阅读说明：本技术 车辆制动力控制方法、装置和计算机可读存储介质 (Vehicle braking force control method, device and computer-readable storage medium ) 是由 刘建 顾敦位 范恒博 邓威 牛喜渊 胡浩炬 于 2020-06-19 设计创作，主要内容包括：本发明公开了一种车辆制动力控制方法、装置和计算机可读存储介质,有效地防止出现由于液压制动系统的损耗,导致车辆的减速度产生较大的波动,驾驶员产生车辆失控感的问题,方法部分包括：当接收到踏板信号时,确定踏板信号对应的实际制动力与标定制动压力之间的差值；若所述车辆当前处于电液混合制动模式,则判断当前是否存在电机制动；若当前不存在所述电机制动,则判断所述差值是否大于第一预设压力值且小于第二预设压力值；若所述差值大于第一预设压力值且小于第二预设压力值,则根据所述差值对所述车辆的制动力进行补偿。(The invention discloses a vehicle braking force control method, a device and a computer readable storage medium, which effectively prevent the problems that the deceleration of a vehicle generates large fluctuation due to the loss of a hydraulic braking system and the driver generates the sense of vehicle runaway, and the method partially comprises the following steps: when the pedal signal is received, determining a difference value between the actual braking force corresponding to the pedal signal and the calibrated braking pressure; if the vehicle is currently in the electro-hydraulic hybrid braking mode, judging whether motor braking exists currently; if the motor brake does not exist at present, judging whether the difference value is larger than a first preset pressure value and smaller than a second preset pressure value; and if the difference value is larger than a first preset pressure value and smaller than a second preset pressure value, compensating the braking force of the vehicle according to the difference value.)

1. A vehicle braking force control method characterized by comprising:

when a pedal signal is received, determining a difference value between an actual braking force corresponding to the pedal signal and a calibrated braking pressure;

if the vehicle is currently in the electro-hydraulic hybrid braking mode, judging whether motor braking exists currently;

if the motor brake does not exist at present, judging whether the difference value is larger than a first preset pressure value and smaller than a second preset pressure value;

and if the difference value is larger than a first preset pressure value and smaller than a second preset pressure value, compensating the braking force of the vehicle according to the difference value.

2. The vehicle braking force control method according to claim 1, characterized by further comprising:

if the difference value is larger than or equal to the second preset pressure value, judging whether a preset loss condition exists in the hydraulic braking system at present;

if the preset loss condition of the hydraulic brake system is judged to exist currently, a warning prompt is sent out;

and in the next point cycle working period of the vehicle, if the difference value is smaller than the first preset pressure value and the hydraulic braking system does not have the preset loss condition, the warning prompt is removed.

3. The vehicle braking force control method according to claim 2, characterized by further comprising:

if the vehicle is not in the electro-hydraulic hybrid braking mode, judging whether the difference value is larger than a third preset pressure value and smaller than a fourth preset pressure value;

and if the difference value is greater than the third preset pressure value and less than the fourth preset pressure value, compensating the braking force of the vehicle according to the difference value.

4. The vehicle braking force control method according to claim 3, characterized by further comprising:

if the difference value is larger than or equal to the fourth preset pressure value, judging whether the hydraulic brake system is abnormal currently;

if the hydraulic braking system has a preset loss condition at present, sending out a warning prompt;

and in the next point cycle working period of the vehicle, if the difference value is smaller than the third preset pressure value and the hydraulic braking system does not have the preset loss condition, the warning prompt is removed.

5. The vehicle braking force control method according to any one of claims 1 to 4, characterized in that the compensating for the braking force of the vehicle includes:

and controlling an electric booster and/or a hydraulic braking system to compensate the braking force of the vehicle.

6. The vehicle braking force control method according to any one of claims 1 to 4, characterized in that when the vehicle is in the electro-hydraulic hybrid braking mode, the method further includes:

determining whether the vehicle deceleration corresponding to the pedal signal is greater than a preset speed value;

and if the vehicle deceleration corresponding to the pedal signal is greater than the preset speed value, controlling the motor to stop braking the motor.

7. The vehicle braking force control method according to any one of claims 2 to 4, characterized in that the preset loss condition includes at least one of: the hydraulic brake system has the brake oil leakage and the water content of the brake oil is higher than the preset water content value.

