阅读说明：本技术 一种控制电液复合踏板的方法及装置 (Method and device for controlling electro-hydraulic composite pedal ) 是由 钟诚 苏功富 李欣荣 蒋超 杨楠 于 2021-09-16 设计创作，主要内容包括：本发明涉及踏板控制技术领域,尤其涉及一种控制电液复合踏板的方法及装置,该方法应用于整车控制器中,该方法包括：获取制动踏板的行程开度；判断该行程开度是否小于或等于预设开度；若是,控制电机控制器按照第一线性变化趋势输出电制动力矩；若否,控制液压控制器按照第二线性变化趋势输出液压制动力矩,且控制电机控制器按照第三线性变化趋势输出电制动力矩,以使得随着制动踏板的行程变化,液压制动力矩与电制动力矩总和的变化与第一线性变化趋势相同,在附着力相对较小的湿滑路面,司机在通过踩踏制动踏板感受车辆的实际制动效果时,其制动力度是平顺的,保障整车刹车操作的平顺性及安全性。(The invention relates to the technical field of pedal control, in particular to a method and a device for controlling an electro-hydraulic composite pedal, wherein the method is applied to a vehicle control unit and comprises the following steps: acquiring the stroke opening of a brake pedal; judging whether the stroke opening is smaller than or equal to a preset opening; if so, controlling the motor controller to output the electric braking torque according to the first linear change trend; if not, the hydraulic controller is controlled to output the hydraulic braking torque according to the second linear variation trend, and the motor controller is controlled to output the electric braking torque according to the third linear variation trend, so that along with the stroke variation of the brake pedal, the variation of the sum of the hydraulic braking torque and the electric braking torque is the same as the first linear variation trend, and on a wet and slippery road surface with relatively small adhesive force, when a driver feels the actual braking effect of the vehicle by stepping on the brake pedal, the braking force is smooth, and the smoothness and the safety of the braking operation of the whole vehicle are guaranteed.)

1. The utility model provides a method of control compound footboard of electricity liquid, is applied to vehicle control unit, vehicle control unit connects motor controller, brake pedal and hydraulic controller, its characterized in that includes:

acquiring the stroke opening of a brake pedal;

judging whether the stroke opening is smaller than or equal to a preset opening or not;

if so, controlling the motor controller to output the electric braking torque according to the first linear change trend;

if not, controlling the hydraulic controller to output the hydraulic braking torque according to the second linear variation trend, and controlling the motor controller to output the electric braking torque according to the third linear variation trend, so that the change of the sum of the hydraulic braking torque and the electric braking torque is the same as the first linear variation trend along with the stroke change of the brake pedal.

2. The method of claim 1, wherein controlling the motor controller to output the electric braking torque according to a first linearly changing trend comprises:

acquiring the maximum value of electric braking torque;

determining a first slope of the first linear change trend based on the maximum value of the electric braking torque and the preset opening degree;

and controlling the motor controller to output the electric braking torque according to the first slope based on the stroke opening and the first slope.

3. The method of claim 2, wherein determining a first slope of the first linearly changing trend based on the electric brake torque maximum and the preset opening degree comprises:

and determining a first slope K1 of the first linear change trend to be Tdmax/Kz based on the maximum value Tdmax of the electric braking torque and the preset opening Kz.

4. The method of claim 2, wherein controlling the motor controller to output an electric brake torque at a first slope based on the stroke opening and the first slope comprises:

based on the stroke opening Kp and the first slope K1, the motor controller is controlled to output an electric brake torque Td 1-K1 Kp with a first slope.

