CN109591604B - Vehicle control method and device and vehicle - Google Patents

Vehicle control method and device and vehicle Download PDF

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Publication number
CN109591604B
CN109591604B CN201811471176.XA CN201811471176A CN109591604B CN 109591604 B CN109591604 B CN 109591604B CN 201811471176 A CN201811471176 A CN 201811471176A CN 109591604 B CN109591604 B CN 109591604B
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curve
braking force
front axle
recovery capacity
rear axle
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CN109591604A (en
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王艳静
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Beijing Electric Vehicle Co Ltd
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Beijing Electric Vehicle Co Ltd
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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
    • 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 provides a vehicle control method, a vehicle control device and a vehicle, wherein the vehicle control method comprises the following steps: acquiring required braking force, front axle brake recovery capacity, rear axle brake recovery capacity, front axle maximum recovery capacity limited by an ECE curve and rear axle maximum recovery capacity limited by an I curve; calculating to obtain the required braking force of the rear axle; controlling the total braking demand force of the two wheels on the front axle to be equal to the minimum value of the following three parameters: the required braking force, the front axle braking recovery capacity and the front axle maximum recovery capacity limited by the ECE curve; controlling the total braking demand force of the two wheels of the rear axle to be equal to the minimum value of the following three parameters: the required braking force of the rear axle, the braking recovery capacity of the rear axle and the maximum recovery capacity of the rear axle limited by the I curve. According to the control method and device for the vehicle and the vehicle, the proportional relation of the hydraulic braking forces of the front axle and the rear axle is not changed, the limitations of an I curve and an ECE rule are comprehensively considered, and the economy of the vehicle and the braking stability of the vehicle are guaranteed.

Description

Vehicle control method and device and vehicle
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle control method and device and a vehicle.
Background
According to different layout forms of a power system, the electric automobile can be divided into two driving forms of centralized driving and distributed driving. Distributed drive electric vehicles have become the focus of subsequent research on electric vehicles.
In the related art, a distributed driving brake recovery and distribution strategy generally has two modes, wherein one mode is to calculate the front axle braking force and the rear axle braking force according to the required braking force and the fixed ratio of the front axle to the rear axle; and the other mode is that the front axle braking force and the rear axle braking force are calculated according to the front-rear axle relation of the required braking force and the ideal braking force distribution I curve. The two modes are used for comparing the front axle braking force with the front axle braking recovery capacity aiming at the front axle, so that the recovery braking force of the front axle and the hydraulic braking force of the front axle are obtained; and comparing the rear axle braking force with the rear axle braking recovery capacity aiming at the rear axle, so as to obtain the recovery braking force of the rear axle and the hydraulic braking force of the rear axle. The two modes both need to change the original proportional relation of the hydraulic braking forces of the front shaft and the rear shaft, so that the hydraulic braking forces can be realized only by a complex hydraulic control system, the engineering is difficult to realize, and the cost is increased; in addition, in the two modes, when the front axle braking force and the rear axle braking force are calculated, only the fixed ratio of the required braking force to the front axle and the rear axle or the front-rear axle relation of the required braking force to the I curve are considered, so that the stability of the vehicle in the braking process is poor.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
To this end, a first object of the present invention is to provide a control method of a vehicle, which calculates a rear axle required braking force from a required braking force, a front axle brake recovery capacity, and a front axle maximum recovery capacity limited by an ECE curve, and controls a total brake required force of two wheels on a front axle; the total braking demand force of two wheels of the rear axle is controlled according to the braking demand force of the rear axle, the braking recovery capacity of the rear axle and the maximum recovery capacity of the rear axle limited by the I curve, the original proportional relation of the hydraulic braking forces of the front axle and the rear axle is not changed in the braking recovery distribution process, and meanwhile, the limitation of the I curve and an ECE regulation line is comprehensively considered, so that the economy of the vehicle is ensured, and the braking stability of the vehicle is also ensured.
A second object of the present invention is to provide a control device for a vehicle.
A third object of the invention is to propose a vehicle.
A fourth object of the invention is to propose an electronic device.
A fifth object of the invention is to propose a non-transitory computer-readable storage medium.
To achieve the above object, an embodiment of a first aspect of the present invention provides a control method for a vehicle, including:
acquiring required braking force, front axle brake recovery capacity, rear axle brake recovery capacity, front axle maximum recovery capacity limited by an ECE curve and rear axle maximum recovery capacity limited by an I curve;
calculating a difference between the required braking force and a minimum value of the following three parameters: the required braking force of the rear axle is obtained through the required braking force, the front axle braking recovery capacity and the maximum front axle recovery capacity limited by the ECE curve;
controlling the total braking demand force of the two wheels on the front axle to be equal to the minimum value of the following three parameters: the required braking force, the front axle brake recovery capacity, and the front axle maximum recovery capacity limited by the ECE curve;
controlling the total braking demand force of the two wheels of the rear axle to be equal to the minimum value of the following three parameters: the rear axle required braking force, the rear axle brake recovery capacity and the rear axle maximum recovery capacity limited by the I curve.
