] S201: Verify two original digital signals to determine a valid digital signal;

[0101] S202: Based on the effective digital signal, control the brake execution unit to execute a braking operation.

[0102] As an example, in step S201, after receiving the two original digital signals determined based on the first sensing data output by the sensing unit, the ECU may verify the two original digital signals according to the preset verification and screening conditions to distinguish the valid digital signal from the redundant digital signal. The verification and screening conditions here are pre-set conditions for distinguishing the valid digital signal from the redundant digital signal, where the valid digital signal is the original digital signal with higher accuracy of the two original digital signals, and the redundant digital signal is the original digital signal with lower accuracy of the two original digital signals.

[0103] As an example, in step S202, after determining a valid digital signal with high accuracy, the ECU may send the valid digital signal to the brake execution unit to control the brake execution unit to perform a braking operation. In this example, after determining the valid digital signal, the ECU may analyze the pedal depth corresponding to the brake pedal based on the valid digital signal, so that the brake execution unit performs a braking operation according to the pedal depth. For example, when the valid digital signal is a target PWM signal, a pre-set calibration table may be queried based on the target PWM signal to determine the pedal depth corresponding to the target PWM signal, and then the pedal depth may be input into a pre-established pressure building module for verification to output a braking control signal to control the brake execution unit to perform a braking operation. The brake execution unit here is a unit for performing a braking operation.

[0104] In this embodiment, by verifying the two original digital signals, a valid digital signal with higher accuracy is determined from the two original digital signals, and based on the valid digital signal, the brake execution unit is controlled to perform a braking operation to ensure the braking control accuracy and thus ensure driving safety; in the transmission process of the two original digital signals, since the digital signal transmission process is less affected by noise and distortion, the loss of the original digital signal received by the ECU is smaller, and it can be determined that the loss of the valid digital signal is smaller, and the loss that affects the signal transmission process affects its braking control accuracy, thereby ensuring driving safety.

[0105] In one embodiment, if Figure 3 As shown, step S201, that is, verifying two original digital signals to determine a valid digital signal, includes:

[0106] S301: Determine a target indicator corresponding to the pedal sensing data based on the pedal sensing data;

[0107] S302: Based on the target indicator, two original digital signals are verified to determine a valid digital signal.

[0108] As an example, in step S301, the ECU may determine a target indicator for evaluating the accuracy of a digital signal based on the pedal sensing data output by the sensing unit. The target indicator here is not a fixed value, but an evaluation indicator corresponding to the pedal sensing data. Different pedal sensing data has different corresponding target indicators. For example, a data table with a mapping relationship between sensing data and its corresponding evaluation indicators may be pre-stored. After the ECU receives the pedal sensing data, it may look up the table based on the pedal sensing data to quickly determine the target indicator corresponding to the pedal sensing data.

[0109] As an example, in step S302, after determining the target indicator, the ECU may verify the two original digital signals based on the target indicator to analyze and determine the accuracy of the two original digital signals; then, determine the original digital signal with higher accuracy as a valid digital signal, and determine the original digital signal with lower accuracy as a redundant digital signal.

[0110] In this example, the ECU can determine the target indicator for evaluating the accuracy based on the pedal sensing data; then compare the two original digital signals with the target indicator, and determine the valid digital signal and the redundant digital signal based on the comparison result, so as to verify the two original digital signals according to the pedal sensing data, so as to determine the valid digital signal with higher accuracy from the two original digital signals.

[0111] In one embodiment, the first sensing data includes two original digital signals determined based on the electromagnetic intensity signal and the target magnetic field angle;

[0112] Step S301, i.e., determining a target indicator corresponding to the pedal sensing data based on the pedal sensing data, includes:

[0113] Based on the target magnetic field angle, a target indicator corresponding to the target magnetic field angle is determined.

[0114] Among them, the electromagnetic intensity signal is the electromagnetic intensity signal of the brake pedal collected in real time by the electromagnetic sensor. The electromagnetic sensor here can be set on the brake pedal, or on the master cylinder piston connected to the brake pedal, or on the brake master cylinder corresponding to the master cylinder piston. The process of obtaining the electromagnetic intensity signal and the corresponding two original digital signals is as above, which will not be repeated here.

[0115] As an example, the electromagnetic sensor connected to the ECU is generally detected based on the Hall effect. During the detection process, the Hall chip, a sensing element, detects the electromagnetic intensity signal and converts the electromagnetic intensity signal to determine the target magnetic field angle and two original digital signals corresponding to the electromagnetic intensity signal. The target magnetic field angle and the two original digital signals are sent to the ECU as the first sensing data, so that the pedal sensing data received by the ECU contains the target magnetic field angle and the two original digital signals.