5. The method of claim 1, wherein controlling the hydraulic controller to output the hydraulic braking torque according to a second linear trend of change and controlling the motor controller to output the electric braking torque according to a third linear trend of change such that a sum of the hydraulic braking torque and the electric braking torque changes in the same manner as the first linear trend of change as the stroke of the brake pedal changes comprises:

acquiring the maximum value of hydraulic braking torque and the maximum value of motor braking torque, and setting the preset opening as the ratio of the maximum value of the motor braking torque to the maximum value of the hydraulic braking torque;

obtaining a second slope of the second linear change increasing trend based on the maximum hydraulic braking torque value and the preset opening degree;

controlling the hydraulic controller to output a hydraulic braking torque according to a second slope based on the stroke opening and the second slope;

obtaining a third slope of the third linear variation decreasing trend based on the maximum value of the electric braking torque and a preset opening degree;

and controlling the motor controller to output electric braking torque according to a third slope on the basis of the stroke opening and the third slope, so that the change of the sum of the hydraulic braking torque and the electric braking torque is the same as the first linear change trend along with the change of the stroke of the brake pedal.

6. The method according to claim 5, wherein the obtaining a second slope of the second linear variation trend based on the maximum hydraulic braking torque and the preset opening degree comprises:

obtaining a second slope K2 of the second linear change trend, which is Tymax/(1-Kz), based on the maximum hydraulic brake torque value Tymax and the preset opening Kz;

the controlling the hydraulic controller to output the hydraulic braking torque according to the second slope based on the stroke opening and the second slope includes:

based on the stroke opening Kp and the second slope K2, the hydraulic controller is controlled to output a hydraulic braking torque Ty of (Kp-Kz)/(1-Kz) × Tymax with the second slope.

7. The method according to claim 5, wherein obtaining a third slope of the third linear variation decreasing trend based on the electric brake torque maximum value, a preset opening degree, comprises:

obtaining a third slope K3 of the third linear change reduction trend which is-Tdmax/(1-Kz) based on the maximum value Tdmax of the electric braking torque and the preset opening Kz;

the controlling the motor controller to output the electric braking torque according to a third slope based on the stroke opening and the third slope comprises:

controlling the motor controller to output an electric brake torque Td2 as (1-Kp)/(1-Kz) Tdmax at a third slope based on the stroke opening Kp and the third slope K3.

8. The utility model provides a device of compound footboard of control electricity liquid, is applied to vehicle control unit, vehicle control unit connects motor controller, brake pedal and hydraulic controller, its characterized in that includes:

the acquisition module is used for acquiring the stroke opening of the brake pedal;

the judging module is used for judging whether the stroke opening is smaller than or equal to a preset opening;

the first control module is used for controlling the motor controller to output the electric braking torque according to the first linear change trend if the first control module is used for controlling the motor controller to output the electric braking torque according to the first linear change trend;

and the second control module is used for controlling the hydraulic controller to output the hydraulic braking torque according to a second linear variation trend if the hydraulic braking torque is not output, and controlling the motor controller to output the electric braking torque according to a third linear variation trend, so that the change of the sum of the hydraulic braking torque and the electric braking torque is the same as the first linear variation trend along with the stroke change of the brake pedal.

9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method steps of any of claims 1-7 when executing the program.

10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method steps of any one of claims 1 to 7.

Technical Field

The invention relates to the technical field of pedal control, in particular to a method and a device for controlling an electro-hydraulic composite pedal.

Background

The electro-hydraulic composite brake pedal is mainly applied to engineering vehicles, and in the using process, for wet and slippery road surfaces with relatively small adhesive force, the phenomena of wheel locking, side slipping and the like are caused when the brake pedal is treaded lightly and the brake pedal is treaded heavily. Therefore, the driver's stepping on the brake pedal cannot effectively control the output effect of the braking torque.

Therefore, the existing control mode cannot adapt to the driving experience of the user, and unsafe accidents are easily caused.

Disclosure of Invention

In view of the above, the present invention has been developed to provide a method and apparatus for controlling an electro-hydraulic compound pedal that overcomes, or at least partially solves, the above-mentioned problems.

In a first aspect, the present invention provides a method for controlling an electro-hydraulic compound pedal, which is applied to a vehicle control unit, where the vehicle control unit is connected to a motor controller, a brake pedal and a hydraulic controller, and includes:

acquiring the stroke opening of a brake pedal;

judging whether the stroke opening is smaller than or equal to a preset opening or not;

if so, controlling the motor controller to output the electric braking torque according to the first linear change trend;

if not, controlling the hydraulic controller to output the hydraulic braking torque according to the second linear variation trend, and controlling the motor controller to output the electric braking torque according to the third linear variation trend, so that the change of the sum of the hydraulic braking torque and the electric braking torque is the same as the first linear variation trend along with the stroke change of the brake pedal.

