Control method and system for inhibiting brake jitter, vehicle and storage medium

Abstract

The invention relates to the technical field of automobiles, in particular to a control method and system for restraining brake jitter, a vehicle and a storage medium, and the method comprises the steps that brake jitter characteristics are recognized according to sensor signal input, and the brake jitter compensation torque of each wheel is calculated; the reference target braking torque of the current brake is obtained; and superposing the brake jitter compensation torque and the reference target brake torque to obtain the actual target brake torque of each wheel, and further solving the required brake clamping force of each wheel to suppress the jitter of the automobile during braking. Based on the brake-by-wire system with the four-wheel electromechanical brake module, the brake force fluctuation can be controlled and compensated through the active brake force, so that the brake shake is inhibited, and the brake comfort is improved.

Description

Technical Field

[0001] This invention relates to the field of automotive technology, and in particular to a control method, system, vehicle, and storage medium for suppressing brake vibration. Background Technology

[0002] With the increasing trend towards electrification and intelligentization in automobiles, drive-by-wire technology has become an important development direction for braking technology. Unlike traditional hydraulic braking systems, braking systems based on four-wheel electromechanical braking modules offer advantages such as independent control and precise adjustment of braking force for all four wheels.

[0003] In traditional braking systems, disc thickness variation (DTV) can easily cause brake shudder. This manifests as fluctuations in braking force generated by the brakes during braking, which are transmitted to the wheels, body, and steering wheel, causing vibrations that affect the riding experience and lead to passenger complaints. Summary of the Invention

[0004] The purpose of this invention is to provide a control method, system, vehicle, and storage medium for suppressing braking vibration, so as to solve the problem of vehicle vibration affecting the riding experience.

[0005] This invention provides a control method for suppressing brake jitter, comprising:

[0006] Based on sensor signal input, identify brake vibration characteristics and calculate brake vibration compensation torque for each wheel;

[0007] Obtain the reference target braking torque of the current brake;

[0008] The braking vibration compensation torque and the reference target braking torque are superimposed to obtain the actual target braking torque of each wheel, and then the required braking clamping force of each wheel is calculated to suppress the vibration during vehicle braking.

[0009] Preferably, the identification of brake vibration characteristics based on sensor signal input is based on the collected brake pedal position sensor signal, steering wheel angle sensor signal, vehicle acceleration sensor signal, and four-wheel wheel speed sensor signal.

[0010] Preferably, the reference target braking torque of the current brake is obtained by calculating the reference target braking torque of each wheel based on the brake pedal position signal.

[0011] Preferably, obtaining the braking vibration compensation torque includes: calculating the reference angular deceleration of each wheel; calculating the actual angular deceleration of each wheel based on the actual wheel speed after monitoring the vibration characteristics of each wheel; and calculating the braking vibration compensation torque of each wheel by using the difference between the actual angular deceleration and the reference angular deceleration.

[0012] The present invention also provides a control system for suppressing brake vibration, including a brake pedal position sensor, a steering wheel angle sensor, a vehicle acceleration sensor, a brake controller, and an electromechanical brake module respectively installed at the positions of the left front wheel, right front wheel, left rear wheel, and right rear wheel of the vehicle. The electromechanical brake module includes a brake disc, and brake calipers are provided on both sides of the brake disc. The brake calipers are driven by a brake drive mechanism to provide clamping force to the brake disc. The electromechanical brake module also includes a wheel speed sensor and an intermediate wiring harness connected to the brake controller.

[0013] Preferably, the brake drive mechanism includes a motor that generates power, and the brake controller controls the brake drive mechanism to generate a clamping force that causes the brake caliper to clamp, based on the wheel-end braking torque requirement sent by the brake controller, and the clamping force acts on the brake disc.

[0014] Preferably, the brake pedal position sensor, steering wheel angle sensor, and vehicle acceleration sensor are electrically connected to the brake controller.

[0015] Preferably, the brake caliper has an inner friction plate and an outer friction plate on its two opposite sidewalls, and the brake disc is located between the inner friction plate and the outer friction plate.

[0016] The present invention also provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the above-described control method for suppressing brake shudder.

[0017] A computer-readable storage medium storing computer instructions for causing a computer to perform the above-described control method for suppressing brake jitter.

