BRAKE CONTROL METHOD AND DEVICE FOR STARTING A VEHICLE, STORAGE MEDIUM AND VEHICLE

Abstract

A brake control method and a brake control device for starting a vehicle, a storage medium and a vehicle are disclosed.The brake control procedure for starting a vehicle includes: sensing a real-time accelerator pedal opening or pedal position of a vehicle when the vehicle is in a parked state, and determining whether the real-time accelerator pedal opening or pedal position satisfies a parking release condition; sending an initial parking torque from the vehicle's electric parking brake system to an electromechanical braking system when the parking release condition is met, and generating, by the electromechanical braking system according to the initial parking torque, a clamping torque of the same magnitude as the initial parking torque; and receiving a real-time drive torque according to the real-time accelerator pedal opening or pedal position, and controlling the clamping torque so that it decreases as the real-time drive torque increases.

Description

TECHNICAL AREA

[0001] Embodiments of the present invention relate to the technical field of motor vehicle braking and in particular to a brake control method and a brake control device for starting a vehicle, a storage medium and a vehicle. TECHNICAL BACKGROUND

[0002] In recent years, electric parking brake (EPB) systems have been increasingly used in vehicle types with medium and high equipment levels, which is useful for relieving the driver of tasks and ensuring the vehicle's parking safety.

[0003] In the prior art, the control process for the automatic release of the EPB parking brake caliper consists of the EPB being automatically released only when the vehicle's accelerator pedal is depressed and the driving force generated by the accelerator pedal is greater than the sum of all roll-back torques, thus eliminating the parking torque. Therefore, when the vehicle needs to be switched from a parked to a driving state, the driver can depress the accelerator pedal to control the EPB parking torque so that it is automatically released, thereby initiating the vehicle's acceleration. However, in the aforementioned vehicle acceleration process, the automatic release of the EPB parking brake caliper and the elimination of the parking torque are delayed, and if the driver depresses the accelerator pedal too much or too quickly, jerking or deceleration of the entire vehicle will occur, impairing the vehicle's driving comfort. SUMMARY OF THE INVENTION

[0004] The present invention provides a brake control method and a brake control device for starting a vehicle, a storage medium and a vehicle to reduce jerking and deceleration problems during the vehicle starting process and to improve the driving comfort of the vehicle.

[0005] In a first aspect, one embodiment of the present invention provides a brake control method for starting a vehicle, comprising: Capturing a real-time accelerator pedal opening or pedal position of a vehicle when the vehicle is in a parked state, and determining whether the real-time accelerator pedal opening or pedal position satisfies a parking release condition; Sending an initial parking torque from the vehicle's electric parking brake system to an electromechanical braking system when the parking release condition is met, and generating, by the electromechanical braking system according to the initial parking torque, a clamping torque of the same magnitude as the initial parking torque; and Obtaining a real-time drive torque according to the real-time accelerator pedal opening or pedal position and controlling the clamping torque so that it decreases with an increase in the real-time drive torque.

[0006] Furthermore, the procedure also includes: Determine whether the release of the original parking torque according to the clamping torque is complete.

[0007] Furthermore, determining whether the release of the original parking torque according to the clamping torque is complete includes: If the clamping torque is less than a preset threshold, determine that the release of the original parking torque is complete; or If the clamping torque is greater than or equal to the preset threshold, determine that the release of the original parking torque is not complete, and continue controlling according to the real-time drive torque of the clamping torque generated by the electromechanical braking system, so that it decreases synchronously until the clamping torque is less than the preset threshold.

[0008] Furthermore, after determining that the release of the original parking torque is complete, the procedure also includes: Controlling the vehicle so that it starts moving according to the drive torque corresponding to the accelerator pedal opening or pedal position of the vehicle at that time.

[0009] Furthermore, controlling the clamping torque includes ensuring that it decreases with an increase in the real-time drive torque: Causing the clamping torque generated by the electromechanical braking system to decrease with an increase in the real-time drive torque, where the clamping torque and the real-time drive torque satisfy: Vdrive+Vclamp=Voriginal; where V drive the real-time drive torque is, V clamp the clamping torque is and V original The original parking torque is...