Further, the controlling the motor controller to output the electric braking torque according to the first linear variation trend comprises:

acquiring the maximum value of electric braking torque;

determining a first slope of the first linear change trend based on the maximum value of the electric braking torque and the preset opening degree;

and controlling the motor controller to output the electric braking torque according to the first slope based on the stroke opening and the first slope.

Further, the determining a first slope of the first linear change trend based on the electric brake torque maximum value and the preset opening degree includes:

and determining a first slope K1 of the first linear change trend to be Tdmax/Kz based on the maximum value Tdmax of the electric braking torque and the preset opening Kz.

Further, the controlling the motor controller to output the electric braking torque according to the first slope based on the stroke opening and the first slope includes:

based on the stroke opening Kp and the first slope K1, the motor controller is controlled to output an electric brake torque Td 1-K1 Kp with a first slope.

Further, the controlling the hydraulic controller to output the hydraulic braking torque according to a second linear variation tendency, and controlling the motor controller to output the electric braking torque according to a third linear variation tendency such that a variation of a sum of the hydraulic braking torque and the electric braking torque is the same as the first linear variation tendency as a stroke of the brake pedal includes:

acquiring the maximum value of hydraulic braking torque and the maximum value of motor braking torque, and setting the preset opening as the ratio of the maximum value of the motor braking torque to the maximum value of the hydraulic braking torque;

obtaining a second slope of the second linear change increasing trend based on the maximum hydraulic braking torque value and the preset opening degree;

controlling the hydraulic controller to output a hydraulic braking torque according to a second slope based on the stroke opening and the second slope;

obtaining a third slope of the third linear variation decreasing trend based on the maximum value of the electric braking torque and a preset opening degree;

and controlling the motor controller to output electric braking torque according to a third slope on the basis of the stroke opening and the third slope, so that the change of the sum of the hydraulic braking torque and the electric braking torque is the same as the first linear change trend along with the change of the stroke of the brake pedal.

Further, the obtaining a second slope of the second linear change trend based on the maximum hydraulic braking torque and the preset opening degree includes:

obtaining a second slope K2 of the second linear change trend, which is Tymax/(1-Kz), based on the maximum hydraulic brake torque value Tymax and the preset opening Kz;

the controlling the hydraulic controller to output the hydraulic braking torque according to the second slope based on the stroke opening and the second slope includes:

based on the stroke opening Kp and the second slope K2, the hydraulic controller is controlled to output a hydraulic braking torque Ty of (Kp-Kz)/(1-Kz) × Tymax with the second slope.

Further, the obtaining a third slope of the third linear variation decreasing trend based on the maximum value of the electric braking torque and the preset opening degree includes:

obtaining a third slope K3 of the third linear change reduction trend which is-Tdmax/(1-Kz) based on the maximum value Tdmax of the electric braking torque and the preset opening Kz;

the controlling the motor controller to output the electric braking torque according to a third slope based on the stroke opening and the third slope comprises:

controlling the motor controller to output an electric brake torque Td2 as (1-Kp)/(1-Kz) Tdmax at a third slope based on the stroke opening Kp and the third slope K3.

In a second aspect, the present invention further provides a device for controlling an electro-hydraulic compound pedal, which is applied to a vehicle controller, wherein the vehicle controller is connected to a motor controller, a brake pedal and a hydraulic controller, and the device comprises:

the acquisition module is used for acquiring the stroke opening of the brake pedal;

the judging module is used for judging whether the stroke opening is smaller than or equal to a preset opening;

the first control module is used for controlling the motor controller to output the electric braking torque according to the first linear change trend if the first control module is used for controlling the motor controller to output the electric braking torque according to the first linear change trend;

and the second control module is used for controlling the hydraulic controller to output the hydraulic braking torque according to a second linear variation trend if the hydraulic braking torque is not output, and controlling the motor controller to output the electric braking torque according to a third linear variation trend, so that the change of the sum of the hydraulic braking torque and the electric braking torque is the same as the first linear variation trend along with the stroke change of the brake pedal.

