Vehicle control method, electronic device, storage medium and program product

Abstract

The invention provides a vehicle control method, electronic equipment, a storage medium and a program product, and can be applied to the technical field of automobiles. The method comprises the following steps: acquiring a deceleration value of a vehicle; according to the current working condition and the current road condition of the vehicle, the deceleration comparison value of the vehicle under the current working condition and the current road condition is determined; and if the difference value of the deceleration value and the deceleration contrast value is larger than the difference threshold value, the deceleration threshold value for triggering the comfortable braking function is reduced. By means of the scheme, the effect of reducing creeping noise in the driving process can be achieved.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a vehicle control method, electronic equipment, storage medium and program product. Background Art

[0002] With the development of science and technology and the continuous improvement of users' requirements for vehicle comfort, vehicles have added a comfort braking function. Under non-emergency braking conditions, the driver lightly steps on the brake pedal, and the vehicle produces a small deceleration. When the vehicle speed drops to a certain lower speed value, the comfort braking function is activated, and the brake pressure is reduced from the initial setting value to the final function exit setting value at a certain slope, helping the driver to better control the vehicle braking and brake smoothly until the vehicle stops. In related technologies, vehicles will generate creeping noise (groan noise) during the comfort braking process. Reducing creeping noise during driving and improving the driving experience have become technical problems that need to be solved urgently. Summary of the invention

[0003] The embodiments of the present application provide a vehicle control method, an electronic device, a storage medium and a program product, so as to achieve the effect of reducing creeping noise during driving.

[0004] In a first aspect, an embodiment of the present application provides a vehicle control method, including:

[0005] Get the vehicle's deceleration value;

[0006] Determine a deceleration comparison value of the vehicle under the current working condition and the current road condition according to the current working condition and the current road condition of the vehicle;

[0007] If the difference between the deceleration value and the deceleration comparison value is greater than the difference threshold, the deceleration threshold for triggering the comfort brake function is reduced.

[0008] In a possible implementation, reducing the deceleration threshold for triggering the comfort braking function includes:

[0009] Determine the difference range in which the difference lies;

[0010] According to the difference range, the adjustment value of the deceleration threshold is determined;

[0011] The deceleration threshold for triggering the comfort brake function is reduced according to the adjustment value.

[0012] In a possible implementation, determining the adjustment value of the deceleration threshold according to the difference range includes: determining a gear corresponding to the adjustment value of the deceleration threshold according to the difference range.

[0013] In a possible implementation, determining a deceleration comparison value of the vehicle under the current operating condition and the current road condition according to the current operating condition of the vehicle includes:

[0014] Obtain the push rod travel of the vehicle's brake system;

[0015] According to the push rod stroke of the brake system and the correlation between the push rod stroke of the brake system and the hydraulic pressure value of the hydraulic cylinder, the hydraulic pressure value of the hydraulic cylinder of the vehicle is obtained;

[0016] Obtaining the wheel-end braking torque value of the vehicle according to the hydraulic pressure value of the hydraulic cylinder of the vehicle and the correlation relationship between the hydraulic pressure value of the hydraulic cylinder and the wheel-end braking torque value;

[0017] According to the wheel-end braking torque value, the motor braking capacity recovery value of the vehicle and the deceleration algorithm under the current road condition, a deceleration comparison value of the vehicle under the current working condition and the current road condition is determined, wherein the deceleration algorithm under the current road condition characterizes the relationship between the deceleration and the wheel-end braking torque value, the motor braking capacity recovery value, the road slope value and the direction of the front of the vehicle.

[0018] In a possible implementation, determining a deceleration comparison value of the vehicle under the current operating condition and the current road condition according to the current operating condition of the vehicle includes:

[0019] Obtain the vehicle's wheel-end braking torque value, motor braking capacity recovery value, and current road conditions;

[0020] Determine the deceleration comparison value of the vehicle under the current working condition and the current road condition from the deceleration comparison value table according to the wheel end braking torque value, the motor braking capacity recovery value and the current road condition;

[0021] The current road condition includes the road slope value and the vehicle front direction, and the deceleration comparison value table is a deceleration value table calibrated according to different wheel-end braking torque values, different motor braking capacity recovery values ​​and different road conditions.

[0022] In a possible implementation manner, after lowering the deceleration threshold value for triggering the comfort braking function, the method further includes:

[0023] When it is detected that the difference between the deceleration value and the deceleration comparison value is less than or equal to the difference threshold, the deceleration threshold for triggering the comfort braking function is restored.

[0024] In a possible implementation, the method further includes:

[0025] If the difference between the deceleration value and the deceleration comparison value is less than or equal to the difference threshold, the deceleration threshold for triggering the comfort brake function is maintained.