[0010] Furthermore, determining whether the real-time accelerator pedal opening or pedal position satisfies a parking release condition includes: If the real-time accelerator pedal opening or position is greater than a preset opening, determine that the parking release condition is met; or If the real-time accelerator pedal opening or position is less than or equal to the preset opening, determine that the parking release condition is not met.

[0011] Furthermore, the sending of an original parking torque from an electric parking brake system of the vehicle to an electromechanical braking system, when the parking release condition is met, and the generation, by the electromechanical braking system according to the original parking torque, of a clamping torque of the same magnitude as the original parking torque, includes: Sending the original parking torque of the vehicle's electric parking brake system to the electromechanical braking system when the parking release condition is met, causing the electromechanical braking system to generate the clamping torque of the same magnitude as the original parking torque, and controlling an electromagnetic brake in the electric parking brake system so that it is released.

[0012] Furthermore, a brake control device for starting a vehicle is configured to carry out the brake control method for starting a vehicle according to one of the embodiments of the present invention, and comprises: a detection module configured to detect a real-time accelerator pedal opening or pedal position of a vehicle when the vehicle is in a parked state, and to determine whether the real-time accelerator pedal opening or pedal position satisfies a parking release condition; a torque switching module configured to send an initial parking torque from the vehicle's electric parking brake system to an electromechanical braking system when the parking release condition is met, so that the electromechanical braking system generates a clamping torque of the same magnitude as the initial parking torque; and a torque release module configured to obtain a real-time drive torque according to the real-time accelerator pedal opening or pedal position and to control the clamping torque so that it decreases with an increase in the real-time drive torque.

[0013] In a third aspect, an embodiment of the present invention also provides a storage medium comprising computer-executable instructions configured to perform the brake control method for starting a vehicle according to one of the embodiments of the present invention.

[0014] In a fourth aspect, an embodiment of the present invention also provides a vehicle that includes the brake control device for starting a vehicle according to one of the embodiments of the present invention.

[0015] The present invention provides a brake control method and a brake control device for starting a vehicle, a storage medium, and a vehicle. A real-time accelerator pedal opening or pedal position of the vehicle is detected when the vehicle is in a parked state, and it is determined whether the real-time accelerator pedal opening or pedal position satisfies a parking release condition; an initial parking torque from an electric parking brake system of the vehicle is sent to an electromechanical brake system when the parking release condition is met, and a clamping torque of the same magnitude as the initial parking torque is generated by the electromechanical brake system according to the initial parking torque; and a real-time drive torque is obtained according to the real-time accelerator pedal opening or pedal position, and the clamping torque is controlled to decrease with an increase in the real-time drive torque.In this way, a smooth switch between a driving force and a braking force of the vehicle is completed during the vehicle start-up process, and the jerking and deceleration problems during the vehicle start-up process are reduced, thereby ensuring the stability of the vehicle start-up process and improving the driving comfort of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a flowchart of a brake control method for starting a vehicle according to an embodiment of the present invention. Fig. Figure 2 is a flowchart of another brake control method for starting a vehicle according to an embodiment of the present invention. Fig. Figure 3 is a schematic diagram of a vehicle start-up process in the state of the art. Fig. Figure 4 is a schematic diagram of a brake control method for starting a vehicle according to an embodiment of the present invention. Fig. Figure 5 is a flowchart of yet another brake control method for starting a vehicle according to an embodiment of the present invention. Fig. Figure 6 is a schematic structure diagram of a brake control device for starting a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EXECUTION FORMS

[0016] The present invention is described in more detail below with reference to the drawings and embodiments. It is understood that the specific embodiments described herein are used only to illustrate the present invention, rather than to limit it. It should also be noted that, for the sake of simplicity, only some, but not all, of the structures relating to the present invention are shown in the drawings.

[0017] One embodiment of the present invention provides a brake control method for starting a vehicle, applicable to a vehicle start-up process. When the vehicle is switched from a parked state to a driving state, the method is used to control the release of an initial parking torque of an electric parking brake system, thus reducing jerking and deceleration problems during the vehicle start-up process. The method can be implemented by a brake control device for starting a vehicle, and the brake control device for starting a vehicle can be implemented in the form of hardware and / or software. Fig. Figure 1 is a flowchart of a brake control method for starting a vehicle according to an embodiment of the present invention. As shown in Fig. As shown in Figure 1, the brake control procedure for starting a vehicle includes: S110, A real-time accelerator pedal opening or pedal position of a vehicle is recorded when the vehicle is in a parked state, and it is determined whether the real-time accelerator pedal opening or pedal position satisfies a parking release condition.