In a third aspect, the present invention also provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the above-mentioned method steps when executing the program.

In a fourth aspect, the present invention also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the above method steps.

One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:

the invention provides a method for controlling an electro-hydraulic compound pedal, which is applied to a vehicle control unit, wherein the vehicle control unit is connected with a motor controller, a brake pedal and a hydraulic controller, and the brake pedal is provided with a stroke sensor and comprises the following steps: acquiring the stroke opening of a brake pedal; judging whether the stroke opening is smaller than or equal to a preset opening; if so, controlling the motor controller to output the electric braking torque according to the first linear change trend; if not, the hydraulic controller is controlled to output the hydraulic braking torque according to the second linear variation trend, and the motor controller is controlled to output the electric braking torque according to the third linear variation trend, so that the total change of the hydraulic braking torque and the electric braking torque is the same as the first linear variation trend along with the stroke change of the brake pedal.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 is a schematic diagram illustrating a structure of a vehicle control unit connected with other electrical appliances in an embodiment of the invention;

FIG. 2 is a flow chart illustrating steps of a method for controlling an electro-hydraulic compound pedal according to an embodiment of the present invention;

FIG. 3 is a schematic diagram showing a trend curve of braking force in the embodiment of the invention;

FIG. 4 is a schematic structural diagram illustrating an apparatus for controlling an electro-hydraulic compound pedal according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of an electronic device implementing the method for controlling the electro-hydraulic compound pedal according to the embodiment of the invention.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

Example one

An embodiment of the present invention provides a method for controlling an electro-hydraulic compound pedal, as shown in fig. 1, the method is applied to a vehicle control unit 101, the vehicle control unit 101 is connected with a motor controller 102, a brake pedal 103 and a hydraulic controller 104, and the motor controller 102 is connected with a motor for controlling the motor according to a braking force.

As shown in fig. 2, the method includes:

s201, acquiring the stroke opening of a brake pedal;

s202, judging whether the stroke opening is smaller than or equal to a preset opening;

s203, if yes, controlling the motor controller to output an electric braking torque according to the first linear change trend;

and S204, if not, controlling the hydraulic controller to output the hydraulic braking torque according to the second linear variation trend, and controlling the motor controller to output the electric braking torque according to the third linear variation trend, so that the change of the sum of the hydraulic braking torque and the electric braking torque is the same as the first linear variation trend along with the stroke change of the brake pedal.

In a specific embodiment, a stroke opening degree sensor is provided at the brake pedal, and is used for detecting the stroke opening degree of the brake pedal, and the stroke opening degree is transmitted to the vehicle control unit 101 through the detection of the stroke opening degree of the brake pedal, and the vehicle control unit 101 performs control based on the stroke opening degree.

In the first stage, when the stroke opening degree is smaller than or equal to the preset opening degree, S203 is executed, and the motor controller 102 is controlled to output the electric braking torque according to the first linear change trend. In this first phase, the hydraulic controller is not controlled.

The preset opening is specifically set according to different vehicles, for example, the preset opening is 25%, or 30%, and the like, and is not limited herein.

When the stroke opening is small, namely when the stroke opening does not exceed the preset opening, the electric braking torque is output through the motor controller 102, and the torque requirement corresponding to the current stroke opening is met.

When the motor controller 102 is controlled to output the electric braking torque, the electric braking torque is output according to a first linear change trend, and a first slope corresponding to the first linear change trend.

Therefore, when the motor controller 102 is controlled to output the electric braking torque according to the first linear variation trend, specifically, the maximum value of the electric braking torque is obtained; determining a first slope of the first linear change trend based on the maximum value of the electric braking torque and a preset opening degree; based on the stroke opening and the first slope, the motor controller 102 is controlled to output the electric brake torque with the first slope.

