A method and system for controlling the rubbing of a wading brake disc

Abstract

This invention discloses a method and system for controlling brake disc rubbing in water-prone conditions. The method includes: upon receiving a vehicle brake disc dewatering command, acquiring vehicle wading information, vehicle information, and environmental information; selecting a brake disc dewatering strategy corresponding to the vehicle wading information, vehicle information, and environmental information from a brake disc dewatering strategy database as the final brake disc dewatering strategy; wherein the brake disc dewatering strategy database stores multiple optimal brake disc dewatering strategies corresponding to various wading information, vehicle information, and environmental information; and performing brake disc rubbing to remove water from the brake disc according to the selected brake disc dewatering strategy. This method ensures effective brake disc rubbing and dewatering under various complex operating conditions.

Description

Technical Field

[0001] This invention relates to the field of automotive control technology, and in particular to a method and system for controlling the rubbing of brake discs in water. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] When a vehicle is driven in the rain or through water, a water film or water accumulation can easily form on the surface of the brake disc, which can lead to a decrease in the coefficient of friction and phenomena such as reduced braking force and sluggish braking response.

[0004] In related technologies, after a vehicle has been submerged in water, the water film is wiped away by periodically applying slight braking force to the brake disc, using the micro-contact between the brake pads and the brake disc.

[0005] However, the magnitude and frequency of the periodic slight braking force applied to the brake disc in the relevant technologies are fixed values, which cannot guarantee good water removal effect and driving performance under complex and variable working conditions. Summary of the Invention

[0006] To address the aforementioned problems, this invention proposes a method and system for controlling the rubbing of a wading brake disc.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: Firstly, a method for controlling the rubbing of a wading brake disc is proposed, including: When a command to remove water from the vehicle's brake discs is received, the vehicle's water wading information, vehicle information, and environmental information are obtained. The brake disc water removal strategy is selected from the brake disc water removal strategy database based on the vehicle's water wading information, vehicle information, and environmental information. This selection serves as the final brake disc water removal strategy. The brake disc water removal strategy database stores the optimal brake disc water removal strategies corresponding to various water wading information, vehicle information, and environmental information. Based on the selected brake disc dehydration strategy, the brake disc is dehydrated by wiping.

[0008] Furthermore, when the vehicle switches from wading mode to exiting water mode, a command to remove water from the vehicle's brake discs is generated.

[0009] Furthermore, when the vehicle is in wading mode, the second wading depth threshold and the wading depth change rate threshold are determined based on the vehicle's wading information, vehicle information, and environmental information. When the vehicle's wading depth is less than the vehicle's second wading depth threshold, and the rate of change of wading depth is greater than the wading depth change rate threshold, the vehicle is determined to switch from wading mode to exit mode.

[0010] Furthermore, obtain information on water wading, vehicle information, and environmental information; Based on the vehicle's wading information, vehicle information, and environmental information, determine the vehicle's first wading depth threshold. When the vehicle's wading depth exceeds the vehicle's first wading depth threshold, the vehicle is determined to have entered wading mode.

[0011] Furthermore, the similarity between the obtained vehicle wading information, vehicle information, and environmental information and the wading information, vehicle information, and environmental information stored in the brake disc water removal strategy database is calculated. The brake disc water removal strategy corresponding to the wading information, vehicle information, and environmental information with the highest similarity in the brake disc water removal strategy database is selected as the final brake disc water removal strategy.

[0012] Furthermore, based on the selected brake disc dewatering strategy, when a braking command generated for driving safety needs is obtained during the brake disc dewatering process; The vehicle is braked based on braking commands generated for driving safety.

[0013] Secondly, a water-borne brake disc rubbing control system is proposed, including: The information acquisition unit is used to acquire water wading information, vehicle information, and environmental information of the vehicle when it receives a command to remove water from the vehicle's brake discs. The water removal strategy determination unit is used to select the brake disc water removal strategy corresponding to the vehicle's water wading information, vehicle information, and environmental information from the brake disc water removal strategy database as the final brake disc water removal strategy; wherein, the brake disc water removal strategy database stores the optimal brake disc water removal strategy corresponding to various water wading information, vehicle information, and environmental information. The water removal control unit is used to perform brake disc wiping and water removal on the brake disc according to the selected brake disc water removal strategy.

[0014] Thirdly, a computer device is proposed, the device comprising: A processor, adapted to execute computer programs; A computer-readable storage medium storing a computer program, which, when executed by the processor, implements the wading brake disc rubbing control method proposed in the first aspect.

[0015] Fourthly, a computer-readable storage medium is proposed, wherein the computer-readable storage medium stores a computer program adapted to be loaded by a processor and executed by a processor to provide a water-wading brake disc rubbing control method proposed in the first aspect.