[0116] As an example, after obtaining the electromagnetic intensity signal determined based on the magnetic field intensity signal, the ECU can determine its corresponding target index based on the target magnetic field angle. For example, it can look up a table based on the target magnetic field angle and quickly determine the target index corresponding to the target magnetic field angle, so that the two original digital signals can be subsequently verified based on the target index to determine the valid digital signal and the redundant digital signal, thereby ensuring the accuracy of braking control based on the valid digital signal.

[0117] In this example, only one electromagnetic sensor is needed to perform electromagnetic detection and determine its electromagnetic intensity signal, and then a target magnetic field angle and two original digital signals can be determined based on the electromagnetic intensity signal, so that the target magnetic field angle can be used to perform redundancy check on the two original digital signals, which is low in cost. Generally speaking, the larger the target magnetic field angle, the greater the displacement of the master cylinder piston connected to the brake pedal along the axial direction of the brake master cylinder, and the greater the corresponding pedal depth change.

[0118] In one embodiment, if Figure 4 As shown, the pedal sensing data also includes second sensing data;

[0119] Step S301, i.e., determining a target indicator corresponding to the pedal sensing data based on the pedal sensing data, includes:

[0120] S401: determining a measured displacement corresponding to a brake pedal based on second sensing data;

[0121] S402: Based on the measured displacement, determine a target indicator corresponding to the measured displacement.

[0122] As an example, in step S401, the ECU is connected to the sensing unit and can receive the pedal sensing data output by the sensing unit. When the pedal sensing data includes the first sensing data, and the first sensing data includes two original digital signals and the second sensing data, the second sensing data can be processed to determine the measured displacement corresponding to the brake pedal. The measured displacement here is used to reflect the displacement formed by the movement of the brake pedal in the sensing cycle between the current moment and the previous moment. The measured displacement here can be determined based on the second sensing data collected by the sensing unit on the brake pedal, or it can be determined based on the second sensing data collected by the sensing unit on the master cylinder piston connected to the brake pedal. It can be understood that since the brake pedal is connected to the master cylinder piston, when the user steps on the brake pedal, the master cylinder piston will change with the change of the brake pedal. Therefore, the pedal depth change corresponding to the brake pedal can be determined by sensing the displacement change of the master cylinder piston. In this example, after obtaining the second sensing data, the ECU uses the conversion calculation formula between the sensing data and the displacement to calculate the second sensing data and determine the measured displacement corresponding to the brake pedal.

[0123] As an example, in step S402, after obtaining the measured displacement corresponding to the brake pedal, the ECU may determine the target index for evaluating the accuracy of the digital signal based on the measured displacement. For example, a data table with a mapping relationship between the displacement and its corresponding evaluation index may be pre-stored, and after the ECU determines the measured displacement corresponding to the brake pedal based on the second sensing data, the table may be looked up based on the measured displacement to quickly determine the target index corresponding to the measured displacement.

[0124] In one embodiment, the second sensing data includes a measured acceleration corresponding to a brake pedal or a master cylinder piston, the master cylinder piston being connected to the brake pedal;

[0125] Step S401, i.e. determining the measured displacement corresponding to the brake pedal based on the second sensing data, includes:

[0126] Based on the measured acceleration, the corresponding measured displacement of the brake pedal is determined.

[0127] As an example, the sensing unit connected to the ECU includes an acceleration sensor and an electromagnetic sensor. The acceleration sensor can be set on the brake pedal or the master cylinder piston to detect the measured acceleration corresponding to the measured acceleration, or detect the measured acceleration of the master cylinder piston during the movement of the brake pedal, so as to determine the change in the pedal depth of the brake pedal based on the change in the measured acceleration. The electromagnetic sensor includes a signal generator and a sensing element. The signal generator is provided with a permanent magnet. The signal generator can be set on the master cylinder piston so that the signal generator changes the magnetic field as the master cylinder piston moves. The sensing element can process the electromagnetic intensity signal to determine two original digital signals.

[0128] As an example, the ECU can receive the measured acceleration output by the acceleration sensor and the two original digital signals output by the electromagnetic sensor; the measured acceleration can be calculated based on S=a*T2 to determine the measured displacement corresponding to the brake pedal, where S is the measured displacement, a is the measured acceleration, and T is the induction period between the current moment and the previous moment; then, based on the measured displacement corresponding to the brake pedal, the target indicator corresponding to the measured displacement is determined by looking up a table or other means. In this example, the measured acceleration collected by the acceleration sensor is used to verify the two original digital signals output by the electromagnetic sensor. Since the measured acceleration and the original digital signal are detected based on different sensing units, their output results do not interfere with each other, which can ensure the accuracy of verifying the two original digital signals corresponding to another dimension based on the measured acceleration of one dimension.

[0129] In one embodiment, the second sensing data includes a measured pressure corresponding to a brake master cylinder, the brake master cylinder being connected to a brake pedal via a master cylinder piston;

[0130] Step S401, i.e. determining the measured displacement corresponding to the brake pedal based on the second sensing data, includes:

[0131] Based on the measured pressure, the corresponding measured displacement of the brake pedal is determined.