[0026] In a second aspect, an embodiment of the present application provides a vehicle control device, including:

[0027] An acquisition module, used to obtain the deceleration value of the vehicle;

[0028] A processing module, for determining a deceleration comparison value of the vehicle under the current working condition and the current road condition according to the current working condition of the vehicle and the current road condition;

[0029] The processing module is further configured to reduce a deceleration threshold for triggering a comfort braking function if a difference between the deceleration value and the deceleration comparison value is greater than a difference threshold.

[0030] In a third aspect, an embodiment of the present application provides a vehicle control device, including: a memory, a processor;

[0031] The memory stores computer-executable instructions;

[0032] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0033] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0034] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0035] The vehicle control method, electronic device, storage medium and program product provided in the embodiments of the present application obtain the vehicle deceleration and compare it with the deceleration comparison value obtained by theoretical calculation. If the difference between the deceleration and the deceleration comparison value is greater than the difference threshold, it means that the friction coefficient of the friction plate in the braking system is unstable at this time, and the deceleration threshold that triggers the comfort braking function is lowered to avoid the vehicle triggering the comfort braking function under large deceleration conditions, thereby achieving the effect of reducing creep noise during driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0037] Figure 1 Schematic diagram of the vehicle control method provided in this application Figure 1 ;

[0038] Figure 2 A schematic diagram of the braking system structure provided for this application;

[0039] Figure 3 Schematic diagram of the vehicle in different road conditions provided for this application;

[0040] Figure 4 Schematic diagram of the vehicle control method provided in this application Figure 2 ;

[0041] Figure 5 A schematic diagram of the structure of the vehicle control device provided in this application;

[0042] Figure 6 A schematic diagram of the structure of the vehicle control device provided in this application.

[0043] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0044] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0045] With the development of science and technology and the continuous improvement of users' requirements for vehicle comfort, vehicles have added a comfort braking function. Under non-emergency braking conditions, the driver lightly steps on the brake pedal, and the vehicle produces a small deceleration. When the vehicle speed drops to a certain lower speed value, the comfort braking function is activated, and the brake pressure is reduced from the initial setting value to the final function exit setting value at a certain slope, helping the driver to better control the vehicle braking and brake smoothly until the vehicle stops. Exemplarily, the relevant technology triggers comfort braking when it detects that the vehicle's deceleration is less than 0.5g (g is the acceleration of gravity) and the vehicle speed is less than 5kph (kilometers per hour). The brake pressure gradually decreases from the set 40bar to 4bar, which can achieve smooth braking of the vehicle in scenarios where emergency braking is not required, such as encountering traffic lights while driving.

[0046] Related Technology After the comfort braking function is triggered, the vehicle will produce creeping noise. Creeping noise refers to the noise caused by slight vibration or friction of the braking system when the vehicle is driving at a low speed or stopping. This noise may be more obvious when the vehicle is moving slowly, stopping or starting. During the braking process, the vehicle brakes first press the front of the vehicle down, the center of mass of the vehicle moves forward, and the elastic potential energy is accumulated after the suspension is compressed. When the comfort braking function is triggered, the braking pressure of the friction plate pressing the brake disc becomes smaller, and the potential energy accumulated by the suspension compression is released. Creeping in the direction of potential energy release occurs between the brake disc and the friction plate, static friction changes friction, and the force value suddenly changes, which stimulates the stick-slip effect. The vibration generated by the stick-slip effect is amplified by the suspension system and transmitted to the cab to form noise, which is creeping noise.

[0047] When the friction plate is damp or rust adheres to the surface of the friction plate, the friction coefficient of the friction plate increases or becomes unstable, and the creeping noise is more obvious after the comfort brake is triggered. In addition, the greater the vehicle's deceleration, the greater the elastic potential energy accumulated after the vehicle suspension is compressed during the braking process. When the comfort brake function is triggered, the greater the energy released by the suspension's retreat, the more likely it is to cause creeping between the brake disc and the friction plate through changes in the body posture, and the creeping noise is more obvious.

[0048] In combination with the above scenario, it can be seen that in the related technology, there is a technical problem that the vehicle generates creeping noise after the comfort braking function is triggered, which affects the driving experience.

[0049] The vehicle control method provided in the present application obtains the vehicle deceleration and compares it with the deceleration comparison value obtained by theoretical calculation. If the difference between the deceleration and the deceleration comparison value is greater than the difference threshold, it means that the friction coefficient of the friction plate in the braking system is unstable at this time, and the deceleration threshold that triggers the comfort braking function is lowered to avoid the vehicle triggering the comfort braking function under large deceleration conditions, thereby achieving the effect of reducing the creeping noise during driving.

[0050] Optionally, the vehicle control method provided in the present application can be applied to a braking system with a controller function, a vehicle controller or other independent controllers to achieve control of related braking components.

[0051] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0052] Figure 1 Schematic diagram of the vehicle control method provided in this application Figure 1 In one embodiment, the vehicle control method is applied to a brake system controller, such as a onebox system. Figure 1 As shown, the method includes:

[0053] S101. Obtain a deceleration value of a vehicle.