[0018] When the vehicle is in park, the EPB controls the parking brake via an electronic circuit and functions as a mechanical pull-type handbrake. The electronic parking brake cannot be manually disengaged when the vehicle starts moving and may disengage automatically when a driver presses the accelerator pedal to begin moving. If the release point of the EPB's initial parking torque is not calibrated, the brake assist function may cause the vehicle to jerk or lurch during this process.In the embodiment of the present invention, by monitoring the real-time accelerator pedal opening or pedal position of the vehicle, it can be determined that the vehicle is starting to move when the real-time accelerator pedal opening or pedal position of the vehicle begins to change, and then the release process of the initial parking torque of the EPB is controlled, thereby reducing the jerking and delay problems during the vehicle starting process.

[0019] In particular, when the vehicle is in park, the accelerator pedal position is zero. By monitoring the real-time accelerator pedal position, it can be determined that the vehicle transitions from park to drive when the real-time accelerator pedal position changes from zero. By determining whether the real-time accelerator pedal position meets the parking release condition, the release time of the EPB's initial parking torque is controlled according to the real-time accelerator pedal position. This precisely controls the EPB's initial parking torque release process, thus reducing jerking and hesitation during the vehicle's drive-by process.

[0020] S120 An original parking torque of an electric parking brake system of the vehicle is sent to an electromechanical braking system when the parking release condition is met, and a clamping torque of the same magnitude as the original parking torque is generated by the electromechanical braking system according to the original parking torque.

[0021] The electromechanical brake (EMB) system primarily comprises a motor, a reduction gear, a clamping device, a brake caliper, a control unit, and similar components. Braking is achieved by the motor driving a brake caliper or brake pad. In the EMB system, the motor is the driving core of the entire system and is responsible for providing power. The reduction gear is used to convert the motor's high-speed rotation into a low-speed, high-torque rotary motion to meet the braking system's requirements. The clamping device converts the motor's rotary motion into the linear motion of a friction plate, which then contacts a brake disc to generate friction, thus achieving braking.The original parking torque of the electric parking brake system is a torque generated by the EPB through control of the parking brake by the electronic circuitry when the vehicle is in the parked position.

[0022] Specifically, when the real-time accelerator pedal opening or pedal position meets the parking release condition, the original parking torque of the vehicle's electric parking brake system is sent to the electromechanical braking system. Simultaneously, the clamping torque of the same magnitude as the original parking torque is generated by the electromechanical braking system according to the original parking torque. After the electromechanical braking system has controlled its own brake motor to generate the clamping torque, the original parking torque of the electric parking brake system is released, allowing the brake motor of the electromechanical braking system to control the vehicle so that it is stationary.By supplying the original parking torque of the EPB to the EMB, the clamping torque of the same magnitude as the original parking torque is generated by the EMB's brake motor, enabling the vehicle to be parked. In the subsequent control process, the magnitude of the clamping torque can be finely regulated by the EMB to reduce jerking and delay problems during the vehicle's start-up process.

[0023] In S130, a real-time drive torque is obtained according to the real-time accelerator pedal opening or pedal position, and the clamping torque is controlled so that it decreases with an increase in the real-time drive torque.

[0024] A displacement sensor is located on the accelerator pedal (also called a gas pedal) of a vehicle. When the driver presses the accelerator pedal, the displacement sensor can monitor changes in the accelerator pedal opening or position in real time to obtain a real-time accelerator pedal opening or position. A real-time drive torque corresponding to the vehicle can be calculated based on the real-time accelerator pedal opening or position.

[0025] In particular, after the clamping torque of the same magnitude as the original parking torque has been generated by the electromechanical braking system according to the original parking torque, the clamping torque enables the vehicle to remain stationary, and the vehicle is still in the parked state.At this point, calculating the real-time drive torque of the vehicle according to the real-time accelerator pedal opening or pedal position and controlling the clamping torque so that it decreases with an increase in the real-time drive torque in order to reduce jerking and delay problems during the vehicle start-up process, is equivalent to gradually reducing the vehicle's initial parking torque until the vehicle starts moving, so that a smooth switch between a drive force and a braking force of the vehicle is achieved during the vehicle start-up process, and the jerking and delay problems during the vehicle start-up process are reduced, thereby ensuring the stability of the vehicle start-up process and improving the vehicle's driving comfort.