[0132] As an example, the sensing unit connected to the ECU includes a pressure sensor and an electromagnetic sensor. The pressure sensor can be set on the brake master cylinder, which is connected to the brake pedal through the master cylinder piston, and is used to detect the measured pressure of the brake master cylinder during the movement of the brake pedal, so as to determine the change in the pedal depth of the brake pedal based on the measured pressure change. The electromagnetic sensor includes a signal generator and a sensing element. The signal generator is provided with a permanent magnet. The signal generator can be set on the master cylinder piston so that the signal generator changes the magnetic field as the master cylinder piston moves. The sensing element can determine two original digital signals based on the sensed electromagnetic intensity signal.

[0133] As an example, the ECU can receive the measured pressure output by the pressure sensor and the two original digital signals output by the electromagnetic sensor; the measured pressure can be calculated in combination with the model, size and other information of the brake master cylinder to determine the measured displacement corresponding to the master cylinder piston; since there is a specific conversion relationship between the displacement of the master cylinder piston and the displacement of the corresponding brake pedal, the measured displacement corresponding to the brake pedal is determined according to the measured displacement corresponding to the master cylinder piston; then, based on the measured displacement corresponding to the brake pedal, the target indicator corresponding to the measured displacement is determined by looking up a table or other means. In this example, the measured pressure collected by the pressure sensor is used to verify the two original digital signals output by the electromagnetic sensor. Since the measured pressure and the original digital signal are detected based on different sensing units, their output results do not interfere with each other, which can ensure the accuracy of verifying the two original digital signals corresponding to another dimension based on the measured pressure of one dimension.

[0134] Generally speaking, in an electro-hydraulic brake assembly, a solenoid valve, a pump or other components are provided in the brake fluid transmission mechanism between the brake master cylinder and the brake actuator unit. Leakage of these components will cause the measured pressure detected by the pressure sensor to be unable to accurately reflect the change in the pedal depth of the brake pedal. Therefore, it is necessary to first perform fault detection on the electro-hydraulic brake assembly, specifically on its brake fluid transmission mechanism, and determine the fault detection result. When the fault detection result is no fault, the measured displacement corresponding to the master cylinder piston can be determined based on the measured pressure, and then the measured displacement corresponding to the brake pedal can be determined. Then, the corresponding target indicator is determined according to the measured displacement corresponding to the brake pedal, and then the two original digital signals are verified using the target indicator to determine the valid digital signal, so as to avoid brake fluid leakage in the brake fluid transmission mechanism, which affects the accuracy of brake control using the measured pressure.

[0135] Generally speaking, during the operation of the electro-hydraulic brake assembly, when the brake pedal is stepped on or released, there will be a reflux of brake fluid. When the electro-hydraulic brake assembly is in a low-temperature condition, this reflux will be delayed, causing the measured pressure detected by the pressure sensor to be unable to accurately reflect the change in the pedal depth of the brake pedal. Therefore, it is necessary to first detect the ambient temperature of the electro-hydraulic brake assembly. When the ambient temperature is not less than the preset temperature, that is, it is not in a low-temperature condition, the measured displacement corresponding to the master cylinder piston connected to the brake pedal can be determined based on the measured pressure, and the corresponding target indicator can be determined based on the measured displacement. The two original digital signals are then verified using the target indicator to determine the valid digital signal to avoid affecting the reflux caused by the low-temperature condition, thereby affecting the accuracy of braking control using the measured pressure.

[0136] In one embodiment, if Figure 5As shown, step S302, that is, based on the target indicator, checking the two original digital signals to determine the valid digital signal, includes:

[0137] S501: Based on the target indicator, determine a calibration digital signal corresponding to the target indicator;

[0138] S502: Based on the calibration digital signal, two original digital signals are verified to determine a valid digital signal.

[0139] Among them, the calibrated digital signal is a pre-calibrated digital signal corresponding to the target indicator. The target indicator here can be but is not limited to a target magnetic field angle determined based on a magnetic field strength signal, or a measured displacement determined based on measured acceleration or measured pressure.

[0140] As an example, in step S501, the ECU may query a preset signal mapping table based on the target indicator to determine the digital signal corresponding to the target indicator in the preset signal mapping table as the corresponding calibration digital signal, so as to achieve the purpose of quickly determining the calibration digital signal. Alternatively, the ECU may input the target indicator into a preset signal mapping function for processing, and determine its output result as the calibration digital signal corresponding to the target indicator, so as to achieve the purpose of quickly determining the calibration digital signal. For example, after receiving the target indicator x, the ECU may input it into a preset signal mapping function (such as fun = @ (x) 3.007 * x + 10) for processing, and may determine its output result as the calibration digital signal.

