Control method and system for preventing braking jitter of electronic mechanical braking system and vehicle

Abstract

The invention discloses a control method and system for preventing braking jitter of an electronic mechanical braking system and a vehicle, and belongs to the technical field of vehicle braking. A control method for preventing braking jitter of an electronic mechanical braking system is applied to a vehicle with the electronic mechanical braking system and comprises the steps that historical driving data of the vehicle are obtained; and when the historical driving data meet a triggering condition, repairing the brake disc of the vehicle. According to the historical driving data of the vehicle, it is considered that when the vehicle meets the triggering condition, the brake disc of the vehicle has the situation that braking jitter is likely to be caused, so that the repairing program of the brake disc of the vehicle is started, the brake disc of the vehicle is repaired in time, the situation of braking jitter can be prevented, and normal driving of a driver is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle braking, and in particular to a control method, system and vehicle for preventing brake judder of an electronic mechanical braking system. Background Art

[0002] During vehicle use, different positions of the brake disc may experience varying degrees of wear, which may cause the brake disc to jump at the end or increase the brake disc DTV (thickness difference). In severe cases, it may cause brake shudder, thus affecting the driver's driving. Summary of the Invention

[0003] The purpose of the present invention is to provide a control method, system and vehicle for preventing brake jitter of an electronic mechanical brake system, so as to solve one or more technical problems existing in the prior art and at least provide a beneficial option or create conditions.

[0004] In order to solve the technical problems mentioned above, the first aspect of the present invention provides a control method for preventing brake jitter of an electronic mechanical braking system, which is applied to a vehicle with an electronic mechanical braking system. The control method includes: obtaining historical driving data of the vehicle's historical driving conditions; when the historical driving data meets a preset trigger condition, repairing the brake disc of the vehicle through the vehicle's braking system.

[0005] This technical solution has at least the following beneficial effects: based on the vehicle's historical driving data, it is considered that when the vehicle meets the preset trigger conditions, the vehicle's brake disc is prone to causing brake jitter, thereby starting the vehicle's brake disc repair program, and the vehicle's brake disc is repaired in time through the braking system, thereby preventing brake jitter and ensuring the driver's normal driving.

[0006] Optionally, the historical driving data includes the continuous parking time of the vehicle and the driving condition information of the vehicle. When the historical driving data meets any one of the cumulative repair conditions, it is determined that the trigger condition is met, wherein the cumulative repair conditions include: the continuous parking time of the vehicle exceeds a first preset number of days; the driving condition information of the vehicle indicates that the continuous high-speed driving time of the vehicle is greater than a preset time; the driving condition information of the vehicle indicates that the cumulative high-speed driving mileage of the vehicle is greater than a preset kilometer.

[0007] Optionally, the historical driving data further includes the lateral acceleration of the vehicle, and the cumulative repair condition further includes: the number of times that the lateral acceleration is greater than the preset acceleration accumulates to a second preset number of times.

[0008] Optionally, the historical driving data also includes the number of braking times and braking intensity of the vehicle, and the cumulative repair condition also includes: the number of times the braking deceleration of the vehicle is less than the preset deceleration reaches a first preset number of times.

[0009] Optionally, the control method further includes: after the brake disc of the vehicle is repaired, reacquiring the historical driving data, and determining whether the historical driving data meets a trigger condition.

[0010] Optionally, the braking system has a braking energy recovery function, and when the historical driving data meets a preset trigger condition, the brake disc of the vehicle is repaired through the braking system of the vehicle, including: when the historical driving data meets the preset trigger condition, canceling the braking energy recovery function, so that the braking system repairs the brake disc during the braking process; when the braking energy recovery function is canceled for a third preset number of times and / or reaches a preset braking time, restoring the braking energy recovery function.

[0011] Optionally, the braking system has a braking energy recovery function, and when the historical driving data meets a preset trigger condition, the brake disc of the vehicle is repaired through the braking system of the vehicle, including: when the historical driving data meets the preset trigger condition, canceling the braking energy recovery function, so that the braking system repairs the brake disc during the braking process; when the product of the number of times the braking energy recovery function is canceled and the corresponding deceleration reaches a preset benefit value, restoring the braking energy recovery function.

[0012] The second aspect of the present invention provides a control system for preventing brake jitter of an electronic mechanical braking system, which is applied to a vehicle with an electronic mechanical braking system. The control system includes: an acquisition module for acquiring historical driving data of the vehicle; and a repair module for repairing the brake disc of the vehicle when the historical driving data meets a trigger condition.