8. A vehicle braking force control apparatus characterized by comprising:

the judgment module is used for judging whether a pedal signal is received or not;

the determining module is used for determining the difference value between the actual braking force corresponding to the pedal signal and the calibrated braking pressure if the pedal signal is received;

the judging module is also used for judging whether motor braking exists currently or not if the vehicle is currently in an electro-hydraulic hybrid braking mode;

the judgment module is further used for judging whether the difference value is larger than a first preset pressure value and smaller than a second preset pressure value if the motor brake does not exist at present;

and the compensation module is used for compensating the braking force of the vehicle according to the difference value if the difference value is greater than a first preset pressure value and less than a second preset pressure value.

9. A vehicle braking force control apparatus, characterized by comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the braking force control method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that the readable storage medium stores a computer program which, when executed by a processor, implements the steps of the braking force control method according to any one of claims 1 to 7.

Technical Field

The present invention relates to the field of braking force control of vehicles, and more particularly, to a braking force control method, apparatus, and computer-readable storage medium.

Background

At present, the vehicle widely adopts an electro-hydraulic hybrid braking mode to increase the endurance mileage and the braking capacity, and the electro-hydraulic hybrid braking is composed of motor feedback and braking hydraulic supplement of a hydraulic braking system. Braking is one of the most important functions for ensuring the safety of a driver, but in the case of long-term use of a vehicle, it is inevitable that parts in a brake system are subjected to normal or abnormal wear, or that the water content of brake fluid in a hydraulic brake system is increased, which may result in insufficient brake pressure.

Compared with a traditional fuel vehicle which is braked only by a hydraulic braking system, the vehicle adopting electro-hydraulic hybrid braking is easier for a driver to perceive the difference in braking under the condition that parts in the hydraulic braking system are worn and brake fluid contains water, and the driver can be alarmed. As shown in the difference curve in fig. 1, in the vehicle with the electro-hydraulic hybrid brake, when a driver steps on a brake pedal, the vehicle enters a motor brake area first, as a pedal stroke s becomes larger, a deceleration a of the vehicle is larger, the vehicle enters a hydraulic brake area when reaching a certain zero stroke, and since the loss of a driving motor is very small, a stable brake force output can be always brought, but in a hydraulic brake system after the loss, the deceleration of a new vehicle and a lost vehicle generates large fluctuation, so that the driver generates a feeling of vehicle runaway.

Disclosure of Invention

The invention provides a vehicle braking force control method, a vehicle braking force control device and a computer readable storage medium, which are used for solving the problems that a driver generates a vehicle runaway feeling due to large fluctuation of deceleration of a vehicle caused by loss of a hydraulic braking system.

A vehicle braking force control method comprising:

when a pedal signal is received, determining a difference value between an actual braking force corresponding to the pedal signal and a calibrated braking pressure;

if the vehicle is currently in the electro-hydraulic hybrid braking mode, judging whether motor braking exists currently;

if the motor brake does not exist at present, judging whether the difference value is larger than a first preset pressure value and smaller than a second preset pressure value;

and if the difference value is larger than a first preset pressure value and smaller than a second preset pressure value, compensating the braking force of the vehicle according to the difference value.

Further, the method further comprises:

if the difference value is larger than or equal to the second preset pressure value, judging whether a preset loss condition exists in the hydraulic braking system at present;

if the preset loss condition of the hydraulic brake system is judged to exist currently, a warning prompt is sent out;

and in the next point cycle working period of the vehicle, if the difference value is smaller than the first preset pressure value and the hydraulic braking system does not have the preset loss condition, the warning prompt is removed.

Further, the method further comprises:

if the vehicle is not in the electro-hydraulic hybrid braking mode, judging whether the difference value is larger than a third preset pressure value and smaller than a fourth preset pressure value;

and if the difference value is greater than the third preset pressure value and less than the fourth preset pressure value, compensating the braking force of the vehicle according to the difference value.

Further, the method further comprises:

if the difference value is larger than or equal to the fourth preset pressure value, judging whether the hydraulic brake system is abnormal currently;

if the hydraulic braking system has a preset loss condition at present, sending out a warning prompt;

and in the next point cycle working period of the vehicle, if the difference value is smaller than the third preset pressure value and the hydraulic braking system does not have the preset loss condition, the warning prompt is removed.