[0141] As an example, in step S502, after determining the calibration digital signal, the ECU may verify the two original digital signals output by the sensing unit based on the calibration digital signal to evaluate the accuracy of the two original digital signals, and determine the original digital signal with higher accuracy as a valid digital signal; correspondingly, determine the original digital signal with lower accuracy as a redundant digital signal.

[0142] In this example, a calibrated digital signal is determined based on the target indicator, and the calibrated digital signal is determined as the target indicator for evaluating the accuracy of the digital signal. The two original digital signals are compared with the determined evaluation indicator to distinguish between valid digital signals and redundant digital signals. The analysis process is simple and convenient, and can effectively ensure that the output valid digital signal has a high accuracy.

[0143] In one embodiment, if Figure 6 As shown, step SS501, that is, based on the calibration digital signal, checking the two original digital signals to determine the valid digital signal, includes:

[0144] S601: performing difference processing on the calibration digital signal and each original digital signal to determine a first signal difference absolute value corresponding to each original digital signal;

[0145] S602: Determine the original digital signal with the smaller absolute value of the first signal difference as a valid digital signal.

[0146] As an example, in step S601, the ECU may first perform difference processing on the calibration digital signal and each original digital signal, and determine the absolute value of the difference between the two as the first signal difference absolute value corresponding to each original digital signal. The first signal difference absolute value can effectively reflect the difference between the original digital signal and the calibration digital signal corresponding to the target index, and further reflect the loss degree of the original digital signal during the transmission process. The smaller the absolute value of the first signal difference, the lower the loss degree of the corresponding original digital signal, and accordingly, the higher its accuracy.

[0147] As an example, in step S602, after determining the absolute value of the first signal difference corresponding to the two original digital signals, the ECU can compare the two absolute values ​​of the first signal difference, determine the original digital signal with a smaller absolute value of the first signal difference as a valid digital signal, and determine the original digital signal with a larger absolute value of the first signal difference as a redundant digital signal, thereby effectively ensuring that the output valid digital signal has a higher accuracy.

[0148] In this example, the calibrated digital signal and the original digital signal are first difference processed so that the determined absolute value of the first signal difference can reflect the degree of loss of the original digital signal in the transmission process to a certain extent. Then, by comparing the sizes of the two absolute values ​​of the first signal differences, the valid digital signal and the redundant digital signal are distinguished. The processing process is simple and can effectively ensure its processing efficiency.

[0149] In one embodiment, if Figure 7 As shown, step S302, that is, based on the target indicator, checking the two original digital signals to determine the valid digital signal, includes:

[0150] S701: Determine a target signal range corresponding to the target indicator based on the target indicator;

[0151] S702: Based on the target signal range, two original digital signals are verified to determine a valid digital signal.

[0152] The target signal range is a pre-calibrated signal range corresponding to a target indicator, and the target indicator here may be, but is not limited to, a target magnetic field angle determined based on a magnetic field strength signal, or a measured displacement determined based on measured acceleration or measured pressure.

[0153] As an example, in step S701, the ECU may query a preset signal range mapping table based on the target indicator to determine the signal range corresponding to the target indicator in the signal range mapping table as the corresponding target signal range, so as to achieve the purpose of quickly determining the target signal range. The signal range mapping table here may be a data table formed by a pre-calibration test.

[0154] For example, in a calibration test, each test sensing data and its corresponding test digital signal are collected in real time. Commonly used mathematical statistical algorithms may be used, but are not limited to, to perform statistical analysis on all test digital signals corresponding to the same test sensing data to determine the calibration signal range corresponding to the test sensing data. The test sensing data and its corresponding calibration signal range are stored in a signal range mapping table so that the calibration signal range corresponding to the target indicator can be determined based on the subsequent table lookup based on the target indicator to determine its corresponding target signal range.

[0155] As an example, in step S702, after determining the target signal range, the ECU can verify the two original digital signals based on the target signal range to evaluate the accuracy of the two original digital signals, and determine the original digital signal with higher accuracy as a valid digital signal; correspondingly, the original digital signal with lower accuracy is determined as a redundant digital signal. In this example, the closer the original digital signal is to the target signal range (especially the middle value of the target signal range), the smaller its loss; conversely, the farther the original digital signal is from the target signal range, the greater its loss.

[0156] In this example, the corresponding target signal range is determined based on the target indicator, and the target signal range is determined as the target indicator for evaluating the accuracy of the digital signal. The two original digital signals are then compared with the target signal range to distinguish between valid digital signals and redundant digital signals. The analysis process is simple and convenient, and can effectively ensure that the output valid digital signal has a high accuracy.

[0157] In one embodiment, if Figure 8 As shown, step S701, i.e., determining a target signal range corresponding to the target indicator based on the target indicator, includes:

[0158] S801: Based on the target indicator, determine a calibration digital signal corresponding to the target indicator;

[0159] S802: Determine a target signal range corresponding to the target indicator based on the calibration digital signal and the target coefficient.

