阅读说明：本技术 伺服可调式线控制动系统、控制方法、存储介质及终端 (Servo adjustable brake-by-wire system, control method, storage medium and terminal ) 是由 刘宏伟 于 2021-08-31 设计创作，主要内容包括：本发明公开了一种伺服可调式线控制动系统、控制方法、存储介质和终端,所述系统包括踏板模拟器电子控制单元、模拟器调压腔、模拟器主缸、伺服电机和传动件；模拟器调压腔与模拟器主缸相连,模拟器主缸与制动主缸相连；踏板模拟器电子控制单元和伺服电机电连接,踏板模拟器电子控制单元被设置为接收制动主缸内发送的制动行程信号,根据制动行程信号和预设的踏板行程-踏板力特性表实时调整伺服电机的旋转角度；传动件与伺服电机相连,传动件用于将伺服电机的输出轴的转动转换为模拟器调压腔的活塞的移动。本发明通过控制单元任意设定踏板感,解决踏板感的反馈较为单一的问题,实现踏板感可依据车型或驾驶风格进行调整。(The invention discloses a servo adjustable type brake-by-wire system, a control method, a storage medium and a terminal, wherein the system comprises a pedal simulator electronic control unit, a simulator pressure regulating cavity, a simulator main cylinder, a servo motor and a transmission part; the simulator pressure regulating cavity is connected with a simulator main cylinder, and the simulator main cylinder is connected with a brake main cylinder; the pedal simulator electronic control unit is electrically connected with the servo motor and is used for receiving a brake stroke signal sent in the brake master cylinder and adjusting the rotation angle of the servo motor in real time according to the brake stroke signal and a preset pedal stroke-pedal force characteristic table; the transmission part is connected with the servo motor and used for converting the rotation of an output shaft of the servo motor into the movement of a piston of the pressure regulating cavity of the simulator. The pedal feeling is set by the control unit at will, the problem that the feedback of the pedal feeling is single is solved, and the pedal feeling can be adjusted according to the vehicle type or the driving style.)

1. A servo adjustable type brake-by-wire system comprises a brake pedal and a brake master cylinder connected with the brake pedal; the simulator is characterized by also comprising a pedal simulator electronic control unit, a simulator pressure regulating cavity, a simulator main cylinder, a servo motor and a transmission part;

the simulator pressure regulating cavity is connected with the simulator main cylinder, and the simulator main cylinder is connected with the brake main cylinder;

the pedal simulator electronic control unit is electrically connected with the servo motor and is used for receiving a brake stroke signal sent in the brake master cylinder and adjusting the rotation angle of the servo motor in real time according to the brake stroke signal and a preset pedal stroke-pedal force characteristic table;

the transmission part is connected with the servo motor and used for converting the rotation of the output shaft of the servo motor into the movement of the piston of the pressure regulating cavity of the simulator.

2. The system of claim 1, wherein the master cylinder includes a pedal travel sensor electrically connected to the pedal simulator electronic control unit; the pedal stroke sensor is configured to sense a change in position of the brake pedal to form a brake stroke signal.

3. The system of claim 1, wherein the pedal simulator electronic control unit is further configured to preset a pedal stroke-pedal force characteristic table for setting a conversion ratio of pedal stroke and pedal force.

4. The system of claim 1, further comprising a simulator control valve disposed between the simulator master cylinder and the brake master cylinder; the simulator control valve is electrically connected with the pedal simulator electronic control unit; the simulator control valve is used for controlling communication or disconnection between the simulator master cylinder and the brake master cylinder.

5. A control method of a servo-adjustable brake-by-wire system applied to the servo-adjustable brake-by-wire system according to any one of claims 1 to 4, comprising:

acquiring a brake stroke signal acquired by a stroke sensor in a brake master cylinder;

adjusting the rotation angle of a servo motor in real time according to the braking stroke signal and a preset pedal stroke-pedal force characteristic table so as to adjust the piston stroke of a pressure regulating cavity of the simulator and realize the intervention on the liquid inlet quantity of a main cylinder of the simulator;

and determining the target pedal force according to the rotation angle of the servo motor.

6. The control method according to claim 5, further comprising presetting the pedal stroke-pedal force characteristic table for setting a conversion ratio of pedal stroke and pedal force.

7. The control method of claim 5, further comprising energizing a simulator control valve to communicate a master cylinder and a simulator master cylinder based on the brake stroke signal.

