Brake disc rust removal method and device, storage medium, vehicle controller and vehicle

Abstract

The invention provides a brake disc rust removal method and device, a storage medium, a vehicle controller and a vehicle. According to the brake disc rust removal method, the idle duration of a brake disc is determined, and then the brake disc corrosion amount corresponding to the brake disc is determined on the basis of the idle duration of the brake disc; according to the brake disc rust removing method, the brake disc rust amount is obtained, then the corresponding rust grade of the brake disc is determined on the basis of the brake disc rust amount and the preset rust amount threshold value, and finally the rust removing strategy corresponding to the rust grade is adopted to conduct rust removing on the brake disc, so that after the brake disc is rusted, active rust removing can be conducted on the brake disc at the proper time according to the brake disc rust amount; and the vehicle braking performance and the driving safety are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, and in particular to a brake disc rust removal method and device, a storage medium, a vehicle controller and a vehicle. BACKGROUND

[0002] Regenerative braking refers to a technology of converting mechanical energy (kinetic energy) of a vehicle into other forms of energy for recycling and reuse when the vehicle is decelerating or braking.

[0003] With more and more electric vehicles being pushed into the market, most electric vehicles are equipped with motor regenerative braking function. When the motor regenerative braking function of the vehicle is turned on, the inertial kinetic energy of the vehicle and the power generation capacity of the electric motor are used to convert the kinetic energy of the vehicle during deceleration or braking into electrical energy, which is stored in the battery of the vehicle. This can reduce energy waste and improve fuel efficiency and range of the vehicle.

[0004] However, for vehicles equipped with motor regenerative braking function, the increased frequency of use of motor regenerative braking of the vehicle can lead to a decrease in the frequency of use of hydraulic braking of the vehicle, which in turn can cause a decrease in the working frequency of the brake disc of the vehicle and cause rusting of the brake disc. Brake disc rusting can affect the braking performance of the vehicle, which in turn can affect driving safety. SUMMARY

[0005] Therefore, the present application provides a brake disc rust removal method, device, storage medium, vehicle controller and vehicle. The brake disc rust removal method can quantify the rusting amount of the brake disc, and actively remove rust from the brake disc at the right time after the brake disc rusts, thereby solving the problem of decreased braking performance of the vehicle caused by brake disc rusting.

[0006] In one aspect, the present application provides a brake disc rust removal method, which comprises:

[0007] determining the idle duration of the brake disc, and determining the rusting amount of the brake disc corresponding to the idle duration of the brake disc;

[0008] determining the rusting grade of the brake disc corresponding to the rusting amount of the brake disc and a preset rusting amount threshold, and removing rust from the brake disc using a rust removal strategy corresponding to the rusting grade.

[0009] Further, in some embodiments, the determination of the idle duration of the brake disc comprises:

[0010] taking the time interval from the last time the vehicle was turned off and powered down to the current time the vehicle is turned on and powered up as the idle duration of the brake disc; or

[0011] taking the time interval from the last time the brake disc was applied to the current time as the idle duration of the brake disc.

[0012] Further, in some embodiments, the determining the brake disc idle duration, determining the brake disc rust amount corresponding to the brake disc based on the brake disc idle duration, comprises:

[0013] determining a time interval from the last time the brake disc is rusted to the current time as the brake disc idle duration;

[0014] obtaining hydraulic braking information in the time interval from the last time the brake disc is rusted to the current time, the hydraulic braking information including brake pressure and brake duration;

[0015] determining a rust increase amount corresponding to the brake disc according to the brake disc idle duration, and determining a rust reduction amount corresponding to the brake disc according to the hydraulic braking information;

[0016] determining the brake disc rust amount based on the rust increase amount and the rust reduction amount.

[0017] Further, in some embodiments, the determining the brake disc rust amount corresponding to the brake disc based on the brake disc idle duration, and determining the brake disc rust amount corresponding to the brake disc based on the brake disc idle duration, comprises:

[0018] when the brake disc rust amount is greater than or equal to a first rust amount threshold and less than a second rust amount threshold, determining the rust level as a first level;

[0019] based on the first level, disabling the regenerative braking function of the vehicle, so that the vehicle is rusted by hydraulic braking when receiving a brake signal.

[0020] Further, in some embodiments, the determining the brake disc rust amount corresponding to the brake disc based on the brake disc idle duration, and determining the brake disc rust amount corresponding to the brake disc based on the brake disc idle duration, comprises:

[0021] when the brake disc rust amount is greater than or equal to a second rust amount threshold and less than a third rust amount threshold, determining the rust level as a second level;

[0022] based on the second level, determining a rust brake pressure and a rust brake duration;

[0023] based on the rust brake pressure and the rust brake duration, starting the vehicle hydraulic braking to rust the brake disc.

[0024] Further, in some embodiments, if the vehicle is in a non-braking state;

[0025] The rust removal of the brake disc based on the rust removal braking pressure and the rust removal braking duration comprises:

[0026] A rust removal braking force corresponding to the rust removal braking pressure is determined, and a compensation driving force of the same size as the rust removal braking force is determined.

[0027] A hydraulic braking force of the rust removal braking force size is applied to the vehicle based on a hydraulic braking system, and the compensation driving force is added to the vehicle based on a power system.

[0028] The hydraulic braking force and the compensation driving force are maintained for the rust removal braking duration.

[0029] Further, in some embodiments, if the vehicle is in a braking state,

[0030] The rust removal of the brake disc based on the rust removal braking pressure and the rust removal braking duration comprises:

[0031] An actual braking force of the vehicle at the current time is determined, and a rust removal braking force corresponding to the rust removal braking pressure is determined.

[0032] Based on the actual braking force and the rust removal braking force, the proportion of the hydraulic braking force and the regenerative braking force in the vehicle braking process is adjusted.

[0033] The adjusted hydraulic braking force is maintained for the rust removal braking duration to achieve the rust removal of the brake disc.

