Methods, devices, vehicles and electronic equipment for suppressing vehicle braking dive

Abstract

This application provides a method, apparatus, vehicle, and electronic device for suppressing vehicle braking dive, applied in the field of vehicle braking control technology. The method is applied to a vehicle braking control system including an energy recovery device and a friction brake, comprising: acquiring the working pressure and duration of the friction brake in braking state during a preset period when the vehicle speed is greater than zero; performing an integral calculation on the working pressure and duration to determine the integral value; and activating the energy recovery device when the integral value is greater than or equal to a first intensity threshold. This solution assesses whether the brake has performed sufficient frictional work by monitoring the integral value of the working pressure and duration of the brake in braking state, ensuring the stability of the brake friction surface and effectively suppressing vehicle braking dive.

Description

Technical Field

[0001] This application relates to the field of vehicle braking control technology, specifically to a method, apparatus, vehicle, and electronic equipment for suppressing vehicle braking dive. Background Technology

[0002] In the field of electric vehicles, especially those with hydraulic braking systems, to improve driving range, the braking control strategy usually prioritizes the use of the electric motor for electric braking and energy recovery, while the friction brake only intervenes briefly when the electric braking is insufficient or the vehicle is close to a stop.

[0003] In practical applications, when a car is traveling at low speeds, the self-amplifying effect of the brakes is strong. A light touch on the brakes amplifies the braking force many times over, far exceeding that of the rear wheels. This sudden deceleration force instantly shifts the vehicle's center of gravity forward, causing the front suspension to compress violently and producing a sharp nose-dive. When the friction pads have been stored for a long time, are newly replaced, or have different ages between the front and rear axles, the friction coefficient of the pads is unstable before they are fully broken in. When the contact area suddenly increases during braking, the self-amplifying force also suddenly amplifies, causing the vehicle's center of gravity to shift forward, making the nose-dive abrupt and difficult to control precisely with the pedal. Therefore, how to coordinate the relationship between energy recovery and friction braking while ensuring the smoothness of the vehicle's braking process is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0004] In view of this, this application aims to provide a method, apparatus, vehicle, and electronic device for suppressing vehicle braking dive. By monitoring the integral value of the working pressure and duration of the friction brake in braking state during a preset period when the vehicle speed is greater than zero, the application assesses whether the brake has performed sufficient frictional work. Energy recovery is only allowed to intervene when the integral value meets the intensity threshold, thereby ensuring the stable state of the brake friction surface and avoiding a sudden increase in braking force caused by sudden braking when the brake is activated at low speeds, after prolonged storage of friction pads, or after replacement, effectively suppressing the occurrence of vehicle braking dive.

[0005] In a first aspect, embodiments of this application provide a method for suppressing vehicle braking dive, applied to a vehicle braking control system including an energy recovery device and a friction brake, comprising: The working pressure and duration of the friction brake in braking state during a preset period when the vehicle speed is greater than zero are obtained. The integral value is determined by integrating the working pressure and the duration. When the integral value is greater than or equal to the first intensity threshold, the energy recovery device is activated.

[0006] Optionally, the throttle prevention control method described in the first aspect further includes: When the integral value is less than the first intensity threshold, the energy recovery device is turned off.

[0007] Optionally, the method for suppressing vehicle braking dive described in the first aspect further includes: Obtain the humidity of the friction brake; When the humidity of the friction brake is greater than or equal to a preset humidity threshold, and the duration of starting the energy recovery device is greater than or equal to a first start-up duration threshold, the energy recovery device is turned off.

[0008] Optionally, the method for suppressing vehicle braking dive described in the first aspect further includes: When the humidity of the friction brake is less than a preset humidity threshold, the energy recovery device is activated.

[0009] Optionally, the method for suppressing vehicle braking dive described in the first aspect further includes: Obtain the ratio of the rate of change of brake pedal opening to the rate of change of longitudinal acceleration; Based on the ratio, adjust the first intensity threshold and the first start-up duration threshold of the energy recovery device.