[0026] One embodiment of the present invention provides a brake control method for starting a vehicle. A real-time accelerator pedal opening or pedal position of the vehicle is detected when the vehicle is in a parked state, and it is determined whether the real-time accelerator pedal opening or pedal position satisfies a parking release condition; an initial parking torque from an electric parking brake system of the vehicle is sent to an electromechanical brake system if the parking release condition is met, and a clamping torque of the same magnitude as the initial parking torque is generated by the electromechanical brake system according to the initial parking torque; and a real-time drive torque is obtained according to the real-time accelerator pedal opening or pedal position, and the clamping torque is controlled to decrease with an increase in the real-time drive torque.In this way, a smooth switch between a driving force and a braking force of the vehicle is completed during the vehicle start-up process, and the jerking and deceleration problems during the vehicle start-up process are reduced, thereby ensuring the stability of the vehicle start-up process and improving the driving comfort of the vehicle.

[0027] One embodiment of the present invention further provides an alternative brake control method for starting a vehicle in order to further reduce jerking and deceleration problems during the vehicle starting process. Fig. Figure 2 is a flowchart of the other brake control method for starting a vehicle according to the embodiment of the present invention. As in Fig. As shown in 2, the brake control procedure for starting a vehicle includes in particular: In S210, a real-time accelerator pedal opening or pedal position of a vehicle is detected when the vehicle is in a parked state, and it is determined whether the real-time accelerator pedal opening or pedal position meets a parking release condition.

[0028] Optionally, this includes determining whether the real-time accelerator pedal opening or pedal position meets the parking release condition: If the real-time accelerator pedal opening or position is greater than a preset opening, determine that the parking release condition is met; or if the real-time accelerator pedal opening or position is less than or equal to the preset opening, determine that the parking release condition is not met.

[0029] Specifically, when the vehicle is in park, the real-time accelerator pedal opening or position is detected. If this real-time opening is greater than the preset opening, the system determines that the vehicle meets the parking release condition, and the original parking torque of the EPB can be controlled to release it. The parking release condition is that the vehicle's real-time accelerator pedal opening or position is greater than the preset opening. The preset opening can be calibrated according to the vehicle's basic performance, and the default preset opening is 3%.

[0030] If the real-time accelerator pedal opening or position is less than or equal to the preset opening, the parking release condition is not met. The vehicle's real-time accelerator pedal opening or position continues to be monitored until it exceeds the preset opening and the vehicle meets the parking release condition. This ensures that when the accelerator pedal opening or position is at the preset opening, the EPB's initial parking torque release process is accurately controlled, thus reducing jerking and hesitation during the vehicle's acceleration process.

[0031] In S220, an initial parking torque from the vehicle's electric parking brake system is sent to an electromechanical brake system when the parking release condition is met. The electromechanical brake system is then caused to generate a clamping torque of the same magnitude as the original parking torque, and an electromagnetic brake in the electric parking brake system is controlled to release it.

[0032] Specifically, if the real-time accelerator pedal opening or position is greater than the preset opening, the vehicle's original electric parking brake system parking torque is sent to the electromechanical braking system. Simultaneously, the electromechanical braking system generates a clamping torque of the same magnitude as the original parking torque. After the electromechanical braking system has controlled its own brake motor to generate the clamping torque, the original electric parking brake system parking torque is released by controlling the electromagnetic brake in the electric parking brake system. This allows the clamping torque generated by the electromechanical braking system's brake motor to hold the vehicle stationary.In the subsequent control process, the size of the clamping torque can be finely regulated by the electromechanical braking system to reduce jerking and delay problems during the vehicle start-up process.

[0033] In the S230, a real-time drive torque is obtained according to the real-time accelerator pedal opening or pedal position; the clamping torque generated by the electromechanical braking system is controlled so that it decreases with an increase in the real-time drive torque, and the clamping torque and the real-time drive torque satisfy: Vdrive+Vclamp=Voriginal; where Vdrive is the real-time drive torque, Vclamp is the clamping torque, and Voriginal is the original parking torque.