[0034] Further, in some embodiments, based on the actual braking force and the rust removal braking force, the proportion of the hydraulic braking force and the regenerative braking force in the vehicle braking process is adjusted, comprising:

[0035] When the actual braking force is greater than or equal to the rust removal braking force, the proportion of the hydraulic braking force in the actual braking force is adjusted to the size of the rust removal braking force.

[0036] When the actual braking force is less than the rust removal braking force, a compensation driving force is determined based on the difference between the actual braking force and the rust removal braking force, the actual braking force is adjusted to be all hydraulic braking force, the hydraulic braking force is increased to the size of the rust removal braking force, and the compensation driving force is added to the vehicle.

[0037] Further, in some embodiments, before the rust removal of the brake disc by using the rust removal strategy corresponding to the rust level, the method further comprises:

[0038] It is judged whether each preset vehicle function in a preset vehicle function set is in an open state.

[0039] if any preset vehicle function in the preset vehicle function set is in an on state, the step of rusting the brake disc using the rusting strategy corresponding to the rust level is not performed;

[0040] if each preset vehicle function in the preset vehicle function set is in an off state, the step of rusting the brake disc using the rusting strategy corresponding to the rust level is performed.

[0041] Further, in some embodiments, the method further comprises:

[0042] in response to a rusting stop instruction, stopping rusting of the brake disc, the rusting stop instruction being generated based on any preset vehicle function in the preset vehicle function set being turned on, or being generated based on a user triggering an exit control of the rusting function, or being generated based on completion of the rusting.

[0043] In another aspect, the present application provides a brake disc rusting device, comprising:

[0044] a rusting amount determination module configured to determine an idle duration of the brake disc, and determine a brake disc rusting amount corresponding to the brake disc based on the idle duration of the brake disc;

[0045] a grade rusting module configured to determine a rust level corresponding to the brake disc based on the brake disc rusting amount and a preset rusting amount threshold, and rust the brake disc using a rusting strategy corresponding to the rust level.

[0046] In another aspect, the present application provides a storage medium storing a computer program, the computer program being adapted to be loaded and executed by a processor to perform the steps of the above method.

[0047] In another aspect, the present application further provides a vehicle controller, comprising a processor and a memory; wherein the memory stores a computer program, the computer program being adapted to be loaded and executed by the processor to perform the steps of the above method.

[0048] In another aspect, the present application further provides a vehicle comprising the above brake disc rusting device or vehicle controller.

[0049] According to the brake disc rust removal method provided by the application, the length of time when the brake disc is idle is determined, and then the rust amount of the brake disc corresponding to the length of time when the brake disc is idle is determined, and then the rust grade of the brake disc corresponding to the rust amount is determined based on the rust amount and a preset rust amount threshold, and finally the rust removal strategy corresponding to the rust grade is used to remove the rust of the brake disc. By using the method, the brake disc can be actively removed at the right time according to the rust amount of the brake disc after the brake disc is rusted, so as to solve the problem of the decline of the braking performance of the vehicle caused by the rust of the brake disc, and improve the braking performance and driving safety of the vehicle.

[0050] It should be understood that the content described in the summary section is not intended to limit the key or important features of the embodiments of the application, nor to limit the scope of the application. Other features of the application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0051] Figure 1 A flowchart of a brake disc rust removal method provided by an embodiment of the application is shown in the figure;

[0052] Figure 2 A flowchart of a brake disc rust removal method provided by an embodiment of the application is shown in the figure;

[0053] Figure 3 A flowchart of a brake disc rust removal method provided by an embodiment of the application is shown in the figure;

[0054] Figure 4 A structural diagram of a brake disc rust removal device provided by an embodiment of the application is shown in the figure;

[0055] Figure 5 A structural diagram of a brake disc rust removal device provided by an embodiment of the application is shown in the figure;

[0056] Figure 6 A structural diagram of a vehicle controller provided by an embodiment of the application is shown in the figure. DETAILED DESCRIPTION

[0057] To make the purpose, technical solutions and advantages of the application clearer, the technical solutions of the application will be described clearly and completely below by combining the specific embodiments of the application with the corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the application, but not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the application.

[0058] In the description of one or more embodiments of the application, the term "includes" and its conjugations are to be understood as open-ended, i.e., "including but not limited to". The term "based on" is to be understood as "based, at least in part, on". The term "one embodiment" or "an embodiment" is to be understood as "at least one embodiment". The term "another embodiment" is to be understood as "at least one other embodiment". The terms "a" or "an" are to be understood as "one or more" in the context of describing technical features. The term "first" or "second" can refer to different or identical objects. Other explicit or implicit definitions can also be included below.

[0059] At present, the vehicle braking mode can be mainly divided into two kinds, one is the regenerative braking based on motor reverse rotation, the regenerative braking can convert the vehicle kinetic energy into electrical energy for storage in the vehicle braking process; one is the hydraulic braking formed based on the hydraulic braking system, the hydraulic braking is non-regenerative braking, the hydraulic braking drives the brake caliper to clamp the brake disc through the hydraulic actuator to control the vehicle deceleration braking based on the friction between the brake pad and the brake disc.

[0060] For the vehicle with motor regenerative braking function, the use frequency of the motor regenerative braking of the vehicle increases, which can greatly reduce the use frequency of the hydraulic braking of the vehicle, and further reduce the working frequency of the brake disc of the vehicle and cause the brake disc rust. However, the brake disc rust not only affects the appearance of the vehicle, but also reduces the braking performance of the vehicle, and further affects the driving safety

[0061] Based on this, the application provides a brake disc rust removal method, which can quantify the rust amount of the brake disc, select the appropriate brake disc rust removal strategy for the brake disc after the brake disc rusts, and actively remove the rust of the brake disc, so as to solve the problem of the decrease of the braking performance of the vehicle caused by the brake disc rust, and improve the braking performance of the vehicle and the appearance of the vehicle.

