阅读说明：本技术 一种解决搓板路况下制动踏板虚位的控制系统及方法 (Control system and method for solving problem of false position of brake pedal under washboard road condition ) 是由 崔玉涛 夏禹 吴艳华 曾书华 解洪江 于 2021-08-25 设计创作，主要内容包括：本申请涉及一种解决搓板路况下制动踏板虚位的控制系统及方法,当车辆处于搓板路况中时,采集沿水平且向车辆左侧方向的最大冲击加速度ay1,沿水平且向车辆右侧方向的最大冲击加速度ay2,驱使制动卡钳回敲的水平加速度下限值ay；以及制动踏板开度,若ay1和ay2中存在一个大于等于ay,且制动踏板开度为0,则ESC控制系统介入,并提供制动液压力,以驱使制动摩擦片回到初始位置,所述初始位置为车辆进入所述搓板路之前制动摩擦片所在位置,ESC控制系统对制动卡钳的液压回路增加制动液压力并保持,以使此时刹车卡钳不存在刹车踩下的虚位,通过ESC控制系统带动制动卡钳发生位移,以弥补制动卡钳活塞被压且无法复位的间隙导致的制动踏板行程增大。(The application relates to a control system and a method for solving the problem of the false position of a brake pedal under a washboard road condition, wherein when a vehicle is in the washboard road condition, the maximum impact acceleration ay1 in the horizontal direction and the left direction of the vehicle is collected, the maximum impact acceleration ay2 in the horizontal direction and the right direction of the vehicle is collected, and the lower limit value ay of the horizontal acceleration for driving a brake caliper to knock back is driven; and the ESC control system increases the brake hydraulic pressure to a hydraulic circuit of the brake caliper and keeps the brake hydraulic pressure so that the brake caliper does not have a virtual position of brake treading at the moment, and drives the brake caliper to displace through the ESC control system to make up the increase of the stroke of the brake pedal caused by a clearance that a piston of the brake caliper is pressed and cannot be reset.)

1. A control method for solving the problem of the false position of a brake pedal under a washboard road condition is characterized by comprising the following steps of:

when the vehicle is in a washboard road condition, ay1 and ay2 and the opening degree of a brake pedal are collected, wherein ay1 is the maximum impact acceleration in the horizontal and leftward direction of the vehicle, and ay2 is the maximum impact acceleration in the horizontal and rightward direction of the vehicle;

judging whether the ay1, ay2 and ay values and the brake pedal opening degree are 0 or not, wherein ay is a lower limit value of the horizontal acceleration for driving the brake caliper to knock back;

if one of ay1 and ay2 is greater than or equal to ay and the brake pedal opening is 0, the ESC control system intervenes and provides brake fluid pressure to urge the brake pads back to the initial position where they were before the vehicle entered the washboard road.

2. The control method for solving the problem of the false position of the brake pedal under the washboard road condition as claimed in claim 1, wherein:

the control method further comprises the following steps:

if ay1 and ay2 are both less than ay, the ESC control system does not intervene;

if one of ay1 and ay2 is greater than or equal to ay and the brake pedal opening is not 0, the ESC control system is not involved.

3. The control method for solving the problem of the false position of the brake pedal under the washboard road condition as claimed in claim 1, wherein after the brake lining returns to the initial position, the control method further comprises the following steps:

the collection of the brake pedal opening continues, and when the brake pedal opening is not 0, the ESC control system exits and returns to the steps of collecting ay1 and ay2, and the brake pedal opening.

4. The control method for solving the problem of the false position of the brake pedal under the washboard road condition as claimed in claim 1, wherein: the brake fluid pressure sets up at 2 ~ 5 bar.

5. The control method for solving the problem of the false position of the brake pedal under the washboard road condition as claimed in claim 1, wherein: the control method also comprises a washboard way judgment step.

