CN110834612A - Redundant brake control method, device, system, vehicle and storage medium - Google Patents

Redundant brake control method, device, system, vehicle and storage medium Download PDF

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CN110834612A
CN110834612A CN201910734853.0A CN201910734853A CN110834612A CN 110834612 A CN110834612 A CN 110834612A CN 201910734853 A CN201910734853 A CN 201910734853A CN 110834612 A CN110834612 A CN 110834612A
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vehicle
torque
speed
deceleration
acceleration
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CN110834612B (en
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黄海洋
张建
刘秋铮
孙起春
袁文建
刘金波
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FAW Group Corp
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FAW Group Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/24—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being gaseous
    • B60T13/46—Vacuum systems
    • B60T13/52—Vacuum systems indirect, i.e. vacuum booster units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention discloses a redundant brake control method, a device, a system, a vehicle and a storage medium. The method comprises the following steps: determining a deceleration torque of a vehicle motor according to an initial speed and an initial acceleration of the vehicle; controlling a vehicle motor to decelerate the vehicle in accordance with the deceleration torque; when the current vehicle speed of the vehicle is less than or equal to the threshold speed, determining the brake pressure of a vacuum booster of the vehicle according to the current vehicle speed and a preset vehicle speed and pressure association table; and controlling the vacuum booster to decelerate the vehicle according to the brake pressure. The method provided by the embodiment of the invention realizes the brake control under the redundant braking of the vehicle, can improve the stability of the vehicle, prevents the vehicle from being unstable, and improves the comfort of the vehicle driving.

Description

Redundant brake control method, device, system, vehicle and storage medium
Technical Field
The embodiment of the invention relates to the technical field of automation control, in particular to a redundant braking control method, a device, a system, a vehicle and a storage medium.
Background
With the increasing market share of electric automobiles year by year, the related technology of electric automobiles is rapidly developed, in the field of electric automobiles, a redundant braking system of the electric automobiles is responsible for receiving braking commands sent by an upper-layer automatic driving controller through a vehicle-mounted bus to brake the automobiles, and the safety and the stability of the redundant braking system of the electric automobiles become important guarantees for the safety of the automobiles.
In the prior art, the redundant braking system of the electric automobile is mainly realized through hydraulic active braking, the safety when the braking fails can not be completely guaranteed, and the mechanical braking mode of the electronic hand brake is adopted, so that the vehicle instability is easily caused when the vehicle speed is high, the safety problem exists, and the comfort of vehicle driving is poor.
Disclosure of Invention
The invention provides a redundant braking control method, a device, a system, a vehicle and a storage medium, which are used for realizing redundant braking of an electric vehicle, improving the stability and the safety of the vehicle and improving the comfort level of vehicle driving.
In a first aspect, an embodiment of the present invention provides a redundant braking control method, where the method includes:
determining a deceleration torque of a vehicle motor according to an initial speed and an initial acceleration of the vehicle;
controlling a vehicle motor to decelerate the vehicle in accordance with the deceleration torque;
when the current vehicle speed of the vehicle is less than or equal to the threshold speed, determining the brake pressure of a vacuum booster of the vehicle according to the current vehicle speed and a preset vehicle speed and pressure association table;
and controlling the vacuum booster to decelerate the vehicle according to the brake pressure.
In a second aspect, an embodiment of the present invention further provides a redundant brake control apparatus, including:
a torque determination module for determining a deceleration torque of a vehicle motor according to an initial speed and an initial acceleration of the vehicle;
a motor deceleration module for controlling a vehicle motor to decelerate the vehicle in accordance with the deceleration torque;
the pressure determining module is used for determining the brake pressure of a vacuum booster of the vehicle according to the current vehicle speed and a preset vehicle speed pressure association table when the current vehicle speed of the vehicle is less than or equal to a threshold speed;
and the vacuum pump deceleration module is used for controlling the vacuum booster to decelerate the vehicle according to the brake pressure. In a third aspect, an embodiment of the present invention further provides a redundant brake control system, where the system includes:
one or more processors;
a memory for storing one or more programs;
at least one motor for outputting a deceleration torque;
at least one vacuum booster for outputting a deceleration pressure;
when executed by the one or more processors, cause the one or more processors to implement a redundant braking control method according to any of the embodiments of the present invention.
In a fourth aspect, an embodiment of the present invention further provides a vehicle, where the vehicle includes:
one or more controllers;
a memory for storing one or more programs;
at least one motor for outputting a deceleration torque to decelerate the vehicle;
at least one vacuum booster for outputting a deceleration pressure to decelerate the vehicle;
when the one or more programs are executed by the one or more controllers, the one or more controllers are caused to implement a redundant braking control method according to any of the embodiments of the present invention.
In a fifth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the redundant braking control method according to any of the embodiments of the present invention.
According to the technical scheme of the embodiment of the invention, the deceleration torque of the vehicle motor is determined according to the initial speed and the initial acceleration of the vehicle, the vehicle motor is controlled to decelerate the vehicle according to the deceleration torque, when the current vehicle speed of the vehicle is less than or equal to the threshold speed, the brake pressure of the vacuum booster of the vehicle is determined according to the correlation change of the current vehicle speed and the preset vehicle speed pressure, and the vacuum booster is controlled to decelerate the vehicle according to the brake pressure, so that the vehicle deceleration under a redundant brake system of the vehicle is realized, the vehicle instability can be prevented, and the safety and the stability of the vehicle are improved.
Drawings
FIG. 1 is a flow chart of a redundant braking control method according to an embodiment of the present invention;
FIG. 2 is a flowchart of a redundant braking control method according to a second embodiment of the present invention;
FIG. 3 is a diagram illustrating a redundant braking control method according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a redundant brake control device according to a third embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a redundant brake control system according to a fourth embodiment of the present invention;
FIG. 6 is an exemplary diagram of a redundant brake control system provided in accordance with a fourth embodiment of the present invention;
fig. 7 is a schematic structural diagram of a vehicle according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only a part of the structures related to the present invention, not all of the structures, are shown in the drawings, and furthermore, embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
Example one
Fig. 1 is a flowchart of a redundant braking control method according to an embodiment of the present invention, where the embodiment of the present invention is applicable to braking of an electric vehicle, and the method may be executed by a redundant braking control device, where the redundant braking control device may be implemented by hardware and/or software, and referring to fig. 1, the method may include the following steps:
step 101, determining the deceleration torque of the vehicle motor according to the initial speed and the initial acceleration of the vehicle.
The initial speed may be a speed at which the vehicle is prepared to decelerate, the initial acceleration may be an acceleration at which the vehicle is prepared to decelerate according to a strategy, the initial speed and the initial acceleration may be obtained according to a sensor provided in the vehicle, the vehicle motor may be a device that provides power in the vehicle, when the vehicle motor rotates in a forward direction, the vehicle motor may provide a forward torque to the vehicle to accelerate the vehicle, when the vehicle motor rotates in a reverse direction, the vehicle motor may provide a reverse torque to the vehicle to decelerate, and the deceleration torque may be a torque provided by the vehicle motor in a direction opposite to a moving direction, and may cause the vehicle to decelerate.
In the embodiment of the present invention, when the deceleration signal of the vehicle is obtained, for example, the driver depresses the deceleration pedal, the initial speed and the initial acceleration of the vehicle may be obtained, and the deceleration torque of the motor of the vehicle may be determined according to the initial speed and the initial acceleration of the vehicle, for example, an association table of the deceleration torque may be preset in a controller of the vehicle, the deceleration torque of the motor required for deceleration of the vehicle may be obtained according to the initial speed and the initial acceleration, the magnitude of the resistance required for stopping the vehicle may be determined according to the initial speed and the initial acceleration, and the deceleration torque required for deceleration of the motor of the vehicle may be calculated according to the resistance.
And 102, controlling a vehicle motor to decelerate the vehicle according to the deceleration torque.
In the embodiment of the invention, the vehicle motor may be controlled so that the torque generated by the vehicle motor is a deceleration torque, and the vehicle motor may be controlled to generate a power opposite to the vehicle running direction so as to decelerate the vehicle.
And 103, when the current vehicle speed of the vehicle is less than or equal to the threshold speed, determining the brake pressure of the vacuum booster of the vehicle according to the current vehicle speed and a preset vehicle speed and pressure association table.
The current vehicle speed may be a vehicle speed acquired by the vehicle under a condition that the vehicle motor outputs the deceleration torque, the current vehicle speed of the vehicle may gradually decrease with time, the threshold speed may be a maximum speed at which the vehicle starts the vacuum booster, and when the current vehicle speed of the vehicle is less than or equal to the threshold speed, the vacuum booster of the vehicle may also participate in a deceleration process of the vehicle, so that the vehicle speed decreases.
In the embodiment of the invention, the vehicle speed and pressure correlation table can be a preset correlation table of the vehicle speed and the brake pressure of the vacuum booster, the relationship between the vehicle speed and the brake pressure in the vehicle speed and pressure correlation table can be obtained through vehicle test in a test field, and when the vacuum booster is started, the corresponding brake pressure can be searched in the preset vehicle pressure correlation table according to the current speed of the vehicle.
And 104, controlling the vacuum booster to decelerate the vehicle according to the brake pressure.
Wherein, the brake pressure can be the pressure that vacuum booster provided, and vacuum booster can produce brake pressure based on the vacuum degree that stores, and the pressure that vacuum booster produced can act on the vehicle makes the vehicle brake the speed reduction.
Specifically, the vacuum booster may be controlled to generate the brake pressure so that the vehicle may be decelerated according to the brake pressure. It can be understood that when the vacuum booster is used for braking, the motor of the vehicle can stop providing the deceleration torque or reduce the output of the torque, so that the brake failure of the vehicle can be prevented, and the safety of the vehicle can be improved.
According to the technical scheme of the embodiment of the invention, the deceleration torque of the vehicle motor is determined according to the initial speed and the initial acceleration of the vehicle, the vehicle motor is controlled to decelerate the vehicle according to the deceleration torque, when the current speed of the vehicle is less than or equal to the threshold speed, the brake pressure of the vacuum booster is determined according to the current vehicle speed and the preset vehicle speed pressure correlation table, and the vacuum booster is controlled to decelerate the vehicle according to the brake pressure, so that the vehicle brake redundancy is realized, the vehicle instability caused by overhigh vehicle speed is prevented, and the safety and the stability of the vehicle are improved.
Example two
Fig. 2 is a flowchart of a redundant braking control method according to a second embodiment of the present invention, which is embodied on the basis of the first embodiment of the present invention, and in the second embodiment of the present invention, when the vehicle speed is less than the threshold speed, the deceleration torque of the vehicle motor may be attenuated. Correspondingly, referring to fig. 2, the method provided by the embodiment of the invention includes:
step 201, respectively determining rolling resistance, air resistance and acceleration resistance of a vehicle according to initial speed and initial acceleration of the vehicle, and determining the sum of the rolling resistance, the air resistance and the acceleration resistance as comprehensive resistance.
Wherein the rolling resistance may be the resistance caused by rolling of the vehicle tyre when the vehicle is decelerating, and may be obtained by a resistance formula, for example, the rolling resistance f1Where μmay be a rolling resistance coefficient of the vehicle, m may be a weight of the vehicle, g may be a gravitational acceleration, and rolling resistance f1 may be a product of the rolling resistance coefficient, the vehicle weight, and the gravitational acceleration, and the parameter related to the rolling resistance of the vehicle may be stored in the vehicle in advance, and may be acquired from the parameter stored in the vehicle in advance when the rolling resistance needs to be acquired.
In the embodiment of the invention, the air resistance can be obtained by an air resistance formula when the vehicle decelerates, for example, the frontal area of the vehicle is A, and the unit is m2，fwindThe initial velocity of the vehicle is v in km/h, which is the wind resistance coefficient of the vehicle, and the air resistance f2＝Afwindvt 221.15, it can be determined from the initial speed of the vehicle when the vehicle starts to decelerateAir resistance. The acceleration resistance may be a resistance generated by the acceleration to deceleration of the current vehicle running, and may be determined by an acceleration resistance formula, for example, the acceleration resistance f3Where m may be used to characterize the vehicle weight, a may be used to characterize the initial acceleration of the vehicle, and the acceleration resistance of the vehicle may be the product of the vehicle weight and the initial acceleration of the vehicle.
Specifically, the rolling resistance, the air resistance and the acceleration resistance of the vehicle during deceleration can be determined according to the initial speed and the initial acceleration of the vehicle, and the sum of the rolling resistance, the air resistance and the acceleration resistance can be used as the resistance to be overcome by the vehicle during deceleration.
Step 202, determining the product of the comprehensive resistance and the radius of the vehicle tire as the wheel torque.
The influence of the resistance on the vehicle in the deceleration process can be determined by the wheel-side torque generated by the comprehensive resistance, and the deceleration torque of the vehicle motor required by the vehicle is larger when the wheel-side torque of the vehicle is larger.
Specifically, the wheel-side torque affecting the deceleration of the vehicle can be determined according to the comprehensive resistance, the wheel-side torque of the vehicle can be determined by multiplying the comprehensive resistance by the radius of the tire of the vehicle, and the radius of the tire of the vehicle can be stored in the vehicle in advance. Exemplary, wheel-side torque T of the vehicleN＝(f1+f2+f3) r, where r can be used to characterize the tire radius of the vehicle and the vehicle combined resistance can be based on the rolling resistance f1Air resistance f2And acceleration resistance f3The wheel-side torque can also be expressed as TN＝(μmg+Afwindvt 2/21.15+ma)r。
And step 203, determining the quotient of the wheel torque and the reduction ratio of the vehicle final reducer as a reduction torque.
The final drive reduction ratio may be a rotation speed ratio of a torque output end to a torque input end in the vehicle, that is, a rotation speed ratio of a vehicle motor to a wheel-side torque, a product of a torque output by the vehicle motor and the final drive reduction ratio is the wheel-side torque of the vehicle input end, the wheel-side torque may be in reverse opposition to a reduction torque of the vehicle motor, and a ratio between the wheel-side torque and the reduction torque may be the final drive reduction ratio.
Specifically, the deceleration torque of the vehicle motor may be obtained by dividing the wheel-side torque of the vehicle by the reduction gear ratio of the final drive of the vehicle. For example, the deceleration torque may be represented by the formula Tff＝TN/ifWherein i isfMay be used to characterize the final drive reduction ratio of the vehicle, and the reduction torque may be the quotient of the wheel-side torque and the final drive reduction ratio. Further, the deceleration torque may be represented as T in an embodiment of the present inventionff＝TN/if＝(μmg+Afwindvt 2/21.15+ma)r/ifIn the embodiment of the invention, the formula T can be used according to the vehicle weight, the rolling resistance coefficient, the wind resistance coefficient, the initial speed, the initial acceleration, the windward area, the vehicle tire radius and the main speed reducer reduction ratio of the vehicleff＝(μmg+Afwindvt 2/21.15+ma)r/ifThe process of determining the combined resistance and the wheel-side torque in steps 202 and 203 may be omitted.
And step 204, acquiring the running speed of the vehicle according to a preset period and storing the running speed as a historical running speed.
The preset period may be a time interval during which the vehicle running speed is acquired during deceleration of the vehicle, the historical running vehicle speed may be the vehicle running speed stored during deceleration of the vehicle, and the historical running vehicle speed may be stored according to the preset period, for example, one vehicle running speed may be stored in each preset period.
Specifically, the vehicle may store the current running speed of the vehicle as a historical running vehicle every preset cycle time length during deceleration, and further, in order to reduce the occupation of the storage space of the vehicle, the vehicle may store only the running speeds of the last two preset cycles, for example, may store only the running speeds of the last preset cycle and the last preset cycle.
And step 205, determining a compensation torque according to the vehicle speed difference of the adjacent periods of the historical running vehicle speed of the vehicle.
The speed difference can be a difference value of historical driving speeds of two adjacent periods, the speed difference can be used for determining the actual reduction degree of the acceleration of the vehicle in the deceleration process of the vehicle, the compensation torque for the deceleration torque of the motor of the vehicle can be determined according to the actual reduction degree of the vehicle, the actual speed reduction degree of the vehicle is inconsistent with the expected speed reduction degree due to the deceleration torque of the vehicle in the deceleration process of the actual vehicle, the deceleration torque can be compensated through the compensation torque, the vehicle speed reduction degree accords with the expected speed reduction degree, and the compensation torque can be the torque for compensating the deceleration torque.
Specifically, the difference operation may be performed on the historical driving speeds in the adjacent periods, the operation result may be used as a vehicle speed difference, and the compensation torque may be determined according to the vehicle speed difference, for example, the acceleration of the vehicle in the deceleration process may be determined according to the vehicle speed difference, the corresponding acceleration resistance may be determined according to the acceleration, and the torque corresponding to the acceleration resistance may be determined as the compensation torque.
And step 206, compensating the deceleration torque of the motor of the vehicle according to the compensation torque to generate new deceleration torque.
In the embodiment of the present invention, the deceleration torque may be compensated by adding or subtracting a corresponding compensation torque to or from the deceleration torque, wherein when the compensation torque and the deceleration torque have the same direction, the compensation torque may be added to or subtracted from the deceleration torque, and when the compensation torque and the deceleration torque have the opposite direction, the compensation torque may be subtracted from or added to the deceleration torque.
And step 207, controlling a vehicle motor to decelerate the vehicle according to the deceleration torque.
And step 208, when the current vehicle speed of the vehicle is less than or equal to the threshold speed, determining the brake pressure of the vacuum booster of the vehicle according to the current vehicle speed and a preset vehicle speed and pressure association table.
And step 209, adjusting the brake pressure of the vacuum booster according to a preset period.
Wherein the preset period may be a period in which the vehicle adjusts the braking pressure of the vacuum booster, and the braking pressure of the vacuum booster may be increased every preset period during deceleration of the vehicle.
In the embodiment of the present invention, the braking pressure of the vacuum booster may be adjusted every preset period, so that the braking pressure of the vacuum booster gradually increases to ensure the effectiveness of braking of the vehicle, for example, the braking pressure of the current period may be adjusted according to the braking pressure of the previous period, and may be adjusted by a pressure adjustment formula, where the pressure adjustment formula may be Pt＝fpps+(1-fp)Pt-1，PtMay be the adjusted brake pressure, fpThe value range of the brake pressure increase coefficient can be (0, 1), PsCan be used to characterize the initial brake pressure, P, upon starting the vacuum booster according to the vehiclet-1The method can be used for the brake pressure in the previous period, and the adjusted brake pressure can be determined according to a pressure adjusting formula so as to realize the adjusting process of the brake pressure.
And step 210, decelerating the vehicle according to the adjusted brake pressure.
Specifically, the vacuum booster may be controlled to generate the brake pressure so that the vehicle may be decelerated according to the brake pressure.
It is understood that when the vehicle performs steps 211 and 212 while performing steps 209 and 210, and the vehicle decelerates through the vacuum booster, the deceleration torque of the vehicle motor may be reduced, so that the redundant braking is smoothly switched to the vacuum booster by the vehicle motor, and the stability of the vehicle may be further improved.
And step 211, attenuating the deceleration torque of the vehicle motor according to a preset period, and taking the attenuated deceleration torque as an attenuation control torque.
The attenuation can be the process that the deceleration torque of the motor of the vehicle is gradually reduced, the attenuation control torque can be the deceleration torque after attenuation, the numerical value of the attenuation control torque can be the deceleration torque of the vehicle after the speed of the vehicle is smaller than the threshold speed, the numerical value of the attenuation control torque can be gradually reduced, the phenomenon that the vehicle backs up due to the fact that the deceleration torque is too large can be prevented, and the safety of the vehicle is improved.
In the embodiment of the invention, the deceleration torque of the vehicle motor can be attenuated every time length of the preset period, and the deceleration torque can be reduced in the form of reducing the input current and/or voltage of the vehicle motor. For example, the manner in which the vehicle motor is damped may determine the damping control torque of the vehicle motor through a damping equation, which may be
Figure BDA0002161830720000101
Wherein, TfCan be used to characterize the damping control torque, TffCan be used to characterize the deceleration torque at which the driving speed of the vehicle is less than a speed threshold, ftraThe damping control torque can be expressed as the product of the damping coefficients after the deceleration torque is attenuated and the deceleration torque when the running speed of the vehicle is smaller than the speed threshold, and the damping control torque of the vehicle is gradually reduced along with the increase of the preset period experienced by the vehicle.
Step 212, controlling the vehicle motor according to the damping control torque to realize the vehicle deceleration.
Specifically, the vehicle motor may be controlled so that the torque generated by the vehicle motor is the damping control torque, and the vehicle motor may be caused to generate a power opposite to the vehicle traveling direction so that the vehicle is decelerated.
The technical scheme of the embodiment of the invention determines the rolling resistance, the air resistance and the acceleration resistance of a vehicle according to the initial speed and the initial acceleration of the vehicle, determines the sum of the rolling resistance, the air resistance and the acceleration resistance as the comprehensive resistance, determines the wheel torque according to the comprehensive resistance and the radius of a tire, determines the deceleration torque based on the wheel torque and the reduction ratio of a main reducer, determines the compensation torque of a motor of the vehicle according to the historical driving speed of the vehicle in each preset period, compensates the deceleration torque based on the compensation torque, decelerates the vehicle according to the compensated deceleration torque, determines the braking pressure of a vacuum booster when the driving speed of the vehicle is less than or equal to the threshold speed, adjusts the braking pressure at intervals of the preset period, decelerates the vehicle based on the adjusted braking pressure, and can attenuate the deceleration torque according to the preset period when the vacuum booster decelerates the vehicle, the vehicle is controlled according to the attenuated attenuation control torque, so that the vehicle deceleration under a redundant braking system is realized, the vehicle backing-up caused by overlarge deceleration torque can be prevented, and the safety and the stability of the vehicle are improved.
Further, on the basis of the above-described embodiment of the present invention, determining the compensation torque based on the vehicle speed difference between adjacent cycles of the historical travel vehicle speed of the vehicle includes: acquiring a first vehicle speed difference between the current cycle and the previous cycle of the vehicle and a second vehicle speed difference between the previous cycle and the previous two cycles of the vehicle; respectively determining the quotient of the first vehicle speed difference and the cycle length as a first acceleration and the quotient of the second vehicle speed difference and the cycle length as a second acceleration, and filtering the first acceleration and the second acceleration according to a preset filtering coefficient to determine an actual acceleration; and taking the product of the difference between the initial acceleration and the actual acceleration and the compensation proportional coefficient as the compensation torque.
In the embodiment of the present invention, vehicle speeds in three adjacent cycles may be calculated, and the vehicle speeds in the cycles are differentiated and filtered to obtain an accurate actual acceleration in the vehicle deceleration process, specifically, a difference between a current cycle and a previous cycle of the vehicle may be determined as a first vehicle speed difference, a difference between the vehicle speeds in the previous cycle and the previous two cycles of the vehicle may be determined as a second vehicle speed difference, a ratio of the first vehicle speed difference to a cycle length is used as a first acceleration, a ratio of the second vehicle speed difference to the cycle length is used as a second acceleration, an actual acceleration of the vehicle may be determined according to a filter coefficient, the first acceleration and the second acceleration, and the actual acceleration of the vehicle may be determined exemplarily by inputting the filter coefficient, the first acceleration and the second acceleration into a filter formula, where the filter formula is aact＝ffilter(vt-vt-1)/3.6T+(1-ffilter)(vt-vt-1) /3.6T, wherein, aactThe actual acceleration of the vehicle, f, can be characterizedfilterCan express filter coefficient, the value range of the filter coefficient can be (0, 1), vtThe speed, v, of the vehicle in the current cycle can be indicatedt-1May represent the speed of the vehicle in a previous cycle, vt-2The vehicle speed of the first two cycles of the vehicle can be represented, T can represent the cycle length, the unit can be s, and the filtering formula needs to be multiplied by a conversion coefficient 3.6 when the filtering formula is divided by the cycle length in order to unify the units. After the acceleration is obtained, the acceleration of the phase difference can be determined according to the initial acceleration and the actual acceleration of the vehicle, the acceleration resistance can be determined according to the acceleration of the phase difference, the torque output by the vehicle motor corresponding to the acceleration resistance can be used as the compensation torque, the determination mode can be determined according to the wheel-side torque generated by the acceleration resistance, and the determination mode can be determined according to a formula T'ff＝m(a-aact)r/ifDetermining the wheel-side torque of the vehicle at the acceleration resistance, m can be used for representing the weight of the vehicle, a can be used for representing the initial acceleration of the vehicle, r can represent the radius of the tire of the vehicle, ifCan represent the final gear reduction ratio of the vehicle, since m, r and ifCan be a fixed value during the deceleration process of the vehicle, and the formula can also be expressed as T'ff＝Kb(a-aact)，KbThe compensation proportionality coefficient of the vehicle can be used, and in order to improve the accuracy of the compensation torque, the compensation torque of the vehicle can be determined in a filtering mode and can be according to a formula
Figure BDA0002161830720000121
Determination of KiIs an integral coefficient.
Exemplarily, fig. 3 is an exemplary diagram of a redundant braking control method according to a second embodiment of the present invention, referring to fig. 3, a deceleration mode of a vehicle may be set to an emergency braking mode and a comfort braking mode, and when the emergency braking mode of the vehicle is turned on, the vehicle may be decelerated only by a vacuum booster; when the vehicle is in a comfortable braking mode, the vehicle motor and the vacuum booster can cooperate to decelerate so as to improve the driving comfort of the vehicle, in the comfortable braking mode, the vehicle motor decelerates according to deceleration torque firstly, when the vehicle speed of the vehicle is larger than or equal to a speed threshold value, the vehicle motor decelerates according to the deceleration torque, when the vehicle speed of the vehicle is smaller than the speed threshold value, the vehicle motor decelerates the vehicle according to attenuation control torque, and the vacuum booster decelerates the vehicle with braking pressure.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a redundant brake control apparatus provided in the third embodiment of the present invention, which is capable of executing the redundant brake control method provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method. The device can be implemented by software and/or hardware, and specifically comprises: a torque determination module 301, a motor deceleration module 302, a pressure determination module 303, and a vacuum pump deceleration module 304.
The torque determination module 301 is configured to determine a deceleration torque of a motor of the vehicle according to an initial speed and an initial acceleration of the vehicle.
A motor deceleration module 302 for controlling a vehicle motor to decelerate the vehicle based on the deceleration torque.
And the pressure determining module 303 is configured to determine the brake pressure of the vacuum booster of the vehicle according to the current vehicle speed and a preset vehicle speed and pressure association table when the current vehicle speed of the vehicle is less than or equal to the threshold speed.
A vacuum pump deceleration module 304 for controlling the vacuum booster to decelerate the vehicle based on the brake pressure.
According to the technical scheme of the embodiment of the invention, the torque determination module determines the deceleration torque of the motor of the vehicle according to the initial speed and the initial acceleration of the vehicle, the motor deceleration module controls the motor of the vehicle to decelerate the vehicle according to the deceleration torque, the pressure determination module determines the brake pressure of the vacuum booster according to the current speed and the preset vehicle speed pressure association table when the current speed of the vehicle is less than or equal to the threshold speed, and the vacuum pump deceleration module controls the vacuum booster to decelerate the vehicle according to the brake pressure, so that the vehicle brake redundancy is realized, the vehicle instability caused by overhigh speed is prevented, and the safety and the stability of the vehicle are improved.
Further, on the basis of the above implementation of the invention, the torque determination module includes: the comprehensive resistance determining unit is used for respectively determining the rolling resistance, the air resistance and the acceleration resistance of the vehicle according to the initial speed and the initial acceleration of the vehicle, and determining the sum of the rolling resistance, the air resistance and the acceleration resistance as the comprehensive resistance.
And the wheel torque determining unit is used for determining the product of the comprehensive resistance and the radius of the vehicle tire as the wheel-side torque.
And the deceleration torque determination unit is used for determining the quotient of the wheel-side torque and the vehicle main speed reducer reduction ratio as the deceleration torque.
Further, on the basis of the above embodiment of the invention, the method further includes:
and the storage module is used for acquiring the running speed of the vehicle according to a preset period and storing the running speed as the historical running speed.
And the compensation determining module is used for determining the compensation torque according to the vehicle speed difference of the adjacent periods of the historical running vehicle speed of the vehicle.
And the torque compensation module is used for compensating the deceleration torque of the motor of the vehicle according to the compensation torque to generate new deceleration torque.
Further, on the basis of the above embodiment of the present invention, the compensation determining module includes:
and the vehicle speed difference determining unit is used for acquiring a first vehicle speed difference between the current period and the previous period of the vehicle and a second vehicle speed difference between the previous period and the previous two periods.
And the actual acceleration determining unit is used for respectively determining that the quotient of the first vehicle speed difference and the cycle length is a first acceleration and the quotient of the second vehicle speed difference and the cycle length is a second acceleration, and filtering the first acceleration and the second acceleration according to a preset filtering coefficient to determine the actual acceleration.
And the compensation torque determining unit is used for taking the product of the difference between the initial acceleration and the actual acceleration and the compensation proportionality coefficient as the compensation torque.
Further, on the basis of the above embodiment of the invention, the vacuum pump deceleration module includes:
and the adjusting unit is used for adjusting the braking pressure of the vacuum booster according to a preset period.
And the deceleration unit is used for decelerating the vehicle according to the adjusted brake pressure.
Further, on the basis of the above embodiment of the invention, the method further includes:
and the torque attenuation module is used for attenuating the deceleration torque of the vehicle motor according to a preset period, and taking the attenuated deceleration torque as attenuation control torque.
And the attenuation deceleration module is used for controlling the vehicle motor according to the attenuation control torque so as to realize deceleration of the vehicle.
Example four
FIG. 5 is a schematic diagram of a redundant braking control system according to a fourth embodiment of the present invention, as shown in FIG. 5, the system includes a processor 40, a memory 41, a motor 42, and a vacuum booster 43; the number of processors 40 in the system may be one or more, and one processor 40 is taken as an example in fig. 5; the processor 40, the memory 41, the input device 42 and the output device 43 in the system may be connected by a bus or other means, and the connection by the bus is exemplified in fig. 5.
The memory 41, as a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as program modules corresponding to the redundant brake control methods in embodiments of the present invention (e.g., the torque determination module 301, the motor deceleration module 302, the pressure determination module 303, and the vacuum pump deceleration module 304 in the redundant brake control apparatus). The processor 40 executes various functional applications of the system and data processing by executing software programs, instructions and modules stored in the memory 41, that is, implements the redundant brake control method described above.
The memory 41 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 41 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 41 may further include memory located remotely from processor 40, which may be connected to the system over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The motor 42 may be primarily configured to receive a control command sent by the processor 40, and generate a deceleration torque to decelerate the vehicle according to the control command. The vacuum booster 44 may be configured to receive a control command from the processor 40, and to push a solenoid valve of the vacuum booster to generate a brake pressure in the master cylinder according to the control command, so as to decelerate the vehicle.
For example, fig. 6 is an exemplary diagram of a redundant brake control system according to a fourth embodiment of the present invention, referring to fig. 6, the redundant brake control system may include a vehicle speed acquisition module, a vehicle control module, a motor, an electronic vacuum booster, and an emergency stop switch module, the emergency stop switch module may send a signal to the vehicle control module to determine whether the vehicle is in an emergency brake mode or a comfort brake mode, the vehicle control module may control the motor and the electronic vacuum booster to decelerate the vehicle according to the vehicle speed acquired by the vehicle speed acquisition module, and a manner of decelerating the vehicle may be the redundant brake control method according to any embodiment of the present invention.
EXAMPLE five
Fig. 7 is a schematic structural diagram of an apparatus provided in the fifth embodiment of the present invention, and as shown in fig. 7, the vehicle includes a controller 70, a memory 71, an input device 72, and an output device 73; the number of the controllers 70 may be one or more, and one controller 70 is exemplified in fig. 7; the controller 70, the memory 71, the input device 72, and the output device 73 in the vehicle may be connected by an in-vehicle bus or other means, and the connection by the in-vehicle bus is exemplified in fig. 7.
The memory 71, as a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as program modules corresponding to the redundant brake control methods in embodiments of the present invention (e.g., the torque determination module 301, the motor deceleration module 302, the pressure determination module 303, and the vacuum pump deceleration module 304 in the redundant brake control apparatus). The controller 70 executes various functional applications and data processing of the vehicle, i.e., implements the redundant braking control method described above, by executing software programs, instructions, and modules stored in the memory 71.
The memory 71 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 71 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 71 may further include memory remotely located from the controller 70, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 72 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function controls of the vehicle. The output device 73 may include a display device such as a display screen.
The embodiment of the invention also comprises an electric motor and a vacuum booster, wherein the electric motor can be mainly used for receiving the control command sent by the controller and generating the deceleration torque according to the control command to decelerate the vehicle. The vacuum booster can be mainly used for receiving a control command sent by the controller and pushing an electromagnetic valve of the vacuum booster according to the control command to enable a pressure master cylinder to generate brake pressure so as to decelerate the vehicle.
EXAMPLE six
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a redundant braking control method, the method including:
determining a deceleration torque of a vehicle motor according to an initial speed and an initial acceleration of the vehicle;
controlling a vehicle motor to decelerate the vehicle in accordance with the deceleration torque;
when the current vehicle speed of the vehicle is less than or equal to the threshold speed, determining the brake pressure of a vacuum booster of the vehicle according to the current vehicle speed and a preset vehicle speed and pressure association table;
and controlling the vacuum booster to decelerate the vehicle according to the brake pressure.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also execute the relevant operations in the redundant braking control method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the redundant brake control device, the included units and modules are only divided according to the functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A redundant braking control method, characterized by comprising:
determining a deceleration torque of a vehicle motor according to an initial speed and an initial acceleration of the vehicle;
controlling a vehicle motor to decelerate the vehicle in accordance with the deceleration torque;
when the current vehicle speed of the vehicle is less than or equal to the threshold speed, determining the brake pressure of a vacuum booster of the vehicle according to the current vehicle speed and a preset vehicle speed and pressure association table;
and controlling the vacuum booster to decelerate the vehicle according to the brake pressure.
2. The method of claim 1, wherein determining a deceleration torque of a vehicle motor based on an initial speed and an initial acceleration of the vehicle comprises:
respectively determining rolling resistance, air resistance and acceleration resistance of the vehicle according to the initial speed and the initial acceleration of the vehicle, and determining the sum of the rolling resistance, the air resistance and the acceleration resistance as comprehensive resistance;
determining the product of the comprehensive resistance and the radius of the vehicle tire as the wheel-side torque;
and determining the quotient of the wheel torque and the reduction ratio of the vehicle final reducer as the reduction torque.
3. The method according to claim 1, characterized in that, while controlling the vehicle motor to decelerate the vehicle in accordance with the deceleration torque, further comprising:
acquiring the running speed of the vehicle according to a preset period and storing the running speed as the historical running speed;
determining compensation torque according to the vehicle speed difference of the vehicle in the adjacent period of the historical driving vehicle speed;
and compensating the deceleration torque of the motor of the vehicle according to the compensation torque to generate new deceleration torque.
4. The method of claim 3, wherein determining the compensation torque based on a vehicle speed difference between adjacent cycles of the historical travel speed of the vehicle comprises:
acquiring a first vehicle speed difference between the current cycle and the previous cycle of the vehicle and a second vehicle speed difference between the previous cycle and the previous two cycles of the vehicle;
respectively determining the quotient of the first vehicle speed difference and the cycle length as a first acceleration and the quotient of the second vehicle speed difference and the cycle length as a second acceleration, and filtering the first acceleration and the second acceleration according to a preset filtering coefficient to determine an actual acceleration;
and taking the product of the difference between the initial acceleration and the actual acceleration and the compensation proportional coefficient as the compensation torque.
5. The method of claim 1, wherein said controlling said vacuum booster to decelerate the vehicle in accordance