[0062] Please refer to Figure 1 , a flowchart of a brake disc rust removal method provided by the embodiment of the application. The following will be described in detail with respect to the flowchart shown in Figure 1 The brake disc rust removal method can specifically include the following steps:

[0063] Step S102, determining the idle time length of the brake disc, and determining the brake disc rust amount corresponding to the brake disc based on the idle time length of the brake disc;

[0064] It should be noted that when the brake disc is idle for a long time, the oxidation reaction of water and oxygen in the air will occur, and then the rust will be generated on the surface of the brake disc. The idle time length of the brake disc is proportional to the rust amount of the brake disc, that is, the longer the idle time of the brake disc, the more rust is generated on the surface of the brake disc, and the more serious the rust of the brake disc.

[0065] In the embodiment of the present application, the length of time when the brake disc is idle refers to the length of time when the brake disc is idle and not used. By determining the length of time when the brake disc is idle, the current rust amount of the brake disc can be quantified according to the length of time when the brake disc is idle, and the rust amount of the brake disc is obtained.

[0066] In an embodiment of the present application, when determining the length of time when the brake disc is idle, the time interval from the last time the vehicle is turned off to the current time the vehicle is turned on can be taken as the length of time when the brake disc is idle.

[0067] It is not difficult to understand that after the vehicle is turned off, the vehicle is in a stationary state, the brake disc of the vehicle is in an idle state, and the brake disc produces rust in the time interval from the last time the vehicle is turned off to the current time the vehicle is turned on.

[0068] Specifically, after the vehicle is turned off, the time when the vehicle is turned off is recorded, and after the vehicle is turned on, the length of time when the brake disc is idle is determined according to the time interval between the recorded time when the vehicle is turned off and the current time when the vehicle is turned on.

[0069] Optionally, after the vehicle is turned off, a timer is started to count, and after the vehicle is turned on, the counting time of the timer is obtained, and the counting time is taken as the length of time when the brake disc is idle.

[0070] In an embodiment of the present application, when determining the length of time when the brake disc is idle, the time interval from the last time the brake disc is applied to the current time can be taken as the length of time when the brake disc is idle.

[0071] Specifically, the working state signal of the hydraulic actuator for hydraulic braking can be detected, the time when the hydraulic actuator exits hydraulic braking is taken as the last time the brake disc is applied, the end time is recorded, and then when determining the length of time when the brake disc is idle, the time interval from the last time the brake disc is applied to the current time is taken as the length of time when the brake disc is idle.

[0072] Optionally, the working state signal of the hydraulic actuator for hydraulic braking is detected, the timer is started to count when the hydraulic actuator exits hydraulic braking, and when determining the length of time when the brake disc is idle, the counting time of the timer is obtained, and the counting time is taken as the length of time when the brake disc is idle.

[0073] In an embodiment of the present application, the rust amount of the brake disc corresponding to the brake disc is determined based on the length of time when the brake disc is idle, and specifically, a correlation equation corresponding to the length of time when the brake disc is idle and the rust amount of the brake disc can be pre-constructed, and based on the correlation equation, the rust amount of the brake disc corresponding to the brake disc is determined according to the length of time when the brake disc is idle. The length of time when the brake disc is idle is proportional to the rust amount of the brake disc, that is, the longer the length of time when the brake disc is idle, the more rust is generated on the surface of the brake disc, and the more serious the rust of the brake disc is.

[0074] Further, the brake disc rust amount can also be related to weather and environmental humidity. In an embodiment, after determining the brake disc idle time, the brake disc rust amount corresponding to the brake disc is determined according to the brake disc idle time and weather information and air humidity information during the brake disc idle time. The brake disc rust amount is proportional to the brake disc idle time, the brake disc rust amount is proportional to the air humidity, the longer the brake disc idle time, the greater the air humidity, the more rust is generated on the surface of the brake disc, and the more serious the brake disc rust.

[0075] In step S104, the brake disc rust grade corresponding to the brake disc is determined based on the brake disc rust amount and the preset rust amount threshold, and the rust removal strategy corresponding to the rust grade is used to remove rust from the brake disc.

[0076] In the embodiment of the present application, the preset rust amount threshold can be set, and the rust grade corresponding to the preset rust amount threshold can be set. Different brake disc rust removal strategies correspond to different rust grades. After determining the brake disc rust amount, the brake disc rust grade corresponding to the brake disc can be determined according to the brake disc rust amount and the preset rust amount threshold, and then the rust removal strategy corresponding to the determined rust grade can be used to remove rust from the brake disc.

[0077] For example, when the brake disc rust amount is less than the preset rust amount threshold, the rust grade corresponding to the brake disc is determined to be A grade, and then the rust removal strategy corresponding to the A grade is used to remove rust from the brake disc; when the brake disc rust amount is greater than the preset rust amount threshold, the rust grade corresponding to the brake disc is determined to be B grade, and then the rust removal strategy corresponding to the B grade is used to remove rust from the brake disc.

[0078] In the embodiment of the present application, the brake disc rust amount is quantified according to the brake disc idle time. After the brake disc rusts, the brake disc rust grade corresponding to the brake disc is determined according to the brake disc rust amount and the preset rust amount threshold, and then the brake disc rust removal strategy corresponding to the brake disc rust grade is selected to actively remove rust from the brake disc. The problem of vehicle braking performance degradation caused by brake disc rust can be solved, and the vehicle braking performance and the vehicle appearance can be improved. By setting different rust grades and corresponding rust removal strategies according to the brake disc rust amount, the rust removal effect of the brake disc can be improved.