[0054] In one implementation, after the vehicle is started, the brake system controller obtains the vehicle's deceleration in real time via a deceleration sensor.

[0055] In addition to the deceleration sensor, the vehicle's deceleration value can also be obtained through devices such as gyroscopes, force sensors, and speedometers. This application does not limit the device for measuring vehicle deceleration.

[0056] S102. Determine a deceleration comparison value of the vehicle under the current operating condition and the current road condition according to the current operating condition of the vehicle.

[0057] The deceleration comparison value refers to the deceleration value that the vehicle can achieve under the current working conditions and current road conditions, obtained through theoretical calculation.

[0058] Specifically, the working conditions include the push rod stroke of the vehicle braking system, the hydraulic value of the hydraulic cylinder in the braking system, the wheel-end braking torque value, and the vehicle motor braking capacity recovery value. Road conditions are divided into several types according to the slope value of the road and the direction of the front of the vehicle. For example, when the road slope value is less than 3%, it is determined that the current vehicle is in a flat road condition; when the road slope value is greater than or equal to 3% and the front direction is along the slope upward, it is determined that the current vehicle is in an uphill road condition; when the road slope value is greater than or equal to 3% and the front direction is along the slope downward, it is determined that the current vehicle is in a downhill road condition. It can be understood that when the vehicle is in different road conditions, the influence of the vehicle's own gravity on the deceleration value is different, so it is necessary to select different deceleration calculation methods according to different road conditions to determine the deceleration comparison value.

[0059] S103: If the difference between the deceleration value and the deceleration comparison value is greater than the difference threshold, lower the deceleration threshold for triggering the comfort braking function.

[0060] It can be understood that the deceleration value is the actual deceleration value of the vehicle obtained in real time, and the deceleration comparison value is the deceleration value that the vehicle can theoretically achieve under the current working conditions and road conditions. In an ideal situation, the actual deceleration value is equal to the deceleration comparison value. However, when the friction plate in the vehicle braking system is wet or rust adheres to the surface of the friction plate, the friction coefficient of the friction plate increases, and the friction between the friction plate and the brake disc increases. The deceleration value generated by actual braking is greater than the deceleration comparison value calculated theoretically.

[0061] The difference threshold value can also be called tolerance or difference value, which is calibrated according to the relationship between the friction coefficient of the friction plate and the vehicle deceleration. When the difference between the deceleration value and the deceleration comparison value is greater than the difference threshold value, it indicates that the friction coefficient of the current friction plate is too large, that is, the friction plate is wet or there is rust adhering to the surface of the friction plate. At this time, if the comfort braking function is triggered with the original deceleration threshold value, a stick-slip effect will occur between the friction plate and the brake disc, which will cause creeping noise.

[0062] By lowering the deceleration threshold for triggering the comfort brake, the deceleration range of the vehicle entering the comfort brake function can be reduced, and the comfort brake function can be avoided as much as possible when the friction plate is wet or rust adheres to the surface of the friction plate, thereby generating creeping noise. In addition, after lowering the deceleration threshold for triggering the comfort brake function, the vehicle can only trigger the comfort brake function at a smaller deceleration. The smaller the deceleration of the vehicle, the smaller the elastic potential energy accumulated after the vehicle suspension is compressed during the braking process. When the comfort brake function is triggered, the energy released by the suspension retreat is also smaller, the creeping between the brake disc and the friction plate caused by the change in the body posture is smaller, and the creeping noise is less obvious.

[0063] The vehicle control method provided in the embodiment of the present application obtains the deceleration of the vehicle during driving through a deceleration sensor, and compares it with the deceleration calculated under the current working conditions and road conditions. When the difference between the deceleration and the deceleration comparison value is greater than the difference threshold, the deceleration threshold for triggering the comfort braking function is lowered to avoid the vehicle triggering the comfort braking function with a large deceleration, thereby reducing the generation of creeping noise.

[0064] In a possible implementation, lowering the deceleration threshold for triggering the comfort braking function includes: determining a difference range in which the difference exists; determining an adjustment value of the deceleration threshold according to the difference range; and lowering the deceleration threshold for triggering the comfort braking function according to the adjustment value.

[0065] Different degrees of moisture or rust on the friction plate will have different degrees of influence on the friction coefficient of the friction plate, and thus have different degrees of influence on the deceleration of the vehicle during braking. For example, when the friction plate is slightly damp or slightly rusty, the change in the friction coefficient of the friction plate will not be too large. When comparing the vehicle deceleration value with the deceleration comparison value, the difference between the two is small. At this time, there is no need to make a significant adjustment to the deceleration threshold that triggers comfort braking.

[0066] In another case, the friction pad is severely damp or severely rusted. In this case, the deceleration threshold for triggering the comfort braking function needs to be reduced as much as possible. Otherwise, after the comfort braking is triggered, a stick-slip effect will easily occur between the friction pad and the brake disc, thereby generating creeping noise.

