Braking control method, system, vehicle and device for a vehicle

Abstract

The application discloses a brake control method and system of a vehicle, a vehicle and equipment. The brake control method of the vehicle comprises the following steps: obtaining a brake parameter and a vehicle speed when the vehicle brakes, wherein the brake parameter comprises a brake deceleration and / or a brake pressure; obtaining a target damping of a shock absorber and a target brake control curve of a brake system according to the brake parameter and the vehicle speed, wherein the target damping and the target brake control curve change with the change of the brake parameter and the vehicle speed; controlling the shock absorber to provide the target damping, and adjusting a brake force provided by the brake system according to the target brake control curve, wherein when the brake system is provided with an active pressure relief function, whether the active pressure relief is performed by the brake system is controlled according to the brake parameter and the vehicle speed. The embodiments of the application can realize comfortable braking of the vehicle in various scenes, effectively reduce the shaking and pitching of the vehicle during braking, and thus improve the comfort of braking.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a brake control method and system of a vehicle, a vehicle and an apparatus. BACKGROUND

[0002] With the popularization of automobiles and the development of technology, users have higher and higher requirements for the ride comfort of vehicles. During braking of a vehicle, due to the existence of longitudinal deceleration, the load of an axle will be transferred, which will cause the vehicle to pitch, and the pitch will rebound when the vehicle is stopped, and the front and rear of the vehicle will also shake, causing the driver and passengers to feel uncomfortable, and even causing car sickness.

[0003] In related technologies, although there are control means for reducing the pitch of the whole vehicle during braking, for example, when the vehicle speed is less than a preset vehicle speed threshold, the vehicle is controlled to enter a comfortable braking mode, the upper limit value of the wheel braking force is determined by obtaining the deceleration of the vehicle, and the braking forces of the front wheels and the rear wheels are respectively set and distributed according to the upper limit value, so that the braking forces are distributed to the front wheels or the rear wheels as much as possible, thereby reducing the pitch of the vehicle caused by braking, achieving comfortable braking, and not reducing the braking force of the vehicle. However, the problem of whole vehicle shaking caused by front axle compression rebound at the moment of stopping cannot be solved, and in addition, when the front and rear braking forces reach the maximum and the front and rear braking forces cannot be distributed, the braking comfort cannot be improved. SUMMARY

[0004] Therefore, it is necessary to provide a brake control method and system of a vehicle, a vehicle and an apparatus, which can achieve comfortable braking of the vehicle in various scenarios, effectively reduce the shaking and pitching of the vehicle during braking, and thus improve the comfort of braking.

[0005] In a first aspect, a brake control method of a vehicle is provided, comprising:

[0006] obtaining a braking parameter and a vehicle speed when the vehicle is braking, wherein the braking parameter comprises a braking deceleration and / or a braking pressure;

[0007] obtaining a target damping of a shock absorber and a target brake control curve of a brake system according to the braking parameter and the vehicle speed, wherein the target damping and the target brake control curve change with changes in the braking parameter and the vehicle speed;

[0008] controlling the shock absorber to provide the target damping, and adjusting a braking force provided by the brake system according to the target brake control curve,

[0009] wherein when the brake system is configured with an active pressure relief function, whether the brake system performs active pressure relief is controlled according to the braking parameter and the vehicle speed.

[0010] In some examples, the target damping is one of a first damping parameter, a second damping parameter and a third damping parameter, the target brake control curve is one of a first brake control curve and a second brake control curve, wherein the first damping parameter is smaller than the second damping parameter, the second damping parameter is smaller than the third damping parameter, and a brake force corresponding to a same brake pedal opening degree on the second brake control curve is smaller than a brake force corresponding to the same brake pedal opening degree on the first brake control curve.

[0011] In some examples, the obtaining the target damping of the shock absorber and the target brake control curve of the brake system according to the brake parameter and the vehicle speed comprises:

[0012] When the vehicle speed is greater than a predetermined vehicle speed, or the brake deceleration is smaller than a first predetermined deceleration, or the brake pressure is smaller than a first predetermined pressure, the first damping parameter is taken as the target damping, and the first brake control curve is taken as the target brake control curve.

[0013] When the vehicle speed is smaller than or equal to the predetermined vehicle speed, if the brake deceleration is greater than or equal to the first predetermined deceleration and smaller than or equal to a second predetermined deceleration, and the brake pressure is greater than or equal to the first predetermined pressure and smaller than or equal to a second predetermined pressure, the second damping parameter is taken as the target damping, and the second brake control curve is taken as the target brake control curve.

[0014] When the vehicle speed is smaller than or equal to the predetermined vehicle speed, if the brake deceleration is greater than the second brake deceleration, or the brake pressure is greater than the second predetermined pressure, the third damping parameter is taken as the target damping, and the second brake control curve is taken as the target brake control curve.

[0015] In some examples, when the brake system is configured with an active pressure relief function, the controlling whether the brake system performs the active pressure relief according to the brake parameter and the vehicle speed comprises:

[0016] If the brake deceleration is greater than or equal to the first predetermined deceleration and smaller than or equal to a second predetermined deceleration, and the brake pressure is greater than or equal to the first predetermined pressure and smaller than or equal to a second predetermined pressure, the active pressure relief function of the brake system is performed.