[0018] The beneficial effects of this invention are:

[0019] The method described in this invention first identifies braking vibration characteristics based on sensor signal input and calculates the braking vibration compensation torque for each wheel. Then, it obtains the reference target braking torque for the current brake, and superimposes the braking vibration compensation torque and the reference target braking torque to obtain the actual target braking torque for each wheel. Finally, it calculates the required braking clamping force for each wheel to suppress vibration during vehicle braking. Based on a brake-by-wire system with a four-wheel electromechanical braking module, it can actively control braking force to compensate for braking force fluctuations, thereby suppressing braking vibration and improving braking comfort. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a flowchart of a control method for suppressing braking jitter according to the present invention;

[0022] Figure 2 This is a schematic diagram of the structure of a control system for suppressing braking vibration according to the present invention.

[0023] Explanation of reference numerals in the attached diagram: 1-Brake pedal position sensor, 2-Steering wheel angle sensor, 3-Vehicle acceleration sensor, 4-Connecting harness, 5-Brake controller, 6-Connecting harness, 7-Left front electromechanical brake module, 8-Right front electromechanical brake module, 9-Left rear electromechanical brake module, 10-Right rear electromechanical brake module, 701-Brake caliper, 702-Brake disc, 703-Wheel speed sensor, 704-Intermediate harness, 705-Brake controller, 706-Brake drive mechanism. Detailed Implementation

[0024] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0025] It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the exemplary implementations according to this application. As used herein, the singular form includes the plural form unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this description, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0026] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Example

[0028] A control method for suppressing brake shudder includes:

[0029] The system identifies brake vibration characteristics based on sensor signal input and calculates brake vibration compensation torque for each wheel; the sensor signal input is based on the collected brake pedal position sensor signal, steering wheel angle sensor signal, vehicle acceleration sensor signal, and four-wheel wheel speed sensor signal.

[0030] Obtain the reference target braking torque of the current brake;

[0031] The braking vibration compensation torque and the reference target braking torque are superimposed to obtain the actual target braking torque of each wheel, and then the required braking clamping force of each wheel is calculated to suppress the vibration during vehicle braking.

[0032] The braking vibration compensation torque is obtained using a preset algorithm. Specifically, the reference angular deceleration of each wheel is calculated. After detecting the vibration characteristics of each wheel, the actual angular deceleration of each wheel is calculated based on the actual wheel speed. The braking vibration compensation torque of each wheel is calculated by using the difference between the actual angular deceleration and the reference angular deceleration. The braking vibration compensation torque and the reference target braking torque are superimposed to obtain the actual target braking torque of each wheel. Then, the required braking clamping force of each wheel is calculated to suppress the vibration during vehicle braking.

[0033] In this embodiment of the invention, the reference target braking torque is obtained by calculating the reference target braking torque of each wheel based on the brake pedal position signal. The calculation process for obtaining the reference target braking torque based on the brake pedal can utilize mature calculation methods in the prior art. Other calculation processes in this invention are also applicable to mature technical solutions in the prior art, and will not be elaborated upon here.

[0034] A control system for suppressing brake shudder includes a brake pedal position sensor 1, a steering wheel angle sensor 2, a vehicle acceleration sensor 3, a brake controller 5, and electromechanical brake modules respectively installed at the left front wheel, right front wheel, left rear wheel, and right rear wheel of the vehicle. The electromechanical brake modules are electrically connected to the brake controller via a connecting harness 6. The electromechanical brake modules include a brake disc 702, with brake calipers 701 on both sides of the brake disc 702. Inner friction pads and outer friction pads are respectively provided on the two opposite side walls of the brake calipers 701, and the brake disc 702 is located between the inner friction pads and the outer friction pads. The brake calipers 701 are driven by a brake drive mechanism 706 to provide clamping force to the brake disc 702. The electromechanical brake module also includes a wheel speed sensor 703 and an intermediate wiring harness 703 connected to the brake controller 705.

[0035] Brake pedal position sensor 1, steering wheel angle sensor 2, and vehicle acceleration sensor 3 are electrically connected to brake controller 5 (via wiring harness 4). Brake drive mechanism 706 includes brake controller 705, a motor for generating power, and necessary transmission devices. Brake controller 705, based on the wheel-end braking torque requirement sent by brake controller 5, controls brake drive mechanism 706 to generate a clamping force that causes brake caliper 701 to clamp, and this clamping force acts on brake disc 702. In this embodiment, the brake drive mechanism is based on existing technology, and its specific structure will not be described in detail.

[0036] During operation, the brake controller 5 identifies brake vibration characteristics and calculates the brake vibration compensation torque for each wheel based on signals from the brake pedal position sensor 1, steering wheel and angle sensor 2, vehicle acceleration sensor 3, wheel speed sensor 703 (and other right front, left rear, and right rear wheel speed sensors). By controlling the electromechanical brake modules 7, 8, 9, and 10 of each wheel, the clamping force of the electromechanical brake acting on the brake disc is adjusted to reduce the brake torque variation (BTV), thereby suppressing brake vibration.