When the first slope is determined, the first slope K1, namely Tdmax/Kz, of the first linear change trend is obtained according to the maximum value Tdmax of the electric brake torque and the preset opening Kz.

Specifically, as shown in fig. 3, two points on the first linear change curve are obtained by setting the corresponding electric braking torque to 0 when the stroke opening is 0 and setting the corresponding electric braking torque to the maximum value Tdmax of the electric braking torque when the stroke opening is the preset opening Kz, and the first slope K1 is obtained as Tdmax/Kz based on the coordinates of the two points.

When the motor controller is determined to output the electric braking torque according to the first slope, the electric braking torque is determined according to the stroke opening and the first slope.

Specifically, as shown in fig. 3, the electric brake torque Td1 is K1 Kp, where Kp is the value of the stroke opening, and the value changes with the change of the stroke opening.

And in the second stage, when the stroke opening degree is larger than the preset opening degree, S204 is executed, the hydraulic controller is controlled to output the hydraulic braking torque according to the second linear variation trend, and the motor controller is controlled to output the electric braking torque according to the third linear variation trend, so that the change of the sum of the hydraulic braking torque and the electric braking torque is the same as the first linear variation trend along with the stroke variation of the brake pedal.

In an alternative embodiment, the maximum hydraulic braking torque and the maximum motor braking torque are obtained first, and the preset opening degree is set to the ratio between the maximum motor braking torque and the maximum hydraulic braking torque.

Then, a second slope of the second linearly changing increasing tendency is obtained based on the hydraulic braking torque maximum value and the preset opening degree. And controlling the hydraulic controller to output the hydraulic braking torque according to the second slope based on the stroke opening and the second slope.

Meanwhile, a third slope of the third linear variation decreasing trend is obtained based on the electric brake torque maximum value and the preset opening degree. And controlling the motor controller to output the electric braking torque according to the third slope based on the stroke opening and the third slope.

Through the control mode, the change of the sum of the hydraulic braking torque and the electric braking torque is the same as the first linear change trend along with the change of the stroke of the brake pedal.

The maximum total braking torque value is obtained by carrying out simulation calculation on the braking torque of the whole vehicle under various running conditions, and then the maximum electric braking torque value and the maximum hydraulic braking torque value are reversely deduced through the maximum braking torque value.

The wet brake is adopted in the invention, and the maximum braking torque value provided by the wet brake is larger than the maximum braking torque value required by the whole vehicle braking.

In a specific embodiment, the pedal stroke angle may be set to 28 degrees, the pedal stroke may be set to 100mm, and the preset opening degree of the brake pedal starting hydraulic brake may be set to 25%, and of course, the preset opening degree may be set differently according to different vehicles.

Next, based on the hydraulic brake torque maximum value Tymax and the preset opening Kz, a second slope K2 of the second linear variation tendency is obtained as Tymax/(1-Kz).

Specifically, as shown in fig. 3, according to the variation curve of the hydraulic braking torque, when the pedal opening is 0, the hydraulic braking torque is 0; when the pedal opening is maximum, namely 1, the hydraulic braking torque is the maximum hydraulic braking torque value Tymax. Two points on the second linear change curve are thus obtained, and the second slope K2 is obtained as Tymax-0/(1-Kz) based on the coordinates of these two points.

Then, the hydraulic controller is controlled to output the hydraulic braking torque Ty at the second slope (Kp-Kz)/(1-Kz) × Tymax based on the stroke opening Kp and the second slope K2.

As shown in fig. 3, according to the variation curve of the hydraulic braking torque, the known coordinate point (Kz, 0) on the curve, and the second slope K2, the functional relationship between the hydraulic braking torque and the pedal opening degree is obtained, i.e., (Ty-0)/(Kp-Kz) ═ K2, and Ty ═ Kp-Kz)/(1-Kz) × Tymax is obtained.

Meanwhile, when the pedal opening is larger than the preset opening, the electric braking torque needs to be controlled.

Specifically, based on the maximum value Tdmax of the electric brake torque and the preset opening Kz, the third slope K3 of the third linear variation decreasing trend is obtained as-Tdmax/(1-Kz).

Namely, when the electric braking torque is controlled, the electric braking torque is reduced, as shown in fig. 3, according to the variation curve of the electric braking torque, when the pedal opening reaches the preset opening Kz, the corresponding electric braking torque reaches the maximum value Tdmax of the electric braking torque; when the pedal opening reaches the maximum opening 1, that is, fully opened, the corresponding electric brake torque is 0, and at this time, the braking force is all output by the hydraulic braking force, whereby the third slope K3 becomes 0-Tdmax/(1-Kz).

Then, based on the stroke opening Kp and the third slope K3, the motor controller is controlled to output an electric brake torque Td2 of (1-Kp)/(1-Kz) Tdmax according to the third slope K3.

Specifically, as shown in fig. 3, according to the variation curve of the electric brake torque, on which coordinate points are known as (Kz, Tdmax) and the third slope K3, a functional relationship between the electric brake torque and the pedal opening is obtained, that is, (Td2-Tdmax)/(Kp-Kz) — K3, thereby obtaining that Td2 is (1-Kp)/(1-Kz) Tdmax.

In order to ensure that the change in the sum of the hydraulic braking torque and the electric braking torque described above is the same as the first slope of the first trend of change. It is only necessary to ensure that the preset opening degree Kz is Tdmax/Tydmax, and since the slope of the change of the sum of the hydraulic brake torque and the electric brake torque is equal to the first slope K1, the sum Tz of the hydraulic brake torque and the electric brake torque is Kp Tymax.

The vehicle control unit 101 is further connected with a brake resistor 105 and a battery box 106, the brake resistor 105 and the battery box 106 are matched with the motor controller 102 to realize auxiliary braking, and the bus voltage is limited within a safety range.

Specifically, the feedback voltage of the bus cannot exceed the preset voltage, and if the battery box 106 cannot be effectively charged, i.e., is fully charged or fails, the bus voltage will continuously rise and exceed the preset voltage, and the braking resistor 105 is controlled to be put into use, so that the bus voltage is reduced and does not exceed the preset voltage.

When the vehicle is braked, the brake resistor 105 ensures that the charging current of the battery is always kept within the high-efficiency charging area, the energy exceeding the maximum charging power of the battery box is consumed by the brake resistor, and the feedback utilization of the brake energy is maximally ensured while the sufficient electric brake torque of the whole vehicle is ensured.

One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:

the invention provides a method for controlling an electro-hydraulic compound pedal, which is applied to a vehicle control unit, wherein the vehicle control unit is connected with a motor controller, a brake pedal and a hydraulic controller, and the brake pedal is provided with a stroke sensor and comprises the following steps: acquiring the stroke opening of a brake pedal; judging whether the stroke opening is smaller than or equal to a preset opening; if so, controlling the motor controller to output the electric braking torque according to the first linear change trend; if not, the hydraulic controller is controlled to output the hydraulic braking torque according to the second linear variation trend, and the motor controller is controlled to output the electric braking torque according to the third linear variation trend, so that the change of the sum of the hydraulic braking torque and the electric braking torque is the same as the first linear variation trend along with the stroke variation of the brake pedal.

Example two

Based on the same inventive concept, the invention also provides a device for controlling the electro-hydraulic compound pedal, which is applied to a vehicle control unit, wherein the vehicle control unit is connected with a motor controller, a brake pedal and a hydraulic controller, as shown in fig. 4, the device comprises:

an obtaining module 401, configured to obtain a stroke opening of a brake pedal;

a judging module 402, configured to judge whether the stroke opening is smaller than or equal to a preset opening;

the first control module 403 is configured to, if yes, control the motor controller to output an electric braking torque according to the first linear variation trend;

and the second control module 404 is configured to control the hydraulic controller to output the hydraulic braking torque according to the second linear variation trend and control the motor controller to output the electric braking torque according to the third linear variation trend if the hydraulic braking torque and the electric braking torque are not equal to each other, so that the total change of the hydraulic braking torque and the electric braking torque is equal to the first linear variation trend along with the stroke change of the brake pedal.