[0067] Based on the above analysis, the present application provides a vehicle control method, sets a difference range, and when the difference between the vehicle deceleration value and the deceleration comparison value falls within different difference ranges, it can characterize the different states of the current friction plate, thereby determining the adjustment value required for the deceleration threshold, and according to the adjustment value, lowering the deceleration threshold for triggering the comfort braking function.

[0068] The vehicle control method provided in the embodiment of the present application sets a difference range and determines the adjustment value of the deceleration threshold according to the difference range, thereby improving the accuracy of friction plate state identification and the flexibility of adjusting the deceleration threshold for triggering the comfort braking function.

[0069] In a possible implementation, determining the adjustment value of the deceleration threshold according to the difference range includes: determining a gear corresponding to the adjustment value of the deceleration threshold according to the difference range.

[0070] As analyzed in the above embodiment, different states of the friction plate will cause the difference between the deceleration value and the deceleration comparison value to fall into different difference ranges. When the deceleration threshold for triggering the comfort braking function is adjusted according to the difference, the adjustment values ​​of the deceleration thresholds corresponding to different difference ranges are different.

[0071] In one embodiment, the deceleration threshold for triggering the comfort braking function can be divided into several gears. When the difference between the deceleration value and the deceleration comparison value falls into different difference ranges, the deceleration threshold for triggering the comfort braking function is adjusted to the corresponding gear.

[0072] For example, assuming that the difference between the deceleration value and the deceleration comparison value is , the initial deceleration threshold for triggering the comfort braking function is 0.5g (g is the acceleration of gravity). The deceleration threshold for triggering the comfort braking function is set to 0.5g for the first gear, 0.45g for the second gear, and 0.4g for the third gear. When the deceleration threshold triggering the comfort braking function is set to the first gear, the deceleration threshold triggering the comfort braking function is set to the first gear when ... When the deceleration threshold triggering the comfort braking function is set to the second gear, the deceleration threshold triggering the comfort braking function is set to the second gear. When the deceleration speed is less than 0.03g, the deceleration threshold for triggering the comfort braking function is set to the third gear.

[0073] In one embodiment, the intervals between the deceleration threshold gears that trigger the comfort braking function can be made as small as possible to form as many gears as possible, so as to minimize the loss of the experience of the comfort braking function while optimizing the creeping noise.

[0074] The vehicle control method provided in the embodiment of the present application adjusts the deceleration threshold for triggering the comfort braking function according to the range in which the difference between the deceleration value and the deceleration comparison value falls. The adjustment values ​​of the deceleration thresholds corresponding to different difference ranges are different, thereby improving the flexibility of adjusting the deceleration threshold for triggering the comfort braking function. By dividing the difference range and the threshold gear, it is also possible to retain the comfort braking performance as much as possible while optimizing the creeping noise, thereby improving the driving experience.

[0075] In a possible implementation, determining a deceleration comparison value of the vehicle under the current operating condition and the current road condition according to the current operating condition of the vehicle includes:

[0076] S201, obtaining a push rod stroke of a brake system of a vehicle.

[0077] Figure 2 The schematic diagram of the braking system structure provided in this application. Figure 2 In the braking system shown, after the driver steps on the brake pedal, the push rod stroke sensor obtains the movement stroke of the push rod connected to the pedal, the isolation valve is closed, and the push rod pushes the pressure built up by the brake master cylinder to be transmitted to the wheel end. The wheel end relies on the motor to push the hydraulic cylinder to build up pressure, and the generated pressure is transmitted to the wheel end caliper. The wheel end caliper consists of a piston and a friction plate. Under the action of the hydraulic cylinder pressure, the piston pushes the friction plate to clamp the brake disc to generate a braking torque.

[0078] S202: Acquire the hydraulic pressure value of the hydraulic cylinder of the vehicle according to the push rod stroke of the brake system of the vehicle and the correlation between the push rod stroke of the brake system and the hydraulic pressure value of the hydraulic cylinder.

[0079] The correlation between the push rod stroke of the brake system and the hydraulic pressure value of the hydraulic cylinder may be specifically a relationship curve between the push rod stroke of the brake system and the hydraulic pressure value of the hydraulic cylinder, or a relationship data table between the push rod stroke of the brake system and the hydraulic pressure value of the hydraulic cylinder.

[0080] Optionally, the correlation between the push rod stroke of the brake system and the hydraulic pressure value of the hydraulic cylinder is calibrated in advance.

[0081] For example, after the driver steps on the brake pedal, the push rod stroke sensor obtains the moving stroke of the push rod connected to the pedal. At the same time, the brake system controller determines the hydraulic cylinder hydraulic value under the current push rod stroke from a pre-calibrated relationship curve or data table of the vehicle's brake system push rod stroke and hydraulic cylinder hydraulic value.