8. The control method according to claim 5, further comprising controlling a simulator control valve to be de-energized and inputting the oil of the master cylinder to a wheel cylinder to generate a braking force if an electrical fault is detected.

9. A storage medium, characterized in that it stores instructions which, when executed by a processor, implement the steps of the control method according to any one of claims 5 to 8.

10. A terminal comprising a memory storing instructions and a processor loading the instructions to perform the steps of the control method according to any one of claims 5 to 8.

Technical Field

The invention relates to the technical field of vehicle brake-by-wire, in particular to a servo adjustable brake-by-wire system, a control method, a storage medium and a terminal.

Background

Referring to fig. 1, in a conventional brake-by-wire system, a driver inputs a braking request by stepping on a brake pedal, the brake-by-wire system powers on a simulator control valve (normally closed valve) according to a stroke signal of a pedal stroke sensor (installed in a brake-by-wire master cylinder assembly), so that a brake master cylinder loop 1 is communicated with a pedal simulator master cylinder, oil in the brake master cylinder smoothly enters the pedal simulator along with pedal force input, the pedal simulator master cylinder sequentially contacts a first section of spring and a second section of spring along with the entering of the oil, and pedal feeling is simulated by the springs at two ends and fed back to the driver. The brake-by-wire system mainly comprises a pedal simulator electromagnetic valve, a pedal simulator main cylinder, a spring and other parts, wherein the electromagnetic valve is mainly responsible for controlling the on-off of a pedal simulator loop, and the simulation of pedal feel mainly depends on the pedal simulator main cylinder and the spring thereof for feedback, and is limited by the characteristics of the spring, and the pedal feel feedback is relatively single; and mainly rely on simulator master cylinder and spring feedback, and the spring characteristic solidification, the footboard feels can not be adjusted, can not satisfy the demand that different motorcycle types or different driving styles adjusted to the footboard feels.

Disclosure of Invention

The invention aims to provide a servo adjustable brake-by-wire system and an electric automobile, which can be used for randomly setting pedal feel through an electronic control unit of a pedal simulator and solving the problems that the existing simulation of the pedal feel of the electric automobile mainly depends on a main cylinder of the pedal simulator and a spring thereof for feedback, the integration level is low, the foot feel simulation quality is low, and the simulation feel cannot be actively adjusted.

In order to solve the technical problem, the invention provides a servo-adjustable brake-by-wire system in a first aspect, which comprises a brake pedal and a brake master cylinder connected with the brake pedal; the simulator also comprises a pedal simulator electronic control unit, a simulator pressure regulating cavity, a simulator main cylinder, a servo motor and a transmission part;

the simulator pressure regulating cavity is connected with the simulator main cylinder, and the simulator main cylinder is connected with the brake main cylinder;

the pedal simulator electronic control unit is electrically connected with the servo motor and is used for receiving a brake stroke signal sent in the brake master cylinder and adjusting the rotation angle of the servo motor in real time according to the brake stroke signal and a preset pedal stroke-pedal force characteristic table;

the transmission part is connected with the servo motor and used for converting the rotation of the output shaft of the servo motor into the movement of the piston of the pressure regulating cavity of the simulator.

In some possible embodiments, the master cylinder comprises a pedal travel sensor electrically connected to the pedal simulator electronic control unit; the pedal stroke sensor is configured to sense a change in position of the brake pedal to form a brake stroke signal.

In some possible embodiments, the pedal simulator electronic control unit is further configured to preset a pedal stroke-pedal force characteristic table for setting a conversion ratio of the pedal stroke and the pedal force.

In some possible embodiments, further comprising a simulator control valve disposed between the simulator master cylinder and the brake master cylinder; the simulator control valve is electrically connected with the pedal simulator electronic control unit; the simulator control valve is used for controlling communication or disconnection between the simulator master cylinder and the brake master cylinder.

The second aspect of the present invention provides a control method for a servo-adjustable brake-by-wire system, which is applied to the servo-adjustable brake-by-wire system, and includes:

acquiring a brake stroke signal acquired by a stroke sensor in a brake master cylinder;

adjusting the rotation angle of a servo motor in real time according to the braking stroke signal and a preset pedal stroke-pedal force characteristic table so as to adjust the piston stroke of a pressure regulating cavity of the simulator and realize the intervention on the liquid inlet quantity of a main cylinder of the simulator;

and determining the target pedal force according to the rotation angle of the servo motor.