[0160] The calibrated digital signal is a pre-calibrated digital signal corresponding to the target indicator.

[0161] As an example, in step S801, the ECU may query a preset signal mapping table based on the target indicator to determine the digital signal corresponding to the target indicator in the preset signal mapping table as the corresponding calibration digital signal, so as to achieve the purpose of quickly determining the calibration digital signal. Alternatively, the ECU may input the target indicator into a preset signal mapping function for processing, and determine its output result as the calibration digital signal corresponding to the target indicator, so as to achieve the purpose of quickly determining the calibration digital signal. For example, after receiving the target indicator x, the ECU may input it into a preset signal mapping function (such as fun = @ (x) 3.007 * x + 10) for processing, and may determine its output result as the calibration digital signal.

[0162] For another example, in a calibration test, each test sensing data and its corresponding test digital signal are collected in real time; all test digital signals corresponding to the same test sensing data are averaged to determine the mean of the digital signal corresponding to each test data; based on the test sensing data and its corresponding digital signal mean, a preset signal mapping function is constructed so that the target indicator can be subsequently processed based on the preset signal mapping function to quickly determine the corresponding calibration digital signal.

[0163] As an example, in step S802, the ECU determines the calibration digital signal corresponding to the target index; it can also process the calibration digital signal based on the pre-set target coefficient and the target coefficient to determine the corresponding target signal range. The target coefficient here can be determined independently according to the model of the car or other needs. For example, when the calibration digital signal corresponding to the target index is Xs, based on the calibration digital signal Xs and the target coefficient k, it can be determined that the corresponding signal upper limit threshold is (1+k)*Xs, and the corresponding signal lower limit threshold is (1-k)*Xs. The corresponding target signal range can be determined based on the signal lower limit threshold (1-k)*Xs and the signal upper limit threshold (1+k)*Xs.

[0164] In this embodiment, after determining the corresponding calibration digital signal based on the target indicator, the calibration digital signal can be processed based on the pre-set target coefficient to determine the signal upper limit threshold and signal lower limit threshold that are symmetrically set around the calibration digital signal, so as to quickly determine the corresponding target signal range.

[0165] In one embodiment, if Fig. 9 As shown, step S702, that is, based on the target signal range, checking the two original digital signals to determine the valid digital signal, includes:

[0166] S901: Compare the two original digital signals with the target signal range;

[0167] S902: If both original digital signals are within the target signal range, weighted processing is performed on the two original digital signals to determine a valid digital signal;

[0168] S903: If both original digital signals are outside the target signal range, determine a valid digital signal based on the two original digital signals and the target signal range;

[0169] S904: If one original digital signal is within the target signal range and the other original digital signal is outside the target signal range, the original digital signal within the target signal range is determined as a valid digital signal.

[0170] As an example, in step S901, after determining the target signal range corresponding to the target indicator, the ECU may compare the two original digital signals with the target signal range respectively, so as to adopt different strategies to determine the corresponding valid digital signals according to the comparison results.

[0171] As an example, in step S902, when both original digital signals are within the target signal range, the ECU can determine that the loss of the two original digital signals collected is small. In order to obtain a more accurate digital signal, the two original digital signals can be weighted to obtain a valid digital signal after weighted processing. In this example, the corresponding target weight can be determined based on the two original digital signals collected; and then based on the target weight, the two original digital signals are weighted to determine the valid digital signal. Specifically, when the original digital signal is determined based on any two of the target analog signals in the three directions of the electromagnetic intensity signal, the corresponding target weight can be determined based on any two target analog signals. For example, when the original digital signal is a digital signal converted based on the X-axis target analog signal and the Y-axis target analog signal, the corresponding target weight can be determined to be Wxy; when the original digital signal is a digital signal converted based on the X-axis target analog signal and the Z-axis target analog signal, the corresponding target weight can be determined to be Wxz; when the original digital signal is based on the Y-axis target analog signal and the Z-axis target analog signal, the corresponding target weight can be determined to be Wyz.

[0172] As an example, in step S903, when both original digital signals are outside the target signal range, the ECU can determine that the loss degrees of the two collected original digital signals are both large. At this time, the two original digital signals can be differenced with the target signal range to determine an original digital signal with a smaller loss degree and determine it as a valid digital signal to ensure the accuracy of the determined valid digital signal.

[0173] As an example, in step S904, if either of the two original digital signals of the ECU is within the target signal range, its accuracy is higher; if the other one is within the target signal range, its accuracy is lower. Therefore, the original digital signal within the target signal range can be determined as a valid digital signal to ensure the accuracy of the valid digital signal.