[0034] In particular, the vehicle's real-time drive torque can be calculated according to the real-time accelerator pedal opening or position. For example, real-time drive forces corresponding to different accelerator pedal opening or positions can be pre-calibrated to determine the vehicle's real-time drive torque based on that position. Controlling the clamping torque so that it decreases synchronously with an increase in the real-time drive torque, and ensuring that V drive + V clamp = V originalIn this process, the vehicle can be held in the parked position to prevent the vehicle from rolling backward and to eliminate any jerking or jolting of the vehicle, equivalent to gradually reducing the vehicle's original parking torque until the vehicle starts moving, thus reducing jerking and delay problems during the vehicle start-up process, ensuring stability of the vehicle start-up process and improving the vehicle's driving comfort.

[0035] Fig. Figure 3 is a schematic diagram of a vehicle start-up process in the state of the art and Fig. Figure 4 is a schematic diagram of a brake control method for starting a vehicle according to an embodiment of the present invention. As shown in Fig. 3 and Fig. As shown in Figure 4, during the vehicle start-up process, a switch is made between a braking force and a driving force, and the release points of the original parking torque during the vehicle start-up process are different in the prior art and in the embodiment of the present invention, wherein the braking force is the original parking torque and the clamping torque, the driving force of the vehicle is a drive torque generated by actuating the accelerator pedal, and the torque t1 is the release point of the original parking torque of the EPB. As shown in Fig. As shown in Figure 3, in the prior art process of automatically releasing the initial parking torque of the EPB, when the driving force is greater than the sum of all roll-back torques, it is normally used as the release point of the initial parking torque. The release point of the initial parking torque is relatively late, which can cause problems such as long vehicle acceleration time, hesitancy when starting, uneven acceleration, and difficulties in calibrating the automatic release point of the initial torque due to varying roll-back torques when the vehicle is on different roads.Compared to the prior art process of automatically releasing the original EPB parking torque, according to the brake control method for starting a vehicle in the embodiment of the present invention, the release time of the original parking torque can be calibrated in advance by the preset accelerator pedal opening or pedal position. That is, at time t1, the original EPB parking torque is released, the original EPB parking torque of the vehicle is sent to the EMB, and the clamping torque of the same magnitude as the original parking torque is generated by the EMB according to the original parking torque.The original parking torque is then converted into the clamping torque from time t1 onwards, and the clamping torque gradually decreases with an increase in the drive torque, thus achieving a smooth switching between a driving force and a braking force of the vehicle during the vehicle start-up process, reducing jerking and delay problems during the vehicle start-up process, resulting in a fast vehicle start-up time, a low feeling of delay when starting the vehicle, smooth acceleration and easy calibration of the automatic release time of the original torque, thereby ensuring the stability of the vehicle start-up process and improving the vehicle's driving comfort.

[0036] In S240, the clamping torque determines whether the release of the original parking torque is complete.

[0037] Optionally, this includes determining whether the release of the original parking torque according to the clamping torque is complete: If the clamping torque is less than a preset threshold, determine that the release of the original parking torque is complete; or If the clamping torque is greater than or equal to the preset threshold, determine that the release of the original parking torque is not complete, and continue controlling according to the real-time drive torque of the clamping torque generated by the electromechanical braking system, so that it decreases synchronously until the clamping torque is less than the preset threshold.

[0038] Specifically, when the clamping torque is less than the preset threshold, the system determines that the release of the initial parking torque is complete, and at this point, the vehicle's drive torque allows the vehicle to start moving. Based on the drive torque, which corresponds to the vehicle's accelerator pedal opening or position at this time, the vehicle can be controlled to start moving smoothly, and the clamping torque can be released accordingly. If the clamping torque is greater than or equal to the preset threshold, the system determines that the release of the initial parking torque is not complete, and the clamping torque generated by the electromechanical braking system continues to be controlled according to the real-time drive torque so that it decreases synchronously until the clamping torque is less than the preset threshold.The preset threshold can be determined by calibrating the entire vehicle and by calibrating a suitable preset threshold; excessive jerking and discomfort of the vehicle can be prevented, and the driving comfort of the vehicle is improved.