Further, the compensating for the braking force of the vehicle includes:

and controlling an electric booster and/or a hydraulic braking system to compensate the braking force of the vehicle.

Further, when the vehicle is in an electro-hydraulic hybrid braking mode, the method further comprises:

determining whether the vehicle deceleration corresponding to the pedal signal is greater than a preset speed value;

and if the vehicle deceleration corresponding to the pedal signal is greater than the preset speed value, controlling the motor to stop braking the motor.

Further, the preset loss condition at least includes one of the following conditions: the hydraulic brake system has the brake oil leakage and the water content of the brake oil is higher than the preset water content value.

A vehicle braking force control apparatus characterized by comprising:

the judgment module is used for judging whether a pedal signal is received or not;

the determining module is used for determining the difference value between the actual braking force corresponding to the pedal signal and the calibrated braking pressure if the pedal signal is received;

the judging module is also used for judging whether motor braking exists currently or not if the vehicle is currently in an electro-hydraulic hybrid braking mode;

the judgment module is further used for judging whether the difference value is larger than a first preset pressure value and smaller than a second preset pressure value if the motor brake does not exist at present;

and the compensation module is used for compensating the braking force of the vehicle according to the difference value if the difference value is greater than a first preset pressure value and less than a second preset pressure value.

A vehicle braking force control apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the vehicle braking force control method when executing the computer program.

A computer-readable storage medium, which stores a computer program that, when executed by a processor, implements the steps of the above-described vehicle braking force control method.

In one scheme provided by the invention, the current braking mode of the vehicle is judged, and whether a pedal signal is received is judged; if the vehicle is in the electro-hydraulic hybrid braking mode and receives a pedal signal, judging whether motor braking exists currently; if no motor brake exists at present, the motor brake enters the hydraulic brake, and at the moment, when the hydraulic brake system has abnormal conditions such as loss and the like, the deceleration of the vehicle may generate a large difference, so that the difference between the actual brake force corresponding to the current pedal signal and the calibrated brake pressure needs to be determined; if the difference value is larger than the first preset pressure value and smaller than the second preset pressure value, the fact that the deceleration of the vehicle generates a large difference is determined, the braking force of the vehicle is compensated according to the difference value, the braking force is compensated to the required braking force, and the problem that the deceleration of the vehicle generates large fluctuation due to loss of a hydraulic braking system and the driver generates the sense of vehicle runaway is effectively prevented.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced 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 that other drawings can be obtained according to these drawings without inventive labor.

FIG. 1 is a schematic illustration of the deceleration differential when a loss of the electro-hydraulic hybrid braking system occurs;

FIG. 2 is a schematic diagram of a system architecture of the electro-hydraulic hybrid brake system according to an embodiment of the present invention

FIG. 3 is a flowchart of a braking force control method for a vehicle in the embodiment of the invention;

FIG. 4 is another flowchart illustrating a braking force control method for a vehicle according to an embodiment of the present invention;

FIG. 5 is a schematic view of a structure of a vehicle braking force control apparatus according to an embodiment of the invention;

FIG. 6 is another schematic structural view of a vehicle braking force control apparatus according to the embodiment of the invention;

fig. 7 is another schematic structural view of the vehicle braking force control apparatus in the embodiment of the invention.

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 some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

An embodiment of the present invention provides a method for controlling a braking force of a vehicle, where the vehicle is a vehicle having an electro-hydraulic hybrid braking system, as shown in fig. 1, and the electro-hydraulic hybrid braking system includes a vehicle control unit, a driving motor (or a recovery motor), a brake pedal, an electric booster, and a hydraulic braking system, such as an ECS system. The vehicle can have a plurality of different braking modes based on the electro-hydraulic hybrid braking system, wherein the braking modes comprise an electro-hydraulic hybrid braking mode and a common hydraulic braking mode, and the electro-hydraulic hybrid braking mode utilizes motor braking and hydraulic braking to provide required braking force for the vehicle. The driving motor (or the recovery motor) is used for providing electric power, and the hydraulic braking system is used for providing hydraulic braking force.