[0016] Fifthly, a computer program product is proposed, which includes a computer program that, when executed by a processor, implements the wading brake disc rubbing control method proposed in the first aspect.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention proposes a method and system for controlling brake disc rubbing in wading conditions. The method pre-stores optimal brake disc dewatering strategies for various complex operating conditions in a brake disc dewatering strategy database. When using this optimal strategy for brake disc dewatering, both the dewatering effect and vehicle performance are guaranteed. Complex operating conditions are characterized by wading information, vehicle information, and environmental information. When brake disc dewatering is required, the method directly selects the corresponding strategy from the database based on the vehicle's wading information, vehicle information, and environmental information as the final brake disc dewatering strategy. This ensures effective dewatering of the brake disc and maintains vehicle performance under various complex operating conditions, adapting to different complex brake disc dewatering scenarios.

[0018] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.

[0020] Figure 1 This is a flowchart of a water-wading brake disc rubbing control method proposed in an embodiment of the present invention; Figure 2 This is a block diagram of the application system structure of a water-wading brake disc rubbing control method proposed in an embodiment of the present invention; Figure 3 This is a logic diagram of the water removal logic control module proposed in an embodiment of the present invention; Figure 4 This is a timing diagram showing the triggering and execution of the water removal function as proposed in an embodiment of the present invention. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] 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.

[0023] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0024] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0025] It should be noted that all data acquisition is conducted in accordance with laws and regulations and with user consent, and the data is used legally.

[0026] First, the application scenarios of the wading brake disc rubbing control method proposed in the embodiments of the present invention will be described.

[0027] This invention proposes a method for controlling brake disc rubbing during wading, applied to the specific scenario of brake disc rubbing to remove water after a vehicle has driven through and exited water. This scenario falls within the intersection of vehicle active safety and intelligent control, and is a key technology for improving vehicle braking reliability in complex environments such as severe weather and flooded roads. During actual vehicle operation, the following typical situations will trigger the operation of this control method: (1) Driving through waterlogged sections of urban roads: Vehicles need to pass through waterlogged areas of varying depths, and the surface of the brake discs is covered by a water film.

[0028] (2) Off-road scenario water crossing: When an off-road vehicle crosses rivers, swamps and other water bodies, the braking system faces the risk of being submerged in water for a long time.

[0029] (3) Heavy rain or fog: Although there is no deep water accumulation, continuous high humidity or rain splash will also form a water film on the brake disc.

[0030] (4) After passing through the automatic car wash equipment: After the vehicle leaves the automatic car wash equipment, the brake disc is completely wet.

[0031] In the aforementioned scenarios, if a driver needs to brake suddenly shortly after exiting the water, the presence of a water film can significantly reduce the coefficient of friction, resulting in sluggish braking response, prolonged braking distance, and even extreme dangers such as brake failure. Therefore, there is an urgent need for a control method that can automatically, quickly, and appropriately perform brake disc wiping and water removal operations after a vehicle has been submerged in water, in order to restore the brake discs to their optimal working condition.

[0032] The formation principle of water film on brake discs: Brake discs are usually made of gray cast iron or carbon ceramic materials, and their surface is not absolutely smooth at the microscopic scale. When a vehicle drives through water or encounters heavy rainfall, water molecules adhere to the surface of the brake disc in the following ways: (1) Direct splashing adhesion: Water is rolled up by the wheel and splashed directly onto the surface of the brake disc.

[0033] (2) Capillary adsorption: Water molecules penetrate into the microcracks or pores on the surface of the brake disc.

[0034] (3) Condensation effect: Under high humidity conditions, temperature difference causes water vapor to condense on the relatively low temperature brake disc surface.

[0035] (4) Continuous water film coverage: When the wading depth exceeds the lower edge of the brake disc, the brake disc is completely submerged, and a continuous water film is formed on the surface after exiting the water.

[0036] The effect of water film on braking performance can be quantified by changes in the coefficient of friction. Experimental data show that: (1) In the dry state: the coefficient of friction between the brake pads and the brake disc is usually 0.35 ~ 0.45.

[0037] (2) Under water film coverage: the coefficient of friction drops sharply to 0.10 ~ 0.20, with a reduction of 50% ~ 70%.

[0038] (3) Braking response delay: Due to the presence of water film, the brake pads need to squeeze and displace the water film before they can make substantial contact with the brake disc, resulting in a braking response time extension of 0.2 to 0.5 seconds, which corresponds to an increase in braking distance of 3 to 8 meters at a vehicle speed of 60 km / h.

[0039] (4) The risk of heat fade is superimposed: If you lightly apply the brakes for a long time to remove water after driving through water, the brake disc temperature may rise abnormally, which will aggravate the risk of heat fade.

[0040] Therefore, the brake disc rubbing control after wading must achieve a precise balance among multiple dimensions such as water removal effect, timing of execution, braking force, and duration of execution.

[0041] With the rapid development of automotive intelligence and electronic control technology, the performance and reliability of the braking system have become one of the important indicators of vehicle safety. Currently, most vehicles use disc brakes, which rely on the friction between the brake pads and the brake disc to achieve deceleration and stopping. However, when vehicles drive through water, in heavy rain, or in high humidity environments, a water film or water accumulation can easily form on the surface of the brake disc, leading to a decrease in the coefficient of friction, resulting in phenomena such as brake force attenuation and sluggish braking response. In severe cases, it may even cause brake failure.