[0010] Optionally, adjusting the first intensity threshold and the first start-up duration threshold of the energy recovery device according to the ratio includes: When the ratio is greater than or equal to a preset comfort threshold, the first intensity threshold is adjusted to a second intensity threshold, and the first start-up duration threshold of the energy recovery device is adjusted to a second start-up duration threshold, wherein the second intensity threshold is greater than the first intensity threshold, and the second start-up duration threshold is less than the first start-up duration threshold.

[0011] Optionally, after adjusting the first intensity threshold and the first start-up duration threshold of the energy recovery device according to the ratio, the method for suppressing vehicle braking dive described in the first aspect further includes: The energy recovery device is turned off.

[0012] Secondly, embodiments of this application provide a device for suppressing vehicle braking dive, comprising: The data acquisition module is used to acquire the working pressure and duration of the friction brake in braking state during a preset period when the vehicle speed is greater than zero. A calculation template is provided, wherein the calculation module is used to perform integral calculations on the working pressure and the duration to determine the integral value; A control module is provided for activating the energy recovery device when the integral value is greater than or equal to a first intensity threshold.

[0013] Thirdly, embodiments of this application provide a vehicle, including: the device for suppressing vehicle braking dive as described in the second aspect.

[0014] Fourthly, embodiments of this application provide an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method for suppressing vehicle braking dive as described in any of the first aspects.

[0015] Based on the above, this application provides a method for suppressing vehicle braking dive. This method is applied to a vehicle braking control system including an energy recovery device and a friction brake. It acquires the working pressure and duration of the friction brake during a preset period when the vehicle speed is greater than zero. Then, it performs an integral calculation on the working pressure and duration to determine the integral value. When the integral value is greater than or equal to a first intensity threshold, the energy recovery device is activated. In this way, by monitoring the integral value of the working pressure and duration of the brake during the preset period when the vehicle speed is greater than zero, it assesses whether the brake has performed sufficient frictional work. Energy recovery is only allowed when the integral value meets the intensity threshold, ensuring the stability of the brake friction surface and avoiding a sudden increase in braking force caused by sudden braking at low speeds, after prolonged storage of friction pads, or after replacement, effectively suppressing vehicle braking dive. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating a method for suppressing vehicle braking dive, as provided in an embodiment of this application.

[0018] Figure 2 This is a flowchart illustrating another method for suppressing vehicle braking dive provided in an embodiment of this application.

[0019] Figure 3 This is a flowchart illustrating another method for suppressing vehicle braking dive provided in an embodiment of this application.

[0020] Figure 4 This is a flowchart illustrating another method for suppressing vehicle braking dive provided in an embodiment of this application.

[0021] Figure 5This is a flowchart illustrating another method for suppressing vehicle braking dive provided in an embodiment of this application.

[0022] Figure 6 This is a structural block diagram of a device for suppressing vehicle braking dive, provided in an embodiment of this application. Detailed Implementation

[0023] Unless otherwise defined, the technical or scientific terms used in the embodiments of this specification shall have the ordinary meaning understood by one of ordinary skill in the art to which this specification pertains. The terms "first," "second," and similar terms used in the embodiments of this specification do not indicate any order, quantity, or importance, but are merely used to avoid confusion of constituent elements.

[0024] Unless the context otherwise requires, throughout this specification, "a plurality of" means "at least two," and "including" is interpreted as open-ended or encompassing, that is, "including, but not limited to." In the description of this specification, terms such as "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples" are intended to indicate that a particular feature, structure, material, or characteristic associated with that embodiment or example is included in at least one embodiment or example of this specification. The illustrative representations of the above terms do not necessarily refer to the same embodiment or example.

[0025] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the execution order in the drawings is merely for convenience of explanation and does not represent the actual execution order. The described embodiments are only a part of the embodiments in this specification, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments in this specification without creative effort are within the scope of protection of this specification.

[0026] Exemplary methods like Figure 1 As shown in this exemplary embodiment, a method for suppressing vehicle braking dive is provided. This method is applied to a vehicle braking control system including an energy recovery device and a friction brake. The vehicle braking control system can be integrated into a vehicle controller, a braking system controller, or a separate electronic control unit. The method may include the following steps: S10: Obtain the working pressure and duration of the friction brake in braking state during a preset period when the vehicle speed is greater than zero.

[0027] Monitoring the working status of the friction brake begins when the vehicle enters a drivable state. After the vehicle is powered on, the energy recovery device is turned off by default. After completing the high-voltage system self-test, the vehicle enters the READY state. Once the wheels start to rotate, the vehicle has both driving and braking capabilities. Optionally, the starting point is the acquisition of a braking signal. Within a preset time period, the working pressure and duration of the friction brake in braking mode are obtained. The working pressure can be obtained through a hydraulic sensor (oil pressure sensor) installed at the brake master cylinder or brake wheel cylinder. The working pressure of the friction brake in braking mode can be obtained through the oil pressure. The duration refers to the continuous action time of the working pressure of the friction brake in braking mode each time it is acquired. The preset time period can be set in advance, for example, the preset time period can be 1 hour. The specific setting can be based on the actual vehicle conditions, road conditions, and driver driving habits.

[0028] S20: Perform integral calculations on work pressure and duration to determine the integral value.

[0029] After acquiring the working pressure and duration data of multiple braking events of the friction brake within a preset period when the vehicle speed is greater than zero, an integral calculation is performed on each data segment. Specifically, for each friction braking event, its working pressure P is multiplied by the corresponding duration T to obtain the intensity value of that braking event. Then, the intensity values ​​of all braking events within the preset period are summed to obtain a total integral value.

[0030] S30: When the integral value is greater than or equal to the first intensity threshold, the energy recovery device is activated.

[0031] The system monitors the integral values ​​of the working pressure and duration of the brakes during a preset period when the vehicle speed is greater than zero. The integral value is used to assess whether the brakes have performed sufficient friction. When the integral value is greater than or equal to the first intensity threshold, it is confirmed that the brake pads have performed sufficient friction. At this time, the friction surface of the brake pads is in a stable state, and the energy recovery device can be activated, that is, the energy recovery function of the energy recovery device is restored. When braking is needed again, the electric brake is used first. The friction brake only intervenes when the electric brake is insufficient to achieve the target braking force.

[0032] In some embodiments of this application, the working pressure and duration of the friction brake in braking state during a preset period when the vehicle speed is greater than zero are obtained. Then, the working pressure and duration are integrated to determine the integral value. When the integral value is greater than or equal to a first intensity threshold, the energy recovery device is activated. By monitoring the integral value of the working pressure and duration of the brake in braking state during the preset period when the vehicle speed is greater than zero, the system assesses whether the brake has performed sufficient frictional work. The energy recovery device is only allowed to intervene when the integral value meets the intensity threshold, ensuring the stable state of the brake friction surface and avoiding sudden increases in braking force caused by sudden activation of the brake at low speeds, after prolonged storage of friction pads, or after replacement. This effectively suppresses vehicle braking dive.

[0033] In some embodiments of this application, the above-described method for suppressing vehicle braking dive may further include: S40: When the integral value is less than the first intensity threshold, shut down the energy recovery device.

[0034] Specifically, when the integral value is less than the first intensity threshold, it is confirmed that the brake pads have not yet completed sufficient friction work, and the friction surface of the brake pads is not in a stable state. There is still a possibility of a sudden increase in braking force caused by sudden activation of the brakes at low speeds, when the brake pads have been stored for a long time or have been replaced. Therefore, it is necessary to continue to turn off the energy recovery device and continue to monitor the integral value of the working pressure and duration of the brakes in the braking state during the preset period when the vehicle speed is greater than zero in the next round, to assess whether the brakes have completed sufficient friction work.

[0035] Specifically, to further explain the entire process of steps S30 and S40, a specific embodiment will be used below to describe the specific process of steps S30 and S40, such as... Figure 2 As shown.

[0036] S41: Turn off the energy recovery device.

[0037] S42: Obtain the working pressure and duration of the friction brake in braking state during a preset period when the vehicle speed is greater than zero.

[0038] S43: Perform integral calculations on work pressure and duration to determine the integral value.

[0039] S44: Determine whether the integral value is greater than or equal to the first intensity threshold.

[0040] If the judgment result of S44 is yes, that is, the integral value is greater than or equal to the first intensity threshold, then S45 is executed.

[0041] If the result of S44 is negative, meaning the integral value is less than the first intensity threshold, then S41 is executed. S45: Start the energy recovery device.

[0042] To further address the brake dive problem that may arise in humid environments due to re-rusting of the friction brake surface or abnormal friction coefficient, some embodiments of this application, such as... Figure 3 As shown, the above-mentioned method for suppressing vehicle braking dive may further include: S50: Obtain the humidity of the friction brake.

[0043] To address the issue of brake surface deterioration caused by ambient humidity in special weather conditions such as rainy days, smoggy days, and humid summer mornings, the control system needs to acquire the humidity of the environment surrounding the friction brakes. Specifically, the vehicle can be equipped with a humidity sensor to monitor the ambient air humidity in real time. Alternatively, the humidity of the friction brakes can be determined by acquiring readings from an ambient humidity sensor located near the brakes. Additionally, the signal from a rain sensor located on the vehicle's windshield can be read; when the rain sensor's signal value reaches a preset rainfall threshold, the system determines that the current weather is rainy, meaning the friction brakes are in a high-humidity environment. These solutions all enable the assessment of external ambient humidity conditions, providing a basis for subsequent control decisions.

[0044] S60: When the humidity of the friction brake is greater than or equal to the preset humidity threshold, and the duration of starting the energy recovery device is greater than or equal to the first start-up duration threshold, the energy recovery device is turned off.

[0045] While the energy recovery device has been activated through the aforementioned step S30 and the vehicle is operating in electric brake priority mode, the control system continuously monitors the ambient humidity and times the duration of continuous operation of the energy recovery device. When both conditions are met simultaneously—that is, when the obtained friction brake humidity is greater than or equal to a preset humidity threshold, and the activation duration of the energy recovery device is greater than or equal to a first activation duration threshold—the control system performs the operation of shutting down the energy recovery device. The activation duration of the energy recovery device can be the first activation duration after power-on, or the continuous operation duration since the most recent shutdown and restart.

[0046] Specifically, the preset humidity threshold is a standard value used to determine whether the ambient humidity can cause the brake surface to rust again or form a water film. For example, when using a humidity sensor, the preset humidity threshold can correspond to the humidity threshold detected by the humidity sensor. The first start-up duration threshold is a preset time value, which is used to limit the maximum allowable continuous operation time of the energy recovery device under humid conditions. This embodiment can solve the problem that in a continuously humid environment, the friction brake surface will gradually form floating rust or a water film again due to prolonged disuse. When the humidity exceeds the threshold, not only will the high-humidity air continue to act on the brake surface, but also when driving in rainy weather, water splashed from the wheels will directly wet the brake. If the energy recovery device continues to operate for too long, the friction brake will again be idle for a long time, and the surface condition will deteriorate again.

[0047] Furthermore, when it is determined that the humidity of the friction brake is greater than or equal to a preset humidity threshold, and the duration of continuous operation of the energy recovery device reaches the first activation duration threshold, the control system periodically forces the energy recovery device to shut down, regardless of the previous break-in status of the friction brake. This allows the friction brake to resume braking operation, utilizing the mechanical action of braking friction to promptly remove surface rust or water film induced by the high humidity environment, maintaining its braking performance stability in humid conditions. After shutting down the energy recovery device, the method for suppressing vehicle brake dive can jump back to step S10, restarting the integral calculation of the working pressure and duration of the friction brake, and determining whether the energy recovery device can be restarted based on the comparison of the integral value with the first intensity threshold. This avoids brake dive under high humidity conditions.

[0048] On the other hand, even if the humidity of the friction brake is greater than or equal to the preset humidity threshold, if the continuous operating time of the energy recovery device since its last forced shutdown and restart is less than the first startup time threshold, meaning the energy recovery device has not yet reached the maximum permissible continuous operating time under humid conditions, the control system assumes that the surface state of the friction brake is still roughly maintained in the stable state achieved through sufficient friction, within a safe period during which forced friction is not required immediately. Therefore, the control system keeps the energy recovery device on and continues to perform efficient energy recovery.

[0049] In some embodiments of this application, the above-described method for suppressing vehicle braking dive may further include: S70: When the humidity of the friction brake is less than the preset humidity threshold, the energy recovery device is activated.

[0050] The process of determining whether the humidity of the friction brake is within the preset humidity threshold is very short, far less than the first start-up time threshold. Therefore, when it is determined that the humidity of the friction brake is less than the preset humidity threshold, the start-up time of the energy recovery device is less than the first start-up time threshold. In this case, it can be considered that the risk of deterioration of the brake surface is low. At this time, the energy recovery device continues to be turned on to maintain the normal electric braking priority mode.

[0051] To further address the issue that, even after implementing the aforementioned control measures, brake dive may still not be completely suppressed due to factors such as individual vehicle differences, changes in friction pad wear, or changes in the external environment, this application also provides an embodiment with self-learning capabilities. In some embodiments of this application, such as... Figure 4 As shown, the above-mentioned method for suppressing vehicle braking dive may further include: S80: Obtain the ratio of the rate of change of brake pedal opening to the rate of change of longitudinal acceleration.

[0052] The control system can continuously record the rate of change of brake pedal opening (y) over time (Δy) and the rate of change of vehicle longitudinal acceleration (a) over time (Δa) during braking, especially when the energy recovery device is off and the hydraulic braking system is supplementing braking force. It then calculates the ratio of these two values ​​(Δa / Δy) and uses this ratio as a criterion for determining whether brake dive occurs. The rate of change of brake pedal opening can be obtained by acquiring the pedal opening signal from the brake pedal position sensor and calculating it. The vehicle longitudinal acceleration can be directly measured by an acceleration sensor installed on the vehicle body, such as one integrated into the airbag control unit (ACU), ESP / ESC unit, or a separate inertial measurement unit (IMU).

[0053] S90: Adjust the first intensity threshold and the first start-up duration threshold of the energy recovery device according to the ratio.

[0054] Once the ratio of the brake pedal opening change rate to the longitudinal acceleration change rate is obtained, it can be determined whether the vehicle is experiencing brake dive. When the vehicle is experiencing brake dive, the first intensity threshold and the first activation duration threshold of the energy recovery device are adjusted. That is, by adjusting the control parameters, the intensity of the forced friction of the friction brake is enhanced, and the duration of the intermediate activation of the energy recovery device is reduced, so as to eliminate the abnormality on the brake surface.

[0055] In some embodiments of this application, in step S90, the first intensity threshold and the first start-up duration threshold of the energy recovery device are adjusted according to the ratio. Specific steps may include: S91: When the ratio is greater than or equal to a preset comfort threshold, the first intensity threshold is adjusted to the second intensity threshold, and the first start-up duration threshold of the energy recovery device is adjusted to the second start-up duration threshold, wherein the second intensity threshold is greater than the first intensity threshold, and the second start-up duration threshold is less than the first start-up duration threshold.

[0056] Specifically, a preset comfort threshold can be set in advance. The preset comfort threshold can be a calibrated upper limit of a ratio. When the actual ratio is less than the preset comfort threshold, the braking smoothness of the vehicle can be considered to be within an acceptable comfort range, that is, no braking dive occurs. When the actual ratio is greater than or equal to the comfort threshold, it indicates that the vehicle has a braking dive situation that can be perceived by the driver.

[0057] After the control system obtains the ratio of the brake pedal opening change rate to the longitudinal acceleration change rate, it compares this ratio with a preset comfort threshold. If the ratio is greater than or equal to the preset comfort threshold, it is determined that the vehicle is experiencing brake dive, and the control parameters need to be adjusted. Specifically, the adjustment involves increasing the first intensity threshold to a second intensity threshold and shortening the first start-up duration threshold of the energy recovery device to a second start-up duration threshold. The value of the second intensity threshold is greater than the value of the first intensity threshold, and the value of the second start-up duration threshold is less than the value of the first start-up duration threshold.

[0058] In some implementations, when the ratio is greater than or equal to a preset comfort threshold, the control system can increase the first intensity threshold to 1.1 times the first intensity threshold, while simultaneously shortening the first start-up duration threshold to 0.9 times the first start-up duration threshold. Setting the second intensity threshold to be greater than the first intensity threshold requires accumulating a higher integral value during the next assessment of whether the friction brake is sufficiently frictional; that is, the friction brake must operate at a stronger braking intensity or a longer braking time to allow energy recovery to be activated. This ensures that the friction brake undergoes a more thorough and sufficient friction process after being put back into operation, effectively removing surface anomalies that are difficult to remove. Setting the second start-up duration threshold to be less than the first start-up duration shortens the allowed continuous operating time of the energy recovery device and increases the frequency of forced friction brake intervention, thus maintaining the stability of the brake surface more frequently through friction.

[0059] In some embodiments of this application, after adjusting the first intensity threshold and the first start-up duration threshold of the energy recovery device according to the ratio, the above-mentioned method for suppressing vehicle braking dive may further include: Turn off the energy recovery device.

[0060] Specifically, when the control system detects brake dive based on the ratio of the pedal opening change rate to the longitudinal acceleration change rate being greater than or equal to a preset comfort threshold, and accordingly adjusts the first intensity threshold to a second intensity threshold and the first activation duration threshold of the energy recovery device to a second activation duration threshold, the control system shuts down the energy recovery device to ensure that these new control parameters, which enhance the forced friction effect, can be immediately applied to the reassessment of the friction brake state. After completing the update of the new control parameters, the control system immediately stops prioritizing electric braking and forcibly switches to a friction braking priority operating mode.

[0061] Based on the ratio, after adjusting the first intensity threshold and the first start-up duration threshold of the energy recovery device, the energy recovery device can be directly shut off without waiting for the start-up duration of the energy recovery device to reach the first start-up duration threshold. The control system can quickly respond to the detected braking dive trend. By immediately shutting off the energy recovery device after detecting the dive, the control system can reassess the brake state, shortening the response cycle required to suppress braking dive. This effectively prevents the driver from continuously feeling the impact of braking dive, improves the dynamic response speed of the suppression strategy, and enhances the ride comfort of the driver and passengers.

[0062] The following detailed description of the specific operation steps of the method for suppressing vehicle braking dive provided in this application is illustrated through a concrete embodiment. Figure 1 As shown.

[0063] Example 1: S101: Turn off the energy recovery device.

[0064] S102: Obtain the working pressure and duration of the friction brake in braking state during a preset period when the vehicle speed is greater than zero.

[0065] S103: Perform integral calculations on the work pressure and duration to determine the integral value.

[0066] S104: Determine whether the integral value is greater than or equal to the first intensity threshold.

[0067] If the judgment result of S104 is yes, that is, the integral value is greater than or equal to the first intensity threshold, then S105 is executed.

[0068] If the result of S104 is negative, meaning the integral value is less than the first intensity threshold, then S101 is executed. S105: Start the energy recovery device.

[0069] S106: Obtain the humidity of the friction brake.

[0070] S107: Determine whether the humidity of the friction brake is greater than or equal to the preset humidity threshold.

[0071] If the judgment result of S107 is yes, that is, the humidity of the friction brake is greater than or equal to the preset humidity threshold, then S108 is executed.

[0072] If the judgment result of S107 is negative, that is, the humidity of the friction brake is less than the preset humidity threshold, then S110 is executed. S108: Determine whether the start-up time of the energy recovery device is greater than or equal to the first start-up time threshold.

[0073] If the judgment result of S108 is yes, that is, the start-up time of the energy recovery device is greater than or equal to the first start-up time threshold, then S109 is executed.

[0074] When the judgment result of S108 is negative, that is, the humidity of the friction brake is less than the preset humidity threshold, the energy recovery device remains activated. S109: Turn off the energy recovery device.

[0075] S110: Obtain the ratio of the rate of change of brake pedal opening to the rate of change of longitudinal acceleration.

[0076] S111: Determine whether the ratio is greater than or equal to the preset comfort threshold.

[0077] When the judgment result of S111 is yes, that is, the ratio of the brake pedal opening change rate to the longitudinal acceleration change rate is greater than or equal to the preset comfort threshold, then S112 is executed.

