CN109591604A - Control method, device and the vehicle of vehicle - Google Patents
Control method, device and the vehicle of vehicle Download PDFInfo
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- CN109591604A CN109591604A CN201811471176.XA CN201811471176A CN109591604A CN 109591604 A CN109591604 A CN 109591604A CN 201811471176 A CN201811471176 A CN 201811471176A CN 109591604 A CN109591604 A CN 109591604A
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- 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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative 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
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
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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
- B60T8/26—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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Regulating Braking Force (AREA)
- Hydraulic Control Valves For Brake Systems (AREA)
Abstract
The invention proposes a kind of control method of vehicle, device and vehicle, the control method of the vehicle includes: acquisition demand brake force, front axle brake recycling ability, rear axle braking recycling ability, the front axle maximum recycling ability limited by ECE curve and the rear axle maximum recycling ability limited by I curve；Rear axle demand brake force is calculated；Total braking requirement power of control front axle two-wheeled is equal to the minimum value in following three parameters: demand brake force, front axle brake recycling ability and the front axle maximum recycling ability limited by ECE curve；Total braking requirement power of control rear axle two-wheeled is equal to the minimum value in following three parameters: rear axle demand brake force, rear axle braking recycling ability and the rear axle maximum recycling ability limited by I curve.Control method, device and the vehicle of vehicle of the invention, do not change the proportionate relationship of antero posterior axis hydraulic braking force, while having comprehensively considered the limitation of I curve, ECE method gage line, ensure that the stability of vehicle economy, vehicle braking.
Description
Technical field
The present invention relates to technical field of vehicle more particularly to a kind of control methods of vehicle, device and vehicle.
Background technique
According to the difference of dynamical system distribution form, electric car can be divided into centralization driving and distributed two kinds of driving
Drive form.Distributed-driving electric automobile already becomes the emphasis of electric car follow-up study.
In the related technology, the braking recycling allocation strategy of distributed driving is usually there are two types of mode, according to a kind of mode
Front axle braking force and rear axle braking force is calculated in the fixed ratio of demand brake force and antero posterior axis；According to another way
The antero posterior axis relationship of demand brake force and ideal braking force distribution I curve, is calculated front axle braking force and rear axle braking force.Two
Kind mode is directed to front axle, is compared to front axle braking force and front axle brake recycling ability, to obtain the recycling system of front axle
The hydraulic braking force of power and front axle；For rear axle, rear axle braking force and rear axle braking recycling ability are compared, thus
Obtain the recycling brake force of rear axle and the hydraulic braking force of rear axle.Both modes are required to change the hydraulic of original antero posterior axis
The proportionate relationship of brake force causes its engineering to be not easy to realize therefore, it is necessary to just can be achieved by complicated hydraulic control system,
Cost increases；In addition, both modes only considered demand brake force when front axle braking force and rear axle braking force is calculated
Therefore cause vehicle steady in braking process with the fixed ratio or demand brake force of antero posterior axis and the antero posterior axis relationship of I curve
Qualitative difference.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, the first purpose of this invention is to propose a kind of control method of vehicle, brake force, front axle according to demand
Braking recycling ability and the front axle maximum limited by ECE curve recycling capacity calculation obtain rear axle demand brake force, and before control
Total braking requirement power of axis two-wheeled；Most according to rear axle demand brake force, rear axle braking recycling ability and the rear axle limited by I curve
Total braking requirement power of big recycling capability control rear axle two-wheeled does not change original antero posterior axis in braking recycling assigning process
The proportionate relationship of hydraulic braking force, while having comprehensively considered the limitation of I curve and ECE method gage line, it both ensure that the economy of vehicle
Property, in turn ensure the stability of vehicle braking.
Second object of the present invention is to propose a kind of control device of vehicle.
Third object of the present invention is to propose a kind of vehicle.
Fourth object of the present invention is to propose a kind of electronic equipment.
5th purpose of the invention is to propose a kind of non-transitorycomputer readable storage medium.
In order to achieve the above object, first aspect present invention embodiment proposes a kind of control method of vehicle, comprising:
The front axle that acquisition demand brake force, front axle brake recycling ability, rear axle are braked recycling ability, limited by ECE curve
Maximum recycling ability and the rear axle maximum limited by I curve recycle ability；
Calculate the difference of the demand brake force and the minimum value in following three parameters: the demand brake force, described
Front axle brake recycling ability and the front axle maximum recycling ability limited by ECE curve, obtain rear axle demand brake force；
Total braking requirement power of front axle two-wheeled is controlled equal to the minimum value in following three parameters: the demand brake force,
The front axle brake recycling ability and the front axle maximum recycling ability limited by ECE curve；
Total braking requirement power of rear axle two-wheeled is controlled equal to the minimum value in following three parameters: the rear axle demand braking
Power, rear axle braking recycling ability and the rear axle maximum recycling ability limited by I curve.
