CN116101238A - Brake control method, device, system, vehicle, medium and chip - Google Patents
Brake control method, device, system, vehicle, medium and chip Download PDFInfo
- Publication number
- CN116101238A CN116101238A CN202310333826.9A CN202310333826A CN116101238A CN 116101238 A CN116101238 A CN 116101238A CN 202310333826 A CN202310333826 A CN 202310333826A CN 116101238 A CN116101238 A CN 116101238A
- Authority
- CN
- China
- Prior art keywords
- braking
- wheel
- motor
- braking force
- unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The present disclosure relates to a brake control method, device, system, vehicle, medium and chip, the method can be applied to a central control unit of a vehicle, the vehicle is a four-wheel vehicle, each wheel of the vehicle is correspondingly provided with a wheel side brake unit and a brake motor, the method includes: under the condition that the driver has braking intention, determining the failure condition of the wheel side braking unit; determining wheel speed information of each wheel according to failure conditions of the wheel side braking units; according to the wheel speed information and the required braking force corresponding to the braking intention, distributing braking force to a braking motor corresponding to the non-failure braking unit and/or a target driving motor; the driving motor of the vehicle comprises a front shaft motor and a rear shaft motor, and the target driving motor is the front shaft motor and/or the rear shaft motor. The braking force can be distributed to different braking mechanisms under different failure conditions, so that the braking safety of the vehicle is ensured while the braking force required by a driver is met.
Description
Technical Field
The disclosure relates to the field of vehicle control, and in particular relates to a brake control method, device, system, vehicle, medium and chip.
Background
In the related art, electronic hydraulic brake-by-wire (Electro Hydraulic Brake, EHB) is the currently mainstream braking mode, and electromechanical brake-by-wire (Electro Mechanical Brake, EMB) is gradually replacing the braking mode of EHB due to its advantages of simple structure and fast response speed.
However, in the case of EMB, how to distribute braking forces to the individual brake mechanisms in case of different failures to ensure the driving safety performance remains a problem to be solved.
Disclosure of Invention
To overcome the problems in the related art, the present disclosure provides a brake control method, apparatus, system, vehicle, medium, and chip.
According to a first aspect of embodiments of the present disclosure, there is provided a brake control method applied to a central control unit of a vehicle, the vehicle being a four-wheeled vehicle, each wheel of the vehicle being correspondingly provided with a wheel side brake unit and a brake motor, each wheel side brake unit being configured to receive a control instruction of the central control unit to control the corresponding brake motor, the method including:
determining a failure condition of the wheel side brake unit under the condition that a driver has a brake intention;
Determining the wheel speed information of each wheel according to the failure condition of the wheel side braking unit;
according to the wheel speed information and the required braking force corresponding to the braking intention, distributing braking force to a braking motor corresponding to a non-failure braking unit and/or a target driving motor;
the driving motor of the vehicle comprises a front shaft motor and a rear shaft motor, and the target driving motor is the front shaft motor and/or the rear shaft motor.
Optionally, the determining the wheel speed information of each wheel according to the failure condition of the wheel edge braking unit includes:
determining first estimated wheel speeds of two front wheels according to the shaft speed of the front axle motor under the condition that the failure condition is determined to represent that the wheel edge braking units corresponding to the two front wheels of the vehicle fail;
and distributing braking force to the braking motor corresponding to the non-failure braking unit and/or the target driving motor according to the wheel speed information and the required braking force corresponding to the braking intention, wherein the braking force distribution method comprises the following steps:
determining a reference vehicle speed and a four-wheel slip rate of the whole vehicle according to the first estimated wheel speed and the wheel speeds corresponding to the two rear wheels;
and according to the whole vehicle reference speed and the four-wheel slip ratio, distributing a first braking force to the front axle motor, and distributing a second braking force to two braking motors respectively corresponding to the two rear wheels, so that the sum of the first braking force and the second braking force is equal to the required braking force.
Optionally, the determining the wheel speed information of each wheel according to the failure condition of the wheel edge braking unit includes:
determining second estimated wheel speeds of two rear wheels according to the shaft speeds of the rear axle motors under the condition that the failure condition is determined to represent that the wheel edge braking units corresponding to the two rear wheels of the vehicle fail;
and distributing braking force to the braking motor corresponding to the non-failure braking unit and/or the target driving motor according to the wheel speed information and the required braking force corresponding to the braking intention, wherein the braking force distribution method comprises the following steps:
determining a reference vehicle speed and a four-wheel slip rate of the whole vehicle according to the second estimated wheel speed and the wheel speeds corresponding to the two front wheels;
when the four-wheel slip rate characterizes that the slip rate of the rear axle is smaller than a preset threshold value, third braking force is distributed to the rear axle motor, fourth braking force is distributed to two braking motors corresponding to the two front wheels respectively, and the sum of the third braking force and the fourth braking force is equal to the required braking force;
and under the condition that the slip rate of the four-wheel slip rate representation rear axle is larger than or equal to the preset threshold value, distributing the required braking force to the two braking motors respectively corresponding to the two front wheels.
Optionally, determining the wheel speed information of each wheel according to the failure condition of the wheel side braking unit includes:
determining a third estimated wheel speed of a wheel corresponding to a failed wheel edge brake unit according to the wheel speed of a wheel corresponding to a non-failed brake unit and the shaft speeds of the front shaft motor and the rear shaft motor under the condition that the failure condition is determined to represent that the wheel edge brake unit corresponding to the front wheel and the wheel edge brake unit corresponding to the rear wheel of the vehicle are failed;
and distributing braking force to the braking motor corresponding to the non-failure braking unit and/or the target driving motor according to the wheel speed information and the required braking force corresponding to the braking intention, wherein the braking force distribution method comprises the following steps:
determining a reference vehicle speed and a four-wheel slip rate of the whole vehicle according to the wheel speed of the wheel corresponding to the non-failure braking unit and the third estimated wheel speed;
according to the vehicle reference speed and the four-wheel slip ratio, respectively distributing fifth braking force to the braking motors corresponding to the non-failure braking units to enable the fifth braking force to be equal to the required braking force, or distributing sixth braking force to the front axle motor and the rear axle motor to enable the sixth braking force to be equal to the required braking force, or respectively distributing seventh braking force to the braking motors corresponding to the non-failure braking units and distributing eighth braking force to the front axle motor and the rear axle motor to enable the sum of the seventh braking force and the eighth braking force to be equal to the required braking force.
Optionally, the determining the wheel speed information of each wheel according to the failure condition of the wheel edge braking unit includes:
under the condition that the failure condition is determined to represent that a failure braking unit exists in the vehicle, determining a fourth estimated wheel speed of the failure braking unit according to the wheel speed of the wheel corresponding to the braking motor coaxial with the failure braking unit and the shaft speed of the driving motor corresponding to the failure braking unit;
and distributing braking force to the braking motor corresponding to the non-failure braking unit and/or the target driving motor according to the wheel speed information and the required braking force corresponding to the braking intention, wherein the braking force distribution method comprises the following steps:
determining a reference vehicle speed and a four-wheel slip rate of the whole vehicle according to the wheel speed of the wheel corresponding to the non-failure braking unit and the fourth estimated wheel speed;
and respectively distributing the required braking force to the braking motor corresponding to the non-failure braking unit according to the whole vehicle reference speed and the four-wheel slip rate.
Optionally, in case it is determined that the driver has a braking intention, before determining the failure condition of the wheel side brake unit, the method further comprises:
determining whether the brake pedal is deactivated;
Under the condition that the brake pedal is determined to be invalid, sending out prompt information, wherein the prompt information is used for prompting a driver to indicate the braking intention through a P gear button; and is combined with the other components of the water treatment device,
according to the depth of the P gear button, determining a required braking force corresponding to the braking intention;
wherein the depth of the P gear button is positively correlated with the required braking force.
Optionally, the vehicle includes a main control unit and a redundant control unit, and distributes braking force to the braking motor corresponding to the non-failure braking unit and/or the target driving motor according to the wheel speed information and the required braking force corresponding to the braking intention, including:
under the condition that the main control unit is determined to be not invalid, distributing braking force to a braking motor corresponding to the non-invalid braking unit and/or a target driving motor through the main control unit according to the wheel speed information and the required braking force corresponding to the braking intention;
and under the condition that the main control unit fails and the redundant control unit does not fail, distributing braking force to the braking motor corresponding to the non-failed braking unit and/or the target driving motor through the redundant control unit according to the wheel speed information and the required braking force corresponding to the braking intention.
According to a second aspect of the embodiments of the present disclosure, there is provided a brake control device applied to a central control unit of a vehicle, the vehicle being a four-wheeled vehicle, each wheel of the vehicle being correspondingly provided with a wheel side brake unit and a brake motor, each wheel side brake unit being configured to receive a control instruction of the central control unit to control the corresponding brake motor, the brake control device comprising:
a first determination module configured to determine a failure condition of the wheel side brake unit in a case where it is determined that the driver has a brake intention;
a second determining module configured to determine wheel speed information of each wheel according to a failure condition of the wheel side brake unit;
the control module is configured to distribute braking force to the braking motor corresponding to the non-failure braking unit and/or the target driving motor according to the wheel speed information and the required braking force corresponding to the braking intention;
the driving motor of the vehicle comprises a front shaft motor and a rear shaft motor, and the target driving motor is the front shaft motor and/or the rear shaft motor.
According to a third aspect of embodiments of the present disclosure, there is provided a brake control system provided to a vehicle, the vehicle being a four-wheeled vehicle, the brake control system including a central control unit, a wheel side brake unit, a brake motor, a front axle motor, and a rear axle motor;
Each wheel of the vehicle is correspondingly provided with a wheel side braking unit and a braking motor, each wheel side braking unit is used for receiving a control instruction of the central control unit so as to control the corresponding braking motor, and the central control unit is used for:
determining a failure condition of the wheel side brake unit under the condition that a driver has a brake intention;
determining the wheel speed information of each wheel according to the failure condition of the wheel side braking unit;
according to the wheel speed information and the required braking force corresponding to the braking intention, distributing braking force to a braking motor corresponding to a non-failure braking unit and/or a target driving motor;
the driving motor of the vehicle comprises a front shaft motor and a rear shaft motor, and the target driving motor is the front shaft motor and/or the rear shaft motor.
According to a fourth aspect of embodiments of the present disclosure, there is provided a vehicle comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to:
determining a failure condition of the wheel side brake unit under the condition that a driver has a brake intention;
determining the wheel speed information of each wheel according to the failure condition of the wheel side braking unit;
According to the wheel speed information and the required braking force corresponding to the braking intention, distributing braking force to a braking motor corresponding to a non-failure braking unit and/or a target driving motor;
the driving motor of the vehicle comprises a front shaft motor and a rear shaft motor, and the target driving motor is the front shaft motor and/or the rear shaft motor.
According to a fifth aspect of embodiments of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the method of any of the first aspects of the present disclosure.
According to a sixth aspect of embodiments of the present disclosure, there is provided a chip comprising a processor and an interface; the processor is configured to read instructions to perform the method of any of the first aspects of the present disclosure.
The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects: when the braking intention is determined, firstly, determining the failure condition of each wheel side braking unit, further determining a determination scheme of wheel speed information based on the failure condition, and more accurately determining the corresponding wheel speed of each wheel.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a flowchart illustrating a brake control method according to an exemplary embodiment.
FIG. 2 is a schematic diagram of a brake control system, according to an exemplary embodiment.
Fig. 3 is a block diagram illustrating a brake control apparatus according to an exemplary embodiment.
FIG. 4 is a functional block diagram of a vehicle, shown in an exemplary embodiment.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
Fig. 1 is a flow chart illustrating a brake control method according to an exemplary embodiment, which may be applied to a central control unit of a vehicle, which may be, for example, a domain controller of the vehicle, which may be, for example, a domain controller of a vehicle intelligent driving domain, which may be a multi-core system on a chip. The vehicle is a four-wheel vehicle, the vehicle CAN be an electric drive vehicle, each wheel of the vehicle is correspondingly provided with a wheel side braking unit and a braking motor, each wheel side braking unit is used for receiving a control instruction of the central control unit to control the corresponding braking motor, and the wheel side braking unit CAN be an ECU (Electronic Control Unit ) connected with the central control unit through a CAN bus. As shown in fig. 1, the method includes:
and S101, under the condition that the driver has braking intention, determining the failure condition of the wheel side braking unit.
It should be noted that the wheel side braking unit and the braking motor may form an electromechanical brake-by-wire device, that is, the EMB, where the wheel side braking unit may control the corresponding braking motor in a pure-wire manner, the electromechanical brake-by-wire device cancels a complex hydraulic pipeline, and controls the braking motor at the wheel end in a pure-wire manner to generate braking force, so as to implement braking, and the braking system of the vehicle has the advantages of simple structure and fast response speed. In addition, the two front wheels or the four wheels CAN be respectively and correspondingly provided with wheel speed sensors, and the wheel edge braking unit CAN collect the wheel speeds of the corresponding wheels collected by the wheel speed sensors and send the wheel speeds to the central control unit through the CAN bus.
Wherein, whether there is a braking intention can be determined by detecting the depth of the brake pedal, or the depth of the P range button. The wheel side failure unit may have a failure condition, such as disconnection of the wheel side brake unit from the central control unit, or damage of the wheel side brake unit, etc. When the wheel side braking unit fails, the central control unit cannot acquire information acquired by the wheel side braking unit and cannot control the braking motor corresponding to the wheel side braking unit.
S102, determining the wheel speed information of each wheel according to the failure condition of the wheel edge braking unit.
Optionally, each wheel side braking unit, that is, each wheel may be further provided with a wheel speed sensor correspondingly, and each wheel side braking unit may collect a wheel speed of a corresponding wheel collected by a corresponding wheel speed sensor and send the wheel speed to the central control unit through the CAN bus. When the wheel edge braking unit fails, the central control unit cannot acquire the wheel speed of the corresponding wheel acquired by the wheel speed sensor corresponding to the wheel edge braking unit through the wheel edge braking unit. Further, in different failure situations, different wheel speed information determination schemes may be employed to determine the wheel speeds of the respective vehicles.
S103, distributing braking force to the braking motor corresponding to the non-failure braking unit and/or the target driving motor according to the wheel speed information and the required braking force corresponding to the braking intention.
The driving motor of the vehicle comprises a front shaft motor and a rear shaft motor, and the target driving motor is the front shaft motor and/or the rear shaft motor.
Also, it can be understood that, because the central control unit cannot control the brake motor corresponding to the wheel side brake unit when the wheel side brake unit fails, when the wheel corresponding to the wheel side brake unit which is not failed is different, different brake force distribution schemes can be adopted, so as to further ensure the safety of vehicle braking. And, a front axle motor or a rear axle motor may also be employed to generate a negative torque to meet the corresponding braking force demand.
In the embodiment of the disclosure, when the braking intention is determined, firstly, the failure condition of each wheel side braking unit is determined, and then, based on the failure condition, the determination scheme of the wheel speed information is determined, so that the wheel speed corresponding to each wheel can be determined more accurately, and based on the wheel speed information and the required braking force corresponding to the braking intention, the braking force is distributed for different braking mechanisms, so that the braking safety of the vehicle is ensured while the braking force required by a driver is met.
In some alternative embodiments, the determining wheel speed information of each wheel according to the failure condition of the wheel side brake unit includes:
determining first estimated wheel speeds of two front wheels according to the shaft speed of the front shaft motor under the condition that the failure condition is determined to represent that the wheel edge braking units corresponding to the two front wheels of the vehicle are failed;
and distributing braking force to the braking motor corresponding to the non-failure braking unit and/or the target driving motor according to the wheel speed information and the required braking force corresponding to the braking intention, wherein the braking force distribution method comprises the following steps:
determining a reference vehicle speed and a four-wheel slip rate of the whole vehicle according to the first estimated wheel speed and the wheel speeds corresponding to the two rear wheels;
and according to the whole vehicle reference speed and the four-wheel slip ratio, distributing a first braking force to the front axle motor, and distributing a second braking force to two braking motors respectively corresponding to the two rear wheels, so that the sum of the first braking force and the second braking force is equal to the required braking force.
The central control unit can not acquire corresponding wheel speed information through the wheel edge braking units corresponding to the two front wheels respectively due to the failure of the wheel edge braking units of the two front wheels, and further, the two front wheels are driven by the front shaft motor, so that the shaft speed of the front shaft motor can be used for estimating the wheel speeds of the two front wheels to a certain extent.
It should be noted that, the braking forces allocated to the two braking motors corresponding to the two rear wheels respectively may be the same or different, and the specific magnitude of the braking force allocated to each of the two braking motors may be determined based on the four-wheel slip ratio, which is not limited in the disclosure.
In some embodiments, the braking force may also be distributed to the rear axle motor such that the sum of the braking force provided by the rear axle motor by generating a negative torque and the braking forces provided by the two braking motors respectively corresponding to the two rear wheels is equal to the second braking force. For example, when the braking forces provided by the two braking motors respectively corresponding to the front axle motor and the two rear wheels cannot meet the required braking force, the braking forces can be distributed to the two braking motors respectively corresponding to the two rear wheels and the braking forces can be distributed to the rear axle motor.
By adopting the scheme, the wheel speed of each wheel can be obtained based on the first estimated wheel speeds of the two front wheels and the wheel speeds of the rear wheels detected by the wheel speed sensors corresponding to the two rear wheels, so that the reference vehicle speed and the four-wheel slip rate of the whole vehicle can be determined, and braking force is distributed to the braking motor and the driving motor which are not disabled based on the reference vehicle speed and the four-wheel slip rate of the whole vehicle, so that the stability of the vehicle in the braking process is ensured.
In some alternative embodiments, the determining wheel speed information of each wheel according to the failure condition of the wheel side brake unit includes:
determining second estimated wheel speeds of two rear wheels according to the shaft speeds of the rear axle motors under the condition that the failure condition is determined to represent that the wheel edge braking units corresponding to the two rear wheels of the vehicle fail;
and distributing braking force to the braking motor corresponding to the non-failure braking unit and/or the target driving motor according to the wheel speed information and the required braking force corresponding to the braking intention, wherein the braking force distribution method comprises the following steps:
determining a reference vehicle speed and a four-wheel slip rate of the whole vehicle according to the second estimated wheel speed and the wheel speeds corresponding to the two front wheels;
when the four-wheel slip rate characterizes that the slip rate of the rear axle is smaller than a preset threshold value, third braking force is distributed to the rear axle motor, fourth braking force is distributed to two braking motors corresponding to the two front wheels respectively, and the sum of the third braking force and the fourth braking force is equal to the required braking force;
and under the condition that the slip rate of the four-wheel slip rate representation rear axle is larger than or equal to the preset threshold value, distributing the required braking force to the two braking motors respectively corresponding to the two front wheels.
The central control unit cannot acquire corresponding wheel speed information through the wheel edge braking units respectively corresponding to the two rear wheels due to the failure of the wheel edge braking units of the two rear wheels, and further, the two rear wheels are driven by the rear axle motor, so that the axle speed of the rear axle motor can be used for estimating the wheel speeds of the two rear wheels to a certain extent.
It should be noted that, the braking forces allocated to the two braking motors corresponding to the two front wheels respectively may be the same or different, and the specific magnitude of the braking force allocated to each of the two braking motors may be determined based on the four-wheel slip ratio, which is not limited in the disclosure.
In some embodiments, the braking force may also be distributed to the front axle motor such that the sum of the braking force provided by the front axle motor by generating a negative torque and the braking force provided by the two braking motors respectively corresponding to the two rear wheels is equal to the fourth braking force. For example, when the braking forces provided by the two braking motors corresponding to the rear axle motor and the two front wheels respectively cannot meet the required braking force, the braking forces may be distributed to the two braking motors corresponding to the two rear wheels respectively and the braking forces may be distributed to the rear axle motor at the same time.
It is understood that the preset threshold may be calibrated in advance by a related technician, and the specific size of the preset threshold is not limited in the present disclosure. When the slip ratio of the four-wheel slip ratio representation rear axle is larger than or equal to a preset threshold value, the phenomenon that two rear wheels possibly slip or lock can be indicated, and normal running of the vehicle can be affected. Therefore, it is possible to suppress slip or locking of the rear wheels by canceling the braking force provided by the rear axle motor so that the two rear wheels can freely roll.
Further, in case of providing the required braking force by using two brake motors corresponding to the two front wheels, respectively, there is also a possibility that the two front wheels may be locked, and in some possible embodiments, anti-lock control may be performed by the two brake motors to avoid the risk caused by locking of the front wheels.
By adopting the scheme, the wheel speed of each wheel can be obtained based on the second estimated wheel speeds of the two rear wheels and the wheel speeds of the front wheels detected by the wheel speed sensors corresponding to the two front wheels, so that the reference vehicle speed and the four-wheel slip rate of the whole vehicle can be determined, braking force is distributed to the braking motor and the driving motor which are not invalid based on the reference vehicle speed and the four-wheel slip rate of the whole vehicle, when the slip rate of the rear wheels is greater than or equal to a preset threshold value, the negative torque provided by the rear axle motor is timely canceled, and only the front axle braking motor generates the braking force, so that the driving risk caused by the slip or locking of the rear wheels can be effectively avoided, and the stability of the vehicle in the braking process is ensured.
In some alternative embodiments, the determining wheel speed information of each wheel according to the failure condition of the wheel side brake unit includes:
under the condition that the failure condition is determined to represent that a failure braking unit exists in the vehicle, determining a fourth estimated wheel speed of the failure braking unit according to the wheel speed of the wheel corresponding to the braking motor coaxial with the failure braking unit and the shaft speed of the driving motor corresponding to the failure braking unit;
and distributing braking force to the braking motor corresponding to the non-failure braking unit and/or the target driving motor according to the wheel speed information and the required braking force corresponding to the braking intention, wherein the braking force distribution method comprises the following steps:
determining a reference vehicle speed and a four-wheel slip rate of the whole vehicle according to the wheel speed of the wheel corresponding to the non-failure braking unit and the fourth estimated wheel speed;
and respectively distributing the required braking force to the braking motor corresponding to the non-failure braking unit according to the whole vehicle reference speed and the four-wheel slip rate.
The failure braking unit can be a wheel side braking unit corresponding to any one of four wheels. When only one wheel edge braking unit on the same driving shaft fails, the wheel speed of the wheel on the failure side can be accurately determined based on the wheel speed information acquired by the wheel edge braking unit on the other side and the shaft speed of the driving motor corresponding to the driving shaft.
For example, in the case that the wheel edge brake unit corresponding to the left front wheel fails, if the wheel edge brake unit corresponding to the right front wheel obtains that the corresponding wheel speed sensor detects that the wheel speed of the right front wheel is X and the shaft speed of the front shaft motor is Y, the third estimated wheel speed corresponding to the left front wheel may be calculated by the following formula: y= (x+z)/2, where Z is the third estimated wheel speed corresponding to the front left wheel. Accordingly, the estimation method in the case of any rear wheel failure is the same, and will not be described here again.
By adopting the scheme, under the condition that only one failure braking unit exists, the wheel speed information and the corresponding axle speed of the wheels corresponding to the failure braking unit can be more accurately determined according to the wheel speed information and the corresponding axle speed obtained by the non-failure braking units which are coaxial with the failure braking unit, and further, the more accurate whole vehicle reference speed and the four-wheel slip rate can be obtained, and the more reliable control is carried out on the braking motors corresponding to the non-failure braking units based on the whole vehicle reference speed and the four-wheel slip rate so as to ensure the stability of the vehicle in the braking process.
In some alternative embodiments, determining wheel speed information for each wheel based on a failure condition of the wheel side brake units includes:
Determining a third estimated wheel speed of a wheel corresponding to a failed wheel edge brake unit according to the wheel speed of a wheel corresponding to a non-failed brake unit and the shaft speeds of the front shaft motor and the rear shaft motor under the condition that the failure condition is determined to represent that the wheel edge brake unit corresponding to the front wheel and the wheel edge brake unit corresponding to the rear wheel of the vehicle are failed;
and distributing braking force to the braking motor corresponding to the non-failure braking unit and/or the target driving motor according to the wheel speed information and the required braking force corresponding to the braking intention, wherein the braking force distribution method comprises the following steps:
determining a reference vehicle speed and a four-wheel slip rate of the whole vehicle according to the wheel speed of the wheel corresponding to the non-failure braking unit and the third estimated wheel speed;
according to the vehicle reference speed and the four-wheel slip ratio, respectively distributing fifth braking force to the braking motors corresponding to the non-failure braking units to enable the fifth braking force to be equal to the required braking force, or distributing sixth braking force to the front axle motor and the rear axle motor to enable the sixth braking force to be equal to the required braking force, or respectively distributing seventh braking force to the braking motors corresponding to the non-failure braking units and distributing eighth braking force to the front axle motor and the rear axle motor to enable the sum of the seventh braking force and the eighth braking force to be equal to the required braking force.
The two failed wheel edge brake units may be wheel edge brake units on the same side, for example, the wheel edge brake units corresponding to the left rear wheel and the left front wheel are respectively failed wheel edge brake units, or may be wheel edge brake units on different sides, for example, the wheel edge brake units corresponding to the left rear wheel and the right front wheel are respectively failed wheel edge brake units, which is not limited in the disclosure.
In addition, whether or not to distribute the braking force to the front axle motor and the rear axle motor may be determined according to the magnitude of the braking force that can be provided by the braking motor corresponding to the non-failure braking unit, for example, when the braking motor corresponding to the non-failure braking unit can meet the required braking force, the braking force may not be distributed to the front axle motor and the rear axle motor, and when the required braking force cannot be met, the braking force may be distributed to the front axle motor and the rear axle motor.
It is understood that the magnitudes of the braking forces respectively allocated to the front axle motor and the rear axle motor may be the same or different, and likewise, the magnitudes of the braking forces allocated to the braking motors corresponding to the respective non-failure braking units may be the same or different, and the specific magnitudes of the braking forces allocated to the respective braking mechanisms may be determined based on the four-wheel slip ratio, which is not limited in the present disclosure.
By adopting the scheme, under the condition that each of the front axle and the rear axle has one failure braking unit, the wheel speed information and the corresponding axle speed of the wheels corresponding to the failure braking units can be more accurately determined according to the wheel speed information and the corresponding axle speed obtained by the non-failure braking units which are coaxial with the failure braking units, so that more accurate vehicle reference speed and four-wheel slip rate can be obtained, and the braking motors corresponding to the non-failure braking units are more reliably controlled based on the vehicle reference speed and the four-wheel slip rate, so that the stability of the vehicle in the braking process is ensured.
In still other alternative embodiments, in the event that a driver is determined to have a braking intent, prior to determining a failure condition of the wheel side brake unit, the method further comprises:
determining whether the brake pedal is deactivated;
under the condition that the brake pedal is determined to be invalid, sending out prompt information, wherein the prompt information is used for prompting a driver to indicate the braking intention through a P gear button; and is combined with the other components of the water treatment device,
according to the depth of the P gear button, determining a required braking force corresponding to the braking intention;
wherein the depth of the P gear button is positively correlated with the required braking force.
The prompt information may be, for example, a voice prompt, or a light prompt, which is not limited in this disclosure.
By adopting the scheme, when the brake pedal fails, a driver can indicate the brake intention through the P-gear button, and the central control unit can further accurately determine the required brake force indicated by the brake intention of the driver according to the depth of the P-gear button, so that the vehicle can be controlled to brake more reliably, the requirement of the driver is met, the performance of driving safety is ensured, the vehicle brake can be attached to the requirement of the driver more, and the driving experience is improved.
In other alternative embodiments, the vehicle includes a main control unit and a redundant control unit, and the method further includes allocating braking force to a braking motor corresponding to a non-failed braking unit and/or to a target driving motor according to the wheel speed information and the required braking force corresponding to the braking intention, including:
under the condition that the main control unit is determined to be not invalid, distributing braking force to a braking motor corresponding to the non-invalid braking unit and/or a target driving motor through the main control unit according to the wheel speed information and the required braking force corresponding to the braking intention;
And under the condition that the main control unit fails and the redundant control unit does not fail, distributing braking force to the braking motor corresponding to the non-failed braking unit and/or the target driving motor through the redundant control unit according to the wheel speed information and the required braking force corresponding to the braking intention.
By adopting the scheme, under the condition that any one control unit fails, the control of the brake motor and the driving motor can still be performed so as to realize the anti-lock control of each wheel, and the safety performance of the running and braking of the vehicle can be effectively ensured.
Fig. 2 is a schematic diagram of a brake control system according to an exemplary embodiment, where the brake control system 200 is disposed on a vehicle, the vehicle is a four-wheeled vehicle, and as shown in fig. 2, the brake control system 200 includes a central control unit 210, a wheel side brake unit 220, a brake motor 230, a front axle motor 240, and a rear axle motor 250, and each wheel of the vehicle is correspondingly disposed with the wheel side brake unit 220 and the brake motor 230, that is, a left front wheel, a right front wheel, a left rear wheel, and a right rear wheel shown in fig. 2, and each wheel side brake unit 220 is configured to receive a control command of the central control unit 210 to control the corresponding brake motor 230. The central control unit 210 is configured to execute any one or more steps involved in the foregoing method embodiments, so as to implement vehicle braking control corresponding to each failure condition, so as to ensure safety performance of vehicle braking.
In some alternative embodiments, the wheel side brake unit 220 may be an ECU connected with the central control unit 210 through a CAN bus. The rear axle motor 250 is a driving motor for driving two rear wheels, and the front axle motor 240 is a driving motor for driving two front wheels, and the front axle motor 240 and the rear axle motor 250 may be directly connected to the central control unit 210, for example, may be connected through an ethernet, and directly receive control signals of the central control unit 210.
Alternatively, a wheel speed sensor may be disposed at the corresponding wheel of at least one wheel, for example, only one wheel speed sensor may be disposed at the right front wheel, or in some embodiments, a wheel speed sensor may be disposed at each wheel, and the wheel side brake unit 220 may collect the wheel speed of the corresponding wheel collected by the corresponding wheel speed sensor and transmit the collected wheel speed to the central control unit 210 through the CAN bus.
In some embodiments, the central control unit 210 may further include a primary control unit and a backup control unit, and thus may still be able to achieve effective control in the event of failure of any one of the control units.
In still other embodiments, the central control unit 210 may be further connected to the brake pedal and the P-gear button, respectively, to determine the required braking force corresponding to the braking intention according to the depth of the brake pedal or the depth of the P-gear button.
Fig. 3 is a block diagram of a brake control apparatus according to an exemplary embodiment, and the brake control apparatus 30 may be provided as a central control unit of a vehicle, or a part of the central control unit, the vehicle being a four-wheeled vehicle, each wheel of the vehicle being provided with a wheel side brake unit and a brake motor, each of the wheel side brake units being configured to receive a control instruction of the central control unit to control the corresponding brake motor, as shown in fig. 3, the brake control apparatus 30 including:
a first determination module 31 configured to determine a failure condition of the wheel side brake unit in case it is determined that the driver has a brake intention;
a second determining module 32 configured to determine wheel speed information of each wheel according to a failure condition of the wheel side brake unit;
a control module 33 configured to distribute braking force to the braking motor corresponding to the non-failure braking unit and/or the target driving motor according to the wheel speed information and the required braking force corresponding to the braking intention;
the driving motor of the vehicle comprises a front shaft motor and a rear shaft motor, and the target driving motor is the front shaft motor and/or the rear shaft motor.
Optionally, the second determination module 32 is configured to:
determining first estimated wheel speeds of two front wheels according to the shaft speed of the front axle motor under the condition that the failure condition is determined to represent that the wheel edge braking units corresponding to the two front wheels of the vehicle fail;
a control module 33 configured to:
determining a reference vehicle speed and a four-wheel slip rate of the whole vehicle according to the first estimated wheel speed and the wheel speeds corresponding to the two rear wheels;
and according to the whole vehicle reference speed and the four-wheel slip ratio, distributing a first braking force to the front axle motor, and distributing a second braking force to two braking motors respectively corresponding to the two rear wheels, so that the sum of the first braking force and the second braking force is equal to the required braking force.
Optionally, the second determination module 32 is configured to:
determining second estimated wheel speeds of two rear wheels according to the shaft speeds of the rear axle motors under the condition that the failure condition is determined to represent that the wheel edge braking units corresponding to the two rear wheels of the vehicle fail;
a control module 33 configured to:
determining a reference vehicle speed and a four-wheel slip rate of the whole vehicle according to the second estimated wheel speed and the wheel speeds corresponding to the two front wheels;
When the four-wheel slip rate characterizes that the slip rate of the rear axle is smaller than a preset threshold value, third braking force is distributed to the rear axle motor, fourth braking force is distributed to two braking motors corresponding to the two front wheels respectively, and the sum of the third braking force and the fourth braking force is equal to the required braking force;
and under the condition that the slip rate of the four-wheel slip rate representation rear axle is larger than or equal to the preset threshold value, distributing the required braking force to the two braking motors respectively corresponding to the two front wheels.
Optionally, the second determination module 32 is configured to:
determining a third estimated wheel speed of a wheel corresponding to a failed wheel edge brake unit according to the wheel speed of a wheel corresponding to a non-failed brake unit and the shaft speeds of the front shaft motor and the rear shaft motor under the condition that the failure condition is determined to represent that the wheel edge brake unit corresponding to the front wheel and the wheel edge brake unit corresponding to the rear wheel of the vehicle are failed;
a control module 33 configured to:
determining a reference vehicle speed and a four-wheel slip rate of the whole vehicle according to the wheel speed of the wheel corresponding to the non-failure braking unit and the third estimated wheel speed;
According to the vehicle reference speed and the four-wheel slip ratio, respectively distributing fifth braking force to the braking motors corresponding to the non-failure braking units to enable the fifth braking force to be equal to the required braking force, or distributing sixth braking force to the front axle motor and the rear axle motor to enable the sixth braking force to be equal to the required braking force, or respectively distributing seventh braking force to the braking motors corresponding to the non-failure braking units and distributing eighth braking force to the front axle motor and the rear axle motor to enable the sum of the seventh braking force and the eighth braking force to be equal to the required braking force.
Optionally, the second determination module 32 is configured to:
under the condition that the failure condition is determined to represent that a failure braking unit exists in the vehicle, determining a fourth estimated wheel speed of the failure braking unit according to the wheel speed of the wheel corresponding to the braking motor coaxial with the failure braking unit and the shaft speed of the driving motor corresponding to the failure braking unit;
a control module 33 configured to:
determining a reference vehicle speed and a four-wheel slip rate of the whole vehicle according to the wheel speed of the wheel corresponding to the non-failure braking unit and the fourth estimated wheel speed;
And respectively distributing the required braking force to the braking motor corresponding to the non-failure braking unit according to the whole vehicle reference speed and the four-wheel slip rate.
Optionally, the brake control device 30 includes:
a third determination module configured to determine whether the brake pedal is deactivated;
the prompting module is configured to send out prompting information when the brake pedal is determined to be invalid, wherein the prompting information is used for prompting a driver to indicate braking intention through a P gear button;
a fourth determining module configured to determine a required braking force corresponding to the braking intention according to the depth of the P-gear button;
wherein the depth of the P gear button is positively correlated with the required braking force.
Optionally, the vehicle comprises a main control unit and a redundant control unit, the control module 33 being configured to:
under the condition that the main control unit is determined to be not invalid, distributing braking force to a braking motor corresponding to the non-invalid braking unit and/or a target driving motor through the main control unit according to the wheel speed information and the required braking force corresponding to the braking intention;
and under the condition that the main control unit fails and the redundant control unit does not fail, distributing braking force to the braking motor corresponding to the non-failed braking unit and/or the target driving motor through the redundant control unit according to the wheel speed information and the required braking force corresponding to the braking intention.
With respect to the brake control device 30 in the above-described embodiment, the specific manner in which the respective modules perform operations has been described in detail in the embodiment regarding the method, and will not be explained in detail here.
The brake control device 30 may be a separate electronic device or may be a part of a separate electronic device, for example, in an embodiment, the brake control device 30 may be an integrated circuit (Integrated Circuit, IC) or a chip, where the integrated circuit may be an IC or a set of a plurality of ICs; the chip may include, but is not limited to, the following: GPU (Graphics Processing Unit, graphics processor), CPU (Central Processing Unit ), FPGA (Field Programmable Gate Array, programmable logic array), DSP (Digital Signal Processor ), ASIC (Application Specific Integrated Circuit, application specific integrated circuit), SOC (System on Chip, system on Chip or System on Chip), etc. The integrated circuits or chips described above may be used to execute executable instructions (or code) to implement the brake control methods described above. The executable instructions may be stored on the integrated circuit or chip or may be retrieved from another device or apparatus, such as the integrated circuit or chip including a processor, memory, and interface for communicating with other devices. The executable instructions may be stored in the memory, which when executed by the processor implement the brake control method described above; alternatively, the integrated circuit or chip may receive the executable instructions through the interface and transmit them to the processor for execution, so as to implement the braking control method described above.
The present disclosure also provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the brake control method provided by the present disclosure.
Fig. 4 is a block diagram of a vehicle 400, according to an exemplary embodiment. For example, vehicle 400 may be a hybrid vehicle, but may also be a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other type of vehicle. The vehicle 400 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.
Referring to fig. 4, a vehicle 400 may include various subsystems, such as an infotainment system 410, a perception system 420, a decision control system 430, a drive system 440, and a computing platform 450. Wherein the vehicle 400 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, interconnections between each subsystem and between each component of the vehicle 400 may be achieved by wired or wireless means.
In some embodiments, the infotainment system 410 may include a communication system, an entertainment system, a navigation system, and the like.
The perception system 420 may include several sensors for sensing information of the environment surrounding the vehicle 400. For example, the sensing system 420 may include a global positioning system (which may be a GPS system, a beidou system, or other positioning system), an inertial measurement unit (inertial measurement unit, IMU), a lidar, millimeter wave radar, an ultrasonic radar, and a camera device.
The drive system 440 may include components that provide powered movement of the vehicle 400. In one embodiment, the drive system 440 may include an engine, an energy source, a transmission, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.
Some or all of the functions of the vehicle 400 are controlled by the computing platform 450. The computing platform 450 may include at least one processor 451 and memory 452, and the processor 451 may execute instructions 453 stored in the memory 452.
The processor 451 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, an image processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a System On Chip (SOC), an application specific integrated Chip (Application Specific Integrated Circuit, ASIC), or a combination thereof.
The memory 452 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
In addition to instructions 453, the memory 452 may also store data such as road maps, route information, vehicle location, direction, speed, etc. The data stored by memory 452 may be used by computing platform 450.
In an embodiment of the present disclosure, the processor 451 may execute the instructions 453 to complete all or part of the steps of the brake control method described above.
In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-mentioned brake control method when being executed by the programmable apparatus.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (12)
1. A brake control method, characterized by being applied to a central control unit of a vehicle, the vehicle being a four-wheeled vehicle, each wheel of the vehicle being correspondingly provided with a wheel side brake unit and a brake motor, each wheel side brake unit being configured to receive a control instruction of the central control unit to control the corresponding brake motor, the method comprising:
determining a failure condition of the wheel side brake unit under the condition that a driver has a brake intention;
determining the wheel speed information of each wheel according to the failure condition of the wheel side braking unit;
according to the wheel speed information and the required braking force corresponding to the braking intention, distributing braking force to a braking motor corresponding to a non-failure braking unit and/or a target driving motor;
the driving motor of the vehicle comprises a front shaft motor and a rear shaft motor, and the target driving motor is the front shaft motor and/or the rear shaft motor.
2. The method of claim 1, wherein determining wheel speed information for each wheel based on a failure condition of the wheel-side brake unit comprises:
determining first estimated wheel speeds of two front wheels according to the shaft speed of the front axle motor under the condition that the failure condition is determined to represent that the wheel edge braking units corresponding to the two front wheels of the vehicle fail;
and distributing braking force to the braking motor corresponding to the non-failure braking unit and/or the target driving motor according to the wheel speed information and the required braking force corresponding to the braking intention, wherein the braking force distribution method comprises the following steps:
determining a reference vehicle speed and a four-wheel slip rate of the whole vehicle according to the first estimated wheel speed and the wheel speeds corresponding to the two rear wheels;
and according to the whole vehicle reference speed and the four-wheel slip ratio, distributing a first braking force to the front axle motor, and distributing a second braking force to two braking motors respectively corresponding to the two rear wheels, so that the sum of the first braking force and the second braking force is equal to the required braking force.
3. The method of claim 1, wherein determining wheel speed information for each wheel based on a failure condition of the wheel-side brake unit comprises:
Determining second estimated wheel speeds of two rear wheels according to the shaft speeds of the rear axle motors under the condition that the failure condition is determined to represent that the wheel edge braking units corresponding to the two rear wheels of the vehicle fail;
and distributing braking force to the braking motor corresponding to the non-failure braking unit and/or the target driving motor according to the wheel speed information and the required braking force corresponding to the braking intention, wherein the braking force distribution method comprises the following steps:
determining a reference vehicle speed and a four-wheel slip rate of the whole vehicle according to the second estimated wheel speed and the wheel speeds corresponding to the two front wheels;
when the four-wheel slip rate characterizes that the slip rate of the rear axle is smaller than a preset threshold value, third braking force is distributed to the rear axle motor, fourth braking force is distributed to two braking motors corresponding to the two front wheels respectively, and the sum of the third braking force and the fourth braking force is equal to the required braking force;
and under the condition that the slip rate of the four-wheel slip rate representation rear axle is larger than or equal to the preset threshold value, distributing the required braking force to the two braking motors respectively corresponding to the two front wheels.
4. The method of claim 1, wherein determining wheel speed information for each wheel based on a failure condition of the wheel-side brake unit comprises:
Determining a third estimated wheel speed of a wheel corresponding to a failed wheel edge brake unit according to the wheel speed of a wheel corresponding to a non-failed brake unit and the shaft speeds of the front shaft motor and the rear shaft motor under the condition that the failure condition is determined to represent that the wheel edge brake unit corresponding to the front wheel and the wheel edge brake unit corresponding to the rear wheel of the vehicle are failed;
and distributing braking force to the braking motor corresponding to the non-failure braking unit and/or the target driving motor according to the wheel speed information and the required braking force corresponding to the braking intention, wherein the braking force distribution method comprises the following steps:
determining a reference vehicle speed and a four-wheel slip rate of the whole vehicle according to the wheel speed of the wheel corresponding to the non-failure braking unit and the third estimated wheel speed;
according to the vehicle reference speed and the four-wheel slip ratio, respectively distributing fifth braking force to the braking motors corresponding to the non-failure braking units to enable the fifth braking force to be equal to the required braking force, or distributing sixth braking force to the front axle motor and the rear axle motor to enable the sixth braking force to be equal to the required braking force, or respectively distributing seventh braking force to the braking motors corresponding to the non-failure braking units and distributing eighth braking force to the front axle motor and the rear axle motor to enable the sum of the seventh braking force and the eighth braking force to be equal to the required braking force.
5. The method of claim 1, wherein determining wheel speed information for each wheel based on a failure condition of the wheel-side brake unit comprises:
under the condition that the failure condition is determined to represent that a failure braking unit exists in the vehicle, determining a fourth estimated wheel speed of the failure braking unit according to the wheel speed of the wheel corresponding to the braking motor coaxial with the failure braking unit and the shaft speed of the driving motor corresponding to the failure braking unit;
and distributing braking force to the braking motor corresponding to the non-failure braking unit and/or the target driving motor according to the wheel speed information and the required braking force corresponding to the braking intention, wherein the braking force distribution method comprises the following steps:
determining a reference vehicle speed and a four-wheel slip rate of the whole vehicle according to the wheel speed of the wheel corresponding to the non-failure braking unit and the fourth estimated wheel speed;
and respectively distributing the required braking force to the braking motor corresponding to the non-failure braking unit according to the whole vehicle reference speed and the four-wheel slip rate.
6. The method according to any one of claims 1-5, wherein, in case it is determined that the driver has a braking intention, before determining a failure condition of the wheel side brake unit, the method further comprises:
Determining whether the brake pedal is deactivated;
under the condition that the brake pedal is determined to be invalid, sending out prompt information, wherein the prompt information is used for prompting a driver to indicate the braking intention through a P gear button; and is combined with the other components of the water treatment device,
according to the depth of the P gear button, determining a required braking force corresponding to the braking intention;
wherein the depth of the P gear button is positively correlated with the required braking force.
7. The method according to any one of claims 1 to 5, wherein the vehicle includes a main control unit and a redundant control unit, and wherein the braking force is allocated to the brake motor corresponding to the non-failed brake unit and/or the target drive motor according to the wheel speed information and the required braking force corresponding to the braking intention, comprising:
under the condition that the main control unit is determined to be not invalid, distributing braking force to a braking motor corresponding to the non-invalid braking unit and/or a target driving motor through the main control unit according to the wheel speed information and the required braking force corresponding to the braking intention;
and under the condition that the main control unit fails and the redundant control unit does not fail, distributing braking force to the braking motor corresponding to the non-failed braking unit and/or the target driving motor through the redundant control unit according to the wheel speed information and the required braking force corresponding to the braking intention.
8. A brake control device, characterized by being applied to a central control unit of a vehicle, the vehicle being a four-wheeled vehicle, each wheel of the vehicle being correspondingly provided with a wheel side brake unit and a brake motor, each wheel side brake unit being configured to receive a control instruction of the central control unit to control the corresponding brake motor, the brake control device comprising:
a first determination module configured to determine a failure condition of the wheel side brake unit in a case where it is determined that the driver has a brake intention;
a second determining module configured to determine wheel speed information of each wheel according to a failure condition of the wheel side brake unit;
the control module is configured to distribute braking force to the braking motor corresponding to the non-failure braking unit and/or the target driving motor according to the wheel speed information and the required braking force corresponding to the braking intention;
the driving motor of the vehicle comprises a front shaft motor and a rear shaft motor, and the target driving motor is the front shaft motor and/or the rear shaft motor.
9. The brake control system is characterized by being arranged on a vehicle, wherein the vehicle is a four-wheel vehicle, and the brake control system comprises a central control unit, a wheel side brake unit, a brake motor, a front shaft motor and a rear shaft motor;
Each wheel of the vehicle is correspondingly provided with a wheel side braking unit and a braking motor, each wheel side braking unit is used for receiving a control instruction of the central control unit so as to control the corresponding braking motor, and the central control unit is used for:
determining a failure condition of the wheel side brake unit under the condition that a driver has a brake intention;
determining the wheel speed information of each wheel according to the failure condition of the wheel side braking unit;
according to the wheel speed information and the required braking force corresponding to the braking intention, distributing braking force to a braking motor corresponding to a non-failure braking unit and/or a target driving motor;
the driving motor of the vehicle comprises a front shaft motor and a rear shaft motor, and the target driving motor is the front shaft motor and/or the rear shaft motor.
10. A vehicle, characterized by comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to:
under the condition that the driver has braking intention, determining the failure condition of the wheel side braking unit;
determining the wheel speed information of each wheel according to the failure condition of the wheel side braking unit;
According to the wheel speed information and the required braking force corresponding to the braking intention, distributing braking force to a braking motor corresponding to a non-failure braking unit and/or a target driving motor;
the driving motor of the vehicle comprises a front shaft motor and a rear shaft motor, and the target driving motor is the front shaft motor and/or the rear shaft motor.
11. A computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the steps of the method of any of claims 1-7.
12. A chip, comprising a processor and an interface; the processor is configured to read instructions to perform the method of any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310333826.9A CN116101238A (en) | 2023-03-30 | 2023-03-30 | Brake control method, device, system, vehicle, medium and chip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310333826.9A CN116101238A (en) | 2023-03-30 | 2023-03-30 | Brake control method, device, system, vehicle, medium and chip |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116101238A true CN116101238A (en) | 2023-05-12 |
Family
ID=86260067
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310333826.9A Pending CN116101238A (en) | 2023-03-30 | 2023-03-30 | Brake control method, device, system, vehicle, medium and chip |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116101238A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109941245A (en) * | 2019-04-08 | 2019-06-28 | 哈尔滨理工大学 | A kind of electric vehicle brake force distribution method |
| CN210852417U (en) * | 2019-07-17 | 2020-06-26 | 北京汽车股份有限公司 | P-gear locking control system based on front wheel braking and automobile with same |
| CN114084114A (en) * | 2020-08-24 | 2022-02-25 | 瀚德万安(上海)电控制动系统有限公司 | Braking system and braking method for vehicle |
| CN115107722A (en) * | 2022-06-27 | 2022-09-27 | 重庆长安汽车股份有限公司 | Electromechanical braking EMB control system and car |
| CN115384319A (en) * | 2022-09-29 | 2022-11-25 | 厦门金龙联合汽车工业有限公司 | Pure electric vehicle safety control method and system |
| CN217945163U (en) * | 2022-08-16 | 2022-12-02 | 炯熠电子科技(苏州)有限公司 | Electromechanical braking system and vehicle |
-
2023
- 2023-03-30 CN CN202310333826.9A patent/CN116101238A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109941245A (en) * | 2019-04-08 | 2019-06-28 | 哈尔滨理工大学 | A kind of electric vehicle brake force distribution method |
| CN210852417U (en) * | 2019-07-17 | 2020-06-26 | 北京汽车股份有限公司 | P-gear locking control system based on front wheel braking and automobile with same |
| CN114084114A (en) * | 2020-08-24 | 2022-02-25 | 瀚德万安(上海)电控制动系统有限公司 | Braking system and braking method for vehicle |
| CN115107722A (en) * | 2022-06-27 | 2022-09-27 | 重庆长安汽车股份有限公司 | Electromechanical braking EMB control system and car |
| CN217945163U (en) * | 2022-08-16 | 2022-12-02 | 炯熠电子科技(苏州)有限公司 | Electromechanical braking system and vehicle |
| CN115384319A (en) * | 2022-09-29 | 2022-11-25 | 厦门金龙联合汽车工业有限公司 | Pure electric vehicle safety control method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108760338B (en) | Unmanned on-loop testing device and system | |
| US9662974B2 (en) | Torque control for vehicles with independent front and rear propulsion systems | |
| US9963143B2 (en) | System and method for vehicle subsystem failure mitigation | |
| US20210229667A1 (en) | Vehicle control apparatus and vehicle control method | |
| CN108216194B (en) | Tire burst control | |
| CN116513191B (en) | Vehicle driving anti-skid method and device, vehicle and storage medium | |
| CN111434536A (en) | Hybrid power network for a vehicle | |
| CN116160865B (en) | Vehicle control method and device, medium and vehicle | |
| EP3983270A1 (en) | A method for validating a model associated with vehicle dynamics | |
| EP4378729A1 (en) | Vehicle drift control method and apparatus, vehicle, storage medium and chip | |
| US11884284B2 (en) | Braking control architectures for autonomous vehicles | |
| CN103863301A (en) | Method and system for controlling drive torque of vehicle | |
| CN118238633A (en) | Vehicle control method, device, storage medium, and program product | |
| CN117445697B (en) | Motor torque control method and device for vehicle, vehicle and medium | |
| US11613258B2 (en) | Vehicle control device | |
| US20240051578A1 (en) | Apparatus for controlling a vehicle and method thereof | |
| US20240051554A1 (en) | Apparatus for Controlling a Vehicle and Method Thereof | |
| CN116101238A (en) | Brake control method, device, system, vehicle, medium and chip | |
| CN116039587B (en) | Brake control method, device, system, vehicle, medium and chip | |
| CN116198463A (en) | Brake control method, device, system, vehicle, medium and chip | |
| CN116080603B (en) | Brake control method, device, vehicle, storage medium and chip | |
| CN117141460B (en) | Vehicle control method and device, storage medium and vehicle | |
| CN116653898B (en) | Parking control method and parking control system for vehicle | |
| CN115891942B (en) | Vehicle braking method and device, vehicle, storage medium and chip | |
| CN116985813B (en) | Vehicle control method and device, storage medium and vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |