CN110745124A - Vehicle and brake control method and device thereof - Google Patents

Vehicle and brake control method and device thereof Download PDF

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Publication number
CN110745124A
CN110745124A CN201911023924.2A CN201911023924A CN110745124A CN 110745124 A CN110745124 A CN 110745124A CN 201911023924 A CN201911023924 A CN 201911023924A CN 110745124 A CN110745124 A CN 110745124A
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CN
China
Prior art keywords
wheel
braking
brake
torque
vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201911023924.2A
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Chinese (zh)
Inventor
班平宝
石刚
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bei Jinghai Na Chuan Automobile Component Co Ltd By Shares
Beijing Hainachuan Automotive Parts Co Ltd
Original Assignee
Bei Jinghai Na Chuan Automobile Component Co Ltd By Shares
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bei Jinghai Na Chuan Automobile Component Co Ltd By Shares filed Critical Bei Jinghai Na Chuan Automobile Component Co Ltd By Shares
Priority to CN201911023924.2A priority Critical patent/CN110745124A/en
Publication of CN110745124A publication Critical patent/CN110745124A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE 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
    • B60T8/00Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17Using electrical or electronic regulation means to control braking
    • B60T8/176Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1761Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure

Abstract

The application provides a vehicle and a braking control method and device thereof, wherein the method comprises the following steps: when a motor braking request is detected, acquiring an initial braking request torque and a brake wheel slip rate; identifying that the brake wheel is in a slipping state according to the brake wheel slipping rate; and limiting the initial braking request torque according to the slip ratio of the braking wheel to obtain a target braking request torque, and braking according to the target braking torque to realize motor braking of the vehicle, thereby effectively improving the braking capability of the vehicle, reducing the braking complexity of the vehicle and improving the operability and safety of vehicle braking.

Description

Vehicle and brake control method and device thereof
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle and a braking control method and device thereof.
Background
The braking system that traditional car set up comprises service brake system and manual brake system usually, and when service brake system became invalid, the manual brake can be used for the auxiliary brake when the driving, nevertheless because the manual brake is difficult to the accurate control braking force, appears locking easily and leads to the dangerous condition that the vehicle was violently swayd in the braking process of driving, so to general driver, carry out service brake through the manual brake, the operation is comparatively difficult, also causes dangerous condition easily.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first objective of the present invention is to provide a braking control method for a vehicle, so as to implement motor braking on the vehicle, effectively improve the braking capability of the vehicle, reduce the braking complexity of the vehicle, and improve the operability and safety of vehicle braking.
A second object of the present invention is to provide a brake control apparatus for a vehicle.
A third object of the invention is to propose a vehicle.
To achieve the above object, an embodiment of a first aspect of the present invention provides a braking control method for a vehicle, including: when a motor braking request is detected, acquiring an initial braking request torque and a brake wheel slip rate; identifying that the brake wheel is in a slipping state according to the brake wheel slipping rate; and limiting the initial braking request torque according to the slip ratio of the braking wheel to obtain a target braking request torque, and braking according to the target braking torque.
According to one embodiment of the invention, obtaining the brake request torque comprises: acquiring a first wheel speed of a driven wheel, and determining a deceleration request value according to the first wheel speed; the braking request torque is determined based on the deceleration request value, the vehicle body weight, the wheel turning radius, the running resistance of the vehicle, and the speed ratio.
According to one embodiment of the present invention, obtaining a brake wheel slip ratio includes: and acquiring a first wheel speed of a driven wheel and a second wheel speed of a brake wheel, and determining the slip rate of the brake wheel according to the first wheel speed and the second wheel speed.
According to an embodiment of the present invention, the limiting the initial braking request torque according to the brake wheel slip ratio to obtain a target braking request torque includes: acquiring a torque reduction coefficient according to the slip rate of the brake wheel, and acquiring a torque reduction target torque according to the torque reduction coefficient and the actual torque of the brake wheel in a slip triggering state; and taking the torque reduction target torque as the target braking request torque according to the torque reduction target torque.
According to an embodiment of the present invention, the identifying that the brake wheel is in a slipping state according to the brake wheel slip ratio includes: the slip rate of the brake wheel is greater than a preset slip rate threshold value; and the wheel speed difference between the driven wheel and the brake wheel is greater than the wheel speed difference threshold value.
According to an embodiment of the present invention, after the braking according to the target braking torque, the method further includes: and restoring the target braking request torque to the initial braking request torque, and returning to the step of identifying that the braking wheel is in a slipping state according to the braking wheel slipping rate.
According to an embodiment of the present invention, the brake control method further includes: and if the brake wheel is identified not to be in a slipping state, braking according to the initial braking request torque.
According to one embodiment of the invention, after detecting the motor braking request, the method further comprises: a failure of a brake system of a vehicle is identified and the vehicle is not parked.
According to the braking control method of the vehicle, when the motor braking request is detected and the braking wheel is in a slipping state, the initial braking request torque can be limited through the slipping rate of the braking wheel, so that the braking effect is prevented from being influenced by the slipping of the braking wheel in the motor braking process, the braking capacity of the vehicle is effectively improved, the braking complexity of the vehicle is reduced, and the operability and the safety of vehicle braking are improved.
To achieve the above object, a second aspect of the present invention provides a brake control apparatus for a vehicle, including: the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring initial braking request torque and brake wheel slip ratio when a motor braking request is detected; the identification module is used for identifying that the brake wheel is in a slipping state according to the brake wheel slipping rate; and the control module is used for limiting the initial braking request torque according to the slip rate of the braking wheel so as to obtain a target braking request torque and braking according to the target braking torque.
In order to achieve the above object, a third embodiment of the invention provides a vehicle including the brake control apparatus of the vehicle.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a brake control method of a vehicle according to an embodiment of the invention;
FIG. 2 is a flowchart of a braking control method of a vehicle according to one embodiment of the invention;
FIG. 3 is a schematic diagram of a brake wheel slip threshold value in relation to a first wheel speed and a steering wheel angle during rear wheel braking in accordance with one embodiment of the present invention;
FIG. 4 is a graphical illustration of a brake wheel slip threshold value versus a first wheel speed and steering wheel angle for front wheel braking in accordance with one embodiment of the present invention;
FIG. 5 is a schematic diagram of a speed difference threshold value at rear wheel braking in relation to a first wheel speed and steering wheel angle, in accordance with an embodiment of the present invention;
FIG. 6 is a schematic diagram of a speed difference threshold value at front wheel braking in relation to a first wheel speed and steering wheel angle, in accordance with an embodiment of the present invention;
fig. 7 is a flowchart of a braking control method of a vehicle according to another embodiment of the invention;
FIG. 8 is a flowchart of a method of controlling braking of a vehicle in accordance with an embodiment of the present invention;
fig. 9 is a block diagram of a brake control apparatus of a vehicle according to an embodiment of the invention;
fig. 10 is a block schematic diagram of a vehicle according to an 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.
A vehicle and a brake control method and apparatus thereof according to an embodiment of the present invention are described below with reference to the drawings.
Fig. 1 is a flowchart of a brake control method of a vehicle according to an embodiment of the present invention. The vehicle brake control method is suitable for two-drive electric vehicles.
As shown in fig. 1, a braking control method of a vehicle according to an embodiment of the present invention includes the steps of:
s101: upon detection of a motor braking request, an initial braking request torque and a brake wheel slip rate are obtained.
According to one embodiment of the present invention, as shown in fig. 2, obtaining the braking request torque includes:
s201: a first wheel speed of the driven wheel is obtained, and a deceleration request value is determined according to the first wheel speed.
S202: the braking request torque is determined based on the deceleration request value, the vehicle body weight, the wheel rotation award, the running resistance of the vehicle, and the speed ratio.
That is, the driven wheel speed signal can be read by the wheel speed sensor and taken as the first wheel speed SpdrefAnd passing through a preset first wheel speed SpdrefDetermining the deceleration request value Acc of the motor service brake according to the deceleration corresponding tableCdpThen combined with the vehicle body WeightVehWheel turning radius WhlRdRunning resistance Force of vehicleResAnd speed ratio RatSpdThe braking request torque Trq is determined using the following formulaDes
TrqDes=(AccCdp·WeightVeh-ForceRes)╳WhlRd/RatSpd
According to another embodiment of the present invention, obtaining a brake wheel slip ratio includes: and acquiring a first wheel speed of the driven wheel and a second wheel speed of the brake wheel, and determining the slip rate of the brake wheel according to the first wheel speed and the second wheel speed.
Specifically, a first wheel speed Spd of the driven wheel is acquiredrefAnd a second wheel speed Spd of the brake wheelBrkWhlFurther obtaining the slip ratio Rat of the brake wheel by adopting the following formulaslip
Ratslip=(Spdref-SpdBrkWhl)/Spdref
S102: and identifying that the brake wheel is in a slipping state according to the slip rate of the brake wheel.
Further, identifying that the brake wheel is in a slipping state according to the brake wheel slip rate comprises: the slip rate of the brake wheel is greater than a preset slip rate threshold value, and the wheel speed difference between the driven wheel and the brake wheel is greater than a wheel speed difference threshold value.
That is, when it is recognized that the brake wheel slip rate is greater than the preset slip rate threshold and the wheel speed difference between the driven wheel and the brake wheel is greater than the wheel speed difference threshold, it is determined that the brake wheel is in a slipping state.
It should be noted that the preset slip rate threshold value Rat of the brake wheelthdWith the brake wheel, the first wheel speed SpdrefIn relation to the steering wheel angle, as shown in fig. 3 and 4, a slip rate threshold value Rat is presetthdAt the first wheel speed SpdrefIn an inverse approximate proportional relation, different steering wheel rotation angles are used for the preset slip rate threshold value RatthdHas correction effect. Similarly, the wheel speed difference threshold SpdGapthdAlso with the brake wheel, the first wheel speed SpdrefIn relation to the steering wheel angle, as shown in fig. 5 and 6, at the first wheel speed SpdrefA first speed difference threshold value at a first wheel speed Spd of less than or equal to 40km/hrefGreater than or equal to 60km/h is a second speed difference threshold, wherein the second speed difference threshold is greater than the first speed difference threshold. Differential wheel speed threshold Spd at different steering wheel anglesGapthdHas correction effect. Wherein, under the steering working condition, when the brake wheel is a rear wheel, the preset slip rate threshold Rat is setthdAnd/or a wheel speed difference threshold SpdGapthdAre slightly larger than the condition that the brake wheel is a front wheel. Slip rate threshold RatthdAnd a wheel speed difference threshold SpdGapthdThe specific size of the preset value can be set by a person skilled in the art according to actual situations, and is not limited specifically herein.
S103: and limiting the initial braking request torque according to the slip ratio of the braking wheel to obtain a target braking request torque, and braking according to the target braking torque.
According to an embodiment of the present invention, as shown in fig. 7, limiting the initial braking request torque according to the brake wheel slip ratio to obtain the target braking request torque includes:
s701: and obtaining a torque reduction coefficient according to the slip rate of the brake wheel, and obtaining a torque reduction target torque according to the torque reduction coefficient.
S702: and taking the torque reduction target torque as the target braking request torque according to the torque reduction target torque.
That is, the wheel slip ratio Rat found in the preceding step is obtainedslipAnd then the torque reduction coefficient Fac can be obtainedDecAnd according to the torque reduction coefficient FacDecObtaining the torque-down target torque TrqDecThen, the initial braking request torque is reduced to the torque down target torque TrqDecAnd will lower the torque target torque TrqDecAs the target braking request torque. Wherein the torque coefficient FacDecAccording to the slip ratio Rat of the brake wheelslipThe specific size of the calibration value can be set by those skilled in the art according to actual situations, as shown in table 1, and is not limited specifically again.
TABLE 1
Slip ratio Ratslip 0 0.2 0.4 0.6 0.8 1
Coefficient of torsion FacDec 1 0.8 0.6 0.4 0.2 0.1
Wherein, the torque reducing target torque Trq is obtained by adopting the following stepsDec
TrqDec=TrqAct╳FacDec
In the formula, TrqActTo identify the actual torque of the electric machine at the moment of brake wheel slip, a torque-down reference torque is defined.
Further, after braking according to the target braking torque, the method further comprises the following steps: and restoring the target braking request torque to the initial braking request torque, and continuing to brake the motor until the vehicle stops. That is to say, after braking is performed according to the target braking torque, whether the braking wheel is in a slipping state is continuously judged, if the braking wheel is still in the slipping state, the current target braking torque needs to be updated to the torque reduction reference torque, the target braking torque is recalculated for torque limitation, braking is performed according to the recalculated target braking torque, and if the braking wheel stops slipping, a braking torque recovery stage is entered, and the braking torque is recovered to the initial braking torque, so that the braking efficiency is improved, and the braking risk is reduced. When the braking torque is recovered from the torque-reduction target torque to the initial braking torque, a slope buffering process is required, that is, the braking torque is recovered from the target braking request torque to the initial braking request torque gradually according to a certain frequency, wherein the slope of the buffering process can be set by a person skilled in the art according to actual conditions, and is not limited specifically herein.
It should be further noted that in the braking torque recovery stage, if the braking wheel enters the slip state again, the torque reduction reference torque and the torque reduction coefficient need to be updated again, the torque limit value of the target braking torque is recalculated, if the whole torque recovery stage is adopted, the braking wheel is always kept in the non-slip state, and when the torque is successfully recovered to the initial braking torque, the torque interference is completely exited.
It should be further noted that, after detecting the request for braking the motor, the method further includes: a failure of a brake system of the vehicle is identified and the vehicle is not parked.
That is, the motor braking mode may be used as a backup braking system when a braking system (e.g., a foot braking system) of the vehicle fails, and in order to prevent a driver from triggering by mistake, a condition and a driving state of the braking system of the vehicle may be detected after receiving a motor braking request, so as to ensure that the motor braking is performed when the braking system of the vehicle fails and the vehicle is not stopped.
Furthermore, after the motor is braked, a parking reminder is sent to the driver to remind the driver to park the vehicle through a hand brake or other parking systems, so that the vehicle is prevented from slipping.
According to an embodiment of the present invention, as shown in fig. 8, a control method of a vehicle includes the steps of:
s801: and acquiring a motor braking request.
S802: and judging whether the braking system of the vehicle is failed and the vehicle is not stopped.
If so, go to step S803; if not, the process returns to step S801.
S803: an initial brake request torque is obtained.
S804: and obtaining the slip ratio of the brake wheel.
S805: and judging whether the brake wheel slides.
If yes, go to step S806; and if not, braking according to the initial braking request torque.
S806: and acquiring the actual torque when the brake wheel triggers a slip state, and acquiring a torque reduction target torque according to the brake slip rate.
S807: the initial brake request torque is reduced to the torque-down target torque.
S808: and braking according to the torque reduction target torque.
S809: returning to the original brake request torque.
S810: and judging whether the vehicle is stopped.
If so, braking is completed, and if not, the process returns to step S805.
In summary, the brake control method for the vehicle according to the embodiment of the invention can limit the initial braking request torque through the brake wheel slip rate when the motor braking request is detected and the brake wheel is in the slip state, so as to prevent the brake wheel slip from affecting the braking effect in the motor braking process, thereby effectively improving the braking capability of the vehicle, reducing the braking complexity of the vehicle, and improving the operability and safety of the vehicle braking.
In order to realize the embodiment, the invention also provides a brake control device of the vehicle.
Fig. 9 is a block diagram of a brake control apparatus for a vehicle according to an embodiment of the present invention. As shown in fig. 9, the brake control device 100 for a vehicle includes: an acquisition module 10, an identification module 20 and a control module 30.
The obtaining module 10 is configured to obtain an initial braking request torque and a brake wheel slip ratio when a motor braking request is detected; the identification module 20 is used for identifying that the brake wheel is in a slipping state according to the brake wheel slipping rate; the control module 30 is configured to limit the initial braking request torque according to the brake wheel slip ratio to obtain a target braking request torque, and brake according to the target braking torque.
Further, the obtaining module 10 is further configured to: acquiring a first wheel speed of a driven wheel, and determining a deceleration request value according to the first wheel speed; the braking request torque is determined based on the deceleration request value, the vehicle body weight, the wheel turning radius, the running resistance of the vehicle, and the speed ratio.
Further, the obtaining module 10 is further configured to: and acquiring a first wheel speed of the driven wheel and a second wheel speed of the brake wheel, and determining the slip rate of the brake wheel according to the first wheel speed and the second wheel speed.
Further, the control module 30 is further configured to: acquiring a torque reduction coefficient according to the slip rate of the brake wheel, and acquiring a torque reduction target torque according to the torque reduction coefficient and the actual torque of the brake wheel in a slip triggering state; and taking the torque reduction target torque as the target braking request torque according to the torque reduction target torque.
Further, the identification module 20 is further configured to: the slip rate of the brake wheel is greater than a preset slip rate threshold value; and the wheel speed difference between the driven wheel and the brake wheel is greater than the wheel speed difference threshold value.
Further, the control module 30 is further configured to: and restoring the target braking request torque to the initial braking request torque, and returning to the step of identifying the brake wheel in a slipping state according to the slip rate of the brake wheel.
Further, the control module 30 is further configured to: and if the brake wheel is not in the slipping state, braking according to the initial braking request torque.
Further, the identification module 20 is further configured to: a failure of a brake system of the vehicle is identified and the vehicle is not parked.
It should be noted that the foregoing explanation of the embodiment of the vehicle braking control method is also applicable to the vehicle braking control device of this embodiment, and will not be repeated herein.
In order to implement the above embodiment, the present invention also proposes a vehicle, as shown in fig. 10, a vehicle 200 includes a brake control apparatus 100 of the vehicle.
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.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. 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 brake control method of a vehicle, characterized by comprising the steps of:
when a motor braking request is detected, acquiring an initial braking request torque and a brake wheel slip rate;
identifying that the brake wheel is in a slipping state according to the brake wheel slipping rate;
and limiting the initial braking request torque according to the slip ratio of the braking wheel to obtain a target braking request torque, and braking according to the target braking torque.
2. The brake control method according to claim 1, wherein obtaining the brake request torque includes:
acquiring a first wheel speed of a driven wheel, and determining a deceleration request value according to the first wheel speed;
the braking request torque is determined based on the deceleration request value, the vehicle body weight, the wheel turning radius, the running resistance of the vehicle, and the speed ratio.
3. The brake control method according to claim 1 or 2, wherein obtaining the brake wheel slip ratio includes:
and acquiring a first wheel speed of a driven wheel and a second wheel speed of a brake wheel, and determining the slip rate of the brake wheel according to the first wheel speed and the second wheel speed.
4. The brake control method according to claim 1, wherein the limiting the initial brake request torque according to the brake wheel slip ratio to obtain a target brake request torque includes:
acquiring a torque reduction coefficient according to the slip rate of the brake wheel, and acquiring a torque reduction target torque according to the torque reduction coefficient and the actual torque of the brake wheel in a slip triggering state;
and taking the torque reduction target torque as the target braking request torque according to the torque reduction target torque.
5. The brake control method according to claim 1, wherein the identifying that the brake wheel is in a slipping state according to the brake wheel slip ratio includes:
the slip rate of the brake wheel is greater than a preset slip rate threshold value; and is
The wheel speed difference between the driven wheel and the brake wheel is larger than a wheel speed difference threshold value.
6. The brake control method according to claim 1, characterized by further comprising, after the braking in accordance with the target braking torque:
and restoring the target braking request torque to the initial braking request torque, and continuing to brake the motor until the vehicle stops.
7. The brake control method according to claim 1, characterized by further comprising:
and if the brake wheel is identified not to be in a slipping state, braking according to the initial braking request torque.
8. The brake control method according to claim 1, further comprising, after detecting a motor braking request:
a failure of a brake system of a vehicle is identified and the vehicle is not parked.
9. A brake control apparatus for a vehicle, characterized by comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring initial braking request torque and brake wheel slip ratio when a motor braking request is detected;
the identification module is used for identifying that the brake wheel is in a slipping state according to the brake wheel slipping rate;
and the control module is used for limiting the initial braking request torque according to the slip rate of the braking wheel so as to obtain a target braking request torque and braking according to the target braking torque.
10. A vehicle characterized by comprising the brake control apparatus of the vehicle according to claim 9.
CN201911023924.2A 2019-10-25 2019-10-25 Vehicle and brake control method and device thereof Pending CN110745124A (en)

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