According to the control method of the vehicle provided by the embodiment of the invention, the required braking force, the front axle brake recovery capacity, the rear axle brake recovery capacity, the front axle maximum recovery capacity limited by an ECE curve and the rear axle maximum recovery capacity limited by an I curve are obtained; calculating the difference between the required braking force and the minimum value of the following three parameters: the required braking force of the rear axle is obtained through the required braking force, the front axle braking recovery capacity and the maximum front axle recovery capacity limited by the ECE curve; controlling the total braking demand force of the two wheels on the front axle to be equal to the minimum value of the following three parameters: the required braking force, the front axle braking recovery capacity and the front axle maximum recovery capacity limited by the ECE curve; controlling the total braking demand force of the two wheels of the rear axle to be equal to the minimum value of the following three parameters: the required braking force of the rear axle, the braking recovery capacity of the rear axle and the maximum recovery capacity of the rear axle limited by the I curve. Calculating to obtain the required braking force of the rear axle according to the required braking force, the braking recovery capacity of the front axle and the maximum recovery capacity of the front axle limited by the ECE curve, and controlling the total braking required force of the two wheels of the front axle; the total braking demand force of two wheels of the rear axle is controlled according to the braking demand force of the rear axle, the braking recovery capacity of the rear axle and the maximum recovery capacity of the rear axle limited by the I curve, the original proportional relation of the hydraulic braking forces of the front axle and the rear axle is not changed in the braking recovery and distribution process, and the limitation of the I curve and an ECE regulation line is comprehensively considered, so that the economy of the vehicle is ensured, and the stability of the vehicle in the braking process is also ensured.
According to one embodiment of the invention, obtaining the maximum recovery capacity of the front axle limited by the ECE curve comprises: acquiring the current rear axle hydraulic braking force and the current front axle hydraulic braking force; obtaining the front axle hydraulic braking force limited by the ECE curve according to the current rear axle hydraulic braking force and the ECE curve; and calculating the difference value between the front axle hydraulic braking force of the point limited by the ECE curve and the current front axle hydraulic braking force to obtain the maximum recovery capacity of the front axle limited by the ECE curve.
According to one embodiment of the invention, acquiring the maximum recovery capacity of the rear axle limited by the I curve comprises the following steps: acquiring current rear axle hydraulic braking force, current front axle hydraulic braking force and front axle braking recovery capacity; calculating the sum of the current front axle hydraulic braking force and the front axle braking recovery capacity to obtain the front axle hydraulic braking force limited by the curve I; obtaining the hydraulic braking force of the rear axle limited by the curve I according to the hydraulic braking force of the front axle limited by the curve I and the curve I; and calculating the difference value between the rear axle hydraulic braking force of the point limited by the curve I and the current rear axle hydraulic braking force to obtain the maximum recovery capacity of the rear axle limited by the curve I.
According to one embodiment of the invention, said controlling of the total braking demand force of the two wheels on the front axle is equal to the minimum of three parameters: the required braking force, the front axle brake recovery capacity, and the ECE curve limited front axle maximum recovery capacity include: controlling the braking demand force of the front left wheel and the braking demand force of the front right wheel to be respectively equal to 0.5 times of the minimum value of the following three parameters: the required braking force, the front axle brake recovery capability, and the maximum front axle recovery capability limited by the ECE curve.
According to one embodiment of the invention, said controlling of the total braking demand force of the two wheels of the rear axle is equal to the minimum of the following three parameters: the rear axle required braking force, the rear axle brake recovery capacity and the rear axle maximum recovery capacity limited by the I-curve include: controlling the braking demand force of the rear left wheel and the braking demand force of the rear right wheel to be respectively equal to 0.5 times of the minimum value of the following three parameters: the rear axle required braking force, the rear axle brake recovery capacity and the rear axle maximum recovery capacity limited by the I curve.
To achieve the above object, an embodiment of a second aspect of the present invention provides a control apparatus for a vehicle, including:
the acquisition module is used for acquiring required braking force, front axle brake recovery capacity, rear axle brake recovery capacity, front axle maximum recovery capacity limited by an ECE curve and rear axle maximum recovery capacity limited by an I curve;
a calculation module for calculating a difference between the required braking force and a minimum value of the following three parameters: the required braking force of the rear axle is obtained through the required braking force, the front axle braking recovery capacity and the maximum front axle recovery capacity limited by the ECE curve;
the first control module is used for controlling the total braking demand force of the two wheels on the front axle to be equal to the minimum value of the following three parameters: the required braking force, the front axle brake recovery capacity, and the front axle maximum recovery capacity limited by the ECE curve;
and the second control module is used for controlling the total braking demand force of the two wheels of the rear axle to be equal to the minimum value of the following three parameters: the rear axle required braking force, the rear axle brake recovery capacity and the rear axle maximum recovery capacity limited by the I curve.
According to the control device of the vehicle, the required braking force, the front axle brake recovery capacity, the rear axle brake recovery capacity, the front axle maximum recovery capacity limited by an ECE curve and the rear axle maximum recovery capacity limited by an I curve are obtained; calculating the difference between the required braking force and the minimum value of the following three parameters: the required braking force of the rear axle is obtained through the required braking force, the front axle braking recovery capacity and the maximum front axle recovery capacity limited by the ECE curve; controlling the total braking demand force of the two wheels on the front axle to be equal to the minimum value of the following three parameters: the required braking force, the front axle braking recovery capacity and the front axle maximum recovery capacity limited by the ECE curve; controlling the total braking demand force of the two wheels of the rear axle to be equal to the minimum value of the following three parameters: the required braking force of the rear axle, the braking recovery capacity of the rear axle and the maximum recovery capacity of the rear axle limited by the I curve. Calculating to obtain the required braking force of the rear axle according to the required braking force, the braking recovery capacity of the front axle and the maximum recovery capacity of the front axle limited by the ECE curve, and controlling the total braking required force of the two wheels of the front axle; the total braking demand force of two wheels of the rear axle is controlled according to the braking demand force of the rear axle, the braking recovery capacity of the rear axle and the maximum recovery capacity of the rear axle limited by the I curve, the original proportional relation of the hydraulic braking forces of the front axle and the rear axle is not changed in the braking recovery and distribution process, and the limitation of the I curve and an ECE regulation line is comprehensively considered, so that the economy of the vehicle is ensured, and the stability of the vehicle in the braking process is also ensured.
According to an embodiment of the present invention, the obtaining module is specifically configured to: acquiring the current rear axle hydraulic braking force and the current front axle hydraulic braking force; obtaining the front axle hydraulic braking force limited by the ECE curve according to the current rear axle hydraulic braking force and the ECE curve; calculating the difference value between the front axle hydraulic braking force of the point limited by the ECE curve and the current front axle hydraulic braking force to obtain the maximum recovery capacity of the front axle limited by the ECE curve; and/or the acquisition module is specifically configured to: acquiring current rear axle hydraulic braking force, current front axle hydraulic braking force and front axle braking recovery capacity; calculating the sum of the current front axle hydraulic braking force and the front axle braking recovery capacity to obtain the front axle hydraulic braking force limited by the curve I; obtaining the hydraulic braking force of the rear axle limited by the curve I according to the hydraulic braking force of the front axle limited by the curve I and the curve I; and calculating the difference value between the rear axle hydraulic braking force of the point limited by the curve I and the current rear axle hydraulic braking force to obtain the maximum recovery capacity of the rear axle limited by the curve I.
To achieve the above object, an embodiment of a third aspect of the invention proposes a vehicle including: a control apparatus for a vehicle according to an embodiment of the second aspect of the invention.
To achieve the above object, a fourth aspect of the present invention provides an electronic device, including: a memory, a processor and a computer program stored on the memory and operable on the processor, when executing the program, implementing a method of controlling a vehicle as described in the embodiments of the first aspect of the invention.
To achieve the above object, a fifth embodiment of the present invention provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program is configured to implement a control method of a vehicle according to the first embodiment of the present invention when executed by a processor.
Drawings
FIG. 1 is a hydraulic braking force distribution graph of an embodiment of the present invention;
FIG. 2 is a flow chart of a control method of a vehicle according to one embodiment of the invention;
fig. 3 is a flowchart of a control method of a vehicle according to another embodiment of the invention;
FIG. 4 is a hydraulic braking force distribution diagram according to another embodiment of the present invention;
fig. 5 is a flowchart of a control method of a vehicle according to another embodiment of the invention;
FIG. 6 is a hydraulic braking force distribution diagram according to another embodiment of the present invention;
fig. 7 is a structural diagram of a control apparatus of a vehicle according to an embodiment of the invention;
FIG. 8 is a block diagram of a vehicle according to one embodiment of the present invention;
FIG. 9 is a block diagram of an electronic device in accordance with one embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The electric vehicle can be divided into two drive forms of a centralized drive and a distributed drive. The power of the centralized drive needs to be finally applied to wheels through components such as a transmission, a transmission shaft, a differential, a half shaft and the like, so the centralized drive has the defects of more transmission components, low transmission efficiency, complex control and the like, while the distributed drive mode cancels the transmission components and directly installs the drive motor in the drive wheel. This design has great advantages in control, such as: four wheels can be directly driven or braked, and the torque of the four wheels can be freely distributed within an allowable range, so that various performances of the vehicle can be improved; the power of a single motor is correspondingly reduced, and the flexibility of the whole vehicle arrangement is improved; the motor response is rapid and accurate, and the system can be combined with a driving antiskid system, a braking antiskid system and the like to ensure that the vehicle is more stable and safer. The vehicle control method and device and the vehicle are suitable for distributed driving electric vehicles.
The following describes a control method and device for a vehicle and the vehicle according to an embodiment of the invention with reference to the drawings.
For the sake of clarity of the embodiment of the invention, the basic calculation theory of the brake braking force is described first:
the hydraulic braking force on one side of the vehicle front wheel brake is as follows:
Figure BDA0001890976850000051
the hydraulic braking force of one side of the rear wheel brake is as follows:
Figure BDA0001890976850000052
the total hydraulic braking force is then:
Figure BDA0001890976850000053
the master cylinder pressure being equal to the front and rear wheel brake pressures, i.e. pm＝pf＝prAnd then:
Nt＝pm×C＝pf×C＝pr×C (4)
defining constants
Figure BDA0001890976850000054
Wherein D isfIs the diameter of the front wheel cylinder; drIs the rear wheel cylinder diameter; rfThe braking radius of the front brake; rrThe rear brake braking radius; kbfThe braking efficiency coefficient of the front brake; kbrThe braking efficiency coefficient of the rear brake; r iswheelIs the wheel radius; n is a radical offHydraulic braking force of a front axle unilateral wheel; n is a radical ofrHydraulic braking force is applied to a single-side wheel of the rear axle; n is a radical oftThe total hydraulic power is the total hydraulic power; p is a radical ofmIs a master cylinderHydraulic pressure intensity; p is a radical offIs the hydraulic pressure of the front wheel; p is a radical ofrIs the rear wheel hydraulic pressure.
During the braking process of the vehicle, if the front axle is locked first, the vehicle loses the steering capacity; if the rear axle is locked first, the vehicle will experience side slip. The ideal braking force distribution ensures that the front axle and the rear axle are not locked, if the wheels are locked, the front wheels can only be locked first, and the dangerous working condition that the rear wheels are locked first to cause the sideslip of the vehicle is avoided. Therefore, the hydraulic braking force distribution curve according to the embodiment of the invention is shown in fig. 1, and the line β in fig. 1 is the hydraulic braking force distribution curve according to the embodiment of the invention, and is located between the ideal braking force distribution I curve and the ECE braking regulation limit line (ECE line), so that the stability of the vehicle braking process can be ensured. In the braking process, the original hydraulic braking system is not changed, namely the relations of the formulas (1) to (4) are kept unchanged. The principle of brake recovery allocation is therefore: and when the front axle brake recovery capacity cannot meet the requirement or exceeds the limit of an ECE (engineering-Electrical-engineering) regulation line, the front axle brake recovery capacity is distributed to the rear axle motor.
Fig. 2 is a flowchart of a control method of a vehicle according to an embodiment of the present invention, as shown in fig. 2, including:
s101, acquiring required braking force Frecup-reqFront axle brake recovery capability FF-limRear axle brake recovery capability FR-limMaximum front axle recovery F limited by ECE curveECE-limAnd maximum rear axle recovery F limited by curve II-lim。
In the embodiment of the invention, the required braking force F of the vehicle is obtainedrecup-reqFront axle brake recovery capability FF-limRear axle brake recovery capability FR-limMaximum front axle recovery F limited by ECE curveECE-limAnd maximum rear axle recovery F limited by curve II-lim。
Wherein, the braking recovery capacity of the front left wheel is assumed to be FFL-limThe braking recovery capacity of the front right wheel is FFR-limAnd the brake recovery capacity of the rear left wheel is FRL-limAnd the brake recovery capacity of the rear right wheel is FRR-limThen:
the front axle brake recovery capacity is as follows:
FF-lim＝2×min(FFL-lim，FFR-lim) (5)
the rear axle brake recovery capacity is:
FR-lim＝2×min(FRL-lim，FRR-lim) (6)
s102, calculating the required braking force Frrecup-reqAnd the difference between the minimum of the following three parameters: required braking force Frecup-reqFront axle brake recovery capability FF-limAnd front axle maximum recovery F limited by ECE curveECE-limObtaining the required braking force F of the rear axleR-req。
In the embodiment of the invention, when Frecup-req≤FECE-limComparison of time Frecup-req、FF-limTo determine the total braking demand force F of the two wheels of the front axleF-reqAnd further obtains the required braking force F of the rear axleR-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)
When F is presentrecup-req＞FECE-limComparison of time FECE-limAnd FF-limTo determine the total braking demand force F of the two wheels of the front axleF-reqAnd further obtains the required braking force F of the rear axleR-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)
In view of the above-mentioned equations (7) to (14),
FR-req＝Frecup-req-min(Frecup-req，FF-lim，FECE-lim) (15)
s103, controlling the total braking demand force F of the two wheels on the front axleF-reqEqual to the minimum of the three following parameters: required braking force Frecup-reqFront axle brake recovery capability FF-limAnd front axle maximum recovery F limited by ECE curveECE-lim。
In the embodiment of the invention, the total braking demand force of two wheels on the front axle is controlled as follows:
FF-req＝min(Frecup-req，FF-lim，FEcE-lim) (16)
FF-reqthe detailed derivation process can be seen in the formulas (7), (9), (11) and (13) in step S102, which is not described herein again.
S104, controlling the total braking demand force F of the two wheels of the rear axleRL-req+FRR-reqEqual to the minimum of the three following parameters: rear axle required braking force FR-reqRear axle brake recovery capability FR-limAnd maximum rear axle recovery F limited by curve II-lim。
In the embodiment of the invention, when FR-req≤FI-limComparison of time FR-reqAnd FR-limSo as to obtain the total braking demand force F of the two wheels on the rear axleRL-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)
When F is presentR-req＞FI-limComparison of time FR-limAnd FI-limSo as to obtain the total braking demand force F of the two wheels on the rear axleRL-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)
In view of the above equations (17) to (20),
FRL-req+FRR-req＝min(FR-req，FR-lim，FI-lim) (21)
i.e. controlling the total braking demand force F of the two wheels of the rear axleRL-req+FRR-reqEqual to the minimum of the three following parameters: rear axle required braking force FR-reqRear axle brake recovery capability FR-limAnd maximum rear axle recovery F limited by curve II-lim。
For the sake of clarity of the present embodiment, the calculation procedures of the above formulas (5) to (21) of the present embodiment are summarized below with reference to table 1, and table 1 is a summary table of the calculation procedures of the present embodiment.
Table 1 summary of calculation processes of an embodiment of the present invention
Figure BDA0001890976850000081
Table 1 is again simplified to obtain:
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)
according to the control method of the vehicle provided by the embodiment of the invention, the required braking force, the front axle brake recovery capacity, the rear axle brake recovery capacity, the front axle maximum recovery capacity limited by an ECE curve and the rear axle maximum recovery capacity limited by an I curve are obtained; calculating the difference between the required braking force and the minimum value of the following three parameters: the required braking force of the rear axle is obtained through the required braking force, the front axle braking recovery capacity and the maximum front axle recovery capacity limited by the ECE curve; controlling the total braking demand force of the two wheels on the front axle to be equal to the minimum value of the following three parameters: the required braking force, the front axle braking recovery capacity and the front axle maximum recovery capacity limited by the ECE curve; controlling the total braking demand force of the two wheels of the rear axle to be equal to the minimum value of the following three parameters: the required braking force of the rear axle, the braking recovery capacity of the rear axle and the maximum recovery capacity of the rear axle limited by the I curve. Calculating to obtain the required braking force of the rear axle according to the required braking force, the braking recovery capacity of the front axle and the maximum recovery capacity of the front axle limited by the ECE curve, and controlling the total braking required force of the two wheels of the front axle; the total braking demand force of two wheels of the rear axle is controlled according to the braking demand force of the rear axle, the braking recovery capacity of the rear axle and the maximum recovery capacity of the rear axle limited by the I curve, the original proportional relation of the hydraulic braking forces of the front axle and the rear axle is not changed in the braking recovery and distribution process, and the limitation of the I curve and an ECE regulation line is comprehensively considered, so that the economy of the vehicle is ensured, and the stability of the vehicle in the braking process is also ensured.
Further, on the basis of the embodiment shown in fig. 2, as shown in fig. 3, fig. 3 is a flowchart of a control method of a vehicle according to another embodiment of the present invention, and the step S101 of "obtaining the maximum recovery capacity of the front axle limited by the ECE curve" may specifically include:
s201, acquiring the current rear axle hydraulic braking force and the current front axle hydraulic braking force.
In the embodiment of the present invention, the current hydraulic braking force of the rear axle and the current hydraulic braking force of the front axle are obtained, specifically, the current hydraulic braking force of the rear axle and the current hydraulic braking force of the front axle can be obtained through hydraulic pressure as shown in fig. 4The braking force distribution curve is obtained, as shown in fig. 4, the current working condition of the vehicle is taken as an example of point a on line β in fig. 4, and the current hydraulic braking force of the rear axle is Nr-A(point A ordinate), the current front axle hydraulic braking force is Nf-A(abscissa of point A).
And S202, obtaining the front axle hydraulic braking force limited by the ECE curve according to the current rear axle hydraulic braking force and the ECE curve.
In the embodiment of the invention, as shown in fig. 4, a straight line parallel to the abscissa axis is made through the point a, the intersection point of the straight line and the ECE curve is the point B, the point B is the point limited by the ECE curve, and the braking force F of the front axle corresponding to the point B isf-BAnd (the abscissa of the point B) is the front axle hydraulic braking force limited by the ECE curve.
S203, calculating the difference value between the front axle hydraulic braking force of the ECE curve limiting point and the current front axle hydraulic braking force to obtain the maximum front axle recovery capacity F limited by the ECE curveECE-lim。
In the embodiment of the invention, the maximum recovery capacity of the front axle is limited by an ECE curve
FECE-lim＝Ff-B-Nf-A(25)
According to the control method of the vehicle provided by the embodiment of the invention, the maximum recovery capacity of the front axle limited by the ECE curve is obtained by calculation according to the current rear axle hydraulic braking force, the current front axle hydraulic braking force and the ECE curve, and the maximum recovery capacity of the front axle limited by the ECE curve can be accurately and effectively obtained.
Further, on the basis of the embodiment shown in fig. 2, as shown in fig. 5, fig. 5 is a flowchart of a control method of a vehicle according to another embodiment of the present invention, and the step S101 of "obtaining the maximum recovery capacity of the rear axle limited by the I curve" may specifically include:
s301, acquiring the current front axle hydraulic braking force and front axle braking recovery capacity F of the current rear axle hydraulic braking forceF-lim。
In the embodiment of the present invention, the current hydraulic braking force of the rear axle and the current hydraulic braking force of the front axle are obtained, specifically, the current hydraulic braking force distribution graph shown in fig. 6 is used to obtain the current hydraulic braking force of the rear axle and the current hydraulic braking force of the front axleAs shown in fig. 6, when the current operating condition of the vehicle is indicated by point a on line β in fig. 6, the current rear axle hydraulic braking force is Nr-A(point A ordinate), the current front axle hydraulic braking force is Nf-A(abscissa of point A). Front axle brake recovery capability FF-limThe obtaining method can be described in detail with reference to the step S101 in the embodiment shown in fig. 2, and is not described herein again.
S302, calculating the current front axle hydraulic braking force and front axle braking recovery capacity FF-limThe front axle hydraulic braking force limited by the I-curve is obtained.
In the embodiment of the present invention, as shown in fig. 6, a straight line parallel to the abscissa axis is drawn through a, and the abscissa axis is taken as N on the straight linef-A+FF-lim＝Ff-CIs point C (F)f-CIs the abscissa of the point C), then a straight line parallel to the ordinate axis is made through the point C, the straight line and the curve I intersect at the point D, the point D is the point limited by the curve I, and the front axle hydraulic braking force F corresponding to the point D isf-DAnd (D point abscissa) is the front axle hydraulic braking force limited by the I curve.
S303, obtaining the hydraulic braking force of the rear axle limited by the I curve according to the hydraulic braking force of the front axle limited by the I curve and the I curve
In the embodiment of the invention, as shown in FIG. 6, the hydraulic braking force F of the rear axle corresponding to the point Dr-DAnd the (D point ordinate) is the hydraulic braking force of the rear axle limited by the I curve.
S304, calculating the difference value between the hydraulic braking force of the rear axle limited by the I curve and the current hydraulic braking force of the rear axle to obtain the maximum recovery capacity F of the rear axle limited by the I curveI-lim。
In the embodiment of the invention, the maximum recovery capacity of the rear axle is limited by the I curve
FI-lim＝Fr-D-Nr-A(26)
According to the control method of the vehicle provided by the embodiment of the invention, the maximum recovery capacity of the rear axle limited by the curve I is calculated according to the current hydraulic braking force of the rear axle, the current hydraulic braking force of the front axle, the braking recovery capacity of the front axle and the curve I, and the maximum recovery capacity of the rear axle limited by the curve I can be accurately and effectively obtained.
Further, on the basis of the embodiment shown in fig. 2, the step S103 may specifically include: controlling the braking demand force F of the front left wheelFL-reqAnd the braking demand force F of the front right wheelFR-reqEqual to 0.5 times the minimum of the following three parameters: required braking force Frecup-reqFront axle brake recovery capability FF-limAnd front axle maximum recovery F limited by ECE curveECE-lim。
In the embodiment of the invention, the braking demand force F of the front left wheel is controlledFL-reqAnd the braking demand force F of the front right wheelFR-reqComprises the following steps:
FFL-req＝FFR-req＝0.5×min(Frecup-req，FF-lim，FECE-lim) (27)
further, on the basis of the embodiment shown in fig. 2, the step S104 may specifically include: controlling the braking demand force F of the rear left wheelRL-reqAnd the braking demand force F of the rear right wheelRR-reqEqual to 0.5 times the minimum of the following three parameters: rear axle required braking force FR-reqRear axle brake recovery capability FR-limAnd maximum rear axle recovery F limited by curve II-lim。
In the embodiment of the invention, the braking demand force F of the rear left wheel is controlledRL-reqAnd the braking demand force F of the rear right wheelRR-reqAre respectively as
FRL-req＝FRR-req＝0.5×min(FR-req，FR-lim，FI-lim) (28)
According to the control method of the vehicle provided by the embodiment of the invention, the braking demand force of the front left wheel, the braking demand force of the front right wheel, the braking demand force of the rear left wheel and the braking demand force of the rear right wheel of the vehicle are respectively controlled, so that the stability of the vehicle in the braking process can be ensured.
Fig. 7 is a structural diagram of a control apparatus of a vehicle according to an embodiment of the present invention, as shown in fig. 7, the control apparatus including:
the acquiring module 21 is used for acquiring required braking force, front axle brake recovery capacity, rear axle brake recovery capacity, front axle maximum recovery capacity limited by an ECE curve and rear axle maximum recovery capacity limited by an I curve;
a calculation module 22 for calculating the difference between the required braking force and the minimum of the three parameters: the required braking force of the rear axle is obtained through the required braking force, the front axle braking recovery capacity and the maximum front axle recovery capacity limited by the ECE curve;
a first control module 23 for controlling the total braking demand force of the two wheels on the front axle to be equal to the minimum of the following three parameters: the required braking force, the front axle braking recovery capacity and the front axle maximum recovery capacity limited by the ECE curve;
a second control module 24 for controlling the total braking demand force of the two wheels on the rear axle to be equal to the minimum of the following three parameters: the required braking force of the rear axle, the braking recovery capacity of the rear axle and the maximum recovery capacity of the rear axle limited by the I curve.
It should be noted that the foregoing explanation of the embodiment of the control method for the vehicle is also applicable to the control device for the vehicle in this embodiment, and the details are not repeated here.
According to the control device of the vehicle, the required braking force, the front axle brake recovery capacity, the rear axle brake recovery capacity, the front axle maximum recovery capacity limited by an ECE curve and the rear axle maximum recovery capacity limited by an I curve are obtained; calculating the difference between the required braking force and the minimum value of the following three parameters: the required braking force of the rear axle is obtained through the required braking force, the front axle braking recovery capacity and the maximum front axle recovery capacity limited by the ECE curve; controlling the total braking demand force of the two wheels on the front axle to be equal to the minimum value of the following three parameters: the required braking force, the front axle braking recovery capacity and the front axle maximum recovery capacity limited by the ECE curve; controlling the total braking demand force of the two wheels of the rear axle to be equal to the minimum value of the following three parameters: the required braking force of the rear axle, the braking recovery capacity of the rear axle and the maximum recovery capacity of the rear axle limited by the I curve. Calculating to obtain the required braking force of the rear axle according to the required braking force, the braking recovery capacity of the front axle and the maximum recovery capacity of the front axle limited by the ECE curve, and controlling the total braking required force of the two wheels of the front axle; the total braking demand force of two wheels of the rear axle is controlled according to the braking demand force of the rear axle, the braking recovery capacity of the rear axle and the maximum recovery capacity of the rear axle limited by the I curve, the original proportional relation of the hydraulic braking forces of the front axle and the rear axle is not changed in the braking recovery and distribution process, and the limitation of the I curve and an ECE regulation line is comprehensively considered, so that the economy of the vehicle is ensured, and the stability of the vehicle in the braking process is also ensured.
Further, in a possible implementation manner of the embodiment of the present invention, the obtaining module 21 is specifically configured to: acquiring the current rear axle hydraulic braking force and the current front axle hydraulic braking force; obtaining the front axle hydraulic braking force limited by the ECE curve according to the current rear axle hydraulic braking force and the ECE curve; and calculating the difference value between the front axle hydraulic braking force limited by the ECE curve and the current front axle hydraulic braking force to obtain the maximum front axle recovery capacity limited by the ECE curve.
Further, in a possible implementation manner of the embodiment of the present invention, the obtaining module 21 is specifically configured to: acquiring current rear axle hydraulic braking force, current front axle hydraulic braking force and front axle braking recovery capacity; calculating the sum of the current front axle hydraulic braking force and the front axle braking recovery capacity to obtain the front axle hydraulic braking force limited by the curve I; obtaining the hydraulic braking force of the rear axle limited by the curve I according to the hydraulic braking force of the front axle limited by the curve I and the curve I; and calculating the difference value between the rear axle hydraulic braking force limited by the curve I and the current rear axle hydraulic braking force to obtain the maximum recovery capacity of the rear axle limited by the curve I.
Further, in a possible implementation manner of the embodiment of the present invention, the first control module 23 is specifically configured to: controlling the braking demand force of the front left wheel and the braking demand force of the front right wheel to be respectively equal to 0.5 times of the minimum value of the following three parameters: a required braking force, a front axle brake recovery capability, and a front axle maximum recovery capability limited by the ECE curve.
Further, in a possible implementation manner of the embodiment of the present invention, the second control module 24 is specifically configured to: controlling the braking demand force of the rear left wheel and the braking demand force of the rear right wheel to be respectively equal to 0.5 times of the minimum value of the following three parameters: the required braking force of the rear axle, the braking recovery capacity of the rear axle and the maximum recovery capacity of the rear axle limited by the I curve.
It should be noted that the foregoing explanation of the embodiment of the control method for the vehicle is also applicable to the control device for the vehicle in this embodiment, and the details are not repeated here.
According to the control device of the vehicle, the required braking force, the front axle brake recovery capacity, the rear axle brake recovery capacity, the front axle maximum recovery capacity limited by an ECE curve and the rear axle maximum recovery capacity limited by an I curve are obtained; calculating the difference between the required braking force and the minimum value of the following three parameters: the required braking force of the rear axle is obtained through the required braking force, the front axle braking recovery capacity and the maximum front axle recovery capacity limited by the ECE curve; controlling the total braking demand force of the two wheels on the front axle to be equal to the minimum value of the following three parameters: the required braking force, the front axle braking recovery capacity and the front axle maximum recovery capacity limited by the ECE curve; controlling the total braking demand force of the two wheels of the rear axle to be equal to the minimum value of the following three parameters: the required braking force of the rear axle, the braking recovery capacity of the rear axle and the maximum recovery capacity of the rear axle limited by the I curve. Calculating to obtain the required braking force of the rear axle according to the required braking force, the braking recovery capacity of the front axle and the maximum recovery capacity of the front axle limited by the ECE curve, and controlling the total braking required force of the two wheels of the front axle; the total braking demand force of two wheels of the rear axle is controlled according to the braking demand force of the rear axle, the braking recovery capacity of the rear axle and the maximum recovery capacity of the rear axle limited by the I curve, the original proportional relation of the hydraulic braking forces of the front axle and the rear axle is not changed in the braking recovery and distribution process, and the limitation of the I curve and an ECE regulation line is comprehensively considered, so that the economy of the vehicle is ensured, and the stability of the vehicle in the braking process is also ensured.
In order to implement the above embodiment, the embodiment of the present invention further proposes a vehicle 30, as shown in fig. 8, including: the control device 31 of the vehicle shown in the above embodiment.
In order to implement the foregoing embodiment, the embodiment of the present invention further provides an electronic device 40, as shown in fig. 9, which includes a memory 41 and a processor 42. The memory 41 stores thereon a computer program operable on the processor 42, and the processor 42 executes the program to implement the control method of the vehicle as shown in the above-described embodiments.
In order to achieve the above embodiments, embodiments of the present invention also propose a non-transitory computer-readable storage medium having stored thereon a computer program that, when executed by a processor, implements the control method of the vehicle as shown in the above embodiments.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean 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, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (10)

1. A control method of a vehicle obtains a required braking force, a front axle brake recovery capacity, a rear axle brake recovery capacity, a front axle maximum recovery capacity limited by an ECE curve and a rear axle maximum recovery capacity limited by an I curve;
it is characterized by comprising:
calculating a difference between the required braking force and a minimum value of the following three parameters: the required braking force of the rear axle is obtained through the required braking force, the front axle braking recovery capacity and the maximum front axle recovery capacity limited by the ECE curve;
controlling the total braking demand force of the two wheels on the front axle to be equal to the minimum value of the following three parameters: the required braking force, the front axle brake recovery capacity, and the front axle maximum recovery capacity limited by the ECE curve;
controlling the total braking demand force of the two wheels of the rear axle to be equal to the minimum value of the following three parameters: the rear axle required braking force, the rear axle brake recovery capacity and the rear axle maximum recovery capacity limited by the I curve.
2. The control method of claim 1, wherein obtaining the ECE curve limited front axle maximum recovery capacity comprises:
acquiring the current rear axle hydraulic braking force and the current front axle hydraulic braking force;
obtaining the front axle hydraulic braking force limited by the ECE curve according to the current rear axle hydraulic braking force and the ECE curve;
and calculating the difference value between the front axle hydraulic braking force of the point limited by the ECE curve and the current front axle hydraulic braking force to obtain the maximum recovery capacity of the front axle limited by the ECE curve.
3. The control method of claim 1, wherein obtaining the I-curve limited rear axle maximum recovery capacity comprises:
acquiring current rear axle hydraulic braking force, current front axle hydraulic braking force and front axle braking recovery capacity;
calculating the sum of the current front axle hydraulic braking force and the front axle braking recovery capacity to obtain the front axle hydraulic braking force limited by the curve I;
obtaining the hydraulic braking force of the rear axle limited by the curve I according to the hydraulic braking force of the front axle limited by the curve I and the curve I;
and calculating the difference value between the rear axle hydraulic braking force of the point limited by the curve I and the current rear axle hydraulic braking force to obtain the maximum recovery capacity of the rear axle limited by the curve I.
4. The control method according to claim 1, wherein the total braking demand force for controlling the two wheels on the front axle is equal to a minimum value of three parameters: the required braking force, the front axle brake recovery capacity, and the ECE curve limited front axle maximum recovery capacity include:
controlling the braking demand force of the front left wheel and the braking demand force of the front right wheel to be respectively equal to 0.5 times of the minimum value of the following three parameters: the required braking force, the front axle brake recovery capability, and the maximum front axle recovery capability limited by the ECE curve.
5. The control method according to claim 1, wherein the total braking demand force for controlling the two wheels on the rear axle is equal to a minimum value of three parameters: the rear axle required braking force, the rear axle brake recovery capacity and the rear axle maximum recovery capacity limited by the I-curve include:
controlling the braking demand force of the rear left wheel and the braking demand force of the rear right wheel to be respectively equal to 0.5 times of the minimum value of the following three parameters: the rear axle required braking force, the rear axle brake recovery capacity and the rear axle maximum recovery capacity limited by the I curve.
6. A control device of a vehicle comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring required braking force, front axle brake recovery capacity, rear axle brake recovery capacity, front axle maximum recovery capacity limited by an ECE curve and rear axle maximum recovery capacity limited by an I curve;
it is characterized by comprising:
a calculation module for calculating a difference between the required braking force and a minimum value of the following three parameters: the required braking force of the rear axle is obtained through the required braking force, the front axle braking recovery capacity and the maximum front axle recovery capacity limited by the ECE curve;
the first control module is used for controlling the total braking demand force of the two wheels on the front axle to be equal to the minimum value of the following three parameters: the required braking force, the front axle brake recovery capacity, and the front axle maximum recovery capacity limited by the ECE curve;
and the second control module is used for controlling the total braking demand force of the two wheels of the rear axle to be equal to the minimum value of the following three parameters: the rear axle required braking force, the rear axle brake recovery capacity and the rear axle maximum recovery capacity limited by the I curve.
7. The control device according to claim 6, wherein the obtaining module is specifically configured to:
acquiring the current rear axle hydraulic braking force and the current front axle hydraulic braking force;
obtaining the front axle hydraulic braking force limited by the ECE curve according to the current rear axle hydraulic braking force and the ECE curve;
calculating the difference value between the front axle hydraulic braking force of the point limited by the ECE curve and the current front axle hydraulic braking force to obtain the maximum recovery capacity of the front axle limited by the ECE curve;
and/or the acquisition module is specifically configured to:
acquiring current rear axle hydraulic braking force, current front axle hydraulic braking force and front axle braking recovery capacity;
calculating the sum of the current front axle hydraulic braking force and the front axle braking recovery capacity to obtain the front axle hydraulic braking force limited by the curve I;
obtaining the hydraulic braking force of the rear axle limited by the curve I according to the hydraulic braking force of the front axle limited by the curve I and the curve I;
and calculating the difference value between the rear axle hydraulic braking force of the point limited by the curve I and the current rear axle hydraulic braking force to obtain the maximum recovery capacity of the rear axle limited by the curve I.
8. A vehicle, characterized by comprising: the control device of the vehicle according to claim 6 or 7.
9. An electronic device, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, when executing the program, implementing a control method of a vehicle according to any one of claims 1-5.
10. A non-transitory computer-readable storage medium on which a computer program is stored, characterized in that the program, when executed by a processor, implements a control method of a vehicle according to any one of claims 1 to 5.
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