[0039] Furthermore, after determining that the release of the original parking torque is complete, the procedure also includes: Controlling the vehicle so that it starts moving according to the drive torque corresponding to the accelerator pedal opening or pedal position of the vehicle at that time.

[0040] Once it is determined that the release of the original parking torque is complete when the clamping torque is less than the preset threshold, the vehicle is specifically controlled to start moving according to the drive torque corresponding to the accelerator pedal opening or pedal position of the vehicle at that time, thereby ensuring that when the vehicle is driven to start moving by the drive torque corresponding to the accelerator pedal opening or pedal position of the vehicle at that time, there is no excessive jerking or discomfort, and the driving comfort of the vehicle is improved.

[0041] Additionally, Fig. 5 A flowchart of yet another brake control method for starting a vehicle according to an embodiment of the present invention. As in Fig. As shown in Figure 5, when a vehicle's EPB is in a parked state, it is detected whether a parking release condition of an initial parking torque is met; that is, whether a real-time accelerator pedal opening or position satisfies the parking release condition is determined according to the vehicle's real-time accelerator pedal opening or position; if the parking release condition is met, the vehicle's initial parking torque is sent to an EMB; a clamping torque of the same magnitude as the initial parking torque is generated by the EMB by clamping a brake disc, and an electromagnetic brake in the EPB is released; the vehicle's clamping torque at this time is calculated according to the drive torque, that is, the clamping torque decreases with an increase in the real-time drive torque, and the clamping torque and the real-time drive torque satisfy: V drive + V clamp= V original ; if the clamping torque is less than a preset threshold, it is determined that the release of the original parking torque is complete; if the clamping torque is greater than or equal to the preset threshold, it is determined that the release of the original parking torque is not complete, and the clamping torque generated by the electromechanical braking system continues to be controlled according to the real-time drive torque so that it decreases synchronously until the clamping torque is less than the preset threshold, and it is determined that the release of the original parking torque is complete.

[0042] According to the brake control method for starting a vehicle in the embodiment of the present invention, by controlling the clamping torque so that it decreases with an increase in the real-time drive torque, the sum of the clamping torque and the real-time drive torque equals the original parking torque, thus achieving a smooth switching between a driving force and a braking force of the vehicle during the vehicle start-up process, and reducing jerking and deceleration problems during the vehicle start-up process, thereby ensuring the stability of the vehicle start-up process and improving the driving comfort of the vehicle.

[0043] One embodiment of the present invention also provides a brake control device for starting a vehicle, and Fig. Figure 6 is a schematic structure diagram of the brake control device for starting a vehicle according to the embodiment of the present invention, configured to perform the brake control method for starting a vehicle in one of the embodiments of the present invention. As shown in Fig. As shown in section 6, the brake control device for starting a vehicle includes: a sensing module 110 configured to sensing a real-time accelerator pedal opening or pedal position of a vehicle when the vehicle is in a parked state, and to determine whether the real-time accelerator pedal opening or pedal position satisfies a parking release condition; a torque switching module 120, configured to send an initial parking torque from an electric parking brake system of the vehicle to an electromechanical braking system when the parking release condition is met, so that the electromechanical braking system generates a clamping torque of the same magnitude as the initial parking torque; and a torque release module 130 that is configured to obtain a real-time drive torque according to the real-time accelerator pedal opening or pedal position and to control the clamping torque so that it decreases with an increase in the real-time drive torque.

[0044] In particular, the sensing module 110 detects the real-time accelerator pedal opening or pedal position of the vehicle by monitoring when the vehicle is in the parked state, and can determine that the vehicle enters the moving state from the parked state when the real-time accelerator pedal opening or pedal position of the vehicle changes from zero.The torque switching module 120 sends the original parking torque of the vehicle's electric parking brake system to the electromechanical brake system when the real-time accelerator pedal opening or pedal position meets the parking release condition, and simultaneously controls the electromechanical brake system to generate the clamping torque of the same magnitude as the original parking torque, and after the electromechanical brake system has controlled its own brake motor to generate the clamping torque, it releases the original parking torque in the electric parking brake system so that the brake motor of the electromechanical brake system controls the vehicle so that it is stationary.The torque release module 130 calculates the real-time drive torque of the vehicle according to the real-time accelerator pedal opening or pedal position and controls the clamping torque so that it decreases with an increase in the real-time drive torque in order to reduce jerking and delay problems during the vehicle start-up process, which is equivalent to gradually reducing the vehicle's initial parking torque until the vehicle starts moving, thus achieving a smooth switch between a drive force and a braking force of the vehicle during the start-up process and reducing jerking and delay problems during the start-up process, thereby ensuring the stability of the vehicle start-up process and improving the vehicle's driving comfort.