[0042] In existing technologies, the following methods are mainly adopted to reduce the decrease in braking performance of brake discs due to water film: (1) Mechanical water removal: Through structural improvements, such as opening drainage grooves on the brake disc or using a protective cover with a flow guiding structure, water can be discharged during driving.

[0043] (2) Control strategy water removal: Some high-end models or ESC systems have "brake drying function". When the control system detects rain or slippery road conditions, it periodically applies slight braking force to remove the water film by means of the micro-contact between the brake pads and the brake disc.

[0044] (3) Manual intervention: When some driving assistance systems detect a water-filled area, they will prompt the driver to lightly press the brake pedal to perform manual water removal.

[0045] While the aforementioned technologies have improved the wet slip condition of brake discs to some extent, they generally suffer from problems such as response delay, strong dependence on water removal conditions, and insufficient intelligence, making it impossible to achieve efficient and real-time water removal control of brake discs under complex and changing working conditions.

[0046] Existing brake disc water removal technologies have the following main shortcomings: (1) The water removal logic is simple and cannot adapt to various working conditions: Most systems only trigger water removal control when they detect the action of the wipers or when the ESP system recognizes the low friction road surface. They lack comprehensive recognition of multi-dimensional signals such as wading depth, vehicle speed, braking status, and ambient humidity, resulting in unsatisfactory water removal effect in atypical wet and slippery environments.

[0047] (2) Insufficient accuracy of water removal triggering: Existing control logic is often based on a single condition judgment, which may lead to false triggering or delayed execution. It cannot immediately execute the water removal process after wading, which affects the speed of brake performance recovery.

[0048] (3) The control strategy lacks adaptive capability: Traditional strategies are mostly based on fixed threshold settings and fail to make dynamic adjustments according to different vehicle models, braking system characteristics or environmental conditions, resulting in large differences in control effect.

[0049] (4) Limited system integration and execution efficiency: Some solutions require hardware modifications (such as mechanical structures), which increases system complexity and cost; while pure software solutions are limited by insufficient signal fusion capabilities, resulting in unstable execution timing and intensity.

[0050] In summary, existing brake disc dewatering technologies still have significant shortcomings in terms of intelligent identification, real-time response, adaptive control, and execution efficiency, making it difficult to meet the higher requirements for braking safety and reliability of vehicles under complex wading or extreme weather conditions. Therefore, there is an urgent need for an automatically executed wading brake disc rubbing control method based on operating condition identification to achieve more efficient and intelligent dewatering control and braking performance assurance.

[0051] To address the shortcomings of existing brake disc dewatering technologies, such as simplistic dewatering logic, insufficient triggering accuracy, poor adaptability, and delayed execution response, this invention proposes a wading brake disc dewatering control method. This method pre-stores optimal brake disc dewatering strategies for various complex conditions in a brake disc dewatering strategy database. When using this optimal strategy for brake disc dewatering, both dewatering effectiveness and vehicle performance are guaranteed. Complex conditions are characterized by wading information, vehicle information, and environmental information. When brake disc dewatering is required, the method directly selects the appropriate strategy from the database, based on the vehicle's wading information, vehicle information, and environmental information, to perform the dewatering. This ensures effective dewatering of the brake disc and maintains vehicle performance under various complex conditions, adapting to different driving environments.

[0052] The water-wading brake disc rubbing control method proposed in this invention is applied to, for example... Figures 2-4 The application system shown.

[0053] The application system includes a driver intent input module 101, a wading and water discharge recognition module 102, a water removal logic control module 103, a vehicle information acquisition module, and an environmental information acquisition module.

[0054] Driver Intent Input Module (ICC) 101: This module provides input points for driver intent. The driver can input a brake disc dewatering command through this module to activate the brake disc dewatering control logic and enable the brake disc wiping and dewatering function. This driver intent input module is a human-interaction module used to receive brake disc dewatering commands actively issued by the driver. Methods for the driver to actively issue brake disc dewatering commands include: (1) Issue a command to remove water from the vehicle's brake discs by clicking a physical button: The physical button is located on the center console or the multi-function button area of ​​the steering wheel and is marked with "BRAKE DRY".

[0055] (2) Issue a command to remove water from the vehicle's brake discs by clicking the virtual button: The virtual button is integrated into the vehicle settings menu of the central control touch screen.

[0056] (3) Issue vehicle brake disc dewatering command via voice: Supports natural language commands such as “turn on brake disc dewatering”.

[0057] (4) Issue vehicle brake disc water removal command via gesture: receive vehicle brake disc water removal command by recognizing specific gestures through in-vehicle camera (high-end configuration).

[0058] Signal processing flow: After the driver triggers the command to remove water from the vehicle's brake discs, the ICC module encapsulates the command into a CAN signal ICC_BrakeDryingReq (Boolean, 1 = request to start, 0 = no request), and sends it to the CAN bus at 100ms intervals. Upon receiving this signal, the brake disc wiping and water removal logic control module (ESC) will prioritize the automatic triggering condition for executing the operation.

[0059] Design considerations: This module is designed to meet the needs of some professional drivers or off-road scenarios for manual active water removal, and can also serve as a backup trigger method when the automatic water removal logic fails.