[0017] If the brake deceleration is greater than the second brake deceleration, or the brake pressure is greater than the second predetermined pressure, the active pressure relief function of the brake system is not performed.

[0018] If the brake deceleration is less than the first brake deceleration, or the brake pressure is less than the first predetermined pressure, the active pressure relief function of the brake system is not performed.

[0019] In some examples, the vehicle comprises a brake mode switch and an active pressure relief function switch, wherein:

[0020] When switched to the comfort brake mode by the brake mode switch and the active pressure relief function switch is on, the target damping of the shock absorber and the target brake control curve of the brake system are obtained according to the brake parameter and the vehicle speed;

[0021] When switched to the comfort brake mode by the brake mode switch and the active pressure relief function switch is off, the first brake control curve is taken as the target brake control curve, and the target damping of the shock absorber is obtained according to the brake parameter and the vehicle speed;

[0022] When switched to the sport brake mode by the brake mode switch and the active pressure relief function switch is on or off, the first brake control curve is taken as the target brake control curve, and the first damping parameter is taken as the target damping when the vehicle speed is less than or equal to the predetermined vehicle speed, and the third damping parameter is taken as the target damping when the vehicle speed is greater than the predetermined vehicle speed.

[0023] In some examples, further comprising:

[0024] When the brake mode, the active pressure relief function and the working state of the vehicle body electronic stability system are normal, or when the brake mode is degraded, the active pressure relief function and the working state of the vehicle body electronic stability system are normal, the target damping of the shock absorber and the target brake control curve of the brake system are obtained according to the brake parameter and the vehicle speed;

[0025] When one or two of the active pressure relief function, the brake mode and the vehicle body electronic stability system are degraded, the first brake control curve is taken as the target brake control curve, and the target damping of the shock absorber is obtained according to the brake parameter and the vehicle speed.

[0026] In some examples, further comprising:

[0027] If the brake system is not configured with the active pressure relief function and / or the vehicle is not configured with the brake mode switch, if the working state of the vehicle body electronic stability system is normal, the target damping of the shock absorber and the target brake control curve of the brake system are obtained according to the brake parameter and the vehicle speed.

[0028] In some examples, further comprising:

[0029] If the brake system is not configured with the active pressure relief function and / or the vehicle is not configured with a brake mode switch, if the vehicle body electronic stability system is degraded, the first brake control curve is taken as the target brake control curve, and the target damping of the shock absorber is obtained according to the brake parameter and the vehicle speed.

[0030] In some examples, further comprising:

[0031] If the pressure building rate when the vehicle brakes is greater than a predetermined pressure building rate, the target brake control curve of the brake system is obtained according to the brake parameter and the vehicle speed, the third damping parameter is taken as the target damping, and the active pressure relief function is not performed.

[0032] In a second aspect, a brake control system of a vehicle is provided, comprising:

[0033] An acquisition module is configured to obtain a brake parameter and a vehicle speed when the vehicle brakes, wherein the brake parameter comprises a brake deceleration and / or a brake pressure;

[0034] A determination module is configured to obtain a target damping of a shock absorber and a target brake control curve of a brake system according to the brake parameter and the vehicle speed, wherein the target damping and the target brake control curve change with changes in the brake parameter and the vehicle speed;

[0035] A control module is configured to control the shock absorber to provide the target damping, to adjust a brake force provided by the brake system according to the target brake control curve, and to control whether the brake system performs an active pressure relief according to the brake parameter and the vehicle speed when the brake system is configured with the active pressure relief function.

[0036] In a third aspect, a vehicle is provided, comprising the brake control system of the vehicle according to the second aspect described above.

[0037] In a fourth aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the brake control method of the vehicle according to the first aspect described above when executing the program.

[0038] With the embodiments of the present application, the active pressure relief function of the brake system can be flexibly selected, the brake force can be flexibly adjusted, and the damping of the shock absorber can be flexibly adjusted under different braking conditions such as different brake decelerations and brake pressures, and under various working conditions such as forward driving, reverse driving, and steering braking, and thus, comfortable braking of the vehicle under various scenarios can be achieved, the shaking and pitching of the vehicle when braking can be effectively reduced, and the comfort of braking is improved. BRIEF DESCRIPTION OF DRAWINGS

[0039] Other features, objects, and advantages of the application will become more apparent from the following detailed description when read in connection with the following drawings:

[0040] Figure 1 A flow chart of a braking control method of a vehicle according to an embodiment of the application is provided.

[0041] Figure 2 A structural block diagram of a braking control system of a vehicle according to an embodiment of the application is provided.

[0042] Figure 3 A structural block diagram of a computer device according to an embodiment of the application is provided. DETAILED DESCRIPTION

[0043] The application will be further described below in connection with embodiments and drawings. It can be understood that the specific embodiments described herein are only used to explain the related application, but not to limit the application. In addition, it should be noted that, for the convenience of description, only the parts related to the application are shown in the drawings.