Based on the electro-hydraulic hybrid brake system, the embodiment of the invention provides a vehicle brake force control method, which comprises the following steps: judging whether a pedal signal is received or not; if the pedal signal is received, determining a difference value between the actual braking force corresponding to the pedal signal and the calibrated braking pressure; if the vehicle is currently in an electro-hydraulic hybrid braking mode, firstly judging whether motor braking exists currently; if the motor brake does not exist at present, the motor brake enters the hydraulic brake, and at the moment, when the hydraulic brake system has abnormal conditions such as loss and the like, the deceleration of the vehicle may generate a large difference, so that the difference between the actual brake force corresponding to the current pedal signal and the calibrated brake pressure needs to be determined; if the difference value is larger than the first preset pressure value and smaller than the second preset pressure value, the fact that the deceleration of the vehicle generates a large difference is determined, the braking force of the vehicle is compensated according to the difference value at the moment, the braking force of the vehicle is compensated to the required braking force, and the problem that the deceleration of the vehicle generates large fluctuation due to loss of a hydraulic braking system and the driver generates the sense of vehicle runaway can be effectively solved. The detailed description is as follows.

As shown in fig. 3, a vehicle braking force control method is provided, which is described by taking the application of the vehicle braking force control method to the vehicle control unit shown in fig. 2 as an example, and includes the following steps:

s10: it is determined whether a pedal signal is received, and if the pedal signal is received, step S20 is executed.

In a vehicle having an electro-hydraulic hybrid brake system as shown in fig. 2, a plurality of different braking modes may be included, and the braking modes of the vehicle include an electro-hydraulic hybrid braking mode, which refers to a braking mode in which braking by an electric motor and hydraulic braking are combined, and a normal hydraulic braking mode, which is a braking mode relying only on hydraulic braking.

The brake pedal is a device for providing the input braking force of the driver, the pedal signal is a corresponding generated signal when the driver steps on the brake pedal, and whether the driver steps on the brake pedal and the corresponding pedal stroke can be known according to the pedal signal. The driver can step on the brake pedal to input the brake pedal in any braking mode

In the embodiment of the present invention, it is determined whether a pedal signal is received in real time, and if the pedal signal is received, it indicates that the driver has stepped on the brake pedal to reduce the driving speed of the vehicle, at this time, step S20 is executed.

S20: determining a difference value between an actual braking force corresponding to the current pedal signal and a calibrated braking pressure;

it can be understood that the pedal signal is a signal reflecting how much brake force the driver applies, and the calibrated brake force pressure is the normal brake pressure corresponding to the pedal stroke applied by the driver under the abnormal conditions that the hydraulic brake system of the vehicle is not lost, etc., before the method is implemented, the brake force pressure corresponding to each pedal stroke can be recorded in advance through tests and recorded and stored under the abnormal conditions that a new vehicle, that is, the hydraulic brake system is not lost, etc., so as to obtain the calibrated brake pressure. Thus, in an embodiment of the present invention, a difference between the actual braking force (which may be represented by ACT-mastercylinderpr) and the calibrated braking pressure (which may be represented by Vir-mastercylinderpr) corresponding to the current pedal signal may be determined.

S30: and judging the current braking mode of the vehicle, and if the vehicle is in the electro-hydraulic hybrid braking mode at present, executing step S40.

S40: and judging whether the motor brake exists currently, and if the motor brake does not exist currently, executing the step S50.

As mentioned above, the electro-hydraulic hybrid braking mode is a braking mode combining motor braking and hydraulic braking, when the pedal stroke is small, the vehicle is braked by the motor braking, the deceleration of the vehicle is gradually increased as the braking force input by the vehicle driver is higher along with the increase of the pedal stroke, the vehicle is switched from the motor braking to the hydraulic braking, and when the hydraulic braking system has abnormal conditions such as loss and the like, a large difference occurs in the deceleration of the vehicle, so that the vehicle has a feeling of runaway.

In order to prevent the out-of-control feeling, in the embodiment of the present invention, when the vehicle is in the electro-hydraulic hybrid braking mode and receives the pedal signal, it is continuously determined whether the motor braking exists currently, and if the motor braking does not exist, it indicates that the motor braking has shifted to the hydraulic braking, so that further measures are required to prevent the vehicle from having the out-of-control feeling, so that step S50 is executed.