[0013] A third aspect of the present invention provides a vehicle comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute any one of the above-mentioned control methods for preventing brake jitter of an electronic mechanical brake system.

[0014] A fourth aspect of the present invention provides a computer-readable storage medium storing a computer program, wherein the computer program is configured to execute any of the above-mentioned control methods for preventing brake jitter of an electronic mechanical brake system when running on a computer or processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1Flowchart of a control method for preventing brake judder in an electromechanical brake system according to an embodiment of the present invention; Figure 2 A schematic diagram of a specific flow chart of a control method for preventing brake judder in an electronic mechanical brake system according to an embodiment of the present invention; Figure 3 A schematic diagram of a process of a control method for preventing brake judder in an electromechanical brake system according to an embodiment of the present invention; Figure 4 This is a structural block diagram of a control system for preventing brake judder in an electromechanical brake system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0016] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0017] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. It should be noted that the method provided by the embodiment of the present invention is that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system containing at least one set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here. The method embodiment can also be executed in an electronic system / device including a memory and a processor, a similar control system, or the cloud. Taking an electronic system / device as an example, the electronic system / device may include one or more processors and a memory for storing data. Optionally, the above-mentioned electronic system / device may also include a communication device and a display device for communication functions. It will be understood by those skilled in the art that the above-mentioned structural description is only illustrative and does not limit the structure of the above-mentioned electronic system / device. For example, the electronic system / device may also include more or fewer components than the above-mentioned structural description, or have a configuration different from the above-mentioned structural description. like Figure 1-3 As shown, a control method for preventing brake judder of an electronic mechanical brake system is applicable to vehicles with an electronic mechanical brake system (EMB system). The vehicle's brake system has a brake energy recovery function. The brake energy recovery function recovers excess energy released by the vehicle during braking or coasting. This process can rely on a generator to convert the excess energy into electrical energy for reuse.

[0018] The control method for preventing brake judder of an electromechanical brake system comprises the following steps: Step S100: Acquire historical driving data of the vehicle's historical driving conditions.

[0019] Specifically, the vehicle's historical driving data includes the vehicle's parking time, driving condition information, lateral acceleration, number of braking times, and braking intensity. This historical driving data can be accessed via the vehicle's CAN bus. This data includes driving condition information such as highway driving, urban driving, mountain driving, vehicle speed, average speed, and driving time. The vehicle's lateral acceleration is measured by a lateral acceleration sensor, and the brake caliper clamping force is measured by a clamping force sensor to calculate the vehicle's braking deceleration. The braking deceleration can be used to represent the vehicle's braking intensity.

[0020] Step S200: When the historical driving data meets a preset trigger condition, the brake disc of the vehicle is repaired through the vehicle's braking system.

[0021] The trigger condition is to meet any one of the cumulative repair conditions. That is, when the historical driving data meets any one of the cumulative repair conditions, it is determined that the trigger condition is met and the repair process for the vehicle brake disc can be started.

[0022] Specifically, the cumulative repair conditions include the first, second, third, fourth and fifth items.

[0023] Item 1: The vehicle is parked continuously for more than the first preset number of days.

[0024] When a vehicle is parked for extended periods, the brake disc surface will corrode. The longer the parking period, the more severe the corrosion. This can increase the brake disc end jump or the brake disc distance (DTV), and in severe cases, can cause brake judder. Therefore, if a vehicle is parked for more than a first preset number of days, the probability of brake judder is higher. Therefore, it is recommended to repair the brake disc in advance to prevent brake judder. The first preset number of days can be set to 4, 5, 6, or other days.

[0025] The second item: The vehicle's driving condition information indicates that the vehicle's continuous high-speed driving time is greater than the preset time.

[0026] When a vehicle is driven at high speeds for extended periods (e.g., at an average speed exceeding 80 kilometers per hour), with minimal significant deceleration, random contact between the friction pad and the brake disc can occur, leading to excessively rapid DTV buildup on the brake disc, which can easily cause brake judder. This increases the probability of brake judder when the vehicle is driven at high speeds for longer than a preset time. Therefore, pre-conditioning the vehicle's brake discs can help prevent this. The preset time can be set to 1.5 hours, 2 hours, 2.5 hours, and so on.

[0027] Item 3: The vehicle's driving condition information indicates that the vehicle's cumulative high-speed driving mileage is greater than the preset kilometers.

[0028] Similarly, when a vehicle travels long distances at highway speeds (e.g., at an average speed greater than 80 kilometers per hour), with minimal significant deceleration braking, random contact between the friction pad and the brake disc can occur, leading to rapid generation of brake disc DTV, which can easily cause brake judder. The probability of brake judder increases when the vehicle's cumulative high-speed mileage exceeds a preset number of kilometers, or when the vehicle's cumulative high-speed mileage exceeds a preset number of kilometers in a short period of time. Therefore, preemptive brake disc repair can be performed to prevent brake judder. The preset number of kilometers can be set to 450 kilometers, 500 kilometers, 550 kilometers, etc.

[0029] Item 4: The number of times the lateral acceleration is greater than the preset acceleration reaches a second preset number.

[0030] When driving on mountain roads, a vehicle frequently rolls, exacerbating the uneven contact friction between the friction pad and brake disc. This can also lead to rapid generation of brake disc DTV, which can easily cause brake judder. When the vehicle's lateral acceleration exceeds a preset acceleration for a cumulative number of times, reaching a second preset number, the probability of brake judder is considered high. Therefore, the vehicle's brake disc can be repaired in advance to prevent brake judder. The preset acceleration can be set to 0.45g, 0.5g, 0.55g, etc. The second preset number can be set to 45, 50, 55, etc.

[0031] Item 5: The number of times that the vehicle's braking deceleration is less than the preset deceleration reaches a first preset number of times.

[0032] When the vehicle's braking deceleration is low, the caliper's clamping force is insufficient, preventing effective rust removal from the brake disc surface. This condition can lead to brake judder over time. Furthermore, for vehicles equipped with energy recovery, the regenerative braking deceleration can typically reach 0.3g. Under certain operating conditions, braking below the preset deceleration is not performed by the brakes, relying solely on motor energy recovery. This prevents effective rust removal from the brake disc surface, which can lead to brake judder over time. Therefore, when the vehicle's braking deceleration is less than the preset deceleration a cumulative number of times reaches a first preset number, the probability of brake judder is considered high. Therefore, the vehicle's brake disc can be repaired in advance to prevent brake judder. The preset deceleration can be set to 0.25g, 0.3g, 0.35g, etc. The first preset number can be set to 900, 950, 1000, 1050, 1100, etc.

[0033] Alternatively, the trigger condition may be set as follows: the total percentage of the achievement of two or more of the cumulative repair conditions is greater than or equal to a preset total value. The preset total value may be set between 0.9 and 2.

[0034] For example, in example 1: The first item is set as: the vehicle is parked for more than 5 consecutive days; The second item is set as follows: the vehicle's driving condition information indicates that the vehicle has been driving at a high speed for more than 2 hours continuously; Set the fourth item to: the number of lateral accelerations greater than 0.5g reaches 50 times cumulatively; The fifth item is set as follows: the number of times the vehicle's braking deceleration is less than 0.3g reaches 1000 times cumulatively.

[0035] Set the default total value to 1.5.

[0036] If the vehicle is parked continuously for 3 days, then driven continuously at high speed for 1 hour, the vehicle's lateral acceleration is greater than 0.5g 10 times, and the vehicle's braking deceleration is less than 0.3g 100 times, then the total percentage of the degree of achievement is equal to 3 / 5 + 1 / 2 + 10 / 50 + 100 / 1000 = 1.4. Since the total percentage of the degree of achievement is less than the preset total value, the historical driving data does not meet the trigger conditions at this time, and the vehicle's brake disc does not need to be repaired.

[0037] For example, in Example 2: The first item is set as: the vehicle is parked for more than 5 consecutive days; The third item is set as follows: the vehicle's driving condition information indicates that the vehicle's cumulative high-speed driving mileage is greater than 500 kilometers; Set the fourth item to: the number of lateral accelerations greater than 0.5g reaches 50 times cumulatively; The fifth item is set as follows: the number of times the vehicle's braking deceleration is less than 0.3g reaches 1000 times cumulatively.

[0038] Set the default total value to 1.8.

[0039] If the vehicle is parked continuously for 3 days, and then has a cumulative high-speed mileage of 300 kilometers, the vehicle's lateral acceleration is greater than 0.5g 25 times, and the vehicle's braking deceleration is less than 0.3g 100 times, then the total percentage of the degree of achievement is equal to 3 / 5 + 300 / 500 + 25 / 50 + 100 / 1000 = 1.8. Since the total percentage of the degree of achievement is equal to the preset total value, the historical driving data meets the trigger conditions at this time, and the vehicle's brake disc is repaired.

[0040] Based on the vehicle's historical driving data, the present invention believes that when the vehicle meets the trigger conditions, the vehicle's brake disc is prone to causing brake judder, thereby starting a repair program for the vehicle's brake disc and repairing the vehicle's brake disc in a timely manner, thereby preventing brake judder, reducing the probability of brake judder, and ensuring the driver's normal driving.

[0041] Optionally, the control method for preventing brake jitter of the electronic mechanical brake system also includes step S300. Step S300: after the brake disc of the vehicle is repaired, historical driving data is reacquired, and it is determined whether the historical driving data meets the triggering conditions.

[0042] That is, when the historical driving data meets the trigger conditions, the brake disc of the vehicle is repaired, and the historical driving data is obtained again. The status of each trigger condition in the cumulative repair conditions is cleared, and recalculation is required to determine whether the historical driving data meets the trigger conditions.

[0043] Optionally, step S200 includes step S210 and step S220.

[0044] Step S210: When the historical driving data meets the preset triggering condition, the braking energy recovery function is canceled, so that the braking system repairs the brake disc during the braking process.

[0045] Specifically, activating the brake energy regeneration function of the braking system reduces the force applied by the brakes to the brake discs, thereby affecting the smoothing effect of the brake discs. Therefore, when the vehicle's brake discs need to be repaired, this can be done by disabling the vehicle's brake energy regeneration function. In other embodiments, a warning sign can be formed on the vehicle to warn the driver to use tools to repair the vehicle's brake discs, or the driver can be instructed through a program to complete a specific braking task, such as braking at a preset deceleration while driving straight, so that the brakes actively repair the brake discs and reduce brake judder.

[0046] Step S220: When the braking energy recovery function is canceled for a third preset number of times and / or the preset braking time is reached, the braking energy recovery function is restored.

[0047] Specifically, the brake energy recovery function is canceled when the third preset number of times and / or the preset braking time is reached. That is, when the vehicle meets the energy recovery conditions for starting the brake energy recovery function, the activation of the brake energy recovery function is prevented until the triggered energy recovery conditions are no longer met. This is a one-time cancellation of the brake energy recovery function. When the vehicle meets the energy recovery conditions for starting the brake energy recovery function, the activation of the brake energy recovery function is prevented. At this time, the cumulative time for meeting the energy recovery conditions is the time for canceling the brake energy recovery function. It is believed that by canceling the braking effect under the brake energy recovery function, the brake disc of the vehicle can be effectively repaired, the brake disc end jump or the brake disc DTV can be reduced, thereby preventing brake shudder. The brake energy recovery function is then restored to ensure the normal recovery and reuse of brake energy.

[0048] In another embodiment, step S200 includes the above-mentioned steps S210 and S230.

[0049] Step S230 , when the product of the number of times the braking energy recovery function is cancelled and the corresponding deceleration reaches a preset benefit value, the braking energy recovery function is restored.

[0050] Specifically, when the product of the number of times the regenerative braking function is canceled and the corresponding deceleration reaches a preset benefit value (for example, if the preset benefit value is set to 3g), regenerative braking will be restored after 30 cancellations with each deceleration of 0.1g. Alternatively, regenerative braking will be restored after 10 cancellations with each deceleration of 0.3g. Similarly, a linear relationship is formed between the number of regenerative braking functions and the corresponding deceleration.

[0051] For example, the vehicle may include two driving modes: a human driving mode and an assisted driving mode: Personnel driving mode: S1: The driver presses the brake pedal; S2: The pedal simulator ECU sends a brake request signal; S4: The central ECU issues a deceleration target value; S5: Vehicle status determination, if the trigger condition is not met, proceed to S6; if the trigger condition is met, proceed to S9; S6: The central ECU issues a clamping force request; S7: The energy recovery function starts normally; S8: EMB wheel actuator moves according to actual needs; S9: The central ECU issues a clamping force request; S10: Energy recovery function is not started; S11: The EMB wheel actuator operates according to actual needs.

[0052] Assisted driving mode: S3: The upper controller sends a braking request signal; S4: The central ECU issues a deceleration target value; S5: Vehicle status determination, if the trigger condition is not met, proceed to S6; if the trigger condition is met, proceed to S9; S6: The central ECU issues a clamping force request; S7: The energy recovery function starts normally; S8: EMB wheel actuator moves according to actual needs; S9: The central ECU issues a clamping force request; S10: Energy recovery function is not started; S11: The EMB wheel actuator operates according to actual needs.