[0045] According to the brake control method for starting a vehicle in the embodiment of the present invention, a real-time accelerator pedal opening or pedal position of the vehicle is detected by the sensing module when a vehicle is in a parked state, and it is determined whether the real-time accelerator pedal opening or pedal position satisfies a parking release condition; an initial parking torque of an electric parking brake system of the vehicle is sent by the torque switching module to an electromechanical brake system if the parking release condition is met, and a clamping torque of the same magnitude as the initial parking torque is generated by the electromechanical brake system according to the initial parking torque;A real-time drive torque is obtained by the torque release module according to the real-time accelerator pedal opening or pedal position, and the clamping torque is controlled to decrease as the real-time drive torque increases. In this way, a smooth transition between the vehicle's drive force and braking force is achieved during the vehicle's acceleration process, and jerking and hesitation problems during acceleration are reduced, thus ensuring stability during acceleration and improving the vehicle's driving comfort.

[0046] In addition, the brake control device for starting a vehicle in the embodiment of the present invention comprises, but is not limited to, the aforementioned modules and can be adaptively provided with associated functional modules according to the brake control method for starting a vehicle in one of the embodiments of the present invention in order to realize the functions and technical effects of the brake control method for starting a vehicle in one of the embodiments of the present invention.

[0047] One embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored, wherein the program, when executed by a processor, implements the brake control method for starting a vehicle according to the embodiment of the present invention, comprising: Capturing a real-time accelerator pedal opening or pedal position of a vehicle when the vehicle is in a parked state, and determining whether the real-time accelerator pedal opening or pedal position satisfies a parking release condition; Sending an initial parking torque from the vehicle's electric parking brake system to an electromechanical braking system when the parking release condition is met, and generating, by the electromechanical braking system according to the initial parking torque, a clamping torque of the same magnitude as the initial parking torque; and Obtaining a real-time drive torque according to the real-time accelerator pedal opening or pedal position and controlling the clamping torque so that it decreases with an increase in the real-time drive torque.

[0048] Of course, the computer program stored on the computer-readable storage medium according to the embodiment of the present invention is not limited to the aforementioned process operations and can also perform related operations in the brake control method for starting a vehicle according to an embodiment of the present invention.

[0049] The computer storage medium in the embodiment of the present invention can be any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or any combination thereof, but is not limited to such combinations.More specific examples (non-exhaustive list) of computer-readable storage media include an electrical connection with one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by, or in combination with, an instruction execution system, device, or system.

[0050] The program code contained on the computer-readable medium may be transmitted by any suitable medium, including, but not limited to, wireless, wired, fiber optic cable or the like, or any suitable combination thereof.

[0051] Computer program code for performing operations of the present invention may be written in one or more programming languages, including an object-oriented programming language such as Java, Smalltalk, C++, or the like, and conventional procedural programming languages ​​such as the "C" programming language or similar programming languages, or combinations thereof. The program code may be executed entirely on a user's computer, partially on a user's computer as a standalone software package, partially on a user's computer and partially on a remote computer, or entirely on a remote computer or server.In the scenario involving a remote computer, the remote computer can be connected to a user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, via the internet using an internet service provider).

[0052] One embodiment of the present invention further provides a vehicle that includes the brake control device for starting a vehicle in the aforementioned embodiment, thereby realizing the functions and technical effects of the brake control device for starting a vehicle in the aforementioned embodiment.

[0053] Of course, in the embodiment of the present invention, the vehicle includes the brake control device for starting a vehicle in the aforementioned embodiment, but is not limited to it, and can also perform associated operations in the brake control method for starting a vehicle in one of the embodiments of the present invention and can realize the same technical effects as in the brake control method for starting a vehicle.