6. The control method for solving the problem of the false position of the brake pedal under the washboard road condition as claimed in claim 5, wherein: the washboard way judging step comprises the following steps:

acquiring the maximum impact acceleration ax1 corresponding to the road surface protrusion and the maximum impact acceleration ax2 corresponding to the road surface pit, and acquiring a road surface vibration model based on the recurrence of ax1 and ax 2;

comparing the road surface vibration model with a set vibration model;

and when the road surface vibration model is in accordance with the set vibration model, the road surface is a washboard road, otherwise, the road surface is not the washboard road.

7. The control method for solving the problem of the false position of the brake pedal under the washboard road condition as claimed in claim 6, wherein the control method further comprises a step of obtaining a set vibration model, and the step of obtaining the set vibration model comprises:

enabling a vehicle to run on a set washboard road, and collecting the maximum impact acceleration corresponding to the road surface bulges and the maximum impact acceleration corresponding to the road surface pits on the set washboard road within a set time;

and drawing a time-acceleration curve by taking the time as a horizontal axis and the maximum impact acceleration corresponding to the road surface bulges and the maximum impact acceleration corresponding to the road surface pits on the set washboard as a horizontal axis to obtain a set vibration model.

8. The control method for solving the problem of the false position of the brake pedal under the washboard road condition as claimed in claim 1, wherein: and acquiring ay1 and ay2 numerical values by using a three-axis acceleration sensor.

9. The control method for solving the problem of the false position of the brake pedal under the washboard road condition as claimed in claim 1, wherein: whether the magnitudes of ay1, ay2 and ay and the brake pedal opening degree are 0 is judged by the ESC control system.

10. A control system for solving the problem of the false position of a brake pedal under a washboard road condition is characterized by comprising:

a first module to: when the vehicle is in a washboard road condition, ay1 and ay2 and the opening degree of a brake pedal are collected, wherein ay1 is the maximum impact acceleration in the horizontal direction and towards the left side of the vehicle, ay2 is the maximum impact acceleration in the horizontal direction and towards the right side of the vehicle, and ay is the lower limit value of the horizontal acceleration for driving the brake caliper to knock back;

a second module to: judging whether the ay1, ay2 and ay values and the brake pedal opening degree are 0 or not; if one of ay1 and ay2 is greater than or equal to ay and the brake pedal opening is 0, the ESC control system intervenes and provides brake fluid pressure to urge the brake pads back to the initial position where they were before the vehicle entered the washboard road.

Technical Field

The application relates to the technical field of automobile parts, in particular to a control system and a method for solving the problem of a brake pedal virtual position under a washboard road condition.

Background

In the prior art, the internal structure of the brake caliper is basically designed or purchased from foreign patents by reverse reference, and most suppliers do not have the capability of independently designing the internal structure of the caliper. Even if the internal structure of the caliper can be changed, it cannot be fully verified whether the changed structure meets the related functional requirements, and the verification must be performed in combination with a road endurance test of a host factory.

Tests prove that after the whole vehicle passes through the continuous washboard way, when a driver lightly steps on the first pedal, the whole vehicle has no obvious deceleration output, and after the braking stroke is further increased or continuous multi-foot braking is carried out, the braking system can output the deceleration which meets the expectation. After subjectively sensing a continuous washboard road, 1/3 is empty before the normal brake pedal stroke, i.e. 1/3 strokes are pressed, and no braking deceleration exists at all. Under the condition of being unknown in advance, the problem can cause great psychological burden to a driver and influence the driving safety. After standard analysis is carried out, the problems that the characteristics of the brake pedal are deteriorated and the idle stroke is increased to different degrees after various vehicle types pass through a continuous washboard road in the market are found, and the problems are common problems generally faced in the industry.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a control system and a control method for solving the problem of the virtual position of a brake pedal under the washboard road condition so as to solve the problem that the virtual position of the brake pedal occurs after a vehicle passes through the washboard road condition.

