CN-117446068-B - Brake intervention method and device of electronic brake, electronic equipment and storage medium

CN117446068BCN 117446068 BCN117446068 BCN 117446068BCN-117446068-B

Abstract

The application relates to a brake intervention method, a brake intervention device, electronic equipment, a storage medium and a computer program product of an electronic brake. The method comprises the steps of collecting an angular acceleration signal generated based on motion information of a brake trigger on a target vehicle, collecting a wheel load signal, a vehicle speed signal and an acceleration signal of the target vehicle, determining braking strength of an electronic brake when the electronic brake intervenes in braking based on the angular acceleration signal, the wheel load signal, the vehicle speed signal and the acceleration signal, controlling the electronic brake to intervene in braking the target vehicle according to the braking strength, and adjusting the braking strength in real time based on the motion information of the target vehicle in the braking process so that the electronic brake brakes according to the adjusted braking strength. By adopting the method, the target vehicle can be braked accurately and effectively.

Inventors

TAN DONGCHAO
LU JIAN
WANG ZULONG
LUO ZIHAO
ZHANG YANG

Assignees

坦途创新智能科技(苏州)有限公司

Dates

Publication Date: 20260512
Application Date: 20220719

Claims (10)

1. A brake intervention method of an electronic brake is characterized in that, The method comprises the following steps: acquiring an angular acceleration signal generated based on motion information of a brake trigger on a target vehicle; acquiring a wheel load signal, a vehicle speed signal and an acceleration signal of the target vehicle; determining a braking intensity of the electronic brake when the electronic brake is involved in braking based on the angular acceleration signal, the wheel load signal, the vehicle speed signal and the acceleration signal; controlling the electronic brake to brake the target vehicle according to the braking strength intervention; and in the braking process, the braking intensity is adjusted in real time based on the running information of the target vehicle, so that the electronic brake brakes according to the adjusted braking intensity.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises, The braking trigger comprises a brake crank and a driving arm linked with the brake crank, and the motion information comprises first angular velocity change information of the brake crank and second angular velocity change information of the driving arm; the acquiring an angular acceleration signal generated based on motion information of a brake trigger on a target vehicle includes: Acquiring an angular acceleration signal of the brake crank and an angular acceleration signal of the driving arm; The angular acceleration signal of the brake lever is generated by an angular acceleration sensor based on the first angular velocity change information, and the angular acceleration signal of the driving arm is generated by the angular acceleration sensor based on the second angular velocity change information.
3. The method of claim 2, wherein the step of determining the position of the substrate comprises, The method further comprises the steps of: Determining a braking intention according to the angular acceleration signal of the brake crank and the angular acceleration signal of the driving arm, wherein the braking intention is emergency obstacle avoidance or conventional braking; The determining the braking strength of the electronic brake when the electronic brake is involved in braking based on the angular acceleration signal, the wheel load signal, the vehicle speed signal and the acceleration signal comprises: Determining a first braking intensity of the electronic brake when the electronic brake is involved in braking based on the wheel load signal, the vehicle speed signal and the acceleration signal when the brake is intended to be the emergency obstacle avoidance; determining a second braking intensity of the electronic brake when the electronic brake is involved in braking based on the wheel load signal, the vehicle speed signal and the acceleration signal when the brake is intended to be the conventional brake; Wherein the first braking strength is greater than the second braking strength.
4. The method of claim 1, wherein the step of determining the position of the substrate comprises, The acquiring the wheel load signal, the vehicle speed signal and the acceleration signal of the target vehicle comprises: The method comprises the steps of collecting wheel load signals generated by a load sensor on a target vehicle, wherein the wheel load signals comprise front wheel load signals and rear wheel load signals of the target vehicle; collecting a vehicle speed signal generated by a vehicle speed sensor on the target vehicle; and acquiring an acceleration signal generated by an acceleration sensor on the target vehicle.
5. The method of claim 3, wherein the step of, The adjusting the braking intensity in real time based on the operation information of the target vehicle so that the electronic brake brakes according to the adjusted braking intensity comprises the following steps: Collecting an acceleration update signal, a vehicle speed update signal and a wheel load update signal which are generated in the braking process of the target vehicle; Based on at least one of the wheel load update signal, the speed update signal and the acceleration update signal, the braking intensity is adjusted in real time to obtain the first braking intensity; And controlling the electronic brake to brake the target vehicle according to the first braking strength.
6. The method of claim 5, wherein the step of determining the position of the probe is performed, The real-time adjustment of the braking intensity based on the operation information of the target vehicle, so that the electronic brake brakes according to the adjusted braking intensity includes: Detecting a wheel slip state of the target vehicle during braking; When the wheel sliding state meets a preset condition, the braking strength is adjusted in real time, and the second braking strength is obtained; And controlling the electronic brake to brake the target vehicle according to the second brake strength.
7. A brake intervention device of an electronic brake is characterized in that, The device comprises: The first acquisition module is used for acquiring an angular acceleration signal generated based on motion information of a brake trigger on a target vehicle; the second acquisition module is used for acquiring a wheel load signal, a vehicle speed signal and an acceleration signal of the target vehicle; The determining module is used for determining the braking strength of the electronic brake when the electronic brake is involved in braking based on the angular acceleration signal, the wheel load signal, the vehicle speed signal and the acceleration signal; The first braking module is used for controlling the electronic brake to brake the target vehicle according to the braking strength intervention; and the second braking module is used for adjusting the braking intensity in real time based on the running information of the target vehicle in the braking process so that the electronic brake brakes according to the adjusted braking intensity.
8. An electronic device comprising a memory and a processor, said memory storing a computer program, characterized in that, The processor, when executing the computer program, implements the steps of the method of any one of claims 1 to 6.
9. A computer-readable storage medium having a computer program stored thereon, characterized in that, The computer program implementing the steps of the method of any of claims 1 to 6 when executed by a processor.
10. A computer program product comprising a computer program, characterized in that, Which computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.