[0082] S203. Obtain the wheel end braking torque value of the vehicle according to the hydraulic cylinder hydraulic value of the vehicle and the correlation between the hydraulic cylinder hydraulic value and the wheel end braking torque value.

[0083] Among them, the correlation between the hydraulic cylinder hydraulic pressure value and the wheel-end braking torque value is similar to the correlation between the brake system push rod stroke and the hydraulic cylinder hydraulic pressure value. It can also be specifically a relationship curve between the hydraulic cylinder hydraulic pressure value and the wheel-end braking torque value, or a relationship data table between the hydraulic cylinder hydraulic pressure value and the wheel-end braking torque value, etc.

[0084] The wheel-end braking torque value refers to the torque generated by the pressure generated by the hydraulic cylinder pushing the friction plate to tighten the brake disc. The braking system can determine the wheel-end braking torque value under the current hydraulic cylinder pressure value based on a pre-calibrated relationship curve or data table between the vehicle's hydraulic cylinder hydraulic value and the wheel-end braking torque value.

[0085] S204: Obtain a motor braking capacity recovery value of the vehicle.

[0086] In electric or hybrid vehicles, motor braking capacity recovery (also known as regenerative braking) is a key function that allows the vehicle to recover some kinetic energy when decelerating or braking. This process switches the role of the electric motor from driving mode to generating mode through the inverter, and converts the kinetic energy into electrical energy and stores it in the battery. The motor braking capacity recovery value generally refers to the quantified value of the energy that the motor can recover during the braking process of the vehicle. It is understandable that when calculating the deceleration of the vehicle under the current operating conditions, the deceleration effect of the motor braking capacity recovery on the vehicle needs to be taken into account.

[0087] S205. Determine a deceleration comparison value of the vehicle under the current working condition and the current road condition based on the wheel-end braking torque value, the motor braking capacity recovery value, and the deceleration algorithm under the current road condition, wherein the deceleration algorithm under the current road condition characterizes the relationship between the deceleration and the wheel-end braking torque value, the vehicle motor braking capacity recovery value, the road slope value, and the vehicle head direction.

[0088] Among them, because the deceleration caused by the vehicle's own gravity has different effects on the overall deceleration of the vehicle under different road conditions, different deceleration algorithms need to be used under different road conditions.

[0089] In one embodiment, Figure 3 As shown in the figure, the road conditions that the vehicle is in can be divided into three categories: flat ground, downhill and uphill. In the figure, G is the vehicle's own gravity, g1 is the gravity component generated by the vehicle's own gravity along the slope direction under the slope condition, and a is the direction of the vehicle's deceleration during braking. Set the slope threshold and judge the current road condition based on the current slope value and the direction of the vehicle head.

[0090] For example, when the vehicle detects that it is currently on a ground with a slope value less than 3%, such as Figure 3As shown in (a) in the figure, the vehicle's own gravity will not produce a component along the vehicle's direction of travel, that is, it will not affect the vehicle's deceleration. At this time, the flat ground deceleration algorithm is used to calculate the vehicle's deceleration comparison value. The flat ground deceleration algorithm represents the relationship between the vehicle's braking torque value, the motor braking capacity recovery value and the deceleration. When the vehicle detects that it is currently on a ground with a slope greater than 3% and the front of the vehicle is moving downward, as shown in Figure 3 As shown in (b) in the figure, the vehicle is on a downhill road at this time. The vehicle's own gravity generates a gravity component along the slope, which is opposite to the direction of vehicle deceleration. At this time, the downhill deceleration algorithm is used to calculate the vehicle's deceleration comparison value. The downhill deceleration algorithm represents the relationship between the vehicle's braking torque value, the motor braking capacity recovery value, and the vehicle's gravity component along the slope at the current slope and the deceleration. When the vehicle detects that it is currently on a ground with a slope greater than 3% and the front of the vehicle is upward, such as Figure 3 As shown in (c) in the figure, the vehicle is on an uphill road at this time, and the vehicle's own gravity generates a gravity component along the slope, which is the same as the direction of vehicle deceleration. At this time, the uphill deceleration algorithm is used to calculate the vehicle's deceleration comparison value. The uphill deceleration algorithm represents the relationship between the vehicle's braking torque value, the motor braking capacity recovery value, and the gravity component along the slope at the vehicle's current slope and the deceleration.

[0091] The vehicle control method provided in the embodiment of the present application first determines the wheel-end braking torque value through the relationship between the brake system push rod stroke, the hydraulic cylinder pressure value and the wheel-end braking torque value torque, and then combines the vehicle's current motor braking capacity recovery value and the deceleration algorithm under the current slope to accurately obtain the deceleration reference value. In addition to real-time calculation of the deceleration comparison value under the current working condition and road condition, the deceleration comparison value table can also be obtained by calibration, which will be described in detail below.

[0092] In a possible implementation, determining a deceleration comparison value of the vehicle under the current operating condition and the current road condition according to the current operating condition of the vehicle includes:

[0093] The current wheel-end braking torque value, the motor braking capacity recovery value and the current road condition of the vehicle are obtained. According to the current wheel-end braking torque value, the motor braking capacity recovery value and the current road condition of the vehicle, the deceleration comparison value of the vehicle under the current working condition and the current road condition is determined from the deceleration comparison value table.

[0094] The current road condition includes the road slope value and the vehicle front direction, and the deceleration comparison value table is a deceleration value table calibrated according to different wheel-end braking torque values, different motor braking capacity recovery values ​​and different road conditions.

[0095] The wheel-end braking torque value can be obtained in the following way: the brake system controller obtains the push rod stroke sensor to obtain the push rod stroke, and determines the hydraulic cylinder hydraulic value under the current push rod stroke from a pre-calibrated curve or data table of the relationship between the vehicle's brake system push rod stroke and the hydraulic cylinder hydraulic value, and then determines the wheel-end braking torque value under the current hydraulic cylinder pressure value based on the pre-calibrated curve or data table of the relationship between the vehicle's hydraulic cylinder hydraulic value and the wheel-end braking torque value.

[0096] In one embodiment, a deceleration value table is obtained by calibration according to different wheel-end braking torque values, different motor braking capacity recovery values, and different road conditions. For example, when the wheel-end braking torque value remains unchanged, the deceleration value table under different motor braking capacity recovery values ​​and different road conditions is obtained by calibration; when the motor braking capacity recovery value remains unchanged, the deceleration value table under different wheel-end braking torque values ​​and different road conditions is obtained by calibration; when the road condition remains unchanged, the deceleration value table under different wheel-end braking torque values ​​and motor braking capacity recovery values ​​is obtained by calibration.

[0097] In one implementation, the deceleration comparison value may be calibrated using the deceleration value calculation method described in S204 in the above embodiment, which will not be described in detail here.

[0098] In one embodiment, for the deceleration value comparison table under different road conditions, several slope values ​​can be selected for calibration, and the deceleration comparison value corresponding to the slope value under the current road condition of the vehicle can be obtained by data fitting. For example, assuming that the wheel-end braking torque value and the motor braking capacity recovery value remain unchanged, in a downhill road condition, the deceleration comparison value table under the conditions of 5% and 10% slope is obtained by calculation and calibration. When using the deceleration comparison value, if it is detected that the slope value of the road where the current vehicle is located is between 5% and 10%, the deceleration comparison value table under the current slope is obtained by fitting the deceleration comparison value table under the conditions of 5% and 10% slope.

[0099] The vehicle control method provided in the embodiment of the present application calibrates the deceleration comparison value table in advance, and obtains the deceleration comparison value table by looking up the table according to the current operating conditions and road conditions during vehicle driving, thereby reducing the real-time calculation amount and improving the processing and response efficiency of the braking system.

[0100] In a possible implementation manner, after lowering the deceleration threshold for triggering the comfort braking function, the vehicle control method further includes:

[0101] When it is detected that the difference between the deceleration value and the deceleration comparison value is less than or equal to the difference threshold, the deceleration threshold for triggering the comfort braking function is restored.

[0102] When the friction plate is wet, the friction coefficient will increase. At this time, the deceleration threshold that triggers the comfort braking function needs to be adjusted to avoid the generation of creeping noise. As the vehicle heats up during driving, the friction plate may gradually dry out and the friction coefficient returns to normal. At this time, if the difference between the deceleration value and the deceleration comparison value is less than or equal to the difference threshold, the deceleration threshold that triggers the comfort braking function will be restored to the initial deceleration threshold to ensure the normal activation of the comfort braking function.

[0103] The vehicle control method provided in the embodiment of the present application continuously collects and compares the vehicle deceleration after adjusting the deceleration threshold that triggers comfort braking. When it is detected that the difference between the speed value and the deceleration comparison value is less than or equal to the difference threshold, it means that there is no need to lower the deceleration threshold that triggers the comfort braking function at this time. Therefore, the deceleration threshold that triggers the comfort braking function is restored to the initial deceleration threshold, thereby realizing flexible adjustment of the deceleration threshold and ensuring that the comfort braking function can function normally.

[0104] In a possible implementation, the vehicle control method further includes: if the difference between the deceleration value and the deceleration comparison value is less than or equal to the difference threshold, maintaining the deceleration threshold for triggering the comfort braking function.

[0105] From the start of the vehicle, the deceleration sensor continuously collects the deceleration value of the current vehicle. The brake system controller obtains the deceleration value and compares it with the deceleration comparison value. If the difference between the deceleration value and the deceleration comparison value is greater than the difference threshold, the deceleration threshold for triggering comfort braking is lowered. If the difference between the deceleration value and the deceleration comparison value is less than or equal to the difference threshold, the deceleration threshold for triggering the comfort braking function is maintained, indicating that the brake system is normal at this time and there is no need to adjust the deceleration threshold for triggering the comfort braking function. The deceleration threshold for triggering the comfort braking function is maintained.