In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:

a control method for solving the problem of the false position of a brake pedal under a washboard road condition comprises the following steps:

when the vehicle is in a washboard road condition, ay1 and ay2 and the opening degree of a brake pedal are collected, wherein ay1 is the maximum impact acceleration in the horizontal and leftward direction of the vehicle, and ay2 is the maximum impact acceleration in the horizontal and rightward direction of the vehicle;

judging whether the ay1, ay2 and ay values and the brake pedal opening degree are 0 or not, wherein ay is a lower limit value of the horizontal acceleration for driving the brake caliper to knock back;

if one of ay1 and ay2 is greater than or equal to ay and the brake pedal opening is 0, the ESC control system intervenes and provides brake fluid pressure to urge the brake pads back to the initial position where they were before the vehicle entered the washboard road.

Further, the control method further includes:

if ay1 and ay2 are both less than ay, the ESC control system does not intervene;

if one of ay1 and ay2 is greater than or equal to ay and the brake pedal opening is not 0, the ESC control system is not involved.

Further, after the brake friction plate returns to the initial position, the control method further comprises the following steps:

the collection of the brake pedal opening continues, and when the brake pedal opening is not 0, the ESC control system exits and returns to the steps of collecting ay1 and ay2, and the brake pedal opening.

Further, the brake fluid pressure is set at 2-5 bar.

Further, the control method also comprises a washboard way judgment step.

Further, the washboard way judging step comprises the following steps:

acquiring the maximum impact acceleration ax1 corresponding to the road surface protrusion and the maximum impact acceleration ax2 corresponding to the road surface pit, and acquiring a road surface vibration model based on the recurrence of ax1 and ax 2;

comparing the road surface vibration model with a set vibration model;

and when the road surface vibration model is in accordance with the set vibration model, the road surface is a washboard road, otherwise, the road surface is not the washboard road.

Further, the control method further includes a set vibration model obtaining step, and the set vibration model obtaining step includes:

enabling a vehicle to run on a set washboard road, and collecting the maximum impact acceleration corresponding to the road surface bulges and the maximum impact acceleration corresponding to the road surface pits on the set washboard road within a set time;

and drawing a time-acceleration curve by taking the time as a horizontal axis and the maximum impact acceleration corresponding to the road surface bulges and the maximum impact acceleration corresponding to the road surface pits on the set washboard as a horizontal axis to obtain a set vibration model.

Further, three-axis acceleration sensors are adopted to acquire the values of ay1 and ay 2.

Further, it is judged by the ESC control system whether the ay1, ay2, ay magnitude, and the brake pedal opening degree are 0.

Another objective of the present invention is to provide a control system for solving the problem of the false position of the brake pedal under the washboard road condition, which includes:

a first module to: when the vehicle is in a washboard road condition, ay1 and ay2 and the opening degree of a brake pedal are collected, wherein ay1 is the maximum impact acceleration in the horizontal direction and towards the left side of the vehicle, ay2 is the maximum impact acceleration in the horizontal direction and towards the right side of the vehicle, and ay is the lower limit value of the horizontal acceleration for driving the brake caliper to knock back;

a second module to: judging whether the ay1, ay2 and ay values and the brake pedal opening degree are 0 or not; if one of ay1 and ay2 is greater than or equal to ay and the brake pedal opening is 0, the ESC control system intervenes and provides brake fluid pressure to drive the brake pads back to the initial position where they were before the vehicle entered the washboard way

Compared with the prior art, the invention has the advantages that:

when a vehicle passes through the washboard road condition, road surface impact is transmitted to a brake disc and a brake caliper through a suspension system, the position deviation of a hub unit assembly and the brake disc is converted into transverse vibration impact to cause a brake caliper piston to be pressed into a caliper body, when the displacement of the brake caliper piston exceeds the elastic deformation of a rectangular ring, relative displacement which cannot be automatically recovered is generated to increase a static clearance between a brake friction plate and the brake disc to cause the stroke of the brake pedal to be increased, and the vehicle does not decelerate in an initial stage when the brake pedal is pressed down, when the whole vehicle passes through the washboard road condition, real-time vibration type data of the current road condition is identified and compared with a horizontal acceleration lower limit value ay recorded into an ESC control system, if the data are matched, the characteristic of the brake pedal is deteriorated due to the current road condition, the ESC control system increases and maintains the brake pressure of a hydraulic circuit of the brake caliper so that the brake caliper does not have false or false stepping on the brake at the moment, and the ESC control system drives the brake caliper to displace so as to make up the increase of the stroke of the brake pedal caused by the pressed and unsettable gap of the piston of the brake caliper.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a flowchart of a control method according to an embodiment of the present application.