[0060] The vehicle information acquisition module is used to acquire vehicle information such as vehicle speed, acceleration, wheel speed, and vehicle model. The vehicle information acquisition module includes a vehicle speed sensor, an acceleration sensor, a wheel speed sensor, and a vehicle model acquisition unit. The vehicle speed sensor is used to acquire vehicle speed; the acceleration sensor is used to acquire vehicle acceleration; and the vehicle model acquisition unit is used to acquire basic information such as vehicle model.

[0061] The environmental information acquisition module is used to acquire environmental information such as humidity. This module can utilize a humidity sensor, etc.

[0062] The wading / exit identification module 102 is used to detect in real time whether the vehicle is in a wading environment and determine whether the vehicle has entered wading mode or switched from wading mode to exit mode. This module receives signals from wading radar, ultrasonic sensors, or bottom pressure sensors, and generates a wading mode indicator signal through signal processing and threshold judgment. It also determines whether the vehicle has left the water area. Based on multi-source signals such as the wading radar signal change rate, vehicle speed, acceleration, and wheel speed, this module calculates and determines the time point at which the vehicle switches from wading mode to exit mode.

[0063] During normal vehicle operation, the wading water identification module 102 continuously receives signals from the wading radar; after filtering and distance calculation, the echo signal output by the wading radar obtains real-time wading information, and sends the current wading information to the water removal logic control module.

[0064] The water removal logic control module (ESC) 103 generates a water removal command for the vehicle's brake discs when the vehicle enters wading mode or switches from wading mode to exiting water mode. Based on this command or a driver-issued command, it acquires the vehicle's wading information, vehicle information, and environmental information. From the brake disc water removal strategy database, it selects the corresponding brake disc water removal strategy as the final strategy. Following the selected strategy, it performs brake disc wiping to remove water from the brake discs. This module is implemented by the brake control unit Onebox. It sends a small braking torque command to drive the brake actuator to perform a short-term disc wiping operation. Simultaneously, it monitors the braking execution status in real time and determines whether the wiping process is complete based on feedback signals (such as hydraulic pressure, brake pedal displacement, and friction pad temperature rise). After the water removal action is completed, it automatically shuts off the disc wiping function and returns to normal braking control mode to prevent the system from occupying braking resources for extended periods.

[0065] The modules communicate with each other via a CAN bus, and the signal interaction follows the vehicle controller area network protocol. The wading brake disc rubbing control method proposed in this embodiment can be deployed in the vehicle's electronic stability control system or central domain controller (HCU) and implemented in software without requiring additional hardware modifications.

[0066] The present invention provides a detailed description of a water-wading brake disc rubbing control method proposed in the embodiments of the present invention, in conjunction with the application scenarios and application systems.

[0067] like Figure 1 As shown in the embodiment of the present invention, a method for controlling the rubbing of a wading brake disc includes: When a command to remove water from the vehicle's brake discs is received, the vehicle's water wading information, vehicle information, and environmental information are obtained. The brake disc water removal strategy is selected from the brake disc water removal strategy database based on the vehicle's water wading information, vehicle information, and environmental information. This selection serves as the final brake disc water removal strategy. The brake disc water removal strategy database stores the optimal brake disc water removal strategies corresponding to various water wading information, vehicle information, and environmental information. Based on the selected brake disc dehydration strategy, the brake disc is dehydrated by wiping.

[0068] The water-related information includes water depth and water distance.

[0069] Vehicle information includes vehicle speed, acceleration, wheel speed, and vehicle model.

[0070] Environmental information includes information such as ambient humidity.

[0071] In order to effectively remove water from the brake discs of a vehicle under various complex working conditions without affecting the normal operation of the vehicle, this invention provides a brake disc water removal strategy database. The database contains the optimal brake disc water removal strategies for various working conditions. By using these optimal strategies to remove water from the brake discs, the invention ensures both effective water removal and optimal vehicle performance.

[0072] The operating information for each condition includes water wading information, vehicle information, and environmental information. The brake disc water removal strategy includes braking force, number of braking actions, and braking interval time.

[0073] The optimal brake disc dewatering strategy can be determined by repeatedly braking and dewatering the vehicle under the corresponding operating conditions.

[0074] In actual vehicle wading brake disc water removal control, the embodiments of the present invention can directly retrieve the corresponding brake disc water removal strategy from the brake disc water removal strategy database based on the acquired vehicle wading information, vehicle information, and environmental information, as the final brake disc water removal strategy. This strategy ensures frictional contact without affecting vehicle driving stability. During light braking, the brake pads and brake disc generate a small frictional force, causing the water film to be rapidly evaporated or discharged under shear and thermal effects. This ensures the water removal effect of the brake disc and the vehicle's driving performance under various complex working conditions, adapting to brake disc water removal under different complex working conditions.

[0075] In some embodiments, the similarity between the acquired vehicle wading information, vehicle information and environmental information and the wading information, vehicle information and environmental information stored in the brake disc water removal strategy database is calculated. The brake disc water removal strategy corresponding to the wading information, vehicle information, and environmental information with the highest similarity in the brake disc water removal strategy database is selected as the final brake disc water removal strategy.