[0078] When the judgment result of S111 is negative, that is, the ratio of the brake pedal opening change rate to the longitudinal acceleration change rate is less than the preset comfort threshold, S101 is executed. S112: Adjust the first intensity threshold to the second intensity threshold, and adjust the first start-up duration threshold of the energy recovery device to the second start-up duration threshold, and execute S101. Wherein, the second intensity threshold is greater than the first intensity threshold, and the second start-up duration threshold is less than the first start-up duration threshold.

[0079] Exemplary device In some embodiments of this application, such as Figure 6 As shown, this application provides a device for suppressing vehicle braking dive, comprising: a data acquisition module 601, a calculation module 602, and a control module 603, wherein, The data acquisition module 601 is used to acquire the working pressure and duration of the friction brake in braking state during a preset period when the vehicle speed is greater than zero.

[0080] The calculation module 602 is used to perform integral calculations on the working pressure and duration to determine the integral value.

[0081] The control module 603 is used to activate the energy recovery device when the integral value is greater than or equal to the first intensity threshold.

[0082] The device for suppressing vehicle braking dive provided in this application acquires the working pressure and duration of the friction brake in braking state during a preset period when the vehicle speed is greater than zero through the data acquisition module 601. Then, the calculation module 602 performs an integral calculation on the working pressure and duration of the friction brake in braking state during the preset period when the vehicle speed is greater than zero based on the data acquisition module 601, and determines the integral value. Finally, the control module 603 determines the relationship between the integral value and a first intensity threshold based on the integral value determined by the calculation module 602, and activates the energy recovery device when the integral value is greater than or equal to the first intensity threshold.

[0083] The device for suppressing vehicle braking dive provided in this application assesses whether the brake has performed sufficient friction work by monitoring the integral value of the working pressure and duration of the brake in braking state during a preset period when the vehicle speed is greater than zero. Energy recovery is only allowed to intervene when the integral value meets the intensity threshold, thus ensuring the stable state of the brake friction surface and avoiding a sudden increase in braking force caused by sudden activation of the brake at low speeds, when the friction pads have been stored for a long time or have been replaced. This effectively suppresses vehicle braking dive.

[0084] The device for suppressing vehicle braking dive provided in this embodiment belongs to the same concept as the method for suppressing vehicle braking dive provided in the above embodiments of this application. It can execute the method for suppressing vehicle braking dive provided in any of the above embodiments of this application and has the corresponding functional units and beneficial effects of the method for suppressing vehicle braking dive. Technical details not described in detail in this embodiment can be found in the specific processing content of the method for suppressing vehicle braking dive provided in the above embodiments of this application, and will not be repeated here.

[0085] Exemplary vehicle In some embodiments of this application, a vehicle is provided, including the above-described device for suppressing vehicle braking dive.

[0086] The vehicle can be an electric vehicle or a hybrid vehicle. It can be an autonomous vehicle or a manned vehicle. The vehicle can be an electric passenger vehicle or an electric commercial vehicle, such as an electric light truck, an electric bus, or an electric sanitation vehicle.

[0087] Exemplary electronic devices In some embodiments of this application, an electronic device is provided, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement any of the above-described methods for suppressing vehicle braking dive.

[0088] Specifically, the aforementioned electronic device may further include: a bus, a communication interface, input devices, and output devices. The processor, memory, communication interface, input devices, and output devices are interconnected via the bus. The bus may include a pathway for transmitting information between various components of the computer system.

[0089] The processor can be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of the program of the present application. It can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0090] The processor may include the main processor, as well as baseband chips, modems, etc.

[0091] The memory stores a computer program that executes the technical solution of this application, and may also store an operating system and other critical business functions. Specifically, the program may include program code, which includes computer operation instructions. More specifically, the memory may include read-only memory (ROM), other types of static storage devices capable of storing static information and instructions, random access memory (RAM), other types of dynamic storage devices capable of storing information and instructions, disk storage, flash memory, etc.

[0092] The computer program can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this specification. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0093] Input devices may include devices that receive data and information input by the user, such as keyboards, mice, cameras, scanners, light pens, voice input devices, touch screens, pedometers, or gravity sensors.

[0094] Output devices may include devices that allow information to be output to the user, such as displays, printers, speakers, etc.