[0079] In an embodiment, please refer to Figure 2 Step S102, determining the brake disc idle time, and determining the brake disc rust amount corresponding to the brake disc based on the brake disc idle time, can include the following steps:

[0080] Step S1022, taking the time interval from the last brake disc rust removal to the current time as the brake disc idle time;

[0081] It should be noted that the rust amount of the brake disc gradually increases as the idle time of the brake disc increases, and gradually decreases as the brake disc is applied. In the embodiment of the present application, the last brake disc rust removal refers to complete rust removal of the brake disc, that is, the rust amount of the brake disc is reduced to zero. The complete rust removal of the brake disc can be complete rust removal of the brake disc based on the brake disc rust removal method provided by the present application, or can be achieved by active hydraulic braking during driving of the driver.

[0082] In this embodiment, after the complete rust removal of the brake disc, that is, the rust amount of the brake disc is reduced to zero, the brake disc rust removal time is recorded, and the time interval from the brake disc rust removal time to the current time is taken as the idle time of the brake disc.

[0083] It should be noted that the brake disc rust removal time only refers to the time corresponding to the last complete rust removal of the brake disc. After recording the brake disc rust removal time, if the complete rust removal of the brake disc occurs again, a new brake disc rust removal time is recorded, and the last recorded brake disc rust removal time is overwritten.

[0084] Step S1024, acquiring hydraulic braking information in the time interval from the last brake disc rust removal to the current time, the hydraulic braking information including brake pressure and brake duration;

[0085] It can be understood that in the time interval from the last brake disc rust removal to the current time, the vehicle can have a hydraulic braking behavior that is not enough to make the rust amount of the brake disc zero. After each hydraulic braking behavior occurs, the hydraulic braking information corresponding to the hydraulic braking behavior is recorded to calculate the rust reduction amount corresponding to the hydraulic braking behavior according to the hydraulic braking information.

[0086] The hydraulic braking information includes brake pressure and brake duration. The brake pressure is the hydraulic pressure applied by the hydraulic actuator during hydraulic braking, and the brake duration is the duration of hydraulic braking.

[0087] It should be noted that when the rust reduction amount corresponding to the hydraulic braking behavior is calculated according to the hydraulic braking information, the brake pressure, the brake duration and the rust reduction amount are proportional. The greater the brake pressure and the longer the brake duration, the greater the corresponding brake disc rust reduction amount.

[0088] Step S1026, determining the rust increase amount corresponding to the brake disc according to the idle time of the brake disc, and determining the rust reduction amount corresponding to the brake disc according to the hydraulic braking information;

[0089] Step S1028, determining the rust amount of the brake disc based on the rust increase amount and the rust reduction amount.

[0090] In the embodiment, the time interval from the last brake disc rust removal to the current time is taken as the brake disc idle time length. The rust increase amount of the brake disc corresponding to the brake disc idle time length can be calculated according to the brake disc idle time length. The rust reduction amount of the brake disc corresponding to the hydraulic braking can be calculated according to the hydraulic braking information. Finally, the brake disc rust amount at the current time is determined according to the rust increase amount and the rust reduction amount.

[0091] It should be noted that in the embodiment, a relationship equation or a relationship model of the brake disc idle time length and the brake disc rust increase amount can be preset to calculate the corresponding rust increase amount according to the brake disc idle time length. A relationship equation or a relationship model of the brake pressure, the hydraulic braking time length and the brake disc rust reduction amount can be preset to calculate the corresponding rust reduction amount according to the brake pressure and the braking time length in the hydraulic braking information.

[0092] In the embodiment, the brake disc rust amount is quantified according to the brake disc idle time length and the hydraulic braking information, so as to determine the brake disc corresponding rust grade according to the brake disc rust amount and the preset rust amount threshold, and then to select the corresponding brake disc rust removal strategy for the active rust removal of the brake disc. The problem of the decline of the vehicle braking performance caused by the brake disc rust can be solved, the vehicle braking performance can be improved, and the vehicle appearance can be maintained.

[0093] In a specific and feasible implementation, after the brake disc is completely rust removed, i.e., the brake disc rust amount is reduced to zero, the brake disc rust removal time is recorded. After the vehicle appears a hydraulic braking behavior, the hydraulic braking information corresponding to each hydraulic braking behavior is recorded. After the brake disc rust removal function of the vehicle is turned on, the brake disc idle time length is determined according to the recorded brake disc rust removal time and the current time, and then the rust increase amount is determined according to the brake disc idle time length. The rust reduction amount is calculated according to the recorded hydraulic braking information. The current brake disc rust amount is determined according to the rust increase amount and the rust reduction amount. The brake disc rust removal function can be actively triggered and turned on by the driver through the corresponding functional control, or can be automatically triggered and turned on according to the preset automatic opening instruction when the preset triggering condition is met, for example, the brake disc rust removal function is automatically turned on after the vehicle is powered on.

[0094] Please refer to Figure 3 , a flowchart of a brake disc rust removal method provided by the embodiment of the present application. The brake disc rust removal method specifically can include the following steps: Figure 3

[0095] In step S202, the brake disc idle time length is determined, and the brake disc corresponding brake disc rust amount is determined based on the brake disc idle time length.

[0096] ​Step S202, please refer to the detailed description of step S102 in another embodiment of the application, which will not be repeated here.

[0097] Step S204, when the brake disc rust amount is greater than or equal to the first rust amount threshold and less than the second rust amount threshold, the rust level is determined to be the first level;

[0098] Step S206, based on the first level, the regenerative braking function of the vehicle is disabled, so that the vehicle removes rust from the brake disc by hydraulic braking when receiving the brake signal;

[0099] In an embodiment of the application, the first rust amount threshold and the second rust amount threshold are preset, and the first rust amount threshold is less than the second rust amount threshold. After determining the brake disc rust amount corresponding to the brake disc, if the brake disc rust amount is greater than or equal to the first rust amount threshold and less than the second rust amount threshold, the rust level corresponding to the brake disc is determined to be the first level. When the brake disc rust level is the first level, the regenerative braking function of the vehicle is disabled, so that the vehicle removes rust from the brake disc by hydraulic braking when receiving the brake signal.

