CN118238778A - Hydraulic brake control method, domain controller, hydraulic brake assembly and vehicle - Google Patents
Hydraulic brake control method, domain controller, hydraulic brake assembly and vehicle Download PDFInfo
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- CN118238778A CN118238778A CN202211741966.1A CN202211741966A CN118238778A CN 118238778 A CN118238778 A CN 118238778A CN 202211741966 A CN202211741966 A CN 202211741966A CN 118238778 A CN118238778 A CN 118238778A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 239000002243 precursor Substances 0.000 claims description 26
- 230000002159 abnormal effect Effects 0.000 claims description 10
- 230000002222 downregulating effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 5
- 238000005265 energy consumption Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003828 downregulation Effects 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- 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
- 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
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
-
- 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
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
-
- 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
- B60T8/174—Using electrical or electronic regulation means to control braking characterised by using special control logic, e.g. fuzzy logic, neural computing
-
- 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
- B60T8/26—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels
-
- 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
- B60T8/26—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels
- B60T8/28—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels responsive to deceleration
-
- 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
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
-
- 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
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
- B60T8/343—Systems characterised by their lay-out
- B60T8/344—Hydraulic systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Theoretical Computer Science (AREA)
- Regulating Braking Force (AREA)
Abstract
The application discloses a control method of hydraulic braking, a domain controller, a hydraulic braking assembly and a vehicle, wherein the control method of the hydraulic braking is applied to the domain controller, the domain controller is used for controlling the hydraulic braking assembly, the hydraulic braking assembly comprises a first braking system used for braking front axle wheels and a second braking system used for braking rear axle wheels, and the control method of the hydraulic braking comprises the following steps: acquiring a target deceleration request and a road surface adhesion coefficient of a vehicle; obtaining total braking force according to a target deceleration request, and obtaining a first distribution ratio P1 according to a road adhesion coefficient and a preset distribution curve, wherein P1=F1/F2, F1 represents the braking force of a first braking system, and F2 represents the braking force of a second braking system; when it is determined that the total braking force is greater than the preset braking threshold value, a first braking force of the first braking system and a second braking force of the second braking system are obtained according to the total braking force and the first distribution ratio P1.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a hydraulic braking control method, a domain controller, a hydraulic braking assembly and a vehicle.
Background
With the continuous development of new energy automobiles and intelligent automobiles, new requirements are put forward on a braking system. In particular, higher demands are made on the safety of the brake system. Such as: in emergency braking, how to ensure the form safety of the vehicle is a technical problem to be solved currently.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, an object of the present invention is to provide a hydraulic braking control method, which not only ensures that the whole vehicle obtains the maximum braking force, but also ensures that the front axle wheel and the rear axle wheel are locked simultaneously, thereby avoiding the occurrence of out-of-control conditions such as braking deviation, rear axle sideslip, etc. caused by emergency braking, and further improving braking safety.
The invention further provides a domain controller adopting the hydraulic braking control method.
The invention further provides a hydraulic brake assembly adopting the domain controller.
The invention further provides a vehicle adopting the hydraulic braking assembly.
A control method of hydraulic braking according to an embodiment of a first aspect of the present invention is applied to a domain controller for controlling a hydraulic brake assembly including a first brake system for braking a front axle wheel and a second brake system for braking a rear axle wheel, the control method of hydraulic braking including:
acquiring a target deceleration request and a road surface adhesion coefficient of a vehicle;
Obtaining total braking force according to a target deceleration request, and obtaining a first distribution ratio P1 according to a road adhesion coefficient and a preset distribution curve, wherein P1=F1/F2, F1 represents the braking force of a first braking system, and F2 represents the braking force of a second braking system;
when it is determined that the total braking force is greater than the preset braking threshold value, a first braking force of the first braking system and a second braking force of the second braking system are obtained according to the total braking force and the first distribution ratio P1.
According to the application, the distribution ratio is determined according to the preset distribution curve and the road adhesion coefficient, and when the required total braking force is larger than the preset braking threshold value, the first braking force of the first braking system and the second braking force of the second braking system are obtained according to the determined distribution ratio and the total braking force, so that the maximum braking force of the whole vehicle is ensured, the front axle wheels and the rear axle wheels are also ensured to be locked simultaneously, the occurrence of out-of-control conditions such as braking deviation, rear axle sideslip and the like caused by emergency braking is avoided, and the braking safety is further improved.