[0076] In this embodiment of the invention, the similarity between two types of operating condition information is characterized by calculating the distance between the obtained vehicle wading information, vehicle information, and environmental information and the wading information, vehicle information, and environmental information stored in the brake disc water removal strategy database.

[0077] The higher the similarity, the closer the working conditions. In this embodiment of the invention, the brake disc water removal strategy corresponding to the wading information, vehicle information and environmental information with the highest similarity in the brake disc water removal strategy database is selected as the final brake disc water removal strategy. The brake disc is then wiped to remove water, which further ensures the wiping and water removal effect of the brake disc and the driving performance of the vehicle.

[0078] In actual vehicle operation, the current operating condition of the vehicle is almost never completely consistent with every sample in the database. Therefore, the similarity between the two operating conditions is represented by calculating the weighted Euclidean distance. If the minimum distance between the current operating condition of the vehicle and every sample in the database is still greater than the preset threshold (e.g., 2.0), it indicates that the current operating condition is too different from all samples in the database. In this case, the default conservative strategy (e.g., braking force 2 bar, lasting 1 second, repeated 3 times) is selected as the final brake disc water removal strategy.

[0079] Furthermore, embodiments of the present invention can determine the brake disc water removal strategy through a brake disc water removal strategy determination model. The brake disc water removal strategy determination model takes the vehicle's wading information, vehicle information, and environmental information as inputs and the vehicle's brake disc water removal strategy as output. It is constructed using a convolutional neural network and trained using brake disc water removal strategy training samples. The brake disc water removal strategy training samples contain multiple working condition information, and each working condition information is labeled with the optimal brake disc water removal strategy.

[0080] In some embodiments, when the vehicle switches from wading mode to exiting water mode, a command to remove water from the vehicle's brake discs is generated.

[0081] The vehicle brake disc water removal command obtained in this embodiment of the invention can be a vehicle brake disc water removal command actively issued by the driver according to needs, or it can be a vehicle brake disc water removal command generated when the vehicle switches from wading mode to water exit mode.

[0082] In related technologies, the wading depth of a vehicle is often compared with a set wading depth threshold to determine whether the vehicle has entered wading mode or switched from wading mode to exiting mode. This set wading depth threshold is a fixed value, and it is used in all operating conditions to determine whether the vehicle has entered wading mode or switched from wading mode to exiting mode. However, this fixed wading depth threshold is not applicable to vehicle mode determination in all operating conditions. For example, different vehicle models have different heights, which may cause one type of vehicle to require brake disc dewatering at the set wading depth threshold, while another vehicle with a higher height may not require brake disc dewatering, or another vehicle with a lower height may require brake disc dewatering when the wading depth is less than the set wading depth threshold.

[0083] Therefore, to ensure the accuracy of determining whether a vehicle is in wading mode or switching from wading mode to exiting water mode, this invention updates the first wading depth threshold and the second wading depth threshold in real time based on specific operating conditions. Specifically: In this embodiment of the invention, when the vehicle is in wading mode, a second wading depth threshold and a wading depth change rate threshold are determined based on the vehicle's wading information, vehicle information, and environmental information. When the vehicle's wading depth is less than the vehicle's second wading depth threshold, and the rate of change of wading depth is greater than the wading depth change rate threshold, the vehicle is determined to switch from wading mode to exit mode.

[0084] In this embodiment of the invention, water wading information, vehicle information, and environmental information are acquired during vehicle operation. Based on the vehicle's wading information, vehicle information, and environmental information, determine the vehicle's first wading depth threshold. When the vehicle's wading depth exceeds the vehicle's first wading depth threshold, the vehicle is determined to have entered wading mode.

[0085] In some embodiments, the present invention can determine a first wading depth threshold of a vehicle by using a first wading depth threshold determination model; and determine a second wading depth threshold and a wading depth change rate threshold of the vehicle by using a second wading depth threshold determination model.

[0086] The first wading depth threshold determination model takes the vehicle's wading information, vehicle information, and environmental information as inputs and the vehicle's first wading depth threshold as output. It is constructed using a convolutional neural network and trained using training samples of the first wading depth threshold. The training samples of the first wading depth threshold contain multiple working condition information and label each working condition information with the first wading depth threshold.

[0087] The second wading depth threshold determination model takes vehicle wading information, vehicle information, and environmental information as inputs, and outputs the vehicle's second wading depth threshold and wading depth change rate threshold. It is constructed using a convolutional neural network and trained using second wading depth threshold training samples. The second wading depth threshold training samples contain various working condition information, and each working condition information is labeled with the second wading depth threshold and the wading depth change rate threshold.

[0088] In some embodiments, when a braking command generated for driving safety needs is obtained during the process of wiping and removing water from the brake disc according to the selected brake disc dehydration strategy; The vehicle is braked based on braking commands generated for driving safety.

[0089] Specifically, when the driver actively presses the brake pedal and the vehicle speed exceeds the set speed threshold, such as 15 km / h, and the ABS, TCS, and VDC systems are in operation, or the brake disc temperature exceeds 250°C, it indicates that the vehicle generates a braking command due to driving safety requirements.

[0090] This invention proposes a method for controlling brake disc rubbing during wading. After the rubbing action is completed, the brake control system returns the brake disc rubbing function to standby mode and sets a debounce time. After the debounce time has elapsed, the water removal logic control module continues to evaluate the preconditions, and then executes the water removal action again. If the vehicle re-enters a wading state, the entire logic process will be automatically re-triggered without driver intervention. Furthermore, to avoid false triggering, the water removal logic will be automatically interrupted when the system detects a braking command generated for driving safety.

[0091] To verify the technical effectiveness of the wading brake disc rubbing control method proposed in this invention, a systematic real-vehicle verification was conducted on a large PHEV off-road test vehicle. The experimental conditions are as follows: Test vehicle: A large PHEV off-road vehicle with ventilated disc brakes on the front wheels, equipped with Bosch ESP 10.0 and Onebox brake-by-wire system; Water environment: Dedicated water immersion test pool with adjustable water depth and a immersion length of 10 m; Test conditions: wading depth of 40% of tire radius (approximately 150mm), wading length of 10m, vehicle speed upon entering the water of 20km / h, maintaining a speed of 20±2km / h after exiting the water, ambient temperature of 25℃, and ambient humidity of 50%.

[0092] According to an embodiment of the present invention, a water-resistant brake disc rubbing braking method is proposed, which matches and determines the brake disc water removal strategy for the test conditions from the database, such as a rubbing braking force pressure of 3 bar, each rubbing lasts 2 seconds, and rubbing 3 times.

[0093] Before water ingress, waterproof markings were made on the brake disc. After wading through water, the surface of the waterproof markings was covered by a water film, giving them a moist and glossy appearance. After performing brake disc dewatering according to the method determined in this embodiment of the invention, observations revealed the following: (1) After the first wipe: about 50% of the water film was removed, and the waterproof markings were exposed.

[0094] (2) After the second wiping: about 85% of the water film was removed, and the waterproof markings were clearly visible.

[0095] (3) After the third wiping: more than 95% of the water film was removed, and the surface of the brake disc showed dry friction marks.

[0096] In the comparative test, using the traditional ESC brake drying function (fixed pressure 2 bar, wiping the disc for 1.5 seconds per cycle), only about 60% of the water film was removed after the same wading.

[0097] The threshold dynamic adjustment effect of the embodiments of the present invention was tested at different vehicle speeds. Simulation and real vehicle verification showed that, within the entire vehicle speed range of 10~60km / h, the method of the present invention could accurately and promptly trigger water removal after wading, with no missed triggers. At the same time, when driving at high speed on dry roads, there were no false triggers (the wipers were activated but did not trigger when there was no wading), with a false trigger rate of 0%.

[0098] Therefore, the water-wading brake disc rubbing control method proposed in this embodiment of the invention can restore the normal performance of the braking system in a short time after wading, effectively improving the vehicle's water wading safety and braking reliability.

[0099] This invention proposes a method for controlling brake disc rubbing in wading conditions. It pre-stores optimal brake disc dewatering strategies for various complex operating conditions in a brake disc dewatering strategy database. When using this optimal strategy for brake disc dewatering, both the dewatering effect and vehicle performance are guaranteed. Complex operating conditions are characterized by wading information, vehicle information, and environmental information. When brake disc dewatering is required, the method directly selects the corresponding strategy from the database based on the vehicle's wading information, vehicle information, and environmental information as the final brake disc dewatering strategy. This ensures effective dewatering of the brake disc and maintains vehicle performance under various complex operating conditions, adapting to different complex brake disc dewatering scenarios. Furthermore, the wading brake disc rubbing control method proposed in this invention, in order to accurately identify the vehicle's wading mode and exit mode, also updates the vehicle's wading depth threshold in real time based on the vehicle's wading information, vehicle information, and environmental information. This achieves accurate identification of the wading mode and exit mode, ending the long-standing "one-size-fits-all" history of wading judgment thresholds, allowing both small cars and large off-road vehicles to obtain trigger depths that suit their needs, thereby improving the accuracy of determining the brake disc water removal strategy. The rubbing disc water removal function is designed as a "low-priority background task," which can relinquish braking resources within milliseconds when emergency braking needs occur, fundamentally ensuring driving safety. This method has outstanding technical innovation, significant engineering practical value, and broad prospects for mass production and promotion, making an important contribution to improving the braking safety and reliability of vehicles in complex wading environments.

[0100] The water-crossing brake disc rubbing control method proposed in this invention has the following comprehensive technical effects: (1) Fast response and high water removal efficiency: Automatically triggers the wiping action without manual intervention, and can complete the removal of water film in a short time; (2) Strong system integration: The algorithm is developed based on the existing braking control platform and is compatible with ESP, ABS, EPB and other systems; (3) High safety: Multiple conditions and constraints prevent false triggering and ensure braking stability; (4) Maintenance and cost advantages: No new hardware is required; software upgrades are sufficient, making it easy to mass-produce and apply. (5) Wide applicability: Applicable to all types of passenger cars, SUVs, off-road vehicles and light commercial vehicles.