[0044] It should be noted that the features of the embodiments in the application, i.e. the features of the embodiments, can be combined with each other without conflict. The application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0045] The braking control method, system, vehicle and device of a vehicle according to an embodiment of the application are described in detail below in conjunction with the drawings.

[0046] According to the embodiments of the application, the active pressure relief function (i.e. CST function) of the braking system, the adjustment of the braking force (e.g. different DBR curves corresponding to different braking forces) and the damping of the shock absorber (e.g. the damping of the CDC shock absorber) can be flexibly executed or not executed when braking under various working conditions (e.g. forward, reverse, steering, etc.) according to different braking modes (e.g. comfort mode and sport mode) and different braking conditions (e.g. braking deceleration, braking pressure, etc.), so as to achieve comfortable braking of the vehicle in all scenarios. Not only the regular driving conditions are considered, but also the braking is optimized for special situations such as low speed, high speed, emergency braking, etc. to achieve the purpose of comfortable braking.

[0047] Figure 1 A flow chart of a braking control method of a vehicle according to an embodiment of the application is provided. As shown in Figure 1 The braking control method of a vehicle according to an embodiment of the application includes the following steps:

[0048] S101: When the vehicle is braking, obtain the braking parameters and the vehicle speed, wherein the braking parameters include the braking deceleration and / or the braking pressure.

[0049] The brake deceleration and / or brake pressure refers to at least one of the brake deceleration and the brake pressure.

[0050] The brake taken by the vehicle can be a brake taken in a forward process, a brake taken in a reverse process, and a brake taken in a turning process.

[0051] S102: Obtain a target damping of the shock absorber and a target brake control curve of the brake system according to the brake parameter and the vehicle speed, wherein the target damping and the target brake control curve change with the brake parameter and the vehicle speed.

[0052] In an embodiment of the present application, the target damping can be selected from three damping parameters, and the target brake control curve can be selected from two brake control curves. It can be understood that more damping parameters can also be set, so that the target damping can be selected from the more damping parameters, and of course, the brake control curve can also be more, so that the target brake control curve can be selected from the more brake control curves.

[0053] Taking three damping parameters and two brake control curves as an example, in a specific example, the target damping is one of a first damping parameter C1, a second damping parameter C2, and a third damping parameter C3, and the target brake control curve is one of a first brake control curve DBR1 and a second brake control curve DBR2, wherein the first damping parameter C1 is less than the second damping parameter C2, the second damping parameter C2 is less than the third damping parameter C3, and the brake force corresponding to the same brake pedal opening degree on the second brake control curve DBR2 is less than the brake force corresponding to the same brake pedal opening degree on the first brake control curve DBR1. For example: DBR2=DBR1*80%, that is, the brake force corresponding to the same brake pedal opening degree on DBR2 is 80% of the brake force corresponding to the same brake pedal opening degree on DBR1. For example, the brake force corresponding to the same brake pedal opening degree on DBR1 is 10, and the brake force corresponding to the same brake pedal opening degree on DBR2 is 8.

[0054] S103: Control the shock absorber to provide the target damping, and adjust the brake force provided by the brake system according to the target brake control curve, wherein when the brake system is configured with an active pressure relief function, control whether the brake system performs active pressure relief according to the brake parameter and the vehicle speed.

[0055] Specifically, when the vehicle speed is greater than a predetermined vehicle speed, or the brake deceleration is less than a first predetermined deceleration, or the brake pressure is less than a first predetermined pressure, the first damping parameter is taken as the target damping, and the first brake control curve is taken as the target brake control curve; when the vehicle speed is less than or equal to the predetermined vehicle speed, if the brake deceleration is greater than or equal to the first predetermined deceleration and less than or equal to a second predetermined deceleration, and the brake pressure is greater than or equal to the first predetermined pressure and less than or equal to a second predetermined pressure, the second damping parameter is taken as the target damping, and the second brake control curve is taken as the target brake control curve; when the vehicle speed is less than or equal to the predetermined vehicle speed, if the brake deceleration is greater than the second brake deceleration, or the brake pressure is greater than the second predetermined pressure, the third damping parameter is taken as the target damping, and the second brake control curve is taken as the target brake control curve.

[0056] In the above example, when the brake system is configured with an active pressure relief function, whether the active pressure relief of the brake system is controlled according to the brake parameters and the vehicle speed includes: if the brake deceleration is greater than or equal to the first predetermined deceleration and less than or equal to a second predetermined deceleration, and the brake pressure is greater than or equal to the first predetermined pressure and less than or equal to a second predetermined pressure, the active pressure relief function of the brake system is executed; if the brake deceleration is greater than the second brake deceleration, or the brake pressure is greater than the second predetermined pressure, the active pressure relief function of the brake system is not executed; if the brake deceleration is less than the first brake deceleration, or the brake pressure is less than the first predetermined pressure, the active pressure relief function of the brake system is not executed.