On the basis of this embodiment, in other embodiments,
When the total braking force is smaller than or equal to the preset braking threshold value, a second distribution ratio P2 is obtained according to the first distribution ratio P1 and the preset down-regulating ratio;
The first braking force of the first braking system and the second braking force of the second braking system are obtained according to the total braking force and the second partition ratio P2.
On the basis of the embodiment, in other embodiments, the first braking system includes a hydraulic first braking system and a precursor motor, and the hydraulic first braking system and the precursor motor jointly provide a first braking force;
the second braking system comprises a hydraulic second braking system and a rear-drive motor, and the hydraulic second braking system and the rear-drive motor jointly provide a second braking force.
On the basis of this embodiment, in other embodiments,
The method comprises the steps that a precursor motor provides a first anti-dragging braking force corresponding to the maximum anti-dragging deceleration corresponding to the precursor motor, and a hydraulic first braking system is controlled to provide a residual first braking force, wherein the first braking force=the first anti-dragging braking force+the residual first braking force;
the rear drive motor provides a reverse braking force corresponding to the maximum reverse braking speed corresponding to the rear drive motor, and controls the hydraulic second braking system to provide the residual second braking force, wherein the second braking force=the reverse braking second braking force+the residual second braking force.
On the basis of this embodiment, in other embodiments,
The first braking system further comprises a hydraulic first backup unit, and the hydraulic first backup unit is connected with the hydraulic first braking system through a hydraulic loop;
The second brake system further comprises a hydraulic second backup unit, and the hydraulic second backup unit is connected with the hydraulic second brake system through a hydraulic loop.
On the basis of this embodiment, in other embodiments,
When the hydraulic first braking system is abnormal, the hydraulic first backup unit and the precursor motor jointly provide a first braking force;
when the hydraulic second braking system is abnormal, the hydraulic second backup unit and the rear drive motor jointly provide a first braking force.
On the basis of this embodiment, in other embodiments,
The precursor motor provides a reverse-dragging third braking force corresponding to the maximum reverse-dragging deceleration corresponding to the precursor motor, and controls the hydraulic first backup unit to provide a residual third braking force, wherein the first braking force=the reverse-dragging third braking force+the residual third braking force;
The rear drive motor provides a reverse-dragging fourth braking force corresponding to the maximum reverse-dragging deceleration corresponding to the rear drive motor, and controls the hydraulic second backup unit to provide the remaining fourth braking force, wherein the second braking force=the reverse-dragging fourth braking force+the remaining fourth braking force.
On the basis of this embodiment, in other embodiments,
The hydraulic brake assembly further includes: and the hydraulic backup unit is used for simultaneously braking the front axle wheel and the rear axle wheel.
A domain controller according to an embodiment of the second aspect of the present invention is configured to:
acquiring a target deceleration request and a road surface adhesion coefficient of a vehicle;
Obtaining total braking force according to a target deceleration request, and obtaining a first distribution ratio P1 according to a road adhesion coefficient and a preset distribution curve, wherein P1=F1/F2, F1 represents the braking force of a first braking system, and F2 represents the braking force of a second braking system;
when it is determined that the total braking force is greater than the preset braking threshold value, a first braking force of the first braking system and a second braking force of the second braking system are obtained according to the total braking force and the first distribution ratio P1.
According to a third aspect of the present invention, a hydraulic brake assembly includes:
A first braking system for braking the front axle wheel;
a second braking system for braking the rear axle wheels; and
The domain controller according to the embodiment of the second aspect is connected to the first brake system and the second brake system, respectively.
A vehicle according to an embodiment of a fourth aspect of the invention comprises a hydraulic brake assembly according to an embodiment of the third aspect described above.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a block diagram of an overall frame of a hydraulic brake assembly in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of braking force related parameters according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of a preset dispensing profile according to an embodiment of the present invention;
FIG. 4 is a schematic illustration of a hydraulic brake assembly according to an embodiment of the present invention;
FIG. 5 is another schematic structural view of a hydraulic brake assembly in accordance with an embodiment of the present invention;
Fig. 6 is a flow chart of a control method of hydraulic braking according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below, by way of example with reference to the accompanying drawings.
A hydraulic brake assembly 100 and a vehicle according to an embodiment of the present invention are described below with reference to fig. 1-6.
As shown in fig. 1, a hydraulic brake assembly 100 according to an embodiment of a third aspect of the present invention includes: a first braking system 1 for braking front axle wheels; a second braking system 2 for braking the rear axle wheels; domain controller 3, domain controller 3 is connected to first brake system 1 and second brake system 2, respectively.