[0053] Through the description of the above embodiments, those skilled in the art will clearly understand that the methods according to the above embodiments can be implemented using software plus the necessary general-purpose hardware platform. Of course, hardware can also be used, but in many cases the former is the more preferred implementation method. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, or optical disk) and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention. This embodiment also provides a control system for preventing brake judder in an electronic mechanical brake system. The system includes a memory, a processor, and a program stored in the memory and executable on the processor. When the program is executed by the processor, it is used to implement the above-mentioned embodiments and preferred implementation methods. Details that have already been explained will not be repeated here. As used below, the term "module" refers to a combination of software and / or hardware that can implement a predetermined function. Although the systems described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

[0054] like Figure 4 As shown, a control system for preventing brake judder in an electromechanical brake system includes: The acquisition module 400 is used to execute step S100, i.e., to acquire historical driving data of the vehicle's historical driving conditions; The repair module 500 is configured to execute step S200 , that is, to repair the brake disc of the vehicle through the braking system of the vehicle when the historical driving data meets a preset trigger condition.

[0055] Optionally, the repair module 500 is further configured to execute step S300, that is, after the brake disc of the vehicle is repaired, reacquire historical driving data and determine whether the historical driving data meets the triggering condition.

[0056] Optionally, the repair module 500 is further configured to execute step S210, that is, when the historical driving data meets a preset trigger condition, cancel the braking energy recovery function so that the braking system repairs the brake disc during the braking process.

[0057] Optionally, the repair module 500 is further configured to execute step S220, that is, to restore the braking energy recovery function when the braking energy recovery function is cancelled for a third preset number of times and / or a preset braking time is reached.

[0058] Optionally, the repair module 500 is further configured to execute step S230, that is, to restore the braking energy recovery function when the product of the number of times the braking energy recovery function is cancelled and the corresponding deceleration reaches a preset benefit value.

[0059] Alternatively, specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementations, and this embodiment will not be described in detail here. The system embodiment described above is merely illustrative, and the units described as separate components may or may not be physically separate, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of this embodiment.

[0060] An embodiment of the present invention also provides a vehicle, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute a control method for preventing brake jitter of an electronic mechanical brake system as described in any of the above embodiments.

[0061] The vehicle can be a private car, such as a sedan, SUV, MPV, or pickup truck. It can also be a commercial vehicle, such as a van, bus, small truck, or large trailer. The vehicle must have an electric motor that can output power or store mechanical energy as a generator. If the vehicle is a new energy vehicle, it can be a hybrid or a pure electric vehicle.

[0062] Optionally, in this embodiment, the processor in the vehicle may be configured to run a computer program to execute the steps of the control method in the aforementioned embodiment: Step S100: Acquire historical driving data of the vehicle's historical driving conditions; Step S200: When the historical driving data meets a preset trigger condition, the brake disc of the vehicle is repaired through the vehicle's braking system.

[0063] Step S300: After the brake disc of the vehicle is repaired, historical driving data is reacquired, and it is determined whether the historical driving data meets the triggering condition.

[0064] Step S210: When the historical driving data meets the preset triggering conditions, the braking energy recovery function is canceled, so that the braking system repairs the brake disc during the braking process.

[0065] Step S220: When the braking energy recovery function is cancelled for a third preset number of times and / or the preset braking time is reached, the braking energy recovery function is restored.

[0066] Step S230: When the product of the number of times the braking energy recovery function is cancelled and the corresponding deceleration reaches a preset benefit value, the braking energy recovery function is restored.

[0067] Optionally, specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0068] An embodiment of the present invention also provides a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute a control method for preventing brake jitter of an electronic mechanical brake system as described in any of the above embodiments when running on a computer or processor.

[0069] Optionally, in this embodiment, the computer program may be configured to store a computer program for executing the steps of the control method in the aforementioned embodiment: Step S100: Acquire historical driving data of the vehicle's historical driving conditions; Step S200: When the historical driving data meets a preset trigger condition, the brake disc of the vehicle is repaired through the vehicle's braking system.

[0070] Step S300: After the brake disc of the vehicle is repaired, historical driving data is reacquired, and it is determined whether the historical driving data meets the triggering condition.

[0071] Step S210: When the historical driving data meets the preset triggering conditions, the braking energy recovery function is canceled, so that the braking system repairs the brake disc during the braking process.