[0057] For example, assuming that the predetermined vehicle speed is 8 km / h (i.e., 8 kph), the first predetermined deceleration is 0.05g, the first predetermined pressure is 5 bar, the second predetermined deceleration is 0.5g, the second predetermined pressure is 50 bar, and the brake system is a by-wire hydraulic brake system with a CST function (i.e., an active pressure relief function), then:

[0058] The CST function of the by-wire hydraulic brake system can simulate the brake operation of an experienced driver during braking, i.e., through active pressure relief, simulate the purpose of smoothly stopping the vehicle when the driver lifts the brake pedal upward during stopping the vehicle, and has two sets of DBR curves (i.e., DBR1 and DBR2) to reduce the braking force and the pitch of the vehicle at low vehicle speed.

[0059] CDC shock absorber can reduce the shock during pitch recovery by adjusting the damping of the shock absorber, and realize the stable stop of the vehicle. At the same time, combined with CST active pressure relief control, DBR brake force control, CDC shock absorber damping control, realize the comfortable braking in all scenes.

[0060] The by-wire hydraulic brake system has two sets of DBR curves for retrieval:

[0061] 1) When normal high speed (such as vehicle speed greater than 8 km / h), DBR curve adopts DBR1.

[0062] 2) When low speed adjusted with speed (i.e. vehicle speed less than or equal to 8 km / h), DBR curve adopts DBR2.

[0063] CDC shock absorber has three sets of damping parameters (i.e. C1, C2 and C3) integrated in the brake system, which can also be integrated in the central domain controller, which can be retrieved:

[0064] When normal high speed driving, or braking, but vehicle speed > 8 kph, or brake deceleration < 0.05g, or brake pressure < 5bar, CDC shock absorber damping is C1;

[0065] When braking, 0.05g ≤ deceleration ≤ 0.5g and 5bar ≤ brake pressure ≤ 50bar, when the vehicle speed reaches ≤ 8kph, the CDC shock absorber damping is C2;

[0066] When braking, brake deceleration > 0.5g, or brake pressure > 50bar, when the vehicle speed reaches ≤ 8kph, the CDC shock absorber damping is C3.

[0067] In a specific example, for vehicle models without CDC shock absorber configuration, only the control strategy of the combination of speed-dependent DBR and CST is executed.

[0068] When the brake pedal is pressed or a brake request is sent while driving forward, reversing or turning, the deceleration threshold reaches 0.05g-0.5g, the brake pressure threshold reaches 5bar-50bar, and the initial vehicle speed during braking is ≤ 8kph:

[0069] DBR speed-dependent control strategy is executed;

[0070] CDC shock absorber damping executes C2;

[0071] CST comfortable braking function is turned on (i.e. active pressure relief function is executed).

[0072] When the brake pedal is pressed or a brake request is sent while driving forward, reversing or turning, the deceleration threshold reaches 0.05g-0.5g, the brake pressure threshold reaches 5bar-50bar, and the initial vehicle speed during braking is > 8kph:

[0073] DBR curve is executed according to DBR1;

[0074] CDC damper damping is executed C1 when vehicle speed is >8kph, and is executed C2 when speed is reduced to ≤8kph;

[0075] CST comfort braking function is turned on.

[0076] When brake pedal is stepped on or brake request is sent while driving forward, backward or turning, and the deceleration threshold reaches >0.5g or brake pressure >50bar, and initial vehicle speed during braking is ≤8kph:

[0077] DBR curve is executed according to DBR2;

[0078] CDC damper damping is executed C3;

[0079] CST comfort braking function is turned off (i.e. active pressure relief function is not executed), thereby reducing the increase of braking distance caused by pressure relief and the groan noise problem during pressure relief.

[0080] When brake pedal is stepped on or brake request is sent while driving forward, backward or turning, and the deceleration threshold reaches >0.5g or brake pressure >50bar, and initial vehicle speed during braking is >8kph:

[0081] DBR curve is executed according to DBR1;

[0082] CDC damper damping is executed C1 when vehicle speed is >8kph, and is executed C3 when speed is reduced to ≤8kph;

[0083] CST comfort braking function is turned off, reducing the increase of braking distance caused by pressure relief and the groan noise problem during pressure relief.

[0084] When brake pedal is stepped on or brake request is sent while driving forward, backward or turning, and braking deceleration is <0.05g or <5bar:

[0085] DBR curve is executed according to speed control strategy, i.e. target braking control curve of braking system is obtained according to braking parameters and vehicle speed;

[0086] CDC damper damping is executed C1;

[0087] CST comfort braking function is turned off.

[0088] In an embodiment of the present application, the braking control method of the vehicle, the vehicle comprises a braking mode switch (i.e. with VBF switch) and an active pressure relief function switch (i.e. with a switch for turning on or off CST function), wherein:

[0089] When the comfort brake mode is switched by the brake mode switch and the active bleed function switch is opened, the target damping of the shock absorber and the target brake control curve of the brake system are obtained according to the brake parameter and the vehicle speed; when the comfort brake mode is switched by the brake mode switch and the active bleed function switch is closed, the first brake control curve is taken as the target brake control curve, and the target damping of the shock absorber is obtained according to the brake parameter and the vehicle speed; when the sport brake mode is switched by the brake mode switch and the active bleed function switch is opened or closed, the first brake control curve is taken as the target brake control curve, and the first damping parameter is taken as the target damping when the vehicle speed is less than or equal to the predetermined vehicle speed, and the third damping parameter is taken as the target damping when the vehicle speed is greater than the predetermined vehicle speed.