[0095] The communication interface may include any transceiver-like device for communicating with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0096] The processor executes the program stored in the memory and calls other devices, which can be used to implement the various steps of the method for suppressing vehicle braking dive provided in the above embodiments of this application.

[0097] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0098] Those skilled in the art will understand that all or part of the steps in the above methods can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium, such as a read-only memory. Optionally, all or part of the steps in the above embodiments can also be implemented using one or more integrated circuits. Accordingly, each module / unit in the above embodiments can be implemented in hardware or as a software functional module. This disclosure is not limited to any particular combination of hardware and software.

[0099] Unless otherwise defined, all terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. It should also be understood that terms such as those defined in a common dictionary should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and not as having an idealized or highly formalized meaning, unless expressly defined herein.

[0100] The foregoing description is intended to illustrate the present disclosure and should not be construed as limiting it. While several exemplary embodiments of the present disclosure have been described, those skilled in the art will readily understand that many modifications may be made to the exemplary embodiments without departing from the novel teachings and advantages of the present disclosure. Therefore, all such modifications are intended to be included within the scope of the present disclosure as defined by the claims. It should be understood that the foregoing description is intended to illustrate the present disclosure and should not be construed as limiting it to the specific embodiments disclosed, and modifications to the disclosed embodiments and other embodiments are intended to be included within the scope of the appended claims. The present disclosure is defined by the claims and their equivalents.

Claims

1. A method for suppressing vehicle braking dive, characterized in that, The method, applied to a vehicle braking control system including an energy recovery device and a friction brake, comprises: The working pressure and duration of the friction brake in braking state during a preset period when the vehicle speed is greater than zero are obtained. The integral value is determined by integrating the working pressure and the duration. When the integral value is greater than or equal to the first intensity threshold, the energy recovery device is activated.

2. The method for suppressing vehicle braking dive according to claim 1, characterized in that, The method further includes: When the integral value is less than the first intensity threshold, the energy recovery device is turned off.

3. The method for suppressing vehicle braking dive according to claim 1, characterized in that, The method further includes: Obtain the humidity of the friction brake; When the humidity of the friction brake is greater than or equal to a preset humidity threshold, and the duration of starting the energy recovery device is greater than or equal to a first start-up duration threshold, the energy recovery device is turned off.

4. The method for suppressing vehicle braking dive according to claim 3, characterized in that, The method further includes: When the humidity of the friction brake is less than a preset humidity threshold, the energy recovery device is activated.

5. The method for suppressing vehicle braking dive according to claim 3, characterized in that, The method further includes: Obtain the ratio of the rate of change of brake pedal opening to the rate of change of longitudinal acceleration; Based on the ratio, adjust the first intensity threshold and the first start-up duration threshold of the energy recovery device.

6. The method for suppressing vehicle braking dive according to claim 5, characterized in that, The step of adjusting the first intensity threshold and the first start-up duration threshold of the energy recovery device according to the ratio includes: When the ratio is greater than or equal to a preset comfort threshold, the first intensity threshold is adjusted to a second intensity threshold, and the first start-up duration threshold of the energy recovery device is adjusted to a second start-up duration threshold, wherein the second intensity threshold is greater than the first intensity threshold, and the second start-up duration threshold is less than the first start-up duration threshold.

7. The method for suppressing vehicle braking dive according to claim 5, characterized in that, After adjusting the first intensity threshold and the first start-up duration threshold of the energy recovery device according to the ratio, the method further includes: The energy recovery device is turned off.

8. A device for suppressing vehicle braking dive, characterized in that, include: The data acquisition module is used to acquire the working pressure and duration of the friction brake in braking state during a preset period when the vehicle speed is greater than zero. A calculation template is provided, wherein the calculation module is used to perform integral calculations on the working pressure and the duration to determine the integral value; A control module is provided for activating the energy recovery device when the integral value is greater than or equal to a first intensity threshold.

9. A vehicle, characterized in that, Includes the device for suppressing vehicle braking dive as described in claim 8.

10. An electronic device, 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 computer program, implements the method for suppressing vehicle brake dive as described in any one of claims 1-7.

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