[0101] In summary, the water-wading brake disc rubbing control method proposed in this embodiment of the invention achieves efficient removal of water film from the brake disc after wading through water by integrating intelligent algorithms and optimizing control strategies. It solves the problems of slow response, poor water removal effect and strong hardware dependence in the prior art, and has significant technical innovation and engineering promotion value.

[0102] This invention also proposes a wading brake disc rubbing control system, comprising: The information acquisition unit is used to acquire water wading information, vehicle information, and environmental information of the vehicle when it receives a command to remove water from the vehicle's brake discs. The water removal strategy determination unit is used to select the brake disc water removal strategy corresponding to the vehicle's water wading information, vehicle information, and environmental information from the brake disc water removal strategy database as the final brake disc water removal strategy; wherein, the brake disc water removal strategy database stores the optimal brake disc water removal strategy corresponding to various water wading information, vehicle information, and environmental information. The water removal control unit is used to perform brake disc wiping and water removal on the brake disc according to the selected brake disc water removal strategy.

[0103] The information acquisition unit includes a water wading and water discharge identification module, a vehicle information acquisition module, and an environmental information acquisition module.

[0104] The wading and water exit recognition module is used to obtain the vehicle's wading information.

[0105] The vehicle information acquisition module is used to acquire vehicle information. The vehicle information acquisition module includes a vehicle speed sensor, an acceleration sensor, a wheel speed sensor, and a vehicle model acquisition unit. The vehicle speed sensor is used to acquire vehicle speed; the acceleration sensor is used to acquire vehicle acceleration; and the vehicle model acquisition unit is used to acquire basic information such as vehicle model.

[0106] The environmental information acquisition module is used to acquire environmental information about the vehicle's surroundings. This module can utilize sensors such as humidity sensors.

[0107] The water removal strategy determination unit and the water removal control unit are integrated into the water removal logic control module.

[0108] In some embodiments, the water removal strategy determination unit proposed in this invention is further configured to generate a vehicle brake disc water removal command when the vehicle switches from wading mode to exiting water mode; wherein, the identification process of the vehicle switching from wading mode to exiting water mode is as follows: when the vehicle is in wading mode, a second wading depth threshold and a wading depth change rate threshold are determined based on the vehicle's wading information, vehicle information, and environmental information; when the vehicle's wading depth is less than the second wading depth threshold and the wading depth change rate is greater than the wading depth change rate threshold, the vehicle is determined to switch from wading mode to exiting water mode; the identification process of the vehicle entering wading mode is as follows: acquiring the vehicle's wading information, vehicle information, and environmental information; determining a first wading depth threshold based on the vehicle's wading information, vehicle information, and environmental information; when the vehicle's wading depth is greater than the first wading depth threshold, the vehicle is determined to have entered wading mode.

[0109] The specific process by which the dewatering strategy determination unit proposed in this embodiment of the invention determines the final brake disc dewatering strategy includes: The similarity between the obtained vehicle wading information, vehicle information, and environmental information and the wading information, vehicle information, and environmental information stored in the brake disc water removal strategy database is calculated. The brake disc water removal strategy corresponding to the wading information, vehicle information, and environmental information with the highest similarity in the brake disc water removal strategy database is selected as the final brake disc water removal strategy.

[0110] In addition, the water removal control unit is also used to perform braking control on the vehicle when a braking command generated for driving safety needs is obtained during the process of removing water from the brake discs according to the selected brake disc water removal strategy.

[0111] This invention proposes a wading brake disc rubbing control system. It pre-stores optimal brake disc dewatering strategies for various complex operating conditions in a brake disc dewatering strategy database. When using this optimal strategy for brake disc dewatering, both the dewatering effect and vehicle performance are guaranteed. Complex operating conditions are characterized by wading information, vehicle information, and environmental information. When brake disc dewatering is required, the dewatering strategy determination unit can directly select the corresponding brake disc dewatering strategy from the database based on the wading information, vehicle information, and environmental information obtained by the information acquisition unit. This final strategy is then used to control the dewatering control unit to perform brake disc rubbing according to the chosen strategy. This ensures effective dewatering of the brake disc and maintains vehicle performance under various complex operating conditions, adapting to different complex brake disc dewatering scenarios.

[0112] It should be noted that the above-described wading brake disc rubbing control system is only illustrated by the division of the functional modules described above when performing brake disc rubbing water removal control. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the equipment can be divided into different functional modules to complete all or part of the functions described above. Furthermore, the wading brake disc rubbing control system and the wading brake disc rubbing control method embodiment provided above belong to the same concept, and their specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0113] The present invention also discloses a computer device, the device comprising: A processor, adapted to execute computer programs; A computer-readable storage medium storing a computer program, which, when executed by the processor, implements a wading brake disc rubbing control method disclosed in an embodiment of the present invention.

[0114] The computer device can be a portable mobile terminal, such as a smartphone, tablet, laptop, or desktop computer. Typically, a computer device includes a processor and memory.