Fig. 2 is a schematic view of an impact acceleration mode of the washboard according to an embodiment of the present disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the present invention is further described with reference to the accompanying drawings and specific embodiments. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. Specific structural and functional details disclosed herein are merely illustrative of example embodiments of the invention. This invention may, however, be embodied in many alternate forms and should not be construed as limited to the embodiments set forth herein.

When the whole vehicle passes through the continuous washboard way, a brake disc knocking phenomenon exists, and the phenomenon that the caliper piston is pressed back into the caliper body due to the fact that the whole vehicle is subjected to large lateral impact, for example, the whole vehicle passes through the continuous washboard way or is rapidly bent, the hub unit assembly is elastically deformed, the brake disc is driven to knock the caliper piston is caused, and the caliper piston is driven to be pressed back into the caliper body is caused.

When a vehicle runs under a common road condition, the hub unit assembly is connected with a steering knuckle through a hub bearing, a hub flange is rigidly connected with a brake disc, when a brake caliper normally works, a brake caliper piston and a caliper body work under the action of brake hydraulic pressure, the piston pushes an inner friction plate to press the brake disc, and a clamping jaw of the caliper body drives an outer friction plate to press the brake disc.

When a vehicle runs on a washboard road, the characteristic of a brake pedal is deteriorated, because the washboard road has continuous and repeated high and low fluctuation, the impact of a concave and convex part of a road surface on a tire is transmitted to a brake disc and a brake caliper through a suspension system, a hub unit assembly moves to the deflection displacement of the brake disc, the impact of the concave and convex part on a wheel is converted into the vibration impact of a transverse inner friction plate and a transverse inner friction plate of the brake disc, so that a piston is pressed into a caliper body by the brake disc at the deflection displacement of the brake disc, when the displacement of the piston exceeds the elastic deformation of a rectangular ring, a relative displacement which cannot be automatically recovered is generated, and after the brake disc is recovered from the offset displacement of the brake disc, the static clearance between the brake lining and the brake disc is increased, in this case, a larger stroke of the brake caliper piston is required to generate the same brake pressure, and eventually, the stroke of the brake pedal is increased, that is, a deteriorated state of the brake pedal characteristic occurs.

When the driver lightly steps on the first pedal, the whole vehicle has no obvious deceleration output, and after the braking stroke is further increased or continuous multi-foot braking is carried out, the braking system can output the deceleration which meets the expectation.

The subjective feeling of the driver is that after the washboard is continuously arranged, 1/3 before the normal brake pedal stroke is empty, namely 1/3 strokes are pressed, and no brake deceleration exists. Under the condition of being unknown in advance, the problem occurs, the increase of the idle stroke can cause great psychological burden to a driver, and the driving safety is influenced.

It is worth to say that, above-mentioned rectangle circle is a rubber circle, assembles in the rectangle inslot of the piston cylinder inner wall of caliper body, and lies in between the piston cylinder inner wall and the piston outer wall of caliper body, and the design of rectangle inslot both sides has the chamfer.

When the piston normally pressurizes, the piston slides to drive the rectangular ring to elastically deform, and after the pressure is released, the rectangular ring elastically restores to pull the piston to return.

If the piston displacement is too large, the rectangular ring and the piston generate relative sliding displacement, and the work balance is achieved again at a new position, which is the automatic clearance adjusting function of the rectangular ring.

On the other hand, the elasticity of the elastic sealing ring can enable the piston to drive the brake block to be separated from the brake disc in time after the braking is finished.

However, when the hub unit assembly moves to the brake disc offset position, the impact of the concave-convex road to the wheel is converted into the vibration impact of the brake disc on the inner friction plate transversely, so that the piston is pressed into the caliper body by the brake disc at the brake disc offset position, and when the displacement of the piston exceeds the elastic deformation amount of the rectangular ring, the piston can generate relative displacement which cannot be automatically recovered.