[0037] The brake controller 5 includes a control algorithm with brake shudder compensation functionality. Based on the brake pedal position signal, the brake controller 5 calculates the reference target braking torque for each wheel and the reference angular deceleration for each wheel. Upon detecting shudder characteristics in each wheel, it calculates the actual angular deceleration of each wheel based on the actual wheel speed. Using the difference between the actual angular deceleration and the reference angular deceleration, it calculates the brake shudder compensation torque Tc(FL,FR,RL,RR) for each wheel. Combining this with the shudder occurrence phase, it superimposes the calculated brake shudder compensation torque and the reference target braking torque to obtain the actual target braking torque for each wheel, and then calculates the required braking clamping force Fr(FL,FR,RL,RR) for each wheel.

[0038] Taking the left front electromechanical brake module 7 as an example, the brake controller 705 receives the required braking clamping force Fr(FL) from the brake controller 5, controls the left front electromechanical brake module 6 to generate a clamping force acting on the brake disc 702, and sends the clamping force feedback value Fcl(FL) to the brake controller 5 to realize the closed-loop control of the braking force of the left front wheel by the brake controller 5.

[0039] On the other hand, based on the same inventive concept, this embodiment provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of a control method for suppressing brake vibration.

[0040] On the other hand, based on the same inventive concept, this embodiment provides a computer-readable storage medium storing computer instructions for causing a computer to execute a control method for suppressing brake jitter.

[0041] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the following claims.

[0042] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0043] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A module that specifies the function in one or more boxes.

[0044] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction modules implemented in a process. Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0045] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0046] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the invention.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for suppressing braking vibration, characterized in that, include: Based on sensor signal input, identify brake vibration characteristics and calculate brake vibration compensation torque for each wheel; Obtain the reference target braking torque of the current brake; The braking vibration compensation torque and the reference target braking torque are superimposed to obtain the actual target braking torque of each wheel, and then the required braking clamping force of each wheel is calculated to suppress the vibration during vehicle braking.

2. The control method for suppressing braking vibration according to claim 1, characterized in that, Identifying brake vibration characteristics based on sensor signal input is based on the collected signals from the brake pedal position sensor, steering wheel angle sensor, vehicle acceleration sensor, and four-wheel wheel speed sensor.

3. The control method for suppressing braking vibration according to claim 1, characterized in that, The reference target braking torque of the current brake is obtained by calculating the reference target braking torque of each wheel based on the brake pedal position signal.

4. The control method for suppressing braking vibration according to claim 1, characterized in that, Obtaining the braking vibration compensation torque includes: calculating the reference angular deceleration of each wheel; after monitoring the vibration characteristics of each wheel, calculating the actual angular deceleration of each wheel based on the actual wheel speed; and calculating the braking vibration compensation torque of each wheel by using the difference between the actual angular deceleration and the reference angular deceleration.

5. A control system for suppressing braking vibration, characterized in that, The system includes a brake pedal position sensor, a steering wheel angle sensor, a vehicle acceleration sensor, a brake controller, and electromechanical brake modules installed on the left front wheel, right front wheel, left rear wheel, and right rear wheel of the vehicle, respectively. Each electromechanical brake module includes a brake disc with brake calipers on both sides. The brake calipers are driven by a brake drive mechanism to provide clamping force to the brake disc. The electromechanical brake module also includes wheel speed sensors and intermediate wiring harnesses connected to the brake controller.

6. The control system for suppressing braking vibration according to claim 5, characterized in that, The brake drive mechanism includes a motor that generates power. The brake controller controls the brake drive mechanism to generate a clamping force that causes the brake caliper to clamp, based on the wheel-end braking torque requirement sent by the brake controller. The clamping force acts on the brake disc.

7. The control system for suppressing braking vibration according to claim 5, characterized in that, The brake pedal position sensor, steering wheel angle sensor, and vehicle acceleration sensor are electrically connected to the brake controller.

8. The control system for suppressing braking vibration according to claim 5, characterized in that, The brake caliper has an inner friction plate and an outer friction plate on its two opposite side walls, and the brake disc is located between the inner friction plate and the outer friction plate.

9. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the steps of the method according to any one of claims 1-4.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to execute the control method for suppressing brake jitter as described in any one of claims 1-4.

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