In an alternative embodiment, the first control module 403 includes:

the first acquisition unit is used for acquiring the maximum value of the electric braking torque;

a first determining unit, configured to determine a first slope of the first linear change trend based on the maximum electric braking torque and the preset opening degree;

and the second determination unit is used for controlling the motor controller to output the electric braking torque according to the first slope based on the stroke opening and the first slope.

In an alternative embodiment, the first determining unit is configured to:

and determining a first slope K1 of the first linear change trend to be Tdmax/Kz based on the maximum value Tdmax of the electric braking torque and the preset opening Kz.

In an alternative embodiment, the second determination unit is used for

Based on the stroke opening Kp and the first slope K1, the motor controller is controlled to output an electric brake torque Td 1-K1 Kp with a first slope.

In an alternative embodiment, the second control module 404 includes:

the second acquisition unit is used for acquiring the maximum value of the hydraulic braking torque and the maximum value of the motor braking torque, and setting the preset opening degree as the ratio of the maximum value of the motor braking torque to the maximum value of the hydraulic braking torque;

the first obtaining unit is used for obtaining a second slope of the second linear change increasing trend based on the maximum hydraulic braking torque value and the preset opening degree;

the first control subunit is used for controlling the hydraulic controller to output hydraulic braking torque according to a second slope on the basis of the stroke opening and the second slope;

a second obtaining unit, configured to obtain a third slope of the third linear variation decreasing trend based on a maximum value of the electric braking torque and a preset opening degree;

and the second control subunit is used for controlling the motor controller to output the electric braking torque according to a third slope on the basis of the stroke opening and the third slope, so that the change of the sum of the hydraulic braking torque and the electric braking torque is the same as the first linear change trend along with the change of the stroke of the brake pedal.

In an alternative embodiment, the first obtaining unit is configured to obtain a second slope K2 of the second linear variation trend, which is ty max/(1 Kz), based on the maximum hydraulic brake torque value ty max and the preset opening Kz;

a first control subunit, configured to control the hydraulic controller to output a hydraulic braking torque Ty according to a second slope (Kp-Kz)/(1-Kz) × Tymax based on the stroke opening Kp and the second slope K2.

In an alternative embodiment, the second obtaining unit is configured to obtain a third slope K3 ═ Tdmax/(1-Kz) of the third linear variation decreasing trend, based on the maximum value Tdmax of the electric brake torque and the preset opening Kz;

a second control subunit for controlling the motor controller to output an electric brake torque Td2 ═ 1-Kp)/(1-Kz) Tdmax at a third slope based on the stroke opening Kp and the third slope K3.

EXAMPLE III

Based on the same inventive concept, the embodiment of the present invention provides a computer device, as shown in fig. 5, including a memory 504, a processor 502 and a computer program stored on the memory 504 and executable on the processor 502, wherein the processor 502 implements the steps of the above method for controlling the electro-hydraulic compound pedal when executing the program.

Where in fig. 5 a bus architecture (represented by bus 500) is shown, bus 500 may include any number of interconnected buses and bridges, and bus 500 links together various circuits including one or more processors, represented by processor 502, and memory, represented by memory 504. The bus 500 may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface 506 provides an interface between the bus 500 and the receiver 501 and transmitter 503. The receiver 501 and the transmitter 503 may be the same element, i.e. a transceiver, providing a means for communicating with various other apparatus over a transmission medium. The processor 502 is responsible for managing the bus 500 and general processing, and the memory 504 may be used for storing data used by the processor 502 in performing operations.

Example four

Based on the same inventive concept, embodiments of the present invention provide a computer-readable storage medium having stored thereon a computer program, which, when being executed by a processor, performs the steps of the above-described method of controlling an electro-hydraulic compound pedal.

The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.

The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components of the apparatus for controlling an electro-hydraulic compound pedal, a computer device, or both, according to embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.