[0174] In one embodiment, the target signal range includes an upper signal threshold and a lower signal threshold;

[0175] like Fig.10 As shown, step S903, i.e. determining a valid digital signal based on the two original digital signals and the target signal range, includes:

[0176] S1001: Compare the original digital signal with the signal upper threshold and the signal lower threshold;

[0177] S1002: If the original digital signal is greater than the signal upper threshold, performing difference processing on the signal upper threshold and the original digital signal to determine a second signal difference absolute value corresponding to the original digital signal;

[0178] S1003: If the original digital signal is less than the signal lower limit threshold, perform difference processing on the signal lower limit threshold and the original digital signal to determine a second signal difference absolute value corresponding to the original digital signal;

[0179] S1004: Determine the original digital signal with the smaller absolute value of the second signal difference as a valid digital signal.

[0180] The signal upper threshold and the signal lower threshold are two boundary values ​​of the target signal range.

[0181] As an example, in step S1001, the ECU compares two original digital signals with the signal upper threshold and the signal lower threshold, respectively, so as to determine the valid digital signal according to the comparison result.

[0182] As an example, in step S1002, when the original digital signal is greater than the upper signal threshold, the ECU can determine that the difference between the original digital signal and the upper signal threshold is less than the difference between the original digital signal and the lower signal threshold, and can first perform difference processing on the original digital signal and the upper signal threshold, and determine the absolute value of the difference between the two as the second signal difference absolute value. The second signal difference absolute value can effectively reflect the degree of difference between the original digital signal and the upper signal threshold, and the smaller the second signal difference absolute value is, the higher the accuracy of the original digital signal corresponding to it is.

[0183] As an example, in step S1003, when the original digital signal is less than the signal lower limit threshold, the ECU can determine the difference between the original digital signal and the signal lower limit threshold, which is less than the difference between the original digital signal and the signal upper limit threshold. The original digital signal and the signal lower limit threshold can be first difference processed, and the absolute value of the difference between the two can be determined as the second signal difference absolute value. The second signal difference absolute value can effectively reflect the difference between the original digital signal and the signal lower limit threshold. The smaller the second signal difference absolute value is, the higher the accuracy of the original digital signal corresponding to it is.

[0184] As an example, in step S1004, when the ECU obtains the absolute value of the second signal difference corresponding to the two original digital signals, it can compare the two absolute values ​​of the first signal difference, determine the original digital signal with the smaller absolute value of the first signal difference as the valid digital signal, and determine the original digital signal with the larger absolute value of the first signal difference as the redundant digital signal, which can effectively ensure that the output valid digital signal has a higher accuracy.

[0185] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0186] In one embodiment, an electronic control unit is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the braking control method in the above embodiment is implemented, for example Figure 1 S101-S102 as shown, or Figures 2 to 10 To avoid repetition, it will not be described here.

[0187] In one embodiment, a brake control assembly is provided, including a sensing unit and the above-mentioned electronic control unit; the sensing unit is used to collect pedal sensing data corresponding to the brake pedal and send the pedal sensing data to the electronic control unit, the pedal sensing data includes first sensing data, and the first sensing data includes two original digital signals; the electronic control unit is connected to the sensing unit and is used to control the brake execution unit to execute a braking operation based on the two original digital signals, specifically executing the brake control method in the above-mentioned embodiment, for example Figure 1 S101-S102 as shown, or Figures 2 to 10 To avoid repetition, it will not be described here.

[0188] In one embodiment, the sensing unit includes an electromagnetic sensor for collecting electromagnetic intensity signals, determining two original digital signals based on the electromagnetic intensity signals, and sending the two original digital signals to the electronic control unit. In this example, by converting the electromagnetic intensity signal collected by the electromagnetic sensor into two original digital signals for transmission, the loss and distortion in the signal transmission process can be reduced, thereby ensuring the accuracy of the pedal sensing data received by the ECU.

[0189] In one embodiment, the electromagnetic sensor is also used to determine the target magnetic field angle based on the electromagnetic intensity signal, and send the two original digital signals and the target magnetic field angle to the electronic control unit; the electronic control unit is used to determine the target index corresponding to the target magnetic field angle based on the target magnetic field angle; based on the target index, the two original digital signals are verified to determine the valid digital signal; and based on the valid digital signal, the braking execution unit is controlled to perform the braking operation.

[0190] In this example, only one electromagnetic sensor is needed for electromagnetic detection, and a target magnetic field angle and two original digital signals are determined based on the electromagnetic intensity signal detected by the sensor, so that the target magnetic field angle is used to perform redundancy check on the two original digital signals, which is low in cost. Generally speaking, the larger the target magnetic field angle, the greater the displacement of the master cylinder piston connected to the brake pedal along the axial direction of the brake master cylinder, and the greater the corresponding pedal depth change.

[0191] In one embodiment, the sensing unit also includes an acceleration sensor; the acceleration sensor is used to collect the measured acceleration corresponding to the brake pedal or the master cylinder piston, and send the measured acceleration to the electronic control unit, and the master cylinder piston is connected to the brake pedal; the electronic control unit is used to determine the measured displacement corresponding to the brake pedal based on the measured acceleration; based on the measured displacement, determine the target indicator corresponding to the measured displacement; based on the target indicator, verify the two original digital signals to determine the valid digital signal; and based on the valid digital signal, control the brake execution unit to perform the braking operation.