S50: and judging the relation between the difference value and the first preset pressure value and the second preset pressure value, and if the difference value is greater than the first preset pressure value and less than the second preset pressure value, executing the step S60.

In the embodiment of the invention, when the vehicle is in an electro-hydraulic hybrid braking mode and a pedal signal is received, whether motor braking exists at present or not is continuously judged, if the motor braking does not exist, the motor braking is switched to hydraulic braking, therefore, further measures are needed to prevent the vehicle from generating a sense of incontrollable feeling, the relation between a difference value and a first preset pressure value and a second preset pressure value is judged, if the difference value is less than or equal to the first preset pressure value, actual braking force corresponding to the current pedal stroke is executed for braking, and if the difference value is greater than the first preset pressure value and less than the second preset pressure value, the step S60 is executed.

S60: and compensating the braking force of the vehicle according to the difference value.

When the vehicle is in the electro-hydraulic hybrid braking mode and receives a pedal signal, whether motor braking exists at present or not is continuously judged, if the motor braking does not exist, the motor braking is converted into hydraulic braking, therefore, further measures are needed to prevent the vehicle from generating a sense of incontrollability, specifically, the relation between the difference value and a first preset pressure value and a second preset pressure value is judged, and if the difference value is greater than the first preset pressure value and less than the second preset pressure value, the step S60 is executed, namely, the braking force of the vehicle is compensated according to the difference value.

If the difference value is greater than the first preset pressure value and less than the second preset pressure value, it is indicated that a large error exists between the actual braking force corresponding to the current pedal and the calibrated braking force, so that the braking force of the vehicle needs to be compensated according to the difference value, for example, if the difference value is 8bar, the braking force of the vehicle is properly compensated by taking 8bar as reference, for example, the braking force of the vehicle is directly compensated by 8bar or by 8bar, so that the braking force of the vehicle corresponds to the normal braking force corresponding to the current pedal stroke, and the occurrence of vehicle runaway is effectively avoided.

It should be noted that, the first preset pressure value and the second preset pressure value are preset values, for example, the first preset pressure value may be 50bar, and the second preset pressure value may be 10bar, that is, if the difference is greater than 50bar and less than 10bar, the braking force of the vehicle is compensated for in a braking manner. It should be noted that, the first preset pressure value of 50bar and the second preset pressure value of 10bar are merely illustrated in this embodiment, and do not limit the present invention, and the first preset pressure value and the second preset pressure value may be configured according to actual application requirements to meet different requirements.

In this embodiment, a method for controlling a braking force of a vehicle is provided, which first determines a current braking mode of the vehicle and determines whether a pedal signal is received; if the vehicle is in the electro-hydraulic hybrid braking mode and receives a pedal signal, judging whether motor braking exists currently; if no motor brake exists at present, the motor brake enters the hydraulic brake, and at the moment, when the hydraulic brake system has abnormal conditions such as loss and the like, the deceleration of the vehicle may generate a large difference, so that the difference between the actual brake force corresponding to the current pedal signal and the calibrated brake pressure needs to be determined; if the difference value is larger than the first preset pressure value and smaller than the second preset pressure value, the fact that the deceleration of the vehicle generates a large difference is determined, the braking force of the vehicle is compensated according to the difference value, the braking force is compensated to the required braking force, and the problem that the deceleration of the vehicle generates large fluctuation due to loss of a hydraulic braking system and the driver generates the sense of vehicle runaway is effectively prevented.

It should be noted that, in an embodiment, when the vehicle is in the electro-hydraulic hybrid braking mode, the method further includes: determining whether the vehicle deceleration corresponding to the pedal signal is greater than a preset speed value; and if the vehicle deceleration corresponding to the pedal signal is greater than the preset speed value, controlling the motor to stop braking the motor. In this embodiment, when the vehicle is in the electro-hydraulic hybrid braking mode, a specific scheme of when the motor brake is exited is provided, it is understood that when the driver steps on the brake pedal, a torque request is sent to drive the driving motor to drag back to generate the deceleration of the vehicle, and when the deceleration request sent by the driver is greater than a preset speed value (including but not limited to the request), the motor brake and the hydraulic brake are switched, and when the driving motor is exited, that is, the motor brake is exited.

As shown in fig. 4, if the vehicle is not in the electro-hydraulic hybrid braking mode, the method further includes the steps of:

s70: and judging the relation between the difference value and a third preset pressure value and a fourth preset pressure value, and if the difference value is greater than the third preset pressure value and less than the fourth preset pressure value, executing step S80.

S80: and compensating the braking force of the vehicle according to the difference value.

For steps S70-S80, after determining the current braking mode of the vehicle in step S30, if the vehicle is not in the electro-hydraulic hybrid braking mode, if the vehicle is in the ordinary hydraulic braking mode, and there is no motor braking at this time, directly determining a relationship between a difference value and a third preset pressure value and a fourth preset pressure value, and if the difference value is greater than the third preset pressure value and less than the fourth preset pressure value, directly compensating the braking force of the vehicle according to the difference value to prevent a deceleration difference occurring in the ordinary hydraulic braking mode. Therefore, in the embodiment, the braking force compensation scheme is provided when the vehicle is not in the electro-hydraulic hybrid braking mode, and the richness and the feasibility of the scheme are improved.

If the difference value is greater than the third preset pressure value and less than the fourth preset pressure value, it is indicated that a large error exists between the actual braking force corresponding to the current pedal signal and the calibrated braking force in the non-electro-hydraulic hybrid braking mode, and the braking force of the vehicle needs to be compensated according to the difference value, for example, if the difference value is 8bar, the braking force of the vehicle is properly compensated by taking 8bar as a reference, for example, the braking force of the vehicle is directly compensated by 8bar or by 8bar up and down, so that the braking force of the vehicle corresponds to the normal braking force corresponding to the current pedal stroke, and the occurrence of vehicle runaway is effectively avoided.

It should be noted that, the third preset pressure value and the fourth preset pressure value are preset values, for example, the third preset pressure value may be 50bar, and the fourth preset pressure value may be 10bar, that is, the first preset pressure value and the third preset pressure value may be configured to be the same value, the second preset pressure value and the fourth preset pressure value may be configured to be the same value, and if the difference is greater than 50bar and less than 10bar, the braking compensation is performed on the braking force of the vehicle. It should be noted that, the third preset pressure value of 50bar and the fourth preset pressure value of 10bar are only illustrated in this embodiment, and the third preset pressure value and the fourth preset pressure value may be configured according to a practical application requirement to meet different requirements, which is not limited in the embodiment of the present invention.

In an embodiment, if the difference is greater than or equal to the second preset pressure value, the method further includes:

judging whether the hydraulic braking system has a preset loss condition at present, and if so, sending out a warning prompt.

And in the next point cycle working period of the vehicle, if the difference value is smaller than the first preset pressure value and the hydraulic braking system has no preset loss condition, the warning prompt is removed.

It can be understood that, in the electro-hydraulic hybrid braking mode, after determining whether the difference value is greater than a first preset pressure value and less than a second preset pressure value, if the difference value is greater than or equal to the second preset pressure value, if the difference value is greater than 10bar, it is indicated that the difference value is large, a warning may need to be sent, and further, it is determined that a preset loss condition exists in the hydraulic braking system, and if the preset loss condition exists in the hydraulic braking system, a warning prompt is sent. In an embodiment, the preset loss condition includes a condition that the brake oil leaks from the hydraulic brake system and the water content of the brake oil is lower than a preset water content value, or other conditions that the braking force is insufficient compared with the hydraulic brake system without loss, that is, the conditions that normal or abnormal loss occurs to parts in the hydraulic brake system, the water content of the brake fluid is increased, and the like, all belong to the preset loss condition mentioned in the present invention, and are not limited specifically.

For example, the warning sound and/or the warning lamp may be emitted by the central control instrument, for example, the warning lamp on the central control instrument may be turned on, and the voice prompt "the brake system has a fault, please stop safely" is performed after a preset number of times is reached, so as to prompt the driver that the current brake system has a problem, so that the driver stops, and the subsequent fault repairing work may be performed.