[0115] A processor may include one or more processing cores, such as a core processor or a core processor. The processor may be implemented using at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). The processor may also include a main processor and coprocessors. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the screen. In some embodiments, the processor may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0116] The memory may include one or more computer-readable storage media, which may be non-transitory. The memory may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory are used to store at least one computer program, which is executed by a processor to implement the intelligent vehicle control method provided in the method embodiments of this application.

[0117] In some embodiments, the computer device may also optionally include: a peripheral device interface and at least one peripheral device. The processor, memory, and peripheral device interface can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface via a bus, signal line, or circuit board. Specifically, the peripheral device includes at least one of: radio frequency circuitry, a display screen, a camera assembly, audio circuitry, and a power supply.

[0118] Peripheral device interfaces can be used to connect at least one I / O (Input / Output) related peripheral device to the processor and memory. In some embodiments, the processor, memory, and peripheral device interface are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor, memory, and peripheral device interface can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0119] Radio frequency (RF) circuits are used to receive and transmit RF signals, also known as electromagnetic signals. RF circuits communicate with communication networks and other communication devices via electromagnetic signals. RF circuits convert electrical signals into electromagnetic signals for transmission, or convert received electromagnetic signals back into electrical signals. In some embodiments, the RF circuit includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The RF circuit can communicate with other terminals through at least one wireless communication protocol. These wireless communication protocols include, but are not limited to: the World Wide Web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF circuit may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0120] The present invention also discloses a computer-readable storage medium storing a computer program adapted for loading and execution by a processor of a water-wading brake disc rubbing control method disclosed in the embodiments of the present invention.

[0121] The present invention also discloses a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements a wading brake disc rubbing control method disclosed in the embodiments of the present invention.

[0122] The method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor. The software modules can reside in readily available storage media in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are omitted here.

[0123] Those skilled in the art will recognize that the units and algorithm steps described in conjunction with the embodiments herein can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0124] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A method for controlling the rubbing of a wading brake disc, characterized in that, include: When a command to remove water from the vehicle's brake discs is received, the vehicle's water wading information, vehicle information, and environmental information are obtained. The brake disc water removal strategy is selected from the brake disc water removal strategy database based on the vehicle's water wading information, vehicle information, and environmental information. This selection serves as the final brake disc water removal strategy. The brake disc water removal strategy database stores the optimal brake disc water removal strategies corresponding to various water wading information, vehicle information, and environmental information. Based on the selected brake disc dehydration strategy, the brake disc is dehydrated by wiping.

2. The water-wading brake disc rubbing control method as described in claim 1, characterized in that, When the vehicle switches from wading mode to exiting water mode, a command to remove water from the vehicle's brake discs is generated.

3. The water-wading brake disc rubbing control method as described in claim 2, characterized in that, When the vehicle is in wading mode, the second wading depth threshold and the wading depth change rate threshold are determined based on the vehicle's wading information, vehicle information, and environmental information. When the vehicle's wading depth is less than the vehicle's second wading depth threshold, and the rate of change of wading depth is greater than the wading depth change rate threshold, the vehicle is determined to switch from wading mode to exit mode.

4. The water-wading brake disc rubbing control method as described in claim 2, characterized in that, Obtain information on water wading, vehicle information, and environmental information; Based on the vehicle's wading information, vehicle information, and environmental information, determine the vehicle's first wading depth threshold. When the vehicle's wading depth exceeds the vehicle's first wading depth threshold, the vehicle is determined to have entered wading mode.

5. The water-wading brake disc rubbing control method as described in claim 1, characterized in that, The similarity between the obtained vehicle wading information, vehicle information, and environmental information and the wading information, vehicle information, and environmental information stored in the brake disc water removal strategy database is calculated. The brake disc water removal strategy corresponding to the water wading information, vehicle information, and environmental information with the highest similarity in the brake disc water removal strategy database is selected as the final brake disc water removal strategy.

6. The water-wading brake disc rubbing control method as described in claim 1, characterized in that, Based on the selected brake disc dehydration strategy, when a braking command generated for driving safety needs is obtained during the brake disc dehydration process; The vehicle is braked based on braking commands generated for driving safety.

7. A wading brake disc rubbing control system, characterized in that, include: The information acquisition unit is used to acquire water wading information, vehicle information, and environmental information of the vehicle when it receives a command to remove water from the vehicle's brake discs. The water removal strategy determination unit is used to select the brake disc water removal strategy corresponding to the vehicle's water wading information, vehicle information, and environmental information from the brake disc water removal strategy database as the final brake disc water removal strategy; wherein, the brake disc water removal strategy database stores the optimal brake disc water removal strategy corresponding to various water wading information, vehicle information, and environmental information. The water removal control unit is used to perform brake disc wiping and water removal on the brake disc according to the selected brake disc water removal strategy.

8. An electronic device, characterized in that, The device includes: A processor, adapted to execute computer programs; A computer-readable storage medium storing a computer program, which, when executed by the processor, implements the wading brake disc rubbing control method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program adapted to be loaded by a processor and executed by the processor to provide a water-borne brake disc rubbing control method according to any one of claims 1-6.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements a wading brake disc rubbing control method as described in any one of claims 1-6.

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