Wherein the domain controller 3 is configured to:
acquiring a target deceleration request and a road surface adhesion coefficient of a vehicle;
Obtaining total braking force according to a target deceleration request, and obtaining a first distribution ratio P1 according to a road adhesion coefficient and a preset distribution curve, wherein P1=F1/F2, F1 represents the braking force of a first braking system, and F2 represents the braking force of a second braking system;
When it is determined that the total braking force is greater than the preset braking threshold value, the first braking force of the first braking system 1 and the second braking force of the second braking system 2 are obtained according to the total braking force and the first distribution ratio P1.
When the target deceleration request is acquired, the road surface attachment coefficient is acquired, and the first distribution ratio P1 is acquired according to the road surface attachment coefficient and the preset distribution curve, so that the present embodiment confirms different distribution ratios according to different road surfaces.
In addition, when the required total braking force is larger than a preset braking threshold (namely, the braking requirement is larger), the first braking force of the first braking system and the second braking force of the second braking system are directly obtained according to the first distribution ratio P1 and the total braking force, so that the maximum braking force of the whole vehicle is ensured, the front axle wheels and the rear axle wheels are also ensured to be locked at the same time, the occurrence of out-of-control conditions such as braking deviation, rear axle sideslip and the like caused by emergency braking is avoided, and further the braking safety is improved.
On the basis of the present embodiment, in other embodiments, the domain controller 3 is further configured to:
When the total braking force is smaller than or equal to the preset braking threshold value, a second distribution ratio P2 is obtained according to the first distribution ratio P1 and the preset down-regulating ratio;
The first braking force of the first braking system 1 and the second braking force of the second braking system 2 are obtained from the total braking force and the second split ratio P2.
According to the embodiment, when the required total braking force is smaller than or equal to the preset braking threshold value, the second distribution ratio P2 is obtained according to the first distribution ratio P1 and the preset down regulation ratio, then the first braking force of the first braking system is obtained according to the second distribution ratio P2 and the total braking force, and the second braking force of the second braking system is obtained, so that the rear wheel is not locked, the risk of sideslip of a vehicle is reduced, and the braking safety of the vehicle is further improved.
The preset distribution curve is an ideal braking force distribution curve of the front axle wheel and the rear axle wheel.
See fig. 2,F Z1 for ground normal seizure effort (N) on the front wheel; g is automobile gravity (N); b is the distance (m) from the center of mass of the automobile to the center line of the rear axle; h g is the vehicle centroid height (m); du/dt is the vehicle deceleration (m/s 2),Is the road adhesion coefficient,For adhesion, L is the track (the distance from the core of the front wheel to the core of the rear wheel).
In the present embodiment, the front axle wheels and the rear axle wheels are locked at the time of braking on the road surfaces with different road adhesion coefficients, at this timeThe normal reaction force of the ground acting on the front wheel and the rear wheel is as follows:
the front wheels and the rear wheels are locked simultaneously during braking, so that the utilization of attaching conditions and the directional stability of the automobile during braking are favorable.
At any adhesion coefficientThe conditions for locking the front and rear wheels simultaneously are as follows: the sum of the front and rear wheel brake forces is equal to the adhesive force, and the front and rear wheel brake forces are respectively equal to the adhesive force.
Fμl∶Fμ2＝FZ1∶FZ2 (6)
Substitution of formulas (3) - (4) into formulas (5) - (6) can be achieved,
According to the formula (8)ValueDrawing to obtain a group of parallel lines forming 45 degrees with the coordinate axis, and then carrying out the process according to different/>, for the formula (9)ValueSubstituting to obtain a group of rays with different slopes passing through the origin of coordinates. Of the two sets of straight lines, for a certainThe values can find two straight lines, and the intersection point of the two straight lines is F μ1 and F μ2 which meet the formulas (8) and (9).
Corresponding to differentThe intersection points A, B, C, etc. of the two straight lines of values are connected together and an I curve is obtained. Any point on the curve represents the amount of front and rear brake braking forces that should be applied to the traction road surface.
In order to prevent dangerous sideslip of the rear axle locking, the actual front and rear braking force distribution lines of the automobile braking system should be always below the ideal braking force distribution line (I curve); in order to reduce the chance of front wheels locking during braking and losing steering capability, and to improve attachment efficiency, the closer the selected front and rear brake force distribution coefficients should be to within 5% of the I curve (5% below the I curve).