After the warning prompt is sent, the hydraulic brake system may be repaired, and then, in the ignition cycle working period of the next vehicle, after the driver steps on the pedal, the difference value corresponding to the current pedal stroke may continue to be smaller than the first preset pressure value, and the hydraulic brake system does not have the preset loss condition, the warning prompt may be removed, for example, the warning lamp may be turned off.

In an embodiment, if the difference is greater than or equal to the fourth preset pressure value, the method further includes:

judging whether the hydraulic braking system is abnormal currently;

if the hydraulic braking system has a preset loss condition at present, sending out a warning prompt;

and in the next point cycle working period of the vehicle, if the difference value is smaller than the third preset pressure value and the hydraulic braking system does not have the preset loss condition, the warning prompt is removed.

It can be understood that, when the hydraulic brake system is not in the electro-hydraulic hybrid braking mode, after whether the difference value is greater than a third preset pressure value and smaller than a fourth preset pressure value is judged, if the difference value is greater than or equal to the fourth preset pressure value, if the difference value is greater than 10bar, the difference value is also relatively large at the moment, and a warning may need to be sent, so that the hydraulic brake system is further judged to have a preset loss condition at present, and if the hydraulic brake system is judged to have the preset loss condition at present, a warning prompt is sent. Similarly, in an embodiment, the preset loss condition includes a condition that the brake oil leaks from the hydraulic brake system and the water content of the brake oil is higher than the preset water content value, or other conditions that the braking force is insufficient compared with the hydraulic brake system without loss, that is, normal or abnormal loss occurs to components in the hydraulic brake system, the water content of the brake fluid is increased, and the like, which are not limited specifically.

For example, the warning sound and/or the warning lamp may be emitted by the central control instrument, for example, the warning lamp on the central control may be turned on, and a voice prompt "there is a fault in the brake system, please stop safely" is provided for a preset number of times, so as to prompt the driver that there is a problem in the current brake system, so that the driver stops the vehicle, and the subsequent fault repairing work may be performed.

After the warning prompt is sent, the hydraulic brake system may be repaired, and then, in the ignition cycle working period of the next vehicle, after the driver steps on the pedal, the difference value corresponding to the current pedal stroke may continue to be smaller than the third preset pressure value, and the hydraulic brake system does not have the preset loss condition, the warning prompt may be removed, for example, the warning lamp may be turned off.

It can be understood that, in some application scenarios, the alarm control logic may be configured with the same alarm measure, and may also distinguish alarm indications in different braking modes, where the alarm control logic is used when the vehicle is in the electro-hydraulic hybrid braking mode or is not in the electro-hydraulic hybrid braking mode, and the present invention is not limited in particular.

In an embodiment, in step S60 or S70, the braking force of the vehicle is compensated, specifically, the electric booster and/or the hydraulic braking system is controlled to compensate the braking force of the vehicle, and the invention is not limited thereto.

It should be noted that, the vehicle braking force control method provided by the present invention may be executed in a preset period within each cycle of the vehicle, for example, the method may be executed in a period of 20ms, and the present invention is not limited in this respect.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

In one embodiment, a vehicle braking force control device is provided, which corresponds to the vehicle braking force processing method in the above embodiments one to one, and can be arranged in a vehicle controller to realize the steps or functions corresponding to the vehicle braking force processing method. As shown in fig. 5, the vehicle braking force control apparatus 10 includes a determination module 101, a determination module 102, and a compensation module 103. The functional modules are explained in detail as follows:

the judgment module 101 is used for judging whether a pedal signal is received or not;

the determining module 102 is configured to determine, if the pedal signal is received, a difference between an actual braking force corresponding to the pedal signal and a calibrated braking pressure;

the judging module 101 is further configured to judge whether motor braking exists currently if the vehicle is currently in an electro-hydraulic hybrid braking mode;

the judging module 101 is further configured to judge whether the difference value is greater than a first preset pressure value and smaller than a second preset pressure value if the motor brake does not exist currently;

and the compensation module 103 is configured to compensate the braking force of the vehicle according to the difference value if the difference value is greater than a first preset pressure value and smaller than a second preset pressure value.