[0106] The vehicle control method provided in the embodiment of the present application maintains the deceleration threshold for triggering the comfort braking function when the difference between the deceleration value and the deceleration comparison value is less than or equal to the difference threshold, so that the comfort braking function is triggered normally to ensure the comfort of the driving process.

[0107] Figure 4 Schematic diagram of the vehicle control method provided in the embodiment of the present application Figure 2 The control method is executed by a brake system controller. In one embodiment, the vehicle control method includes the following steps:

[0108] S401. Obtain a deceleration value.

[0109] S402: Obtain the current vehicle operating condition and road condition.

[0110] Among them, the working conditions include the vehicle's wheel-end braking torque value and the motor braking recovery capacity value, and the road conditions include the current road slope value and the vehicle's front direction.

[0111] S403: Calculate a deceleration comparison value according to current working conditions and road conditions.

[0112] S404: Determine whether the difference between the deceleration value and the deceleration comparison value is greater than a difference threshold.

[0113] If the difference between the deceleration value and the deceleration comparison value is not greater than the difference threshold, execute:

[0114] S405. Maintain the deceleration threshold for initially triggering comfort braking.

[0115] If the difference between the deceleration value and the deceleration comparison value is greater than the difference threshold, execute:

[0116] S406. Reduce the deceleration threshold for triggering comfort braking.

[0117] S407: Determine whether the difference between the detected deceleration value and the deceleration comparison value is less than or equal to a difference threshold.

[0118] If not, execute:

[0119] S408. Maintain the current deceleration threshold for triggering the comfort braking function.

[0120] If yes, execute:

[0121] S409: Adjust the deceleration threshold for triggering comfort braking to the initial deceleration threshold.

[0122] The vehicle control method provided in the embodiment of the present application obtains the deceleration value of the vehicle, calculates the deceleration comparison value under the current working condition and road condition, compares the deceleration value with the deceleration comparison value, and if the difference between the two is greater than the difference threshold, lowers the deceleration threshold for triggering the comfort braking function to prevent the vehicle from triggering the comfort braking function with a larger deceleration and thereby generating creeping noise. After the deceleration threshold is lowered, if it is detected that the difference between the deceleration value and the deceleration comparison value has returned to a normal difference range, the deceleration threshold for triggering the comfort braking function is restored to the initial deceleration threshold to ensure the normal operation of the comfort braking function.

[0123] Figure 5 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the vehicle control device 50 provided in the embodiment of the present application includes:

[0124] The acquisition module 501 is used to acquire the deceleration value of the vehicle.

[0125] The processing module 502 is used to determine the deceleration comparison value of the vehicle under the current working condition and the current road condition according to the current working condition of the vehicle and the current road condition.

[0126] The processing module 502 is further configured to reduce a deceleration threshold for triggering a comfort braking function when the difference between the deceleration value and the deceleration comparison value is greater than a difference threshold.

[0127] In a possible implementation, the processing module 502 is further configured to:

[0128] Determine the difference range within which the difference lies.

[0129] According to the difference range, the adjustment value of the deceleration threshold is determined.

[0130] The deceleration threshold for triggering the comfort brake function is reduced according to the adjustment value.

[0131] In a possible implementation, the processing module 502 is further configured to:

[0132] According to the push rod stroke of the brake system of the vehicle and the correlation between the push rod stroke of the brake system and the hydraulic pressure value of the hydraulic cylinder, the hydraulic pressure value of the hydraulic cylinder of the vehicle is obtained;

[0133] Obtaining the wheel-end braking torque value of the vehicle according to the hydraulic pressure value of the hydraulic cylinder of the vehicle and the correlation relationship between the hydraulic pressure value of the hydraulic cylinder and the wheel-end braking torque value;

[0134] According to the wheel-end braking torque value, the vehicle's motor braking capacity recovery value and the deceleration algorithm under the current road condition, a deceleration comparison value of the vehicle under the current working condition and the current road condition is determined, wherein the deceleration algorithm under the current road condition characterizes the relationship between the deceleration and the wheel-end braking torque value, the vehicle's motor braking capacity recovery value, the road slope value and the direction of the vehicle head.

[0135] In a possible implementation, the processing module 502 is further configured to:

[0136] According to the current wheel-end braking torque value of the vehicle, the motor braking capacity recovery value and the current road condition of the vehicle, the deceleration comparison value of the vehicle under the current working condition and the current road condition is determined from the deceleration comparison value table. Among them, the current road condition includes the road slope value and the vehicle head direction, and the deceleration comparison value table is a deceleration value table calibrated according to different wheel-end braking torque values, different motor braking capacity recovery values ​​and different road conditions.

[0137] In a possible implementation manner, the processing module 502 is further configured to: upon detecting that the difference between the deceleration value and the deceleration comparison value is less than or equal to the difference threshold, restore the deceleration threshold for triggering the comfort braking function.

[0138] In a possible implementation manner, the processing module 502 is further configured to: if the difference between the deceleration value and the deceleration comparison value is less than or equal to the difference threshold, maintain the deceleration threshold for triggering the comfort braking function.

[0139] The vehicle control device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail in this embodiment.

[0140] Figure 6 This is a schematic diagram of the structure of the vehicle control device provided in this application. Figure 6 As shown, the electronic device 60 provided in this embodiment includes: at least one processor 601 and a memory 602. Optionally, the device 60 also includes a communication component 603. The processor 601, the memory 602 and the communication component 603 are connected via a bus 604.

[0141] In a specific implementation process, at least one processor 601 executes the computer execution instructions stored in the memory 602, so that at least one processor 601 executes the above method.

[0142] The specific implementation process of the processor 601 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0143] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The steps of the method disclosed in the invention may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0144] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0145] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0146] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0147] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0148] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0149] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0150] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0151] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0152] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0153] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0154] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0155] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A vehicle control method, characterized in that: include: Get the vehicle's deceleration value; Determining a deceleration comparison value of the vehicle under the current operating condition and the current road condition according to the current operating condition and the current road condition of the vehicle; If the difference between the deceleration value and the deceleration comparison value is greater than the difference threshold, the deceleration threshold for triggering the comfort braking function is reduced.

2. The vehicle control method according to claim 1, characterized in that: The lowering of the deceleration threshold for triggering the comfort braking function includes: Determine a difference range within which the difference lies; Determining an adjustment value of a deceleration threshold according to the difference range; The deceleration threshold for triggering the comfort brake function is reduced according to the adjustment value.

3. The vehicle control method according to claim 2, characterized in that: Determining the adjustment value of the deceleration threshold according to the difference range includes: determining a gear corresponding to the adjustment value of the deceleration threshold according to the difference range.

4. The vehicle control method according to any one of claims 1 to 3, characterized in that: Determining the deceleration comparison value of the vehicle under the current working condition and the current road condition according to the current working condition and the current road condition of the vehicle includes: Obtaining a push rod stroke of a brake system of the vehicle; Acquiring the hydraulic pressure value of the hydraulic cylinder of the vehicle according to the push rod stroke of the brake system and the correlation between the push rod stroke of the brake system and the hydraulic pressure value of the hydraulic cylinder; Obtaining the wheel end braking torque value of the vehicle according to the hydraulic cylinder hydraulic pressure value of the vehicle and the correlation relationship between the hydraulic cylinder hydraulic pressure value and the wheel end braking torque value; Based on the wheel-end braking torque value, the motor braking capacity recovery value of the vehicle and the deceleration algorithm under the current road condition, a deceleration comparison value of the vehicle under the current working condition and the current road condition is determined, wherein the deceleration algorithm under the current road condition characterizes the relationship between the deceleration and the wheel-end braking torque value, the motor braking capacity recovery value, the road slope value and the direction of the front of the vehicle.

5. The vehicle control method according to any one of claims 1 to 3, characterized in that: Determining the deceleration comparison value of the vehicle under the current working condition and the current road condition according to the current working condition and the current road condition of the vehicle includes: Obtaining the wheel-end braking torque value, motor braking capacity recovery value and current road conditions of the vehicle; Determining a deceleration comparison value of the vehicle under a current working condition and a current road condition from a deceleration comparison value table according to the wheel end braking torque value, the motor braking capacity recovery value and the current road condition; The current road condition includes a road slope value and a vehicle head direction, and the deceleration comparison value table is a deceleration value table calibrated according to different wheel-end braking torque values, different motor braking capacity recovery values ​​and different road conditions.

6. The vehicle control method according to any one of claims 1 to 3, characterized in that: After reducing the deceleration threshold for triggering the comfort brake function, it also includes: When it is detected that the difference between the deceleration value and the deceleration comparison value is less than or equal to the difference threshold, the deceleration threshold for triggering the comfort braking function is restored.

7. The vehicle control method according to any one of claims 1 to 3, characterized in that: The method further comprises: If the difference between the deceleration value and the deceleration comparison value is less than or equal to the difference threshold, the deceleration threshold for triggering the comfort braking function is maintained.

8. A vehicle control device, characterized in that: include: An acquisition module, used to obtain the deceleration value of the vehicle; A processing module, used to determine a deceleration comparison value of the vehicle under the current working condition and the current road condition according to the current working condition and the current road condition of the vehicle; The processing module is further configured to reduce a deceleration threshold for triggering a comfort braking function if a difference between the deceleration value and the deceleration comparison value is greater than a difference threshold.

9. A vehicle control device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed by a processor.

11. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 7 when being executed by a processor.

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