In some possible embodiments, the method further includes presetting the pedal stroke-pedal force characteristic table, and the pedal stroke-pedal force characteristic table is used for setting the conversion ratio of the pedal stroke and the pedal force.

In some possible embodiments, the method further includes energizing a simulator control valve to communicate a master cylinder with a simulator master cylinder based on the brake stroke signal.

In some possible embodiments, the method further includes, if the electrical fault is detected, controlling the simulator control valve to be de-energized and inputting the oil of the master cylinder to the wheel cylinders to generate the braking force.

The present invention also provides a storage medium having stored thereon a computer program which, when executed by a processor, implements a method of controlling a servo-adjustable brake-by-wire system as described above.

The invention also provides a terminal comprising one or more processors and memory. A memory coupled to the processor for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the control method of the servo-adjustable brake-by-wire system as described above.

The implementation of the invention has the following beneficial effects:

the method has the advantages that the pedal feeling is set optionally through the electronic control unit, the rotation angle of the servo motor is adjusted in real time according to a brake stroke signal input by the brake pedal and a pedal stroke-pedal force characteristic table, so that the piston stroke of the pressure regulating cavity of the simulator is adjusted, the intervention on the liquid inlet quantity of the main cylinder of the simulator is realized, the set pedal force characteristic simulation is completed, the problem that the pedal feeling cannot be adjusted due to the fact that the existing pedal feeling simulation mainly depends on the feedback of the main cylinder of the simulator and a spring and the characteristic of the spring is solidified is solved, and the pedal feeling can be adjusted according to the requirements of a vehicle model or a driver.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a brake-by-wire system of the prior art;

FIG. 2 is a schematic structural diagram of a servo-adjustable brake-by-wire system according to the present invention;

FIG. 3 is a schematic diagram of a pedal travel-pedal force characteristic of the present invention;

FIG. 4 is a flow chart illustrating a control method of the servo-adjustable brake-by-wire system according to the present invention;

fig. 5 is a schematic structural diagram of a computer terminal device according to an embodiment of the present invention.

Wherein the reference numerals in the figures correspond to: 1. a brake pedal; 2. a brake master cylinder; 3. a pedal simulator electronic control unit; 4. a simulator pressure regulating cavity; 5. a simulator master cylinder; 6. a servo motor; 7. a transmission member; 8. a pedal stroke sensor; 9. the simulator controls the valve.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.

As shown in fig. 2, the invention discloses a servo adjustable brake-by-wire system, which comprises a brake pedal 1 and a brake master cylinder 2 connected with the brake pedal 1; the simulator also comprises a pedal simulator electronic control unit 3, a simulator pressure regulating cavity 4, a simulator main cylinder 5, a servo motor 6 and a transmission piece 7;

the simulator pressure regulating cavity 4 is connected with a simulator main cylinder 5, and the simulator main cylinder 5 is connected with the brake main cylinder 2;

the pedal simulator electronic control unit 3 is electrically connected with the servo motor 6, the pedal simulator electronic control unit 3 is arranged to receive a brake stroke signal sent in the brake master cylinder 2, and the rotation angle of the servo motor 6 is adjusted in real time according to the brake stroke signal and a preset pedal stroke-pedal force characteristic table;

the transmission piece 7 is connected with the servo motor 6, and the transmission piece 7 is used for converting the rotation of the output shaft of the servo motor 6 into the movement of the piston of the pressure regulating cavity 4 of the simulator.

Specifically, one end of the brake pedal 1 is connected with a pedal transmission assembly in the brake master cylinder 2, the other end of the brake pedal 1 is used for stepping, the output end of the stepping transmission assembly is hinged to the piston of the brake master cylinder 2, the brake pedal 1 is stepped, the brake pedal 1 drives the piston of the brake master cylinder 2 to move in the cylinder body through the transmission assembly, and then brake oil in the brake master cylinder 2 flows out to other connected valves and structural members and the like. The pedal transmission assembly may be a pedal rod, or may be another structure capable of realizing power transmission between the brake pedal 1 and the piston of the brake master cylinder 2, and details thereof are not described herein. The output of brake master cylinder 2 passes through simulator control valve 9 and is connected with simulator master cylinder 5, simulator master cylinder 5 includes single-section spring, simulator master cylinder 5 is connected the connection of simulator pressure regulating chamber, servo motor 6 is connected with driving medium 7, the output shaft of driving medium 7 is connected with the piston transmission in simulator pressure regulating chamber, servo motor 6 is for producing pivoted motor, utilize driving medium 7 to convert the rotation of servo motor 6's output shaft into the removal of the piston in simulator pressure regulating chamber, above-mentioned driving medium 7 is rack and pinion structure, screw lead screw structure or turbine worm structure etc. do not do detailed description here.