[0090] In specific applications, for example: when the brake pedal is stepped on or a brake request is sent, the VBF, CST switch state is as follows:

[0091] When the VBF is in the comfort mode and the CST is opened, the DBR speed control strategy is executed, and the CDC shock absorber damping control strategy according to the vehicle speed and the deceleration is executed;

[0092] When the VBF is in the comfort mode and the CST is closed, the DBR curve is executed according to DBR1, and only the CDC shock absorber damping control strategy according to the vehicle speed and the deceleration is executed;

[0093] When the VBF is in the sport mode and the CST is opened, DBR1 is executed, C1 is executed for the CDC shock absorber damping when the vehicle speed is less than or equal to 8 kph, and C3 is executed for the CDC shock absorber damping when the vehicle speed is greater than 8 kph, so as to improve the whole vehicle deceleration callback and oscillation when the brake response is fast;

[0094] When the VBF is in the sport mode and the CST is closed, DBR1 is executed, C1 is executed for the CDC shock absorber damping when the vehicle speed is less than or equal to 8 kph, and C3 is executed for the CDC shock absorber damping when the vehicle speed is greater than 8 kph, so as to improve the whole vehicle deceleration callback and oscillation when the brake response is fast.

[0095] In an embodiment of the present application, the brake control method of the vehicle further comprises: when the brake mode, the active bleed function and the working state of the vehicle body electronic stability system are normal, or when the brake mode is degraded, the active bleed function and the working state of the vehicle body electronic stability system are normal, the target damping of the shock absorber and the target brake control curve of the brake system are obtained according to the brake parameter and the vehicle speed; when one or two of the active bleed function, the brake mode and the vehicle body electronic stability system are degraded, the first brake control curve is taken as the target brake control curve, and the target damping of the shock absorber is obtained according to the brake parameter and the vehicle speed.

[0096] Wherein, the brake mode degradation refers to that the brake mode is degraded from adjustable to unadjustable, that is, the brake mode adjustable can be switched to the sport brake mode or the comfort brake mode, while the unadjustable cannot be switched between the sport brake mode and the comfort brake mode, for example, when the brake mode is degraded, if the current is the sport brake mode, it cannot be adjusted to the comfort brake mode, and if the current is the comfort brake mode, it cannot be adjusted to the sport brake mode.

[0097] In specific applications, when the brake pedal is stepped on or a brake request is sent, brake control is performed according to the working states of the VBF, the CST and the ESC, wherein:

[0098] The VBF, the CST and the ESC are in normal working states, the DBR speed control strategy is executed, and the CDC shock absorber damping control strategy according to the vehicle speed and the deceleration is executed;

[0099] The VBF is degraded, the CST and the ESC are in normal working states, the DBR speed control strategy is executed, and the CDC shock absorber damping control strategy according to the vehicle speed and the deceleration is executed;

[0100] The CST is degraded (that is, the CST pressure relief function is closed), the VBF and the ESC are in normal working states, the DBR1 curve is executed, and the CDC shock absorber damping control strategy according to the vehicle speed and the deceleration is executed;

[0101] The ESC is degraded (that is, the electronic vehicle body stability system is closed), the VBF and the CST are in normal working states, the DBR1 curve is executed, and the CDC shock absorber damping control strategy according to the vehicle speed and the deceleration is executed;

[0102] The VBF and the CST are degraded, the ESC is in normal working state, the DBR1 curve is executed, and the CDC shock absorber damping control strategy according to the vehicle speed and the deceleration is executed;

[0103] The VBF and the ESC are degraded, the CST is in normal working state, the DBR1 curve is executed, and the CDC shock absorber damping control strategy according to the vehicle speed and the deceleration is executed;

[0104] The CST and the ESC are degraded, the VBF is in normal working state, the DBR1 curve is executed, and the CDC shock absorber damping control strategy according to the vehicle speed and the deceleration is executed.

[0105] In an embodiment of the present application, the brake control method of the vehicle further comprises: if the brake system is not configured with the active pressure relief function and / or the vehicle is not configured with a brake mode switch, if the working state of the vehicle body electronic stability system is normal, obtaining target damping of the shock absorber and a target brake control curve of the brake system according to the brake parameter and the vehicle speed.

[0106] For example, when the brake pedal is stepped on or a brake request is sent, for a vehicle without VBF and / or without CST, if the ESC is not faulty, then:

[0107] For a vehicle without VBF, the DBR speed-dependent control strategy is executed by default, and the CDC shock absorber damping control strategy according to vehicle speed and deceleration is executed.

[0108] For a vehicle without CST, the DBR speed-dependent control strategy is executed by default, and the CDC shock absorber damping control strategy according to vehicle speed and deceleration is executed.

[0109] For a vehicle without VBF / CST, the DBR speed-dependent control strategy is executed by default, and the CDC shock absorber damping control strategy according to vehicle speed and deceleration is executed.