[0072] Step S220: When the braking energy recovery function is cancelled for a third preset number of times and / or the preset braking time is reached, the braking energy recovery function is restored.

[0073] Step S230: When the product of the number of times the braking energy recovery function is cancelled and the corresponding deceleration reaches a preset benefit value, the braking energy recovery function is restored.

[0074] Optionally, specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here. In some embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the system embodiments described above are only exemplary. For example, the division of the modules can be a logical function division. In actual implementation, there may be other division methods, such as multiple modules 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 through some interfaces, modules or indirect coupling or communication connection of modules, which can be electrical or other forms.

[0075] Those skilled in the art will appreciate that all or some of the steps and systems disclosed above can be implemented as software, firmware, hardware, or any suitable combination thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on computer-readable media, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is well known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVDs) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. Furthermore, as is well known to those skilled in the art, communication media typically includes computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0076] The embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

Claims

1. A control method for preventing brake judder of an electromechanical brake system, applied to a vehicle having an electromechanical brake system, characterized in that: The control method includes: Acquiring historical driving data of the vehicle's historical driving conditions; When the historical driving data meets a preset trigger condition, the brake disc of the vehicle is repaired through the braking system of the vehicle.

2. The control method for preventing brake judder of an electronic mechanical brake system according to claim 1, characterized in that: The historical driving data includes the continuous parking time of the vehicle and the driving condition information of the vehicle. When the historical driving data satisfies any one of the cumulative repair conditions, it is determined that the trigger condition is met, wherein the cumulative repair conditions include: The continuous parking time of the vehicle exceeds a first preset number of days; The vehicle's driving condition information indicates that the vehicle has been driving at a high speed for a continuous period greater than a preset time; The driving condition information of the vehicle indicates that the accumulated high-speed driving mileage of the vehicle is greater than a preset number of kilometers.

3. The control method for preventing brake judder of an electronic mechanical brake system according to claim 2, characterized in that: The historical driving data also includes the lateral acceleration of the vehicle, and the accumulated repair condition also includes: The number of times that the lateral acceleration is greater than the preset acceleration accumulates to a second preset number of times.

4. The control method for preventing brake judder of an electronic mechanical brake system according to claim 2, characterized in that: The historical driving data also includes the number of braking times and braking intensity of the vehicle, and the cumulative repair conditions also include: The number of times that the braking deceleration of the vehicle is less than the preset deceleration reaches a first preset number of times.

5. The control method for preventing brake judder of an electronic mechanical brake system according to claim 2, characterized in that: Also includes: After the brake disc of the vehicle is repaired, the historical driving data is reacquired, and it is determined whether the historical driving data meets a trigger condition.

6. A control method for preventing brake judder in an electronic mechanical brake system according to claim 1, wherein the brake system has a brake energy recovery function, characterized in that: When the historical driving data meets a preset trigger condition, repairing the brake disc of the vehicle through the braking system of the vehicle includes: When the historical driving data meets a preset trigger condition, the braking energy recovery function is canceled, so that the braking system repairs the brake disc during braking; When the braking energy recovery function is cancelled for a third preset number of times and / or a preset braking time is reached, the braking energy recovery function is restored.

7. A control method for preventing brake judder in an electronic mechanical brake system according to claim 1, wherein the brake system has a brake energy recovery function, characterized in that: When the historical driving data meets a preset trigger condition, repairing the brake disc of the vehicle through the braking system of the vehicle includes: When the historical driving data meets a preset trigger condition, the braking energy recovery function is canceled, so that the braking system repairs the brake disc during braking; When the product of the number of times the braking energy recovery function is cancelled and the corresponding deceleration reaches a preset benefit value, the braking energy recovery function is restored.

8. A control system for preventing brake judder of an electromechanical brake system, applied to a vehicle with an electromechanical brake system, characterized in that: The control system includes: An acquisition module is used to: acquire historical driving data of the historical driving condition of the vehicle; The repair module is used to repair the brake disc of the vehicle through the braking system of the vehicle when the historical driving data meets a preset trigger condition.

9. A vehicle comprising a memory and a processor, characterized in that: The memory stores a computer program, and the processor is configured to run the computer program to execute the control method for preventing brake judder of an electronic mechanical brake system as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The storage medium stores a computer program, wherein the computer program is configured to execute the control method for preventing brake judder of an electronic mechanical brake system as claimed in any one of claims 1 to 7 when running on a computer or a processor.

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