[0054] It should be noted that the foregoing describes only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will recognize that the present invention is not limited to the specific embodiments described herein and that various obvious modifications, adaptations, and substitutions can be made by those skilled in the art without altering the scope of protection of the present invention. Although the present invention has been described in detail by the foregoing embodiments, it is therefore not limited to the foregoing embodiments and may also include other equivalent embodiments without departing from the concept of the present invention, and the scope of protection of the present invention is determined by the scope of protection of the appended claims.

Claims

[1] Brake control method for starting a vehicle, characterized by , that the procedure includes: Capturing a real-time accelerator pedal position of a vehicle when the vehicle is in a parked state, and determining whether the real-time accelerator pedal position satisfies a parking release condition; Sending an initial parking torque from the vehicle's electric parking brake system to an electromechanical braking system when the parking release condition is met, and generating, by the electromechanical braking system according to the initial parking torque, a clamping torque of the same magnitude as the initial parking torque; and Obtaining a real-time drive torque according to the real-time accelerator pedal position and controlling the clamping torque so that it decreases with an increase in the real-time drive torque. [2] Brake control method for starting a vehicle according to claim 1, further comprising: Determine whether the release of the original parking torque according to the clamping torque is complete. [3] Brake control method for starting a vehicle according to claim 2, wherein determining whether the release of the initial parking torque according to the clamping torque is complete comprises: If the clamping torque is less than a preset threshold, determine that the release of the original parking torque is complete; or If the clamping torque is greater than or equal to the preset threshold, determine that the release of the original parking torque is not complete, and continue controlling according to the real-time drive torque of the clamping torque generated by the electromechanical braking system, so that it decreases synchronously until the clamping torque is less than the preset threshold. [4] Brake control method for starting a vehicle according to claim 3, wherein the method after determining that the release of the initial parking torque is complete further comprises: Controlling the vehicle so that it starts moving according to the drive torque that corresponds to the vehicle's accelerator pedal position at that time. [5] Brake control method for starting a vehicle according to claim 1, comprising controlling the clamping torque so that it decreases with an increase in the real-time drive torque: Causing the clamping torque generated by the electromechanical braking system to decrease with an increase in the real-time drive torque, where the clamping torque and the real-time drive torque satisfy: Vdrive+Vclamp=Voriginal; where V drive the real-time drive torque is, V clamp the clamping torque is and V original The original parking torque is... [6] Brake control method for starting a vehicle according to claim 1, wherein determining whether the real-time accelerator pedal position satisfies a parking release condition comprises: If the real-time accelerator pedal position is greater than a preset opening, determine that the parking release condition is met; or If the real-time accelerator pedal position is less than or equal to the preset opening, determine that the parking release condition is not met. [7] Brake control method for starting a vehicle according to claim 1, comprising sending an initial parking torque of an electric parking brake system of the vehicle to an electromechanical brake system when the parking release condition is met, and generating, by the electromechanical brake system according to the initial parking torque, a clamping torque of the same magnitude as the initial parking torque: Sending the original parking torque of the vehicle's electric parking brake system to the electromechanical braking system when the parking release condition is met, causing the electromechanical braking system to generate the clamping torque of the same magnitude as the original parking torque, and controlling an electromagnetic brake in the electric parking brake system to release it. [8] Brake control device for starting a vehicle, characterized by , that the brake control device for starting a vehicle is configured to perform the brake control method for starting a vehicle according to any one of claims 1 to 7, and comprises: a sensing module configured to capture a real-time accelerator pedal position of a vehicle when the vehicle is in a parked state and to determine whether the real-time accelerator pedal position meets a parking release condition; a torque switching module configured to send an initial parking torque from the vehicle's electric parking brake system to an electromechanical braking system when the parking release condition is met, so that the electromechanical braking system generates a clamping torque of the same magnitude as the initial parking torque; and a torque release module configured to obtain real-time drive torque according to the real-time accelerator pedal position and to control the clamping torque so that it decreases with an increase in real-time drive torque. [9] Storage medium containing computer-executable instructions, characterized by , that the computer-executable instructions, when executed by a computer processor, are configured to perform the brake control procedure for starting a vehicle according to any one of claims 1 to 7. [10] vehicle, characterized by , that the vehicle comprises the brake control device for starting a vehicle according to claim 8.

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