[0192] In this example, the measured acceleration collected by the acceleration sensor is used to verify the two original digital signals output by the electromagnetic sensor. Since the measured acceleration and the original digital signals are detected based on different sensing units, their output results do not interfere with each other, which can ensure the accuracy of verifying the two original digital signals corresponding to one dimension based on the measured acceleration of another dimension.

[0193] In one embodiment, the sensing unit also includes a pressure sensor; the pressure sensor is used to collect the measured pressure corresponding to the brake master cylinder and send the measured pressure to the electronic control unit, the brake master cylinder is connected to the brake pedal through the master cylinder piston; the electronic control unit is used to determine the measured displacement corresponding to the brake pedal based on the measured pressure; based on the measured displacement, determine the target indicator corresponding to the measured displacement; based on the target indicator, verify the two original digital signals to determine the valid digital signal; and based on the valid digital signal, control the brake execution unit to perform the braking operation.

[0194] In this example, the measured pressure collected by the pressure sensor is used to verify the two original digital signals output by the electromagnetic sensor. Since the measured pressure and the original digital signal are detected based on different sensing units, their output results do not interfere with each other, which can ensure the accuracy of verifying the two original digital signals corresponding to one dimension based on the measured pressure in another dimension.

[0195] In one embodiment, a vehicle includes an electro-hydraulic brake assembly and the brake control assembly in the above embodiment, wherein the electro-hydraulic brake assembly is connected to a brake pedal; the brake control assembly is connected to the electro-hydraulic brake assembly and is used to control the electro-hydraulic brake assembly to perform a braking operation, specifically performing the brake control method in the above embodiment, for example Figure 1 S101-S102 as shown, or Figures 2 to 10 To avoid repetition, it will not be described here.

[0196] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the braking control method in the above embodiment is implemented, for example Figure 1 S101-S102 as shown, or Figures 2 to 10 To avoid repetition, it will not be described here.

[0197] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0198] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0199] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A braking control method, characterized in that: include: Acquire pedal sensing data corresponding to a brake pedal, wherein the pedal sensing data includes first sensing data, and the first sensing data includes two original digital signals; Based on the two original digital signals, the brake execution unit is controlled to execute a brake operation.

2. The braking control method according to claim 1, characterized in that: The first sensing data includes two original digital signals determined based on the electromagnetic intensity signal.

3. The braking control method according to claim 1, characterized in that: The step of controlling the brake execution unit to execute the brake operation based on the two original digital signals comprises: Verifying the two original digital signals to determine a valid digital signal; Based on the effective digital signal, the brake actuating unit is controlled to perform a braking operation.

4. The braking control method according to claim 3, characterized in that: The checking of the two original digital signals to determine a valid digital signal includes: Based on the pedal sensing data, determining a target indicator corresponding to the pedal sensing data; Based on the target indicator, the two original digital signals are verified to determine a valid digital signal.

5. The braking control method according to claim 4, characterized in that: The first sensing data includes two original digital signals determined based on the electromagnetic intensity signal and a target magnetic field angle; The step of determining a target indicator corresponding to the pedal sensing data based on the pedal sensing data includes: Based on the target magnetic field angle, a target indicator corresponding to the target magnetic field angle is determined.

6. The braking control method according to claim 4, characterized in that: The pedal sensing data also includes second sensing data; The step of determining a target indicator corresponding to the pedal sensing data based on the pedal sensing data includes: determining a measured displacement corresponding to the brake pedal based on the second sensing data; Based on the measured displacement, a target indicator corresponding to the measured displacement is determined.

7. The braking control method according to claim 6, characterized in that: The second sensing data includes a measured acceleration corresponding to the brake pedal or a master cylinder piston, the master cylinder piston being connected to the brake pedal; The determining, based on the second sensing data, a measured displacement corresponding to the brake pedal comprises: Based on the measured acceleration, a measured displacement corresponding to the brake pedal is determined.

8. The braking control method according to claim 6, characterized in that: The second sensing data includes a measured pressure corresponding to a brake master cylinder, the brake master cylinder being connected to the brake pedal via a master cylinder piston; The determining, based on the second sensing data, a measured displacement corresponding to the brake pedal comprises: Based on the measured pressure, a measured displacement corresponding to the brake pedal is determined.

9. The braking control method according to claim 4, characterized in that: The step of verifying the two original digital signals based on the target indicator to determine a valid digital signal includes: Based on the target indicator, determining a calibration digital signal corresponding to the target indicator; Based on the calibrated digital signal, the two original digital signals are verified to determine a valid digital signal.