[0110] In an embodiment of the present application, the brake control method of the vehicle further comprises: if the brake system is not configured with the active pressure relief function and / or the vehicle is not configured with a brake mode switch, if the vehicle body electronic stability system is degraded, the first brake control curve is taken as the target brake control curve, and target damping of the shock absorber is obtained according to the brake parameter and the vehicle speed.

[0111] For example, when the brake pedal is stepped on or a brake request is sent, for a vehicle without VBF and / or without CST, if the ESC is degraded, then:

[0112] For a vehicle without VBF, DBR1 is executed, and the CDC shock absorber damping control strategy according to vehicle speed and deceleration is executed.

[0113] For a vehicle without CST, DBR1 is executed, and the CDC shock absorber damping control strategy according to vehicle speed and deceleration is executed.

[0114] 3) For a vehicle without VBF and CST, DBR1 is executed, and the CDC shock absorber damping control strategy according to vehicle speed and deceleration is executed.

[0115] Thus, when a part of the systems (such as VBF, CST, ESC) of the vehicle is faulty or degraded, even in the case of limited functions, the brake effect can be effectively improved and the brake comfort can be improved through the speed-dependent DBR and the CDC shock absorber damping setting.

[0116] In an embodiment of the present application, the brake control method of the vehicle further comprises: if the pressure building rate when the vehicle is braking is greater than a predetermined pressure building rate, obtaining a target brake control curve of the brake system according to the brake parameter and the vehicle speed, and taking the third damping parameter as the target damping and not executing the active pressure relief function.

[0117] The predetermined pressure building rate is taken as 120 bar / s, then there is:

[0118] When the brake pedal is stepped on or a brake request is sent while the vehicle is currently driving forward, reversing or turning, and the pressure building rate is greater than 120 bar / s:

[0119] The DBR speed control strategy is executed;

[0120] The damper damping executes C3, effectively improving the vehicle pitch and oscillation when the brake is stepped on quickly;

[0121] The CST comfort brake function is turned off.

[0122] According to the brake control method of the vehicle of the embodiment of the present application, the active pressure relief function of the brake system, the brake force and the damper damping can be flexibly selected, adjusted and adjusted under different brake conditions such as different brake decelerations and brake pressures, and under various working conditions such as forward driving, reversing and turning braking, and thus the comfort braking of the vehicle under various scenes can be realized, the oscillation and pitch of the vehicle during braking can be effectively reduced, and the comfort of the brake is improved.

[0123] Figure 2 is a structural block diagram of the brake control system of the vehicle according to an embodiment of the present application. As shown in Figure 2 The brake control system of the vehicle according to an embodiment of the present application comprises: an acquisition module 210, a determination module 220 and a control module 230, wherein:

[0124] The acquisition module 210 is configured to obtain a brake parameter and a vehicle speed when the vehicle is braking, wherein the brake parameter comprises a brake deceleration and / or a brake pressure;

[0125] The determination module 220 is configured to obtain a target damping of a damper and a target brake control curve of a brake system according to the brake parameter and the vehicle speed, wherein the target damping and the target brake control curve change with the change of the brake parameter and the vehicle speed;

[0126] The control module 230 is configured to control the damper to provide the target damping, adjust a brake force provided by the brake system according to the target brake control curve, and control whether the brake system executes an active pressure relief when the brake system is configured with the active pressure relief function according to the brake parameter and the vehicle speed.

[0127] The brake control system of the vehicle according to the embodiments of the present application can flexibly select the active pressure relief function of the brake system, flexibly adjust the braking force, and flexibly adjust the damping of the shock absorber under different braking conditions such as different braking decelerations, brake pressures, and the like, and under various working conditions such as forward driving, reverse driving, and cornering braking, and thus can achieve comfortable braking of the vehicle under various scenarios, effectively reduces the shaking and pitching of the vehicle during braking, and thus improves the comfort of braking.

[0128] The specific limitations of the brake control system of the vehicle can be referred to the limitations of the brake control method of the vehicle in the above, which will not be repeated here. The various modules of the brake control system of the vehicle described above can be realized by software, hardware, and combinations thereof, in whole or in part. The various modules described above can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory of the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to the various modules.

[0129] Further, the embodiments of the present application provide a vehicle, comprising the brake control system of the vehicle according to any one of the above embodiments. The vehicle can flexibly select the active pressure relief function of the brake system, flexibly adjust the braking force, and flexibly adjust the damping of the shock absorber under different braking conditions such as different braking decelerations, brake pressures, and the like, and under various working conditions such as forward driving, reverse driving, and cornering braking, and thus can achieve comfortable braking of the vehicle under various scenarios, effectively reduces the shaking and pitching of the vehicle during braking, and thus improves the comfort of braking.

[0130] In addition, other configurations and effects of the vehicle according to the embodiments of the present application are known to those skilled in the art, which will not be repeated here.

[0131] The following refers to Figure 3 , Figure 3 The structure of the computer device suitable for implementing the embodiments of the present application is shown.