The control method of the vehicle proposed according to embodiments of the present invention, obtain demand brake force, front axle brake recycling ability,
Rear axle braking recycling ability, the front axle maximum recycling ability limited by ECE curve and the rear axle maximum recycling energy limited by I curve
Power；The difference of calculating demand brake force and the minimum value in following three parameters: demand brake force, front axle brake recycling ability and
The front axle maximum recycling ability limited by ECE curve, obtains rear axle demand brake force；Control total braking requirement power of front axle two-wheeled
Equal to the minimum value in following three parameters: demand brake force, front axle brake recycling ability and the front axle limited by ECE curve are most
Big recycling ability；Total braking requirement power of rear axle two-wheeled is controlled equal to the minimum value in following three parameters: the braking of rear axle demand
Power, rear axle braking recycling ability and the rear axle maximum recycling ability limited by I curve.Brake force, front axle brake return according to demand
Receipts ability and the front axle maximum limited by ECE curve recycling capacity calculation obtain rear axle demand brake force, and control front axle two-wheeled
Total braking requirement power；According to rear axle demand brake force, rear axle braking recycling ability and the rear axle maximum recycling limited by I curve
Total braking requirement power of capability control rear axle two-wheeled does not change the hydraulic system of original antero posterior axis in braking recycling assigning process
The proportionate relationship of power, while having comprehensively considered the limitation of I curve and ECE method gage line, it not only ensure that the economy of vehicle, but also protect
The stability during vehicle braking is demonstrate,proved.
According to one embodiment of present invention, the front axle maximum recycling ability limited by ECE curve is obtained, comprising:
Obtain current rear axle hydraulic braking force and current front axle hydraulic braking force；According to the current rear axle hydraulic braking force and
ECE curve obtains being limited front axle hydraulic braking force a little by ECE curve；Calculate that described by ECE curve to be limited front axle a little hydraulic
The difference of brake force and the current front axle hydraulic braking force obtains the front axle maximum recycling energy limited by ECE curve
Power.
According to one embodiment of present invention, the rear axle maximum recycling ability limited by I curve is obtained, comprising: obtain
Take current rear axle hydraulic braking force, current front axle hydraulic braking force and front axle brake recycling ability；It calculates described current
Front axle hydraulic braking force and the front axle brake recycling ability and value, obtain being limited front axle hydraulic braking force a little by I curve；
Front axle hydraulic braking force and I curve a little are limited by I curve according to described, obtains being limited rear axle hydraulic braking a little by I curve
Power；The difference for being limited rear axle hydraulic braking force and the current rear axle hydraulic braking force a little by I curve is calculated, is obtained
The rear axle maximum recycling ability limited by I curve.
According to one embodiment of present invention, total braking requirement power of the control front axle two-wheeled is equal to following three parameters
In minimum value: the demand brake force, front axle brake recycling ability and front axle maximum limit by ECE curve time
Receipts ability, comprising: before controlling in the braking requirement power of revolver and respectively equal to following three parameters of the braking requirement power of front right wheel
0.5 times of minimum value: the demand brake force, front axle brake recycling ability and the front axle limited by ECE curve
Maximum recycling ability.
According to one embodiment of present invention, total braking requirement power of the control rear axle two-wheeled is equal to following three parameters
In minimum value: the rear axle demand brake force, the rear axle braking recycling ability and it is described limit by I curve rear axle maximum
Recycling ability, comprising: the braking requirement power of revolver and respectively equal to following three parameters of the braking requirement power of rear right wheel after control
In 0.5 times of minimum value: the rear axle demand brake force, rear axle braking recycling ability and described limited by I curve
Rear axle maximum recycles ability.
In order to achieve the above object, second aspect of the present invention embodiment proposes a kind of control device of vehicle, comprising:
Module is obtained, brakes recycling ability, by ECE song for obtaining demand brake force, front axle brake recycling ability, rear axle
The front axle maximum recycling ability of line limitation and the rear axle maximum recycling ability limited by I curve；
Computing module, for calculating the difference of the minimum value in the demand brake force and following three parameters: the need
Brake force, front axle brake recycling ability and the front axle maximum recycling ability limited by ECE curve are asked, obtaining rear axle needs
Seek brake force；
First control module, total braking requirement power for controlling front axle two-wheeled are equal to the minimum in following three parameters
Value: the demand brake force, front axle brake recycling ability and the front axle maximum recycling ability limited by ECE curve；
Second control module, total braking requirement power for controlling rear axle two-wheeled are equal to the minimum in following three parameters
Value: the rear axle demand brake force, rear axle braking recycling ability and the rear axle maximum recycling energy limited by I curve
Power.
The control device of the vehicle proposed according to embodiments of the present invention, obtain demand brake force, front axle brake recycling ability,
Rear axle braking recycling ability, the front axle maximum recycling ability limited by ECE curve and the rear axle maximum recycling energy limited by I curve
Power；The difference of calculating demand brake force and the minimum value in following three parameters: demand brake force, front axle brake recycling ability and
The front axle maximum recycling ability limited by ECE curve, obtains rear axle demand brake force；Control total braking requirement power of front axle two-wheeled
Equal to the minimum value in following three parameters: demand brake force, front axle brake recycling ability and the front axle limited by ECE curve are most
Big recycling ability；Total braking requirement power of rear axle two-wheeled is controlled equal to the minimum value in following three parameters: the braking of rear axle demand
Power, rear axle braking recycling ability and the rear axle maximum recycling ability limited by I curve.Brake force, front axle brake return according to demand
Receipts ability and the front axle maximum limited by ECE curve recycling capacity calculation obtain rear axle demand brake force, and control front axle two-wheeled
Total braking requirement power；According to rear axle demand brake force, rear axle braking recycling ability and the rear axle maximum recycling limited by I curve
Total braking requirement power of capability control rear axle two-wheeled does not change the hydraulic system of original antero posterior axis in braking recycling assigning process
The proportionate relationship of power, while having comprehensively considered the limitation of I curve and ECE method gage line, it not only ensure that the economy of vehicle, but also protect
The stability during vehicle braking is demonstrate,proved.
According to one embodiment of present invention, the acquisition module is specifically used for: obtaining current rear axle hydraulic braking force
With current front axle hydraulic braking force；According to current the rear axle hydraulic braking force and ECE curve, obtain being limited by ECE curve
Make the front axle hydraulic braking force of point；Front axle hydraulic braking force and the current front axle a little are limited by ECE curve described in calculating
The difference of hydraulic braking force obtains the front axle maximum recycling ability limited by ECE curve；And/or the acquisition module tool
Body is used for: obtaining current rear axle hydraulic braking force, current front axle hydraulic braking force and front axle brake recycling ability；Calculate institute
State current front axle hydraulic braking force and front axle brake recycling ability and value, it obtains being limited front axle liquid a little by I curve
Suppress power；Front axle hydraulic braking force and I curve a little are limited by I curve according to described, obtains being limited rear axle a little by I curve
Hydraulic braking force；It calculates and described is limited rear axle hydraulic braking force a little and the current rear axle hydraulic braking force by I curve
Difference obtains the rear axle maximum recycling ability limited by I curve.
In order to achieve the above object, third aspect present invention embodiment proposes a kind of vehicle, comprising: such as second aspect of the present invention
The control device of vehicle described in embodiment.
In order to achieve the above object, fourth aspect present invention embodiment proposes a kind of electronic equipment, comprising: memory, processing
Device and it is stored in the computer program that can be run on the memory and on the processor, the processor executes the journey
When sequence, the control method of the vehicle as described in first aspect present invention embodiment is realized.
In order to achieve the above object, fifth aspect present invention embodiment proposes a kind of non-transitory computer-readable storage medium
Matter is stored thereon with computer program, which is characterized in that when the program is executed by processor, realizes such as first aspect present invention
The control method of vehicle described in embodiment.
Detailed description of the invention
Fig. 1 is the hydraulic braking force distribution curve figure of the embodiment of the present invention；
Fig. 2 is the flow chart of the control method of vehicle according to an embodiment of the invention；
Fig. 3 is the flow chart of the control method of vehicle in accordance with another embodiment of the present invention；
Fig. 4 is hydraulic braking force distribution curve figure in accordance with another embodiment of the present invention；
Fig. 5 is the flow chart of the control method of vehicle in accordance with another embodiment of the present invention；
Fig. 6 is hydraulic braking force distribution curve figure in accordance with another embodiment of the present invention；
Fig. 7 is the structure chart of the control device of vehicle according to an embodiment of the invention；
Fig. 8 is the structure chart of vehicle according to an embodiment of the invention；
Fig. 9 is the structure chart of electronic equipment according to an embodiment of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Electric car can be divided into two kinds of drive forms of centralization driving and distributed driving.The power of centralization driving needs
It to be ultimately applied to wheel by components such as speed changer, transmission shaft, differential mechanism, semiaxis, therefore, there are driving sections for centralization driving
The disadvantages of part is more, transmission efficiency is low, control is complicated, and distributed drive form eliminates these transmission parts, by driving motor
It is directly installed in driving wheel.This design form has very big advantage in control, such as: four wheels can directly drive or
Braking, and its torque can be distributed freely within the allowable range, facilitate the properties for promoting vehicle；The power phase of single motor
It should reduce, arrangement flexibility is promoted；The systems such as motor responds rapidly and accurately, and combinable Anti-slip regulation, braking are anti-skidding make vehicle
It is more stable, safe etc..Control method, device and the vehicle of the vehicle of the embodiment of the present invention are suitable for the distributed electronic vapour of driving
Vehicle.
With reference to the accompanying drawing come describe the embodiment of the present invention vehicle control method, device and vehicle.
The embodiment of the present invention to clearly illustrate is first described the basic calculating theory of brake braking force:
The hydraulic braking force of vehicle front wheel brake unilateral side are as follows:
The hydraulic braking force of rear wheel brake unilateral side are as follows:
Then total hydraulic braking force are as follows:
Master cylinder pressure and front and rear wheel braking pressure are equal, i.e. pm=pf=pr, then:
Nt=pm× C=pf× C=pr×C (4)
Define constant
Wherein, DfFor front-wheel cylinder diameter；DrFor rear-wheel cylinder diameter；RfRadius is braked for front brake；RrFor rear brake system
Dynamic radius；KbfFor front brake brake efficiency coefficient；KbrFor rear brake brake efficiency coefficient；rwheelFor radius of wheel；NfFor
Take turns hydraulic braking force in front axle unilateral side；NrHydraulic braking force is taken turns for rear axle unilateral side；NtFor total hydraulic braking force；pmFor master cylinder hydraulic pressure pressure
By force；pfFor front-wheel hydraulic pressures；prFor rear-wheel hydraulic pressures.
During vehicle braking, if the locking of front axle elder generation, vehicle will lose steering capability；If the locking of rear axle elder generation, vehicle
It will break away.Ideal braking force distribution is to guarantee that locking does not occur in antero posterior axis, if wheel lock up, before that can only make
First locking is taken turns, the locking of rear-wheel elder generation is avoided to cause defective steering stabilizer dangerous working condition.Therefore, the hydraulic braking force distribution of the embodiment of the present invention
Curve is as shown in Figure 1, β line is the hydraulic braking force distribution curve of the embodiment of the present invention in Fig. 1, positioned at ideal braking force distribution I
Between curve and ECE brake legislation restraining line (ECE line), it is ensured that the stability of vehicle braking process.In braking process,
Original brake fluid system is not changed, i.e. formula (1)~(4) relationship is to maintain constant.Therefore to braking recycling distribution
Principle be: preferential front axle is allocated, and front axle brake recycling ability is unable to satisfy demand or the limitation beyond ECE method gage line
When, spindle motor is shifted backward.
Fig. 2 is the flow chart of the control method of vehicle according to an embodiment of the invention, as shown in Fig. 2, the vehicle
Control method includes:
S101 obtains demand brake force Frecup-req, front axle brake recycle ability FF-lim, rear axle brake recycling ability
FR-lim, the front axle maximum recycling ability F that is limited by ECE curveECE-limAbility is recycled with the rear axle maximum limited by I curve
FI-lim。
In the embodiment of the present invention, the demand brake force F of vehicle is obtainedrecup-req, front axle brake recycle ability FF-lim, rear axle
Brake recycling ability FR-lim, the front axle maximum recycling ability F that is limited by ECE curveECE-limWith the rear axle maximum limited by I curve
Recycling ability FI-lim。
Where it is assumed that the braking recycling ability of preceding revolver is FFL-lim, the braking recycling ability of front right wheel is FFR-lim, rear left
The braking recycling ability of wheel is FRL-lim, the braking recycling ability of rear right wheel is FRR-lim, then:
Front axle brake recycles ability are as follows:
FF-lim=2 × min (FFL-lim, FFR-lim) (5)
Rear axle brakes recycling ability are as follows:
FR-lim=2 × min (FRL-lim, FRR-lim) (6)
S102 calculates demand brake force Frrecup-reqWith the difference of the minimum value in following three parameters: demand brake force
Frecup-req, front axle brake recycle ability FF-limAbility F is recycled with the front axle maximum limited by ECE curveECE-lim, obtain rear axle
Demand brake force FR-req。
In the embodiment of the present invention, work as Frecup-req≤FECE-limWhen, compare Frecup-req、FF-limSize, so that it is determined that preceding
Total braking requirement power F of axis two-wheeledF-req, and then obtain rear axle demand brake force FR-req:
1)Frecup-req≤FF-lim
FF-req=Frecup-req (7)
FR-req=0 (8)
2)Frecup-req> FF-lim
FF-req=FF-lim=2 × min (FFL-lim, FFR-lim) (9)
FR-req=Frecup-req-FF-lim (10)
Work as Frecup-req> FECE-limWhen, compare FECE-limWith FF-limSize, so that it is determined that front axle two-wheeled total braking need
Seek power FF-req, and then obtain rear axle demand brake force FR-req:
1)FECE-lim≤FF-lim
FF-req=FEcE-lim (11)
FR-req=Frecup-req-FECE-lim (12)
2)FECE-lim> FF-lim
FF-req=FF-lim=2 × min (FFL-lim, FFR-lim) (13)
FR-req=Frecup-req-FF-lim (14)
(7)~(14) Shi Ke get is to sum up stated,
FR-req=Frecup-req-min(Frecup-req, FF-lim, FECE-lim) (15)
S103 controls total braking requirement power F of front axle two-wheeledF-reqEqual to the minimum value in following three parameters: demand system
Power Frecup-req, front axle brake recycle ability FF-limAbility F is recycled with the front axle maximum limited by ECE curveECE-lim。
In the embodiment of the present invention, total braking requirement power of front axle two-wheeled is controlled:
FF-req=min (FRecup-req,FF-lim, FEcE-lim) (16)
FF-reqDetailed derivation process can be detailed in (7), (9), (11) and (13) formula in S102 step, it is no longer superfluous herein
It states.
S104 controls total braking requirement power F of rear axle two-wheeledRL-req+FRR-reqEqual to the minimum value in following three parameters:
Rear axle demand brake force FR-req, rear axle brake recycling ability FR-limAbility F is recycled with the rear axle maximum limited by I curveI-lim。
In the embodiment of the present invention, work as FR-req≤FI-limWhen, compare FR-reqWith FR-limSize, to obtain rear axle two-wheeled
Total braking requirement power FRL-req+FRR-req:
1)FR-req≤FR-lim
FRL-req+FRR-req=FR-req (17)
2)FR-req> FR-lim
FRL-req+FRR-req=FR-lim=2min (FRL-lim, FRR-lim) (18)
Work as FR-req> FI-limWhen, compare FR-limWith FI-limSize, to obtain total braking requirement power of rear axle two-wheeled
FRL-req+FRR-req:
1)FI-lim≤FR-lim
FRL-req+FRR-req=FI-lim (19)
2)FI-lim> FR-lim
FRL-req+FRR-req=FR-lim=2min (FRL-lim, FRR-lim) (20)
To sum up (17)~(20) Shi Ke get,
FRL-req+FRR-req=min (FR-req, FR-lim, FI-lim) (21)
Control total braking requirement power F of rear axle two-wheeledRL-req+FRR-reqEqual to the minimum value in following three parameters: after
Axis demand brake force FR-req, rear axle brake recycling ability FR-limAbility F is recycled with the rear axle maximum limited by I curveI-lim。
The present embodiment to clearly illustrate converges referring to (5)~(21) the formula calculating process above-mentioned to the present embodiment of table 1
Always, table 1 is the calculating process summary sheet of one embodiment of the invention.
The calculating process summary sheet of 1 one embodiment of the invention of table
Table 1 is simplified again, can be obtained:
FR-req=Frecup-req-min(FRecup-req,FF-lim,FEcE-lim) (22)
FF-req=min (Frecup-req, FF-lim, FECE-lim) (23)
FRL-req+FRR-req=min (FR-req, FR-lim, FI-lim) (24)
The control method of the vehicle proposed according to embodiments of the present invention, obtain demand brake force, front axle brake recycling ability,
Rear axle braking recycling ability, the front axle maximum recycling ability limited by ECE curve and the rear axle maximum recycling energy limited by I curve
Power；The difference of calculating demand brake force and the minimum value in following three parameters: demand brake force, front axle brake recycling ability and
The front axle maximum recycling ability limited by ECE curve, obtains rear axle demand brake force；Control total braking requirement power of front axle two-wheeled
Equal to the minimum value in following three parameters: demand brake force, front axle brake recycling ability and the front axle limited by ECE curve are most
Big recycling ability；Total braking requirement power of rear axle two-wheeled is controlled equal to the minimum value in following three parameters: the braking of rear axle demand
Power, rear axle braking recycling ability and the rear axle maximum recycling ability limited by I curve.Brake force, front axle brake return according to demand
Receipts ability and the front axle maximum limited by ECE curve recycling capacity calculation obtain rear axle demand brake force, and control front axle two-wheeled
Total braking requirement power；According to rear axle demand brake force, rear axle braking recycling ability and the rear axle maximum recycling limited by I curve
Total braking requirement power of capability control rear axle two-wheeled does not change the hydraulic system of original antero posterior axis in braking recycling assigning process
The proportionate relationship of power, while having comprehensively considered the limitation of I curve and ECE method gage line, it not only ensure that the economy of vehicle, but also protect
The stability during vehicle braking is demonstrate,proved.
Further, on the basis of embodiment shown in Fig. 2, as shown in figure 3, Fig. 3 is according to a further embodiment of the invention
Vehicle control method flow chart, " obtain front axle maximum recycling ability limit by ECE curve " specifically in S101 step
Can include:
S201 obtains current rear axle hydraulic braking force and current front axle hydraulic braking force.
In the embodiment of the present invention, current rear axle hydraulic braking force and current front axle hydraulic braking force are obtained, specifically,
It can be obtained by hydraulic braking force distribution curve figure as shown in Figure 4, as shown in figure 4, the operating condition of current vehicle is with β line in Fig. 4
For upper A point, then current rear axle hydraulic braking force is Nr-A(A point ordinate), current front axle hydraulic braking force are Nf-A(A
Point abscissa).
It is hydraulic to obtain the front axle limited by ECE curve a little according to current rear axle hydraulic braking force and ECE curve by S202
Brake force.
In the embodiment of the present invention, can as shown in figure 4, crossing A point does the straight line for being parallel to axis of abscissas, the straight line with
The intersection point of ECE curve is B point, then B point is and is limited a little by ECE curve, the brake force F of the corresponding front axle of B pointf-B(the horizontal seat of B point
Mark) it is to be limited front axle hydraulic braking force a little by ECE curve.
S203 calculates the difference that front axle hydraulic braking force and current front axle hydraulic braking force a little are limited by ECE curve,
Obtain the front axle maximum limited by ECE curve recycling ability FECE-lim。
In the embodiment of the present invention, the front axle maximum limited by ECE curve recycles ability
FECE-lim=Ff-B-Nf-A (25)
The control method of the vehicle proposed according to embodiments of the present invention, according to current rear axle hydraulic braking force, currently
The front axle maximum recycling ability limited by ECE curve is calculated in front axle hydraulic braking force and ECE curve, can be accurate and effective
Obtain the front axle maximum recycling ability limited by ECE curve.
Further, on the basis of embodiment shown in Fig. 2, as shown in figure 5, Fig. 5 is according to a further embodiment of the invention
Vehicle control method flow chart, " obtain rear axle maximum limit by I curve and recycle ability " in S101 step and specifically may be used
Include:
S301 obtains the current front axle hydraulic braking force of current rear axle hydraulic braking force and front axle brake recycling ability
FF-lim。
In the embodiment of the present invention, current rear axle hydraulic braking force, current front axle hydraulic braking force are obtained, specifically,
It can be obtained by hydraulic braking force distribution curve figure as shown in FIG. 6, as shown in fig. 6, the operating condition of current vehicle is with β line in Fig. 6
For upper A point, then current rear axle hydraulic braking force is Nr-A(A point ordinate), current front axle hydraulic braking force are Nf-A(A
Point abscissa).Front axle brake recycles ability FF-limAcquisition modes can refer in embodiment illustrated in fig. 2 and retouched in detail in S101 step
It states, details are not described herein again.
S302 calculates current front axle hydraulic braking force and front axle brake recycling ability FF-limAnd value, obtain by I curve
Limit the front axle hydraulic braking force of point.
In the embodiment of the present invention, it can take on this line as shown in fig. 6, crossing A makees the straight line for being parallel to axis of abscissas
Abscissa is Nf-A+FF-lim=Ff-CPoint be C point (Ff-CFor C point abscissa), it then crosses one, C point work and is parallel to axis of ordinates
Straight line, the straight line and I curve intersection are in D point, then D point is and is limited a little by I curve, the corresponding front axle hydraulic braking force of D point
Ff-D(D point abscissa) is to be limited front axle hydraulic braking force a little by I curve.
S303 is limited front axle hydraulic braking force and I curve a little according to by I curve, obtains being limited rear axle a little by I curve
Hydraulic braking force
In the embodiment of the present invention, as shown in fig. 6, the corresponding rear axle hydraulic braking force F of D pointr-D(D point ordinate) is by I
The rear axle hydraulic braking force of curve limitation point.
S304 calculates the difference for being limited rear axle hydraulic braking force and current rear axle hydraulic braking force a little by I curve, obtains
Ability F is recycled to the rear axle maximum limited by I curveI-lim。
In the embodiment of the present invention, the rear axle maximum limited by I curve recycles ability
FI-lim=Fr-D-Nr-A (26)
The control method of the vehicle proposed according to embodiments of the present invention, according to current rear axle hydraulic braking force, currently
The rear axle maximum recycling ability limited by I curve is calculated in front axle hydraulic braking force, front axle brake recycling ability and I curve,
The rear axle maximum recycling ability that acquisition that can be accurate and effective is limited by I curve.
Further, on the basis of embodiment shown in Fig. 2, S103 step is specific can include: the braking of revolver needs before controlling
Seek power FFL-reqWith the braking requirement power F of front right wheelFR-req0.5 times of minimum value in respectively equal to following three parameters: demand
Brake force Frecup-req, front axle brake recycle ability FF-limAbility F is recycled with the front axle maximum limited by ECE curveECE-lim。
In the embodiment of the present invention, the braking requirement power F of revolver before controllingFL-reqWith the braking requirement power F of front right wheelFR-req
Are as follows:
FFL-req=FFR-req=0.5 × min (Frecup-req, FF-lim, FECE-lim) (27)
Further, on the basis of embodiment shown in Fig. 2, S104 step is specific can include: the braking of revolver needs after control
Seek power FRL-reqWith the braking requirement power F of rear right wheelRR-req0.5 times of minimum value in respectively equal to following three parameters: rear axle
Demand brake force FR-req, rear axle brake recycling ability FR-limAbility F is recycled with the rear axle maximum limited by I curveI-lim。
In the embodiment of the present invention, the braking requirement power F of revolver after controlRL-reqWith the braking requirement power F of rear right wheelRR-reqPoint
It is not
FRL-req=FRR-req=0.5 × min (FR-req,FR-lim, FI-lim) (28)
The control method of the vehicle proposed according to embodiments of the present invention controls the braking requirement of the preceding revolver of vehicle respectively
Power, the braking requirement power of front right wheel, the braking requirement power of the braking requirement power of rear revolver and rear right wheel, it is ensured that vehicle braking mistake
Stability in journey.
Fig. 7 is the structure chart of the control device of vehicle according to an embodiment of the invention, as shown in fig. 7, the control knot
Structure includes:
Module 21 is obtained, brakes recycling ability, by ECE for obtaining demand brake force, front axle brake recycling ability, rear axle
The front axle maximum recycling ability of curve limitation and the rear axle maximum recycling ability limited by I curve；
Computing module 22, for calculating the difference of the minimum value in demand brake force and following three parameters: demand braking
Power, front axle brake recycling ability and the front axle maximum recycling ability limited by ECE curve, obtain rear axle demand brake force；
First control module 23, total braking requirement power for controlling front axle two-wheeled are equal to the minimum in following three parameters
Value: demand brake force, front axle brake recycling ability and the front axle maximum recycling ability limited by ECE curve；
Second control module 24, total braking requirement power for controlling rear axle two-wheeled are equal to the minimum in following three parameters
Value: rear axle demand brake force, rear axle braking recycling ability and the rear axle maximum recycling ability limited by I curve.
It should be noted that the explanation of the aforementioned control method embodiment to vehicle is also applied for the vehicle of the embodiment
Control device, details are not described herein again.
The control device of the vehicle proposed according to embodiments of the present invention, obtain demand brake force, front axle brake recycling ability,
Rear axle braking recycling ability, the front axle maximum recycling ability limited by ECE curve and the rear axle maximum recycling energy limited by I curve
Power；The difference of calculating demand brake force and the minimum value in following three parameters: demand brake force, front axle brake recycling ability and
The front axle maximum recycling ability limited by ECE curve, obtains rear axle demand brake force；Control total braking requirement power of front axle two-wheeled
Equal to the minimum value in following three parameters: demand brake force, front axle brake recycling ability and the front axle limited by ECE curve are most
Big recycling ability；Total braking requirement power of rear axle two-wheeled is controlled equal to the minimum value in following three parameters: the braking of rear axle demand
Power, rear axle braking recycling ability and the rear axle maximum recycling ability limited by I curve.Brake force, front axle brake return according to demand
Receipts ability and the front axle maximum limited by ECE curve recycling capacity calculation obtain rear axle demand brake force, and control front axle two-wheeled
Total braking requirement power；According to rear axle demand brake force, rear axle braking recycling ability and the rear axle maximum recycling limited by I curve
Total braking requirement power of capability control rear axle two-wheeled does not change the hydraulic system of original antero posterior axis in braking recycling assigning process
The proportionate relationship of power, while having comprehensively considered the limitation of I curve and ECE method gage line, it not only ensure that the economy of vehicle, but also protect
The stability during vehicle braking is demonstrate,proved.
Further, in a kind of possible implementation of the embodiment of the present invention, obtain module 21 and be specifically used for: acquisition is worked as
Preceding rear axle hydraulic braking force and current front axle hydraulic braking force；According to current rear axle hydraulic braking force and ECE curve, obtain
Front axle hydraulic braking force a little is limited to by ECE curve；Calculate by ECE curve limit front axle hydraulic braking force a little with currently
The difference of front axle hydraulic braking force obtains the front axle maximum limited by ECE curve recycling ability.
Further, in a kind of possible implementation of the embodiment of the present invention, obtain module 21 and be specifically used for: acquisition is worked as
Preceding rear axle hydraulic braking force, current front axle hydraulic braking force and front axle brake recycles ability；It is hydraulic to calculate current front axle
Brake force and front axle brake recycling ability and value, obtain being limited front axle hydraulic braking force a little by I curve；According to by I curve
The front axle hydraulic braking force and I curve for limiting point, obtain being limited rear axle hydraulic braking force a little by I curve；It calculates and is limited by I curve
The rear axle hydraulic braking force of point and the difference of current rear axle hydraulic braking force are made, the rear axle maximum limited by I curve is obtained and returns
Receipts ability.
Further, in a kind of possible implementation of the embodiment of the present invention, the first control module 23 is specifically used for: control
The braking requirement power of revolver and the braking requirement power of front right wheel are respectively equal to 0.5 of the minimum value in following three parameters before making
Times: demand brake force, front axle brake recycling ability and the front axle maximum recycling ability limited by ECE curve.
Further, in a kind of possible implementation of the embodiment of the present invention, the second control module 24 is specifically used for: control
The braking requirement power of revolver and the braking requirement power of rear right wheel are respectively equal to 0.5 of the minimum value in following three parameters after system
Times: rear axle demand brake force, rear axle braking recycling ability and the rear axle maximum recycling ability limited by I curve.
It should be noted that the explanation of the aforementioned control method embodiment to vehicle is also applied for the vehicle of the embodiment
Control device, details are not described herein again.
The control device of the vehicle proposed according to embodiments of the present invention, obtain demand brake force, front axle brake recycling ability,
Rear axle braking recycling ability, the front axle maximum recycling ability limited by ECE curve and the rear axle maximum recycling energy limited by I curve
Power；The difference of calculating demand brake force and the minimum value in following three parameters: demand brake force, front axle brake recycling ability and
The front axle maximum recycling ability limited by ECE curve, obtains rear axle demand brake force；Control total braking requirement power of front axle two-wheeled
Equal to the minimum value in following three parameters: demand brake force, front axle brake recycling ability and the front axle limited by ECE curve are most
Big recycling ability；Total braking requirement power of rear axle two-wheeled is controlled equal to the minimum value in following three parameters: the braking of rear axle demand
Power, rear axle braking recycling ability and the rear axle maximum recycling ability limited by I curve.Brake force, front axle brake return according to demand
Receipts ability and the front axle maximum limited by ECE curve recycling capacity calculation obtain rear axle demand brake force, and control front axle two-wheeled
Total braking requirement power；According to rear axle demand brake force, rear axle braking recycling ability and the rear axle maximum recycling limited by I curve
Total braking requirement power of capability control rear axle two-wheeled does not change the hydraulic system of original antero posterior axis in braking recycling assigning process
The proportionate relationship of power, while having comprehensively considered the limitation of I curve and ECE method gage line, it not only ensure that the economy of vehicle, but also protect
The stability during vehicle braking is demonstrate,proved.
In order to realize above-described embodiment, the embodiment of the present invention also proposes a kind of vehicle 30, as shown in Figure 8, comprising: above-mentioned reality
Apply the control device 31 of vehicle shown in example.
In order to realize above-described embodiment, the embodiment of the present invention also proposes a kind of electronic equipment 40, as shown in figure 9, the electronics
Equipment includes memory 41 and processor 42.It is stored with the computer program that can be run on processor 42 on memory 41, locates
It manages device 42 and executes program, realize the control method of the vehicle as shown in above-described embodiment.
In order to realize above-described embodiment, the embodiment of the present invention also proposes a kind of non-transitorycomputer readable storage medium,
It is stored thereon with computer program, when which is executed by processor, realizes the controlling party of the vehicle as shown in above-described embodiment
Method.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
It can be combined in any suitable manner in a or multiple embodiment or examples.In addition, without conflicting with each other, the technology of this field
The feature of different embodiments or examples described in this specification and different embodiments or examples can be combined by personnel
And combination.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of control method of vehicle characterized by comprising
Acquisition demand brake force, front axle brake recycling ability, rear axle braking recycling ability, the front axle maximum limited by ECE curve
Recycling ability and the rear axle maximum limited by I curve recycle ability；
Calculate the difference of the demand brake force and the minimum value in following three parameters: the demand brake force, the front axle
Braking recycling ability and the front axle maximum recycling ability limited by ECE curve, obtain rear axle demand brake force；
The total braking requirement power for controlling front axle two-wheeled is equal to minimum value in following three parameters: the demand brake force, described
Front axle brake recycling ability and the front axle maximum recycling ability limited by ECE curve；
Total braking requirement power of rear axle two-wheeled is controlled equal to the minimum value in following three parameters: the rear axle demand brake force,
The rear axle braking recycling ability and the rear axle maximum recycling ability limited by I curve.
2. control method according to claim 1, which is characterized in that it is maximum to obtain the front axle limited by ECE curve
Recycling ability, comprising:
Obtain current rear axle hydraulic braking force and current front axle hydraulic braking force；
According to current the rear axle hydraulic braking force and ECE curve, obtain being limited front axle hydraulic braking a little by ECE curve
Power；
The difference that front axle hydraulic braking force and the current front axle hydraulic braking force a little are limited by ECE curve is calculated,
Obtain the front axle maximum recycling ability limited by ECE curve.
3. control method according to claim 1, which is characterized in that obtain the rear axle maximum limited by I curve and return
Receipts ability, comprising:
Obtain current rear axle hydraulic braking force, current front axle hydraulic braking force and front axle brake recycling ability；
Calculate the current front axle hydraulic braking force and the front axle brake recycling ability and value, obtain being limited by I curve
The front axle hydraulic braking force of point；
Front axle hydraulic braking force and I curve a little are limited by I curve according to described, it is hydraulic to obtain the rear axle limited by I curve a little
Brake force；
The difference for being limited rear axle hydraulic braking force and the current rear axle hydraulic braking force a little by I curve is calculated, is obtained
Ability is recycled to the rear axle maximum limited by I curve.
4. control method according to claim 1, which is characterized in that total braking requirement power etc. of the control front axle two-wheeled
Minimum value in following three parameters: the demand brake force, the front axle brake recycling ability and it is described by ECE curve limit
The front axle maximum of system recycles ability, comprising:
The braking requirement power of revolver and the braking requirement power of front right wheel are respectively equal to the minimum value in following three parameters before controlling
0.5 times: the demand brake force, front axle brake recycling ability and the front axle maximum that limit by ECE curve recycle
Ability.
5. control method according to claim 1, which is characterized in that total braking requirement power etc. of the control rear axle two-wheeled
Minimum value in following three parameters: the rear axle demand brake force, rear axle braking recycling ability and described by I curve
The rear axle maximum of limitation recycles ability, comprising:
The braking requirement power of revolver and the braking requirement power of rear right wheel are respectively equal to the minimum value in following three parameters after control
0.5 times: the rear axle demand brake force, rear axle braking recycling ability and rear axle maximum limit by I curve time
Receipts ability.
6. a kind of control device of vehicle characterized by comprising
Module is obtained, recycling ability is braked for obtaining demand brake force, front axle brake recycling ability, rear axle, is limited by ECE curve
The front axle maximum recycling ability of system and the rear axle maximum recycling ability limited by I curve；
Computing module, for calculating the difference of the minimum value in the demand brake force and following three parameters: the demand system
Power, front axle brake recycling ability and the front axle maximum recycling ability limited by ECE curve, obtain rear axle demand system
Power；
First control module, total braking requirement power for controlling front axle two-wheeled are equal to the minimum value in following three parameters: institute
State demand brake force, front axle brake recycling ability and the front axle maximum recycling ability limited by ECE curve；
Second control module, total braking requirement power for controlling rear axle two-wheeled are equal to the minimum value in following three parameters: institute
State rear axle demand brake force, rear axle braking recycling ability and the rear axle maximum recycling ability limited by I curve.
7. control device according to claim 6, which is characterized in that the acquisition module is specifically used for:
Obtain current rear axle hydraulic braking force and current front axle hydraulic braking force；
According to current the rear axle hydraulic braking force and ECE curve, obtain being limited front axle hydraulic braking a little by ECE curve
Power；
The difference that front axle hydraulic braking force and the current front axle hydraulic braking force a little are limited by ECE curve is calculated,
Obtain the front axle maximum recycling ability limited by ECE curve；
And/or the acquisition module is specifically used for:
Obtain current rear axle hydraulic braking force, current front axle hydraulic braking force and front axle brake recycling ability；
Calculate the current front axle hydraulic braking force and the front axle brake recycling ability and value, obtain being limited by I curve
The front axle hydraulic braking force of point；
Front axle hydraulic braking force and I curve a little are limited by I curve according to described, it is hydraulic to obtain the rear axle limited by I curve a little
Brake force；
The difference for being limited rear axle hydraulic braking force and the current rear axle hydraulic braking force a little by I curve is calculated, is obtained
Ability is recycled to the rear axle maximum limited by I curve.
8. a kind of vehicle characterized by comprising the control device of vehicle as claimed in claims 6 or 7.
9. a kind of electronic equipment characterized by comprising memory, processor and be stored on the memory and can be in institute
The computer program run on processor is stated, when the processor executes described program, is realized such as any one of claim 1-5
The control method of the vehicle.
10. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the program
When being executed by processor, the control method of vehicle according to any one of claims 1 to 5 is realized.
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Cited By (1)
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|---|---|---|---|---|
| CN116160865A (en) * | 2023-04-19 | 2023-05-26 | 小米汽车科技有限公司 | Vehicle control method and device, medium and vehicle |
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