A driver inputs a braking request by stepping on a brake pedal 1, a pedal simulator electronic control unit 3 acquires a braking stroke signal according to a pedal stroke sensor 8 (arranged in a brake master cylinder assembly of a line control brake master cylinder 2) in a brake master cylinder 2, and the pedal simulator electronic control unit 3 powers on a simulator control valve 9 according to the braking stroke signal, so that a loop of the brake master cylinder 2 is communicated with a simulator master cylinder 5 and a simulator pressure regulating cavity, wherein the simulator control valve 9 is a normally closed valve; meanwhile, the pedal simulator electronic control unit 3 adjusts the rotation angle of the servo motor 6 in real time according to the stroke sensor signal and a preset pedal stroke-pedal force characteristic table, and further adjusts the piston stroke of the simulator pressure regulating cavity according to the rotation angle of the servo motor 6, so that the intervention on the liquid inlet quantity of the simulator main cylinder 5 is realized, and the simulation on the set pedal force characteristic is completed.

The electronic control unit 3 of the pedal simulator can be a centralized or distributed controller, for example, it can be a single-chip microcomputer or a plurality of distributed single-chip microcomputers, and the single-chip microcomputers can run control programs and transmit signals, so as to control each part to realize its function.

The steady-state pedal force F is related to the pedal travel S of the master cylinder 2:

wherein: pi is a circumferential constant, r₁Is the piston radius r of the brake master cylinder 2₂Is the piston radius, r, of the simulator master cylinder 5₃Piston radius, k, for a pressure-regulating chamber of a simulator₁Is the spring stiffness coefficient, and L is the piston stroke of the pressure regulating cavity.

As can be seen from the above formula, F is expressed as a function of the variable (S, L), so that the corresponding relation between the piston stroke L of the pressure regulating cavity and the pedal stroke S can be set according to the set S-F characteristic of the pedal style, and the aim of real-time adjustment of the pedal feeling is fulfilled.

The S-F characteristics of the selected style can be output by selecting different pedal force driving styles (pedal travel S-pedal force F curves) preset in the electronic control unit 3 of the pedal simulator, so that different pedal force simulation foot feelings are completed, and the pedal simulation requirements of various vehicle types and various driving styles are met.

In one embodiment, the master cylinder 2 comprises a pedal travel sensor 8, the pedal travel sensor 8 being electrically connected to the pedal simulator electronic control unit 3; the pedal stroke sensor 8 is arranged to sense a change in position of the brake pedal 1 to form a brake stroke signal.

The brake master cylinder 2 is internally provided with a pedal stroke sensor 8, when a driver steps on or releases the brake pedal 1, the pedal stroke sensor 8 can form a brake stroke signal so as to show whether the driver has the operation of braking or braking release, and the pedal simulator electronic control unit 3 can receive the brake stroke signal of the pedal stroke sensor 8. The brake stroke signal is formed by sensing a change in position of the brake pedal 1 by the pedal stroke sensor 8.

In one embodiment, the pedal simulator electronic control unit 3 is further configured to preset a pedal stroke-pedal force characteristic table for setting a conversion ratio of the pedal stroke and the pedal force.

A user needs to set a pedal stroke-pedal force characteristic table in advance through the electronic control unit 3 of the pedal simulator according to actual requirements, the output relation between the pedal stroke and the pedal force in the pedal stroke-pedal force characteristic table is shown in figure 3, and the requirements of different vehicle types and different driving styles on pedal feeling adjustment are met by adjusting the pedal stroke-pedal force characteristic table according to the driving style of the user.

In one embodiment, a simulator control valve 9 is further included, the simulator control valve 9 being disposed between the simulator master cylinder 5 and the brake master cylinder 2; the simulator control valve 9 is electrically connected with the pedal simulator electronic control unit 3; the simulator control valve 9 is used to control communication or disconnection between the simulator master cylinder 5 and the brake master cylinder 2.

The simulator control valve 9 is a normally closed valve, when a driver steps on or releases the brake pedal 1, the pedal stroke sensor 8 can generate a brake stroke signal, the pedal simulator electronic control unit 3 controls the simulator control valve 9 to be electrified according to the received brake stroke signal of the pedal stroke sensor 8, the simulator control valve 9 is opened, and the brake master cylinder 2 is communicated with the simulator master cylinder 5.