As shown in fig. 1, a control method for solving the problem of the false position of the brake pedal under the washboard road condition includes the following steps:

when the vehicle is in a washboard road condition, ay1 and ay2 and the opening degree of a brake pedal are collected, wherein ay1 is the maximum impact acceleration in the horizontal and leftward direction of the vehicle, and ay2 is the maximum impact acceleration in the horizontal and rightward direction of the vehicle;

judging whether the ay1, the ay2 and the ay values and the opening degree of the brake pedal are 0 or not, wherein the ay is a lower limit value of the horizontal acceleration for driving the brake caliper to knock back, the ay is a calibration value, collection is not required each time, and a critical value of the virtual position of the brake pedal is caused according to excitation of different vehicle types under the washboard road condition, and calibration is carried out;

the opening degree of the brake pedal refers to the degree of the brake pedal being pressed, and when the brake pedal is not pressed, the opening degree of the brake pedal is 0; when the brake pedal is stepped on, the opening degree of the brake pedal is larger than zero; and the opening degree of the brake pedal gradually increases as the brake pedal is continuously depressed.

If one of ay1 and ay2 is greater than or equal to ay, and the opening degree of the brake pedal is 0, namely the maximum impact acceleration in the horizontal direction and towards the left side of the vehicle or the maximum impact acceleration in the horizontal direction and towards the right side of the vehicle, and any value is greater than the lower limit value of the horizontal acceleration for driving the brake caliper to knock back, and the brake pedal is not actively stepped on, the ESC control system intervenes and provides brake hydraulic pressure to drive the brake friction plates to return to the initial position, wherein the initial position is the position of the brake friction plates before the vehicle enters the washboard road.

Before the vehicle passes through the washboard road surface, the clearance between the brake friction plate and the brake disc is a at the moment, the vehicle enters the washboard road surface, the phenomenon of the back-knocking of the brake disc occurs, the friction plate is displaced under the action of the brake disc, the clearance between the friction plate and the brake disc is b at the moment, and b is larger than a, the ESC control system is involved, the brake hydraulic pressure is provided, the friction plate is driven to move close to the brake disc, and the clearance between the friction plate and the brake disc is changed into a from b at the moment.

When the vehicle is driven under the conventional road condition, after the vehicle is driven for a period of time, the driver can generate an operation habit that a stable relation can be kept between the trampling degree of the brake pedal and the braking effect, namely the driver can form experience that certain trampling force corresponds to certain braking distance, so that the braking effect of the vehicle can be freely controlled by the trampling force of the brake pedal in the driving process, namely when the gap between the brake friction plate and the brake disc of the vehicle is a, and the trampling distance of the brake pedal is m, the braking effect can be generated on the vehicle, and the habit that the braking effect can be generated when the driver can form the displacement of the brake pedal with the trampling distance of m when braking every time.

However, once the driver forms the driving habit expected by braking, if the driver thinks that the gap between the brake pad and the brake disc of the vehicle is always a, but actually, when the gap between the brake pad and the brake disc is increased to b after passing through the washboard road surface, the driver still continues to operate with the pedaling habit when the gap between the brake pad and the brake disc is a, that is, when the driver continues to pedal the brake pedal with a distance m, the gap still exists between the brake pad and the brake disc, the vehicle still does not generate the braking effect, and the problem of overlong braking distance is easy to occur, which leads to safety accidents.

The ESC control system is also called as an automobile electronic stability control system, is a novel active safety system of a vehicle, is a further extension of functions of an automobile anti-lock braking system (ABS) and a Traction Control System (TCS), and is additionally provided with a yaw rate sensor, a lateral acceleration sensor and a steering wheel corner sensor when the vehicle turns to run, and the lateral stability of the running of the vehicle is ensured by controlling the driving force and the braking force of front and rear wheels and left and right wheels through the ECU.