[0132] As Figure 3 shown, the computer system 1000 includes a central processing unit (CPU) 1001, which can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 1002 or programs loaded from a storage portion 1008 into a random access memory (RAM) 1003. In the RAM 1003, various programs and data required for operation instructions of the system are also stored. The CPU 1001, the ROM 1002, and the RAM 1003 are connected to each other through a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0133] The following components are connected to I / O interface 1005: an input section 1006 including a keyboard, mouse, etc.; an output section 1007 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 1008 including a hard disk, etc.; and a communication section 1009 including a network interface card such as a LAN card, modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to I / O interface 1005 as needed. A removable medium 1011, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 1010 as needed so that computer programs read from it can be installed into storage section 1008 as needed.

[0134] Specifically, according to embodiments of this application, the flowchart above refers to... Figure 1 The described process can be implemented as a computer-readable storage medium. For example, embodiments of this application include a computer-readable storage medium comprising a computer program containing program code for performing the methods shown in the flowchart, such as performing: when a vehicle brakes, obtaining braking parameters and vehicle speed, wherein the braking parameters include braking deceleration and / or braking pressure;

[0135] Based on the braking parameters and vehicle speed, the target damping of the shock absorber and the target braking control curve of the braking system are obtained, wherein the target damping and the target braking control curve change with the change of the braking parameters and vehicle speed.

[0136] The shock absorber is controlled to provide the target damping, and the braking force provided by the braking system is adjusted according to the target braking control curve.

[0137] When the braking system is equipped with an active pressure relief function, the system is controlled to perform active pressure relief based on the braking parameters and vehicle speed.

[0138] Specifically, according to embodiments of this application, the flowchart above refers to... Figure 1 The described process can be implemented as a computer software program. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowchart, such as performing: when a vehicle is braking, obtaining braking parameters and vehicle speed, wherein the braking parameters include braking deceleration and / or braking pressure;

[0139] Based on the braking parameters and vehicle speed, the target damping of the shock absorber and the target braking control curve of the braking system are obtained, wherein the target damping and the target braking control curve change with the change of the braking parameters and vehicle speed.

[0140] controlling the shock absorber to provide the target damping, and adjusting a braking force provided by the brake system according to the target braking control curve,

[0141] wherein, when the brake system is configured with an active pressure relief function, controlling whether the brake system performs active pressure relief according to the brake parameter and vehicle speed.

[0142] In such embodiments, the computer program comprises program code for executing the method shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network via the communication section 1009, and / or installed from the removable medium 1011. When the computer program is executed by the central processing unit (CPU) 1001, the above-described functions defined in the system of the present application are executed.

[0143] It should be noted that the computer readable medium shown in the present application can be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination of the above. More specific examples of computer readable storage media can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or apparatus. In the present application, the computer readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer readable program code. Such a propagated data signal can take many forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination of the above. The computer readable signal medium can also be any computer readable medium that can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or apparatus. The program code contained on the computer readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0144] The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other processing devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flow diagrams and / or block diagrams.

[0145] The units or modules described in the embodiments of the present application can be implemented by software, or by hardware. The units or modules described can also be implemented by a combination of software and hardware. In some cases, some units or modules can be implemented by hardware, and other units or modules can be implemented by software. The names of the units or modules described in the embodiments of the present application are used to illustrate the functions of the units or modules, and in some cases, the names do not constitute limitation to the units or modules themselves.

[0146] The technical features of the above embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combinations of the technical features do not exist contradictions, they should be considered within the scope of the present application.

[0147] The above embodiments only express several implementation manners of the present application, and the description is specific and detailed, however, it should not be understood as a limitation to the patent scope of the present application. It should be pointed out that, for those skilled in the art, some modifications and improvements can be made without departing from the concept of the present application, and these should be considered within the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A brake control method of a vehicle, characterized by, The method comprises: obtaining a braking parameter and a vehicle speed when the vehicle is braking, wherein the braking parameter comprises a braking deceleration and / or a braking pressure; obtaining a target damping of a shock absorber and a target brake control curve of a brake system according to the braking parameter and the vehicle speed, wherein the target damping and the target brake control curve change with the change of the braking parameter and the vehicle speed; controlling the shock absorber to provide the target damping, and adjusting a braking force provided by the brake system according to the target brake control curve, wherein when the brake system is configured with an active pressure relief function, controlling whether the brake system executes the active pressure relief according to the braking parameter and the vehicle speed; the target damping is one of a first damping parameter, a second damping parameter and a third damping parameter, and the target brake control curve is one of a first brake control curve and a second brake control curve, wherein the first damping parameter is smaller than the second damping parameter, the second damping parameter is smaller than the third damping parameter, and a braking force corresponding to a same brake pedal opening degree on the second brake control curve is smaller than a braking force corresponding to the same brake pedal opening degree on the first brake control curve; the obtaining of the target damping of the shock absorber and the target brake control curve of the brake system according to the braking parameter and the vehicle speed comprises: when the vehicle speed is greater than a predetermined vehicle speed, or the braking deceleration is less than a first predetermined deceleration, or the braking pressure is less than a first predetermined pressure, taking the first damping parameter as the target damping, and taking the first brake control curve as the target brake control curve; when the vehicle speed is less than or equal to the predetermined vehicle speed, if the braking deceleration is greater than or equal to the first predetermined deceleration and less than or equal to a second predetermined deceleration, and the braking pressure is greater than or equal to the first predetermined pressure and less than or equal to a second predetermined pressure, taking the second damping parameter as the target damping, and taking the second brake control curve as the target brake control curve; when the vehicle speed is less than or equal to the predetermined vehicle speed, if the braking deceleration is greater than the second predetermined deceleration, or the braking pressure is greater than the second predetermined pressure, taking the third damping parameter as the target damping, and taking the second brake control curve as the target brake control curve.