10. The brake control method according to claim 9, characterized in that: The step of verifying the two original digital signals based on the calibration digital signal to determine a valid digital signal includes: Performing difference processing on the calibrated digital signal and each of the original digital signals to determine a first signal difference absolute value corresponding to each of the original digital signals; The original digital signal with the smaller absolute value of the first signal difference is determined as a valid digital signal.

11. The brake control method according to claim 4, characterized in that: The step of verifying the two original digital signals based on the target indicator to determine a valid digital signal includes: Based on the target indicator, determining a target signal range corresponding to the target indicator; Based on the target signal range, the two original digital signals are verified to determine a valid digital signal.

12. The brake control method according to claim 11, characterized in that: The determining, based on the target indicator, a target signal range corresponding to the target indicator includes: Based on the target indicator, determining a calibration digital signal corresponding to the target indicator; Based on the calibrated digital signal and the target coefficient, a target signal range corresponding to the target indicator is determined.

13. The brake control method according to claim 11, characterized in that: The step of verifying the two original digital signals based on the target signal range to determine a valid digital signal includes: comparing the two original digital signals with the target signal range; If both of the two original digital signals are within the target signal range, weighted processing is performed on the two original digital signals to determine a valid digital signal; If both of the two original digital signals are outside the target signal range, determining a valid digital signal based on the two original digital signals and the target signal range; If one of the original digital signals is within the target signal range and the other original digital signal is outside the target signal range, the original digital signal within the target signal range is determined as a valid digital signal.

14. The brake control method according to claim 13, characterized in that: The target signal range includes a signal upper threshold and a signal lower threshold; The determining of the effective digital signal based on the two original digital signals and the target signal range comprises: Comparing the original digital signal with the signal upper threshold and the signal lower threshold; If the original digital signal is greater than the signal upper threshold, performing difference processing on the signal upper threshold and the original digital signal to determine a second signal difference absolute value corresponding to the original digital signal; If the original digital signal is less than the signal lower limit threshold, performing difference processing on the signal lower limit threshold and the original digital signal to determine a second signal difference absolute value corresponding to the original digital signal; The original digital signal with the smaller absolute value of the second signal difference is determined as a valid digital signal.

15. An electronic control unit, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the brake control method according to any one of claims 1 to 14 is implemented.

16. A brake control assembly, characterized in that: comprising a sensing unit and an electronic control unit as claimed in claim 15; The sensing unit is used to collect pedal sensing data corresponding to the brake pedal and send the pedal sensing data to the electronic control unit, wherein the pedal sensing data includes first sensing data, and the first sensing data includes two original digital signals; The electronic control unit is connected to the sensing unit and is used to control the brake execution unit to execute a braking operation based on the two original digital signals.

17. The brake control assembly according to claim 16, characterized in that: The sensing unit includes an electromagnetic sensor for collecting an electromagnetic intensity signal, determining two original digital signals based on the electromagnetic intensity signal, and sending the two original digital signals to the electronic control unit.

18. The brake control assembly according to claim 17, characterized in that: The electromagnetic sensor is further used to determine a target magnetic field angle based on the electromagnetic intensity signal, and send the two original digital signals and the target magnetic field angle to the electronic control unit; The electronic control unit is also used to determine the target index corresponding to the target magnetic field angle based on the target magnetic field angle; based on the target index, verify the two original digital signals to determine the valid digital signal; and based on the valid digital signal, control the braking execution unit to perform the braking operation.

19. The brake control assembly according to claim 17, characterized in that: The sensing unit also includes an acceleration sensor; The acceleration sensor is used to collect the measured acceleration corresponding to the brake pedal or the master cylinder piston and send the measured acceleration to the electronic control unit, and the master cylinder piston is connected to the brake pedal; The electronic control unit is used to determine the measured displacement corresponding to the brake pedal based on the measured acceleration; determine the target indicator corresponding to the measured displacement based on the measured displacement; verify the two original digital signals based on the target indicator to determine a valid digital signal; and control the brake execution unit to perform a braking operation based on the valid digital signal.

20. The brake control assembly according to claim 17, characterized in that: The sensing unit also includes a pressure sensor; The pressure sensor is used to collect the measured pressure corresponding to the brake master cylinder and send the measured pressure to the electronic control unit. The brake master cylinder is connected to the brake pedal through the master cylinder piston. The electronic control unit is used to determine the measured displacement corresponding to the brake pedal based on the measured pressure; determine the target indicator corresponding to the measured displacement based on the measured displacement; verify the two original digital signals based on the target indicator to determine the valid digital signal; and control the brake execution unit to perform the braking operation based on the valid digital signal.

21. A car, characterized in that: It comprises an electro-hydraulic brake assembly and a brake control assembly as claimed in any one of claims 15 to 20, wherein the electro-hydraulic brake assembly is connected to a brake pedal; The brake control assembly is connected to the electro-hydraulic brake assembly and is used to control the electro-hydraulic brake assembly to perform a braking operation.

22. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the brake control method according to any one of claims 1 to 14 is implemented.

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