The working principle of the embodiment is as follows: when a vehicle passes through a washboard road condition, road surface impact is transmitted to a brake disc and a brake caliper through a suspension system, the position deviation of a hub unit assembly and the brake disc is converted into transverse vibration impact, so that a brake caliper piston is pressed into a caliper body, when the displacement of the brake caliper piston exceeds the elastic deformation of a rectangular ring, relative displacement which cannot be automatically recovered is generated, so that a static clearance between a brake friction plate and the brake disc is increased, the stroke of a brake pedal is increased, and the vehicle is not decelerated in an initial stage when the brake pedal is stepped down, when the whole vehicle passes through the washboard road condition, real-time vibration type data of the current road condition is identified and compared with a horizontal acceleration lower limit value ay recorded into an ESC control system, if the data are matched, the current road condition is identified to cause pedal characteristic deterioration, namely the stroke of the brake pedal is increased, and the ESC control system increases and maintains brake pressure on a hydraulic circuit of the brake caliper, so that the brake caliper does not have the false phenomenon that the brake is stepped on at the moment, the ESC control system drives the brake caliper to displace so as to make up the increase of the stroke of the brake pedal caused by the pressed and unsettable gap of the piston of the brake caliper.

Further, on the basis of the above embodiment, the control method further includes:

if ay1 and ay2 are both smaller than ay, the ESC control system is not involved, that is, the maximum impact acceleration in the horizontal and vehicle left direction or the maximum impact acceleration in the horizontal and vehicle right direction are both smaller than the lower limit value of the horizontal acceleration for knocking back the brake caliper, and the ESC control system is involved, that is, it is judged that the brake pedal characteristic is not deteriorated.

If one of ay1 and ay2 is greater than or equal to ay, and the opening degree of the brake pedal is not 0, namely, any one of the maximum impact acceleration in the horizontal direction and the direction towards the left side of the vehicle or the maximum impact acceleration in the horizontal direction and the direction towards the right side of the vehicle is greater than the lower limit value of the horizontal acceleration for driving the brake caliper to knock back, and meanwhile, on the premise that the brake pedal is actively pressed, the ESC control system does not intervene, namely, the ESC control system judges that the brake pedal characteristic is deteriorated but the behavior of pressing the brake pedal by a driver is terminated.

Further, on the basis of the above embodiment, after the brake friction plate returns to the initial position, the control method further includes the steps of:

the collection of the brake pedal opening is continued, and when the brake pedal opening is not 0, the ESC control system exits and returns to the steps of collecting ay1, ay2, and the brake pedal opening.

When one of ay1 and ay2 is greater than or equal to ay, the opening degree of the brake pedal is 0, namely the maximum impact acceleration along the horizontal direction and towards the left side of the vehicle or the maximum impact acceleration along the horizontal direction and towards the right side of the vehicle, any numerical value is greater than the lower limit value of the horizontal acceleration for driving the brake calipers to knock back, and the brake pedal is not actively stepped on, the ESC control system intervenes and provides brake hydraulic pressure to drive the brake pads to return to the initial position, the initial position is the position of the brake pads before the vehicle enters the washboard road, in the process, the vehicle passes through the washboard road condition, and the ESC control system intervenes to correct the phenomenon that the brake pads of the vehicle knock back once, after the process is finished, the ESC control system exits to perform a second data acquisition state to detect whether the vehicle enters the washboard road again, if the brake disc knocks back again.

Further, on the basis of the above embodiment, the brake fluid pressure is set at 2-5 bar.

The pressure value of ESC controller initiative pressure boost is relevant with the piston starting pressure of preceding, back brake caliper, and the size of this pressure value needs to guarantee that the piston overcomes the sliding resistance and resumes the displacement, generally takes the great value of preceding, back caliper piston starting pressure, sets up at 2 ~ 5bar, and this pressure value needs to set up according to the specific demarcation of different motorcycle types and the performance of caliper.

Further, on the basis of the above embodiment, the control method further includes a washboard way determining step.

The washboard way judging step comprises the following steps:

acquiring the maximum impact acceleration ax1 corresponding to the road surface protrusion and the maximum impact acceleration ax2 corresponding to the road surface pit, and acquiring a road surface vibration model based on the recurrence of ax1 and ax 2;

comparing the road surface vibration model with a set vibration model, as shown in fig. 2;

and when the road surface vibration model is in accordance with the set vibration model, the road surface is a washboard road, otherwise, the road surface is not the washboard road.

Further, on the basis of the above embodiment, the control method further includes a set vibration model acquisition step, and the set vibration model acquisition step includes:

enabling a vehicle to run on a set washboard road, and collecting the maximum impact acceleration corresponding to the road surface bulges and the maximum impact acceleration corresponding to the road surface pits on the set washboard road within a set time;

and drawing a time-acceleration curve by taking the time as a horizontal axis and the maximum impact acceleration corresponding to the road surface bulges and the maximum impact acceleration corresponding to the road surface pits on the set washboard as a horizontal axis to obtain a set vibration model.

Further, on the basis of the above embodiment, the three-axis acceleration sensor is used for acquiring the values of ay1 and ay 2.

Further, on the basis of the above embodiment, it is judged by the ESC control system whether the magnitudes of ay1, ay2, ay, and the brake pedal opening degree are 0.

The application also discloses a control system who solves the false position of brake pedal under washboard road conditions, its characterized in that, it includes:

a first module to: when the vehicle is in a washboard road condition, ay1 and ay2 and the opening degree of a brake pedal are collected, wherein ay1 is the maximum impact acceleration in the horizontal direction and towards the left side of the vehicle, ay2 is the maximum impact acceleration in the horizontal direction and towards the right side of the vehicle, and ay is the lower limit value of the horizontal acceleration for driving the brake caliper to knock back;

a second module to: judging whether the ay1, ay2 and ay values and the brake pedal opening degree are 0 or not; if one of ay1 and ay2 is greater than or equal to ay and the brake pedal opening is 0, the ESC control system intervenes and provides brake fluid pressure to urge the brake pads back to the initial position where they were before the vehicle entered the washboard road.

It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of example embodiments of the present invention.

It should be understood that, for the term "and/or" as may appear herein, it is merely an associative relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, B exists alone, and A and B exist at the same time; for the term "/and" as may appear herein, which describes another associative object relationship, it means that two relationships may exist, e.g., a/and B, may mean: a exists independently, and A and B exist independently; in addition, for the character "/" that may appear herein, it generally means that the former and latter associated objects are in an "or" relationship.

It will be understood that when an element is referred to herein as being "connected," "connected," or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to herein as being "directly connected" or "directly coupled" to another element, it is not intended that an intervening element be present. In addition, other words used to describe the relationship between elements should be interpreted in a similar manner (e.g., "between … …" versus "directly between … …", "adjacent" versus "directly adjacent", etc.).

It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, elements, components, and/or groups thereof.

It should also be noted that, in some alternative implementations, the functions/acts noted may occur out of the order noted in the figures. For example, two figures shown in succession may, in fact, be executed substantially concurrently, or the figures may sometimes be executed in the reverse order, depending upon the functionality/acts involved.

It should be understood that specific details are provided in the above description to facilitate a thorough understanding of example embodiments. However, it will be understood by those of ordinary skill in the art that the example embodiments may be practiced without these specific details. For example, systems may be shown in block diagrams in order not to obscure the examples in unnecessary detail. In other instances, well-known processes, structures and techniques may be shown without unnecessary detail in order to avoid obscuring example embodiments.

The various embodiments described above are merely illustrative, and may or may not be physically separate, as they relate to elements illustrated as separate components; if reference is made to a component displayed as a unit, it may or may not be a physical unit, and may be located in one place or distributed over a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: modifications of the technical solutions described in the embodiments or equivalent replacements of some technical features may still be made. And such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Finally, it should be noted that the present invention is not limited to the above alternative embodiments, and that various other forms of products can be obtained by anyone in light of the present invention. The above detailed description should not be taken as limiting the scope of the invention, which is defined in the claims, and which the description is intended to be interpreted accordingly.