Further, as shown in fig. 6, in an embodiment:

the judging module 101 is further configured to judge whether a preset loss condition exists in the hydraulic braking system currently if the difference is greater than or equal to the second preset pressure value;

the judging module 101 is further configured to send a warning prompt if it is judged that the preset loss condition exists in the hydraulic brake system currently;

the vehicle braking force control device 10 further includes:

the alarm module 104 is configured to, in a next point cycle working period of the vehicle, remove the warning prompt if the difference is smaller than the first preset pressure value and the hydraulic brake system does not have the preset loss condition.

Further, in an embodiment mode:

the judging module 101 is further configured to judge whether the difference value is greater than a third preset pressure value and smaller than a fourth preset pressure value if the vehicle is not in the electro-hydraulic hybrid braking mode;

the compensation module 103 is further configured to compensate the braking force of the vehicle according to the difference value if the difference value is greater than the third preset pressure value and smaller than the fourth preset pressure value.

Further, in an embodiment mode:

the judging module 101 is further configured to judge whether the hydraulic braking system is currently abnormal or not if the difference is greater than or equal to the fourth preset pressure value;

the alarm module 104 is further configured to send an alarm prompt if a preset loss condition exists in the hydraulic brake system currently;

the alarm module 104 is further configured to, in a next point cycle working period of the vehicle, remove the warning prompt if the difference is smaller than the third preset pressure value and the hydraulic brake system does not have the preset loss condition.

Further, in an embodiment mode: the compensation module 103 is specifically configured to: and controlling an electric booster and/or a hydraulic braking system to compensate the braking force of the vehicle.

Further, in an embodiment:

the determining module 102 is further configured to determine whether a vehicle deceleration corresponding to the pedal signal is greater than a preset speed value if the vehicle is in an electro-hydraulic hybrid braking mode;

the vehicle braking force control apparatus 10 further includes

And the control module is used for controlling the motor to stop braking if the vehicle deceleration corresponding to the pedal signal is greater than the preset speed value.

Further, in an embodiment, the predetermined loss condition at least includes one of the following conditions: the hydraulic braking system has the brake oil leakage and the water content of the brake oil is lower than the preset water content value.

For specific limitations of the vehicle braking force control device, reference may be made to the above limitations of the vehicle braking force processing method, which are not described herein again. The respective modules in the vehicle braking force control apparatus described above may be implemented in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a vehicle braking force control device is provided, and the vehicle braking force control device is an electronic device, which may be used as a vehicle control unit in the embodiment of the present invention, and the internal structure diagram of the vehicle braking force control device may be as shown in fig. 7. The electronic device comprises a memory, at least one processor, a computer program stored in the memory and executable on the at least one processor, and at least one communication bus.

Those skilled in the art will appreciate that the schematic diagram shown in fig. 7 is merely an example of the vehicle braking force control device, and does not constitute a limitation of the vehicle braking force control device, and may include more or less components than those shown, or combine some components, or different components, for example, the vehicle braking force control device may further include input and output devices, interfaces, and the like.

The at least one Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center of the vehicle braking force control device and connecting the various parts of the overall vehicle braking force control device using various interfaces and lines.

The memory may be used to store the computer program 33 and/or modules/units, and the processor may implement various functions of the vehicle braking force control apparatus by operating or executing the computer program and/or modules/units stored in the memory, and calling up data stored in the memory. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system, a computer program and the like; the storage data area may store data created according to use of the vehicle braking force control apparatus, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.

In one embodiment, a vehicle braking force control apparatus is provided that includes a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the vehicle braking force control method when executing the computer program.

In one embodiment, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the vehicle braking force control method described above.

Based on the understanding that the integrated modules/units of the vehicle braking force control device can be stored in a computer readable storage medium when implemented in the form of software functional units and sold or used as independent products, the readable storage medium comprises a nonvolatile readable storage medium and a volatile readable storage medium, and all or part of the processes of the method of the above embodiments can be realized by a computer program instructing related hardware, and the computer program can be stored in a readable storage medium, and when the computer program is executed by a processor, the steps of the above method embodiments can be realized. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The readable storage medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is only one logical functional division, and other divisions may be realized in practice.

In addition, functional modules in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional module.

It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference signs in the claims shall not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the system claims may also be implemented by one unit or means in software or hardware. The terms second, etc. are used to denote names, but not any particular order.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present application and not for limiting, and although the present application is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present application without departing from the spirit and scope of the technical solutions of the present application.