[0100] It is not difficult to understand that when the regenerative braking function of the vehicle is disabled, all braking behaviors of the vehicle during driving can only be realized based on hydraulic braking, so as to remove rust from the brake disc by hydraulic braking during the period when the regenerative braking function of the vehicle is disabled.

[0101] Optionally, after the regenerative braking function of the vehicle is disabled in response to the brake disc rust level being the first level, the rust reduction amount is calculated according to the hydraulic braking information corresponding to each hydraulic braking, and the regenerative braking function is re-enabled when the brake disc rust amount is reduced to zero.

[0102] Optionally, after the regenerative braking function of the vehicle is disabled in response to the brake disc rust level being the first level, the regenerative braking function is re-enabled after the vehicle is powered off.

[0103] Step S208, when the brake disc rust amount is greater than or equal to the second rust amount threshold and less than the third rust amount threshold, the rust level is determined to be the second level;

[0104] Step S210, based on the second level, the rust removal braking pressure and the rust removal braking time are determined;

[0105] Step S212, based on the rust removal braking pressure and the rust removal braking time, the vehicle hydraulic braking is started to remove rust from the brake disc.

[0106] In the embodiment of the present application, the second rust amount threshold and the third rust amount threshold are preset, and the second rust amount threshold is smaller than the third rust amount threshold. After determining the brake disc rust amount corresponding to the brake disc, if the brake disc rust amount is greater than or equal to the second rust amount threshold and smaller than the third rust amount threshold, it is determined that the rust grade corresponding to the brake disc is the second grade. When the brake disc rust grade is the second grade, the rust removal braking pressure and the rust removal braking time corresponding to the second grade are obtained, and the hydraulic brake is started according to the rust removal braking pressure and the rust removal braking time to remove rust from the brake disc.

[0107] In the embodiment of the present application, the second rust amount threshold and the third rust amount threshold are preset, and the second rust amount threshold is smaller than the third rust amount threshold. After determining the brake disc rust amount corresponding to the brake disc, if the brake disc rust amount is greater than or equal to the second rust amount threshold and smaller than the third rust amount threshold, it is determined that the rust grade corresponding to the brake disc is the second grade. When the brake disc rust grade is the second grade, the rust removal braking pressure and the rust removal braking time corresponding to the second grade are obtained, and the hydraulic brake is started according to the rust removal braking pressure and the rust removal braking time to remove rust from the brake disc.

[0108] In the embodiment of the present application, the second rust amount threshold and the third rust amount threshold are preset, and the second rust amount threshold is smaller than the third rust amount threshold. After determining the brake disc rust amount corresponding to the brake disc, if the brake disc rust amount is greater than or equal to the second rust amount threshold and smaller than the third rust amount threshold, it is determined that the rust grade corresponding to the brake disc is the second grade. When the brake disc rust grade is the second grade, the rust removal braking pressure and the rust removal braking time corresponding to the second grade are obtained, and the hydraulic brake is started according to the rust removal braking pressure and the rust removal braking time to remove rust from the brake disc.

[0109] It can be understood that when the brake disc rust grade is the first grade, it can indicate that the brake disc has a certain degree of rust, but is not serious, and the regenerative braking function is disabled, and the brake disc is removed by the hydraulic brake when the vehicle has a braking demand in the future. When the brake disc rust grade is the second grade, it can indicate that the brake disc rust is serious, and the brake disc is actively removed according to the rust removal braking pressure and the rust removal braking time corresponding to the second grade. Unlike the first grade, when the brake disc rust grade is the second grade, the hydraulic brake is started to remove rust from the brake disc based on the preset rust removal braking pressure and rust removal braking time, regardless of whether the vehicle has a braking demand, so as to achieve rapid rust removal of the brake disc.

[0110] In one embodiment, when the vehicle hydraulic brake is started to remove rust from the brake disc based on the rust removal braking pressure and the rust removal braking time, it can be specifically:

[0111] If the vehicle is in a non-braking state at this time, a rust removal braking force corresponding to the rust removal braking pressure and a compensation driving force of the same size as the rust removal braking force are determined, a hydraulic braking force of the size of the rust removal braking force is applied to the vehicle based on the hydraulic braking system, and the compensation driving force is added to the vehicle based on the power system, and the hydraulic braking force and the compensation driving force are maintained for the rust removal braking duration.

[0112] It can be understood that when the vehicle hydraulic braking is started to remove rust from the brake disc according to the rust removal braking pressure and the rust removal braking duration, if the vehicle is in a non-braking state, the vehicle has no braking demand at this time. To ensure that the vehicle brake disc is rusted without affecting the normal driving state of the vehicle, the corresponding rust removal braking force is determined according to the rust removal braking pressure at this time, and then a compensation driving force for offsetting the rust removal braking force is determined according to the rust removal braking force. At the same time that the rust removal braking force is applied to the vehicle through the hydraulic braking system, the compensation driving force for offsetting the rust removal braking force is added to the vehicle through the power system, so that the vehicle brake disc is rusted without affecting the normal driving state of the vehicle, and the vehicle brake disc is rusted without feeling and exits without feeling, improving the user experience.

[0113] Optionally, when the rust removal braking duration is met, the rust removal braking force applied to the vehicle through the hydraulic braking system is cancelled, and the compensation driving force for offsetting the rust removal braking force added to the vehicle through the power system is cancelled.

[0114] Further, in one embodiment, the vehicle hydraulic braking is started to remove rust from the brake disc based on the rust removal braking pressure and the rust removal braking duration, which can be specifically:

[0115] If the vehicle is in a braking state, the actual braking force of the vehicle at the current time is determined, and the rust removal braking force corresponding to the rust removal braking pressure is determined. Based on the actual braking force and the rust removal braking force, the proportion of the hydraulic braking force and the regenerative braking force in the vehicle braking process is adjusted, and the adjusted hydraulic braking force is maintained for a preset braking duration to achieve rust removal of the brake disc.