2. The brake control method of a vehicle according to claim 1, characterized by when the brake system is configured with an active pressure relief function, controlling whether the brake system executes the active pressure relief according to the braking parameter and the vehicle speed comprises: if the braking deceleration is greater than or equal to the first predetermined deceleration and less than or equal to a second predetermined deceleration, and the braking pressure is greater than or equal to the first predetermined pressure and less than or equal to a second predetermined pressure, executing the active pressure relief function of the brake system; if the braking deceleration is greater than the second predetermined deceleration, or the braking pressure is greater than the second predetermined pressure, not executing the active pressure relief function of the brake system; if the braking deceleration is less than the first predetermined deceleration, or the braking pressure is less than the first predetermined pressure, not executing the active pressure relief function of the brake system.

3. The brake control method of a vehicle according to claim 1, characterized by The vehicle comprises a brake mode switch and an active pressure relief function switch, wherein: When the comfortable brake mode is switched by the brake mode switch and the active pressure relief function switch is opened, the target damping of the shock absorber and the target brake control curve of the brake system are obtained according to the brake parameter and the vehicle speed; When the comfortable brake mode is switched by the brake mode switch and the active pressure relief function switch is closed, the first brake control curve is taken as the target brake control curve, and the target damping of the shock absorber is obtained according to the brake parameter and the vehicle speed; When the sport brake mode is switched by the brake mode switch and the active pressure relief function switch is opened or closed, the first brake control curve is taken as the target brake control curve, and the first damping parameter is taken as the target damping when the vehicle speed is less than or equal to a predetermined vehicle speed, and the third damping parameter is taken as the target damping when the vehicle speed is greater than the predetermined vehicle speed.

4. The brake control method of a vehicle according to claim 3, characterized by Further comprising: When the brake mode, the active pressure relief function and the working state of the vehicle body electronic stability system are normal, or when the brake mode is degraded, the active pressure relief function and the working state of the vehicle body electronic stability system are normal, the target damping of the shock absorber and the target brake control curve of the brake system are obtained according to the brake parameter and the vehicle speed; When only the active pressure relief function or only the vehicle body electronic stability system is degraded among the active pressure relief function, the brake mode and the vehicle body electronic stability system, the first brake control curve is taken as the target brake control curve, and the target damping of the shock absorber is obtained according to the brake parameter and the vehicle speed; When two of the active pressure relief function, the brake mode and the vehicle body electronic stability system are degraded, the first brake control curve is taken as the target brake control curve, and the target damping of the shock absorber is obtained according to the brake parameter and the vehicle speed.

5. The brake control method of a vehicle according to claim 1, characterized by Further comprising: If the active pressure relief function is not configured in the brake system and / or the brake mode switch is not configured in the vehicle, if the working state of the vehicle body electronic stability system is normal, the target damping of the shock absorber and the target brake control curve of the brake system are obtained according to the brake parameter and the vehicle speed.

6. The brake control method of a vehicle according to claim 1, characterized by Further comprising: If the active pressure relief function is not configured in the brake system and / or the brake mode switch is not configured in the vehicle, if the working state of the vehicle body electronic stability system is degraded, the first brake control curve is taken as the target brake control curve, and the target damping of the shock absorber is obtained according to the brake parameter and the vehicle speed.

7. The brake control method of a vehicle according to claim 1, characterized by Further comprising: If the pressure building rate of the vehicle during braking is greater than a predetermined pressure building rate, the target brake control curve of the brake system is obtained according to the brake parameter and the vehicle speed, the third damping parameter is taken as the target damping, and the active pressure relief function is not performed.

8. A brake control system of a vehicle characterized by comprising: The brake control method for realizing the vehicle according to any one of claims 1-7, comprising: An acquisition module is configured to obtain a brake parameter and a vehicle speed when the vehicle is braking, wherein the brake parameter comprises a brake deceleration and / or a brake pressure; determining a target damping of the shock absorber and a target brake control curve of the brake system according to the brake parameter and the vehicle speed, wherein the target damping and the target brake control curve change with the brake parameter and the vehicle speed; controlling the shock absorber to provide the target damping, adjusting a braking force provided by the brake system according to the target brake control curve, and controlling whether the brake system performs active pressure relief according to the brake parameter and the vehicle speed when the brake system is configured with an active pressure relief function.

9. A vehicle characterized by comprising: The application provides a brake control system of a vehicle. The application provides a brake control system of a vehicle.

10. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The application provides a brake control system of a vehicle. The application provides a brake control system of a vehicle.

Images