Description

Brake intervention method and device of electronic brake, electronic equipment and storage medium Technical Field The application relates to the technical field of electric vehicles, in particular to a braking intervention method and device of an electronic brake, electronic equipment and a storage medium. Background Along with the continuous development of new energy technology, new energy vehicles are also more and more popular with users, and particularly, the electric two-wheeled vehicle is light and easy to travel. For the driving safety and driving experience of a user, the traditional scheme mainly adopts a mode that an electronic brake and a mechanical brake are used for braking (namely braking) in a cooperative mode, when braking is carried out, a Hall signal generated after a brake lever rotates is transmitted to a controller, and after the Hall signal is processed by the controller, the electronic brake intervenes in a braking process and is braked together with the mechanical brake. However, the conventional scheme cannot accurately and effectively brake the electronic brake. Disclosure of Invention In view of the foregoing, it is desirable to provide a braking intervention method, device, electronic apparatus, and storage medium for an electronic brake that can accurately and effectively brake a target vehicle. In a first aspect, the present application provides a brake intervention method of an electronic brake, the method comprising: acquiring an angular acceleration signal generated based on motion information of a brake trigger on a target vehicle; acquiring a wheel load signal, a vehicle speed signal and an acceleration signal of the target vehicle; determining a braking intensity of the electronic brake when the electronic brake is involved in braking based on the angular acceleration signal, the wheel load signal, the vehicle speed signal and the acceleration signal; controlling the electronic brake to brake the target vehicle according to the braking strength intervention; and in the braking process, the braking intensity is adjusted in real time based on the running information of the target vehicle, so that the electronic brake brakes according to the adjusted braking intensity. In one embodiment, the brake trigger comprises a brake lever and a driving arm linked with the brake lever, the motion information comprises first angular velocity change information of the brake lever and second angular velocity change information of the driving arm, and the acquiring the angular acceleration signal generated based on the motion information of the brake trigger on the target vehicle comprises: Acquiring an angular acceleration signal of the brake crank and an angular acceleration signal of the driving arm; The angular acceleration signal of the brake lever is generated by an angular acceleration sensor based on the first angular velocity change information, and the angular acceleration signal of the driving arm is generated by the angular acceleration sensor based on the second angular velocity change information. In one embodiment, the method further comprises: Determining a braking intention according to the angular acceleration signal of the brake crank and the angular acceleration signal of the driving arm, wherein the braking intention is emergency obstacle avoidance or conventional braking; The determining the braking strength of the electronic brake when the electronic brake is involved in braking based on the angular acceleration signal, the wheel load signal, the vehicle speed signal and the acceleration signal comprises: Determining a first braking intensity of the electronic brake when the electronic brake is involved in braking based on the wheel load signal, the vehicle speed signal and the acceleration signal when the brake is intended to be the emergency obstacle avoidance; determining a second braking intensity of the electronic brake when the electronic brake is involved in braking based on the wheel load signal, the vehicle speed signal and the acceleration signal when the brake is intended to be the conventional brake; Wherein the first braking strength is greater than the second braking strength. In one embodiment, the acquiring the wheel load signal, the vehicle speed signal, and the acceleration signal of the target vehicle includes: The method comprises the steps of collecting wheel load signals generated by a load sensor on a target vehicle, wherein the wheel load signals comprise front wheel load signals and rear wheel load signals of the target vehicle; collecting a vehicle speed signal generated by a vehicle speed sensor on the target vehicle; and acquiring an acceleration signal generated by an acceleration sensor on the target vehicle. In one embodiment, the adjusted braking intensity includes a first braking intensity, and the adjusting the braking intensity in real time based on the operation information of the target vehicle, so that the electronic brake brakes