[0116] It can be understood that when the vehicle hydraulic braking is started to remove rust from the brake disc according to the rust removal braking pressure and the rust removal braking duration, if the vehicle is in a braking state, the vehicle has a braking demand at this time, and is being braked at a certain braking force. The actual braking force of the vehicle can be provided by the combination of the hydraulic braking force and the regenerative braking force. To ensure that the vehicle brake disc is rusted without affecting the normal driving state of the vehicle, the corresponding rust removal braking force is determined according to the rust removal braking pressure at this time, and the actual braking force of the vehicle at the current time is determined. The proportion of the hydraulic braking force in the actual braking force is adjusted, so that the size of the adjusted vehicle hydraulic braking force is the size of the rust removal braking force, so as to remove rust from the brake disc according to the adjusted hydraulic braking force.

[0117] In an implementable embodiment, the proportion of the hydraulic braking force and the regenerative braking force in the actual braking force can be adjusted by a cooperative regenerative brake system (CRBS).

[0118] The proportion of the hydraulic braking force and the regenerative braking force in the vehicle braking process is adjusted based on the actual braking force and the rust removal braking force, and specifically, when the actual braking force is greater than or equal to the rust removal braking force, the proportion of the hydraulic braking force in the actual braking force is adjusted to the size of the rust removal braking force; when the actual braking force is less than the rust removal braking force, a compensation driving force is determined based on the difference between the actual braking force and the rust removal braking force, the actual braking force is adjusted to be the hydraulic braking force, and the hydraulic braking force is increased to the size of the rust removal braking force and a compensation driving force is added to the vehicle.

[0119] It can be understood that when the actual braking force is greater than or equal to the rust removal braking force, the size of the vehicle hydraulic braking force can be made to meet the size of the rust removal braking force by changing the proportion of the hydraulic braking force in the actual braking force. When the actual braking force is less than the rust removal braking force, the actual braking force is first adjusted to be the vehicle hydraulic braking force, and then the size of the vehicle hydraulic braking force is increased to the size of the rust removal braking force. Since the rust removal braking force is greater than the actual braking force, after the size of the vehicle hydraulic braking force is increased to the size of the rust removal braking force, the actual braking force of the vehicle is increased. Therefore, a corresponding compensation driving force is applied to the vehicle to offset the increase of the actual braking force of the vehicle, so as to realize the rust removal and non-sensing entry and non-sensing exit of the brake disc, and improve the user experience.

[0120] It should be further explained that in one or more embodiments of the present application, the rusting grade of the brake disc is divided into a first grade and a second grade according to the rusting amount of the brake disc. On this basis, those skilled in the art can further divide the rusting grade of the brake disc into more grades according to the need. The number of divisions of the rusting grade of the brake disc is not specifically limited in one or more embodiments of the present application.

[0121] Further, in one or more embodiments of the present application, before the rust removal strategy corresponding to the rusting grade is used to remove rust from the brake disc, it further includes: judging whether each preset vehicle function in a preset vehicle function set is in an open state, if any preset vehicle function in the preset vehicle function set is in an open state, the step of removing rust from the brake disc by using the rust removal strategy corresponding to the rusting grade is not performed, and if each preset vehicle function in the preset vehicle function set is in an unopened state, the step of removing rust from the brake disc by using the rust removal strategy corresponding to the rusting grade is performed.

[0122] It is understandable that, in order to avoid the impact of brake disc rust removal on other functions of the vehicle, a set of preset vehicle functions is provided, each of which is likely to be affected by brake disc rust removal. Before performing brake disc rust removal, by detecting the state of the vehicle, it is determined whether each of the preset vehicle functions in the set of preset vehicle functions is in an open state. When any of the preset vehicle functions in the set of preset vehicle functions is in an open state, it indicates that the preset vehicle function may be affected by brake disc rust removal, which is harmful to driving safety, and brake disc rust removal is not performed at this time. When any of the preset vehicle functions in the set of preset vehicle functions is in an open state, brake disc rust removal will not affect any running vehicle function, and brake disc rust removal can be performed at this time. For example, when the Anti-lock Braking System (ABS) of the vehicle is running, brake disc rust removal cannot be performed.

[0123] Further, in one or more embodiments of the present application, during brake disc rust removal, if a rust removal stop instruction is received, the brake disc rust removal is stopped in response to the rust removal stop instruction. The rust removal stop instruction is generated based on any of the preset vehicle functions in the set of preset vehicle functions being turned on, or based on the user triggering the rust removal function exit control, or based on the completion of rust removal.

[0124] Further, after the vehicle stops brake disc rust removal, the limitation of vehicle function and brake force adjustment during brake disc rust removal are restored to before brake disc rust removal.

[0125] Please refer to Figure 4 A structural diagram of a brake disc rust removal device provided by an embodiment of the present application. As shown in Figure 4 The brake disc rust removal device 1 can be realized by software, hardware or a combination of the two to become all or part of the vehicle controller. According to some embodiments, the brake disc rust removal device 1 includes a rust amount determination module 11 and a grade rust removal module 12, specifically including:

[0126] The rust amount determination module 11 is configured to determine the idle duration of the brake disc, and determine the brake disc rust amount corresponding to the brake disc based on the idle duration of the brake disc.

[0127] The grade rust removal module 12 is configured to determine the rust grade corresponding to the brake disc based on the brake disc rust amount and a preset rust amount threshold, and remove rust from the brake disc using a rust removal strategy corresponding to the rust grade.

[0128] Optionally, when performing the determination of the idle duration of the brake disc, the rust amount determination module 11 is specifically configured to:

[0129] a time interval from a last time when the vehicle is off to a current time when the vehicle is on is taken as the brake disc idle duration; or

[0130] a time interval from a last time when the brake disc is applied to a current time is taken as the brake disc idle duration.