Referring to fig. 4, a second aspect of the present invention provides a control method for a servo-adjustable brake-by-wire system, which is applied to the servo-adjustable brake-by-wire system, and includes:

s101, obtaining a brake stroke signal collected by a stroke sensor in the brake master cylinder 2;

a driver steps on a brake pedal 1, and when the brake pedal 1 reaches a preset position, a pedal simulator electronic control unit 3 acquires a brake stroke signal of a stroke sensor in a brake master cylinder 2;

s102, adjusting the rotation angle of the servo motor 6 in real time according to the braking stroke signal and a preset pedal stroke-pedal force characteristic table to adjust the piston stroke of the pressure regulating cavity of the simulator and realize intervention on the liquid inlet quantity of the main cylinder 5 of the simulator;

adjusting the rotation angle of the servo motor 6 in real time according to the brake travel signal and a preset pedal travel-pedal force characteristic table;

and S103, determining a target pedal force according to the rotation angle of the servo motor 6.

The piston stroke of the pressure regulating cavity of the simulator is further adjusted through the rotation angle of the servo motor 6, so that the intervention on the liquid inlet quantity of the main cylinder 5 of the simulator is realized, and the simulation on the set pedal force characteristic is completed.

In one embodiment, the method further includes presetting the pedal stroke-pedal force characteristic table, which is used for setting a conversion ratio of the pedal stroke and the pedal force.

A user needs to preset a pedal stroke-pedal force characteristic table according to actual requirements, and the pedal stroke-pedal force characteristic table is adjusted according to the driving style of the user, so that the requirements of different vehicle types and different driving styles on pedal feeling adjustment are met.

In one embodiment, the method further includes energizing the simulator control valve 9 to communicate the master cylinder 2 and the simulator master cylinder 5 based on the brake stroke signal.

In one embodiment, the method further includes controlling the simulator control valve 9 to be de-energized and inputting the oil of the master cylinder 2 to the wheel cylinders to generate braking force if the electrical fault is detected.

Specifically, the simulator control valve 9 is in a normally closed state, the brake master cylinder 2 and the simulator master cylinder 5 are in a disconnected state, when a user steps on the brake pedal 1, the pedal simulator electronic control unit 3 receives a brake stroke signal, the simulator control valve 9 is controlled to be powered on, and the simulation control valve is opened, so that the brake master cylinder 2 and the simulator master cylinder 5 are communicated; when the brake-by-wire system encounters serious electrical fault, the brake-by-wire system enters a pure mechanical backup state, at the moment, the simulator control valve 9 is powered off and cuts off the circuits of the brake master cylinder 2 and the simulator master cylinder 5, so that oil liquid in the brake master cylinder 2 can directly enter the brake wheel cylinders through other circuits of the brake-by-wire system to generate certain braking force, and the safety redundancy of the braking force of the vehicle is ensured.

Referring to fig. 5, a terminal according to an embodiment of the present invention includes one or more processors and a memory. The memory is coupled to the processor and is configured to store one or more programs, which when executed by the one or more processors, cause the one or more processors to implement the method of controlling a servo-adjustable brake-by-wire system as in any of the above embodiments.

The processor is used for controlling the overall operation of the computer terminal equipment so as to complete all or part of the steps of the control method of the servo adjustable brake-by-wire system. The memory is used to store various types of data to support the operation at the computer terminal device, which data may include, for example, instructions for any application or method operating on the computer terminal device, as well as application-related data. The Memory may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk.

In an exemplary embodiment, the computer terminal Device may be implemented by one or more Application Specific 1 integrated circuits (AS 1C), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a controller, a microcontroller, a microprocessor or other electronic components, and is configured to perform the above-mentioned control method of the servo-controlled brake-by-wire system, and achieve the technical effects consistent with the above-mentioned method.

In another exemplary embodiment, there is also provided a storage medium comprising program instructions which, when executed by a processor, implement the steps of the control method of the servo adjustable brake-by-wire system in any one of the above embodiments. For example, the storage medium may be the above-mentioned memory including program instructions, and the program instructions may be executed by a processor of the terminal to implement the above-mentioned control method of the servo-adjustable brake-by-wire system, and achieve the technical effects consistent with the above-mentioned method.

While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.