On the basis of the embodiment, in other embodiments, the first brake system 1 includes a hydraulic first brake system and a precursor motor, and the hydraulic first brake system and the precursor motor jointly provide a first braking force;
The second brake system 2 comprises a hydraulic second brake system and a rear drive motor, which together provide a second braking force.
According to the embodiment, the hydraulic braking system and the motor are used for braking together, so that the braking response speed is further improved, and the braking effect is further improved.
On the basis of this embodiment, in other embodiments,
The method comprises the steps that a precursor motor provides a first anti-dragging braking force corresponding to the maximum anti-dragging deceleration corresponding to the precursor motor, and a hydraulic first braking system is controlled to provide a residual first braking force, wherein the first braking force=the first anti-dragging braking force+the residual first braking force;
the rear drive motor provides a reverse braking force corresponding to the maximum reverse braking speed corresponding to the rear drive motor, and controls the hydraulic second braking system to provide the residual second braking force, wherein the second braking force=the reverse braking second braking force+the residual second braking force.
According to the embodiment, the motor provides the maximum counter-drag braking force, and further the maximum braking energy is fed back to the battery, so that the energy consumption of the whole vehicle is reduced, and the cruising ability of the whole vehicle is improved.
In other embodiments, based on this embodiment, referring to figure 4,
The first brake system further comprises a hydraulic first backup unit 11, and the hydraulic first backup unit 11 is connected with the hydraulic first brake system through a hydraulic loop;
The second brake system further comprises a hydraulic second backup unit 21, the hydraulic second backup unit 21 and the hydraulic second brake system being connected by a hydraulic circuit.
In this embodiment, each braking system provides a backup unit, and when the hydraulic braking system is abnormal, the backup unit can execute a braking function, so that the braking safety of the whole vehicle is improved.
On the basis of this embodiment, in other embodiments,
When the hydraulic first braking system is abnormal, the hydraulic first backup unit 11 and the precursor motor jointly provide a first braking force;
When the hydraulic second brake system is abnormal, the hydraulic second backup unit 21 and the rear drive motor together provide the first braking force.
According to the embodiment, the backup unit and the motor are used for braking together, so that the braking response speed is further improved, and the braking effect is further improved.
On the basis of this embodiment, in other embodiments,
The precursor motor provides a reverse-dragging third braking force corresponding to the maximum reverse-dragging deceleration corresponding to the precursor motor, and controls the hydraulic first backup unit to provide a residual third braking force, wherein the first braking force=the reverse-dragging third braking force+the residual third braking force;
The rear drive motor provides a reverse-dragging fourth braking force corresponding to the maximum reverse-dragging deceleration corresponding to the rear drive motor, and controls the hydraulic second backup unit to provide the remaining fourth braking force, wherein the second braking force=the reverse-dragging fourth braking force+the remaining fourth braking force.
According to the embodiment, the motor provides the maximum counter-drag braking force, and further the maximum braking energy is fed back to the battery, so that the energy consumption of the whole vehicle is reduced, and the cruising ability of the whole vehicle is improved.
On the basis of this embodiment, in other embodiments, see figure 5,
The hydraulic brake assembly further includes: and a hydraulic backup unit 5, the hydraulic backup unit 5 braking the front axle wheels and the rear axle wheels simultaneously. Wherein power is equally distributed when the hydraulic backup unit 5 jointly brakes the front axle wheel and the rear axle wheel.
According to the embodiment, the hydraulic backup unit is arranged, so that the front axle and the rear axle are braked jointly, the braking safety performance of the vehicle is improved, and the cost of a braking system is reduced.
A method of controlling hydraulic braking according to an embodiment of the first aspect of the present invention, referring to fig. 6, is applied to the hydraulic brake assembly described in the above embodiment. The control method of the hydraulic brake comprises the following steps:
s1, acquiring a target deceleration request and a road adhesion coefficient of a vehicle.
S2, obtaining total braking force according to a target deceleration request, and obtaining a first distribution ratio P1 according to a road adhesion coefficient and a preset distribution curve, wherein P1=F1/F2, F1 represents braking force of a first braking system, and F2 represents braking force of a second braking system.
S3, judging whether the total braking force is larger than a preset braking threshold value or not; if yes, executing step S4; if not, step S5 is performed.
S4, obtaining a first braking force of the first braking system and a second braking force of the second braking system according to the total braking force and the first distribution ratio P1.
S5, obtaining a second distribution ratio P2 according to the first distribution ratio P1 and a preset down-regulation ratio; the first braking force of the first braking system and the second braking force of the second braking system are obtained according to the total braking force and the second partition ratio P2.
In this embodiment, when the braking force demand is larger, the first distribution ratio P1 is used to distribute the power of the first braking system and the second braking system, and when the braking force demand is not larger, the second distribution ratio P2 is used to distribute the power of the first braking system and the second braking system, so that the vehicle is distributed on different road surfaces and with different braking forces, and the braking safety performance and the braking stability performance are improved.
On the basis of the embodiment, in other embodiments, the first braking system includes a hydraulic first braking system and a precursor motor, and the hydraulic first braking system and the precursor motor jointly provide a first braking force;
the second braking system comprises a hydraulic second braking system and a rear-drive motor, and the hydraulic second braking system and the rear-drive motor jointly provide a second braking force.
According to the embodiment, the hydraulic braking system and the motor are used for braking together, so that the braking response speed is further improved, and the braking effect is further improved.
On the basis of the embodiment, in other embodiments, the precursor motor provides a first braking force for reverse towing corresponding to the maximum reverse towing deceleration, and controls the hydraulic first braking system to provide a remaining first braking force, wherein the first braking force=the first braking force for reverse towing+the remaining first braking force;
the rear drive motor provides a reverse braking force corresponding to the maximum reverse braking speed corresponding to the rear drive motor, and controls the hydraulic second braking system to provide the residual second braking force, wherein the second braking force=the reverse braking second braking force+the residual second braking force.
According to the embodiment, the motor provides the maximum counter-drag braking force, and further the maximum braking energy is fed back to the battery, so that the energy consumption of the whole vehicle is reduced, and the cruising ability of the whole vehicle is improved.
On the basis of the embodiment, in other embodiments, the first brake system further includes a hydraulic first backup unit, and the hydraulic first backup unit and the hydraulic first brake system are connected through a hydraulic circuit;
The second brake system further comprises a hydraulic second backup unit, and the hydraulic second backup unit is connected with the hydraulic second brake system through a hydraulic loop.
In this embodiment, each braking system provides a backup unit, and when the hydraulic braking system is abnormal, the backup unit can execute a braking function, so that the braking safety of the whole vehicle is improved.
On the basis of the embodiment, in other embodiments, when the hydraulic first braking system is abnormal, the hydraulic first backup unit and the precursor motor jointly provide a first braking force;
when the hydraulic second braking system is abnormal, the hydraulic second backup unit and the rear drive motor jointly provide a first braking force.
According to the embodiment, the backup unit and the motor are used for braking together, so that the braking response speed is further improved, and the braking effect is further improved.
On the basis of this embodiment, in other embodiments,
The precursor motor provides a reverse-dragging third braking force corresponding to the maximum reverse-dragging deceleration corresponding to the precursor motor, and controls the hydraulic first backup unit to provide a residual third braking force, wherein the first braking force=the reverse-dragging third braking force+the residual third braking force;
The rear drive motor provides a reverse-dragging fourth braking force corresponding to the maximum reverse-dragging deceleration corresponding to the rear drive motor, and controls the hydraulic second backup unit to provide the remaining fourth braking force, wherein the second braking force=the reverse-dragging fourth braking force+the remaining fourth braking force.
According to the embodiment, the motor provides the maximum counter-drag braking force, and further the maximum braking energy is fed back to the battery, so that the energy consumption of the whole vehicle is reduced, and the cruising ability of the whole vehicle is improved.
On the basis of the embodiment, in other embodiments, the hydraulic brake assembly further includes: and the hydraulic backup unit is used for simultaneously braking the front axle wheel and the rear axle wheel.
According to the embodiment, the hydraulic backup unit is arranged, so that the front axle and the rear axle are braked jointly, the braking safety performance of the vehicle is improved, and the cost of a braking system is reduced.
According to a fourth aspect of the present invention, a vehicle includes: the hydraulic brake assembly 100 in the above embodiment has technical effects and functions identical to those of the hydraulic brake assembly 100 described above, and will not be described in detail herein.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and to simplify the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (11)
1. A control method of hydraulic braking, characterized in that it is applied to a domain controller for controlling a hydraulic braking assembly comprising a first braking system for braking front axle wheels and a second braking system for braking rear axle wheels, the method comprising:
acquiring a target deceleration request and a road surface adhesion coefficient of a vehicle;
Obtaining total braking force according to the target deceleration request, and obtaining a first distribution ratio P1 according to the road adhesion coefficient and a preset distribution curve, wherein P1=F1/F2, F1 represents the braking force of the first braking system, and F2 represents the braking force of the second braking system;
When it is determined that the total braking force is greater than a preset braking threshold value, a first braking force of the first braking system and a second braking force of the second braking system are obtained according to the total braking force and the first distribution ratio P1.
2. The method for controlling hydraulic brake according to claim 1, wherein,
When the total braking force is smaller than or equal to the preset braking threshold value, a second distribution ratio P2 is obtained according to the first distribution ratio P1 and a preset down-regulating ratio;
Obtaining a first braking force of the first braking system and a second braking force of the second braking system according to the total braking force and the second distribution ratio P2.
3. The control method of hydraulic braking according to claim 1 or 2, characterized in that the first braking system includes a hydraulic first braking system and a precursor motor that together provide the first braking force;
The second brake system includes a hydraulic second brake system and a rear-drive motor that together provide the second braking force.
4. A control method for hydraulic brake according to claim 3, wherein,
The precursor motor provides a first anti-drag braking force corresponding to the maximum anti-drag deceleration corresponding to the precursor motor, and controls the hydraulic first braking system to provide a residual first braking force, wherein the first braking force = first anti-drag braking force + residual first braking force;
The rear drive motor provides a reverse braking force corresponding to the maximum reverse braking speed corresponding to the rear drive motor, and controls the hydraulic second braking system to provide the residual second braking force, wherein the second braking force=the reverse braking second braking force+the residual second braking force.
5. A control method for hydraulic brake according to claim 3, wherein,
The first braking system further comprises a hydraulic first backup unit, and the hydraulic first backup unit is connected with the hydraulic first braking system through a hydraulic loop;
The second braking system further comprises a hydraulic second backup unit, and the hydraulic second backup unit is connected with the hydraulic second braking system through a hydraulic loop.
6. The method for controlling hydraulic brake according to claim 5, wherein,
When the hydraulic first braking system is abnormal, the hydraulic first backup unit and the precursor motor jointly provide the first braking force;
And when the hydraulic second braking system is abnormal, the hydraulic second backup unit and the rear-drive motor jointly provide the first braking force.
7. The method for controlling hydraulic brake according to claim 6, wherein,
The precursor motor provides a reverse-dragging third braking force corresponding to the maximum reverse-dragging deceleration corresponding to the precursor motor, and controls the hydraulic first backup unit to provide the residual third braking force, wherein the first braking force=the reverse-dragging third braking force+the residual third braking force;
the rear drive motor provides a reverse fourth braking force corresponding to the maximum reverse deceleration corresponding to the rear drive motor, and controls the hydraulic second backup unit to provide the remaining fourth braking force, wherein the second braking force=the reverse fourth braking force+the remaining fourth braking force.
8. A control method for hydraulic brake according to claim 3, wherein,
The hydraulic brake assembly further includes: and the hydraulic backup unit is used for simultaneously braking the front axle wheel and the rear axle wheel.
9. A domain controller, characterized in that it is configured to:
acquiring a target deceleration request and a road surface adhesion coefficient of a vehicle;
Obtaining total braking force according to the target deceleration request, and obtaining a first distribution ratio P1 according to the road adhesion coefficient and a preset distribution curve, wherein P1=F1/F2, F1 represents the braking force of a first braking system, and F2 represents the braking force of a second braking system;
When it is determined that the total braking force is greater than a preset braking threshold value, a first braking force of the first braking system and a second braking force of the second braking system are obtained according to the total braking force and the first distribution ratio P1.
10. A hydraulic brake assembly, comprising:
A first braking system for braking the front axle wheel;
a second braking system for braking the rear axle wheels; and
The domain controller of claim 9, the domain controller being respectively coupled to the first brake system and the second brake system.
11. A vehicle, characterized in that it comprises: the hydraulic brake assembly of claim 10.
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| CN202211741966.1A CN118238778A (en) | 2022-12-29 | 2022-12-29 | Hydraulic brake control method, domain controller, hydraulic brake assembly and vehicle |
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| CN202211741966.1A CN118238778A (en) | 2022-12-29 | 2022-12-29 | Hydraulic brake control method, domain controller, hydraulic brake assembly and vehicle |
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