[0131] Optionally, the rust amount determination module 11 is specifically configured to:

[0132] a time interval from a last time when the brake disc is rusted to a current time is taken as the brake disc idle duration;

[0133] obtain hydraulic braking information in a time interval from the last time when the brake disc is rusted to a current time, the hydraulic braking information including braking pressure and braking duration;

[0134] determine a rust increase amount corresponding to the brake disc according to the brake disc idle duration, and determine a rust reduction amount corresponding to the brake disc according to the hydraulic braking information;

[0135] determine the brake disc rust amount based on the rust increase amount and the rust reduction amount.

[0136] Optionally, the grade rust removal module 12 is specifically configured to:

[0137] when the brake disc rust amount is greater than or equal to a first rust amount threshold and less than a second rust amount threshold, determine that the rust grade is a first grade;

[0138] based on the first grade, disable a regenerative braking function of the vehicle, so that the vehicle removes rust from the brake disc through hydraulic braking when receiving a braking signal.

[0139] Optionally, the grade rust removal module 12 is further configured to:

[0140] when the brake disc rust amount is greater than or equal to a second rust amount threshold and less than a third rust amount threshold, determine that the rust grade is a second grade;

[0141] based on the second grade, determine a rust removal braking pressure and a rust removal braking duration;

[0142] based on the rust removal braking pressure and the rust removal braking duration, start vehicle hydraulic braking to remove rust from the brake disc.

[0143] Optionally, if the vehicle is in a non-braking state, the grade rust removal module 12, when performing the starting vehicle hydraulic braking to remove rust from the brake disc based on the rust removal braking pressure and the rust removal braking duration, is specifically configured to:

[0144] determining a rust removal braking force corresponding to the rust removal braking pressure and a compensation driving force of the same size as the rust removal braking force;

[0145] applying a hydraulic braking force of the same size as the rust removal braking force to the vehicle based on a hydraulic braking system and increasing the compensation driving force to the vehicle based on a power system;

[0146] maintaining the hydraulic braking force and the compensation driving force for the rust removal braking duration.

[0147] Optionally, if the vehicle is in a braking state, the rust removal module 12 is specifically configured to, when performing the rust removal on the brake disc based on the rust removal braking pressure and the rust removal braking duration starting the hydraulic braking of the vehicle:

[0148] determining an actual braking force of the vehicle at the current time, and determining a rust removal braking force corresponding to the rust removal braking pressure;

[0149] adjusting the proportion of the hydraulic braking force and the regenerative braking force in the braking process of the vehicle based on the actual braking force and the rust removal braking force;

[0150] maintaining the adjusted hydraulic braking force for the rust removal braking duration to achieve the rust removal on the brake disc.

[0151] Optionally, the rust removal module 12 is specifically configured to, when performing the adjusting of the proportion of the hydraulic braking force and the regenerative braking force in the braking process of the vehicle based on the actual braking force and the rust removal braking force:

[0152] when the actual braking force is greater than or equal to the rust removal braking force, adjusting the proportion of the hydraulic braking force in the actual braking force to the size of the rust removal braking force;

[0153] when the actual braking force is less than the rust removal braking force, determining a compensation driving force based on the difference between the actual braking force and the rust removal braking force, adjusting the actual braking force to be the hydraulic braking force, increasing the hydraulic braking force to the size of the rust removal braking force, and increasing the compensation driving force to the vehicle.

[0154] Please refer to Figure 5 , the brake disc rust removal device 1 further comprises a rust removal enabling module 13, and the rust removal enabling module 13 is specifically configured to:

[0155] determining whether each preset vehicle function in a preset vehicle function set is in an open state;

[0156] if any preset vehicle function in the preset vehicle function set is in the open state, the step of removing rust on the brake disc by using the rust removal strategy corresponding to the rust level is not performed.

[0157] If each preset vehicle function in the preset vehicle function set is in the unopened state, the step of rust removal of the brake disc by using the rust removal strategy corresponding to the rust level is performed.

[0158] Please refer to Figure 5 , the brake disc rust removal device 1 further comprises a rust removal stopping module 14, and the rust removal stopping module 14 is specifically used for:

[0159] In response to a rust removal stopping instruction, the brake disc rust removal is stopped, and the rust removal stopping instruction is generated based on any preset vehicle function in the preset vehicle function set being opened, or generated based on a user triggering a rust removal function exit control, or generated based on the rust removal being completed.

[0160] The device embodiments correspond to the method embodiments, and specific descriptions can be referred to the descriptions in the method embodiment part, which will not be repeated here. The device embodiments are based on the corresponding method embodiments and have the same technical effects as the corresponding method embodiments. Specific descriptions can be referred to the corresponding method embodiments.

[0161] The application further provides a storage medium, which can store a plurality of instructions, and the instructions are suitable for being loaded and executed by a processor to perform the brake disc rust removal method of each of the above embodiments. Specific execution processes can be referred to the specific descriptions in each of the above embodiments, which will not be repeated here.

[0162] The application further provides a computer program product, which stores at least one instruction, and the at least one instruction is loaded and executed by the processor to perform the brake disc rust removal method of each of the above embodiments. Specific execution processes can be referred to the specific descriptions in each of the above embodiments, which will not be repeated here.

[0163] In one embodiment, the application further provides Figure 6 The structure schematic diagram of the vehicle controller is shown. As shown in Figure 6 At the hardware level, the vehicle controller comprises a processor 21, an internal bus 22, a network interface 23, a memory 24, a non-volatile memory 25, and of course can further comprise other hardware required by a business. The vehicle controller can be arranged in a vehicle, and the processor 21 in the vehicle controller reads the corresponding computer program from the non-volatile memory 25 into the memory and then runs to implement the brake disc rust removal method.

[0164] In one embodiment, the application further provides a vehicle, which can comprise the brake disc rust removal device or the vehicle controller as described above, so as to perform the brake disc rust removal method by the brake disc rust removal device or the vehicle controller to realize the body stability control.

[0165] Finally, each of the embodiments of the present application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment mainly explains the difference from other embodiments. Especially, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant part can be referred to the part of the method embodiment.

[0166] The above only describes the embodiments of the present application and is not intended to limit the present application. The present application can be variously changed and modified by those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims

1. A method for removing rust from a brake disc, comprising: determining an idle time of the brake disc, and determining a corresponding brake disc corrosion amount of the brake disc based on the idle time of the brake disc; The rust level of the brake disc is determined based on the rust amount of the brake disc and a preset rust level threshold, and the brake disc is rusted using a rust removal strategy corresponding to the rust level.

2. The method according to claim 1, wherein determining the idle time of the brake disc comprises: The time interval between the vehicle's most recent shutdown and power-off and the current ignition power-on is used as the brake disc idle time; or The time interval from the last brake disc application end time to the current time is used as the brake disc idle time length.

3. The method according to claim 1, wherein determining the idle time of the brake disc and determining the amount of brake disc corrosion corresponding to the brake disc based on the idle time of the brake disc comprises: Determine the time interval from the last brake disc rust removal to the current moment as the brake disc idle time; Acquiring hydraulic braking information within a time interval from the most recent brake disc rust removal to the current moment, the hydraulic braking information including braking pressure and braking duration; determining an increase in rust of the brake disc according to the idle time of the brake disc, and determining a decrease in rust of the brake disc according to the hydraulic braking information; The brake disc rust amount is determined based on the rust increase amount and the rust decrease amount.

4. The method according to claim 1, wherein determining the rust level of the brake disc based on the amount of rust on the brake disc and a preset rust level threshold, and removing rust from the brake disc using a rust removal strategy corresponding to the rust level, comprises: When the amount of corrosion of the brake disc is greater than or equal to a first corrosion amount threshold and less than a second corrosion amount threshold, determining the corrosion level to be the first level; Based on the first level, a regenerative braking function of the vehicle is disabled so that the vehicle derusts the brake disc through hydraulic braking when a brake signal is received.

5. The method according to claim 1, wherein determining the rust level of the brake disc based on the amount of rust on the brake disc and a preset rust level threshold, and removing rust from the brake disc using a rust removal strategy corresponding to the rust level, comprises: When the amount of corrosion of the brake disc is greater than or equal to a second corrosion amount threshold and less than a third corrosion amount threshold, determining that the corrosion level is the second level; determining a rust removal braking pressure and a rust removal braking time based on the second level; The vehicle hydraulic brake is started based on the rust removal brake pressure and the rust removal brake duration to remove rust from the brake disc.

6. The method according to claim 5, if the vehicle is in a non-braking state; The step of starting the vehicle hydraulic braking to remove rust from the brake disc based on the rust removal braking pressure and the rust removal braking time includes: determining a rust removal braking force corresponding to the rust removal braking pressure and a compensating driving force having the same magnitude as the rust removal braking force; Applying a hydraulic braking force of the magnitude of the rust removal braking force to the vehicle based on a hydraulic braking system and increasing the compensating driving force to the vehicle based on a power system; The hydraulic braking force and the compensating driving force are maintained for the rust removal braking time.

7. The method according to claim 5, if the vehicle is in a braking state; The step of starting the vehicle hydraulic braking to remove rust from the brake disc based on the rust removal braking pressure and the rust removal braking time includes: determining an actual braking force of the vehicle at a current moment, and determining a rust removal braking force corresponding to the rust removal braking pressure; adjusting the ratio of the hydraulic braking force to the regenerative braking force during the vehicle braking process based on the actual braking force and the rust removal braking force; The adjusted hydraulic braking force is maintained for the rust removal braking time to achieve rust removal on the brake disc.

8. The method according to claim 7, wherein adjusting the ratio of the hydraulic braking force to the regenerative braking force during the vehicle braking process based on the actual braking force and the rust removal braking force comprises: When the actual braking force is greater than or equal to the rust removal braking force, adjusting the proportion of the hydraulic braking force in the actual braking force to the magnitude of the rust removal braking force; When the actual braking force is less than the rust removal braking force, a compensating driving force is determined based on the difference between the actual braking force and the rust removal braking force, the actual braking force is adjusted to be entirely hydraulic braking force, the hydraulic braking force is increased to the size of the rust removal braking force, and the compensating driving force is added to the vehicle.

9. The method according to claim 1, before removing rust from the brake disc using a rust removal strategy corresponding to the rust level, further comprising: Determining whether each preset vehicle function in the preset vehicle function set is in an enabled state; If any preset vehicle function in the preset vehicle function set is in an on state, the step of removing rust from the brake disc using a rust removal strategy corresponding to the rust level is not performed; If all the preset vehicle functions in the preset vehicle function set are in an inactive state, the step of removing rust from the brake disc using a rust removal strategy corresponding to the rust level is performed.

10. The method according to claim 1, further comprising: In response to a rust removal stop instruction, brake disc rust removal is stopped. The rust removal stop instruction is generated after any preset vehicle function in a preset vehicle function set is turned on, or after a user triggers an exit control for the rust removal function, or after rust removal is completed.

11. A brake disc rust removal device, comprising: a corrosion amount determination module, configured to determine an idle time period of the brake disc, and determine a corresponding amount of brake disc corrosion based on the idle time period of the brake disc; The graded rust removal module is used to determine the rust grade corresponding to the brake disc based on the rust amount of the brake disc and a preset rust amount threshold, and to remove rust from the brake disc using a rust removal strategy corresponding to the rust grade.

12. A storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 10 are implemented.

13. A vehicle controller comprising: A processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the steps of the method according to any one of claims 1 to 10.

14. A vehicle comprising the brake disc rust removal device according to claim 11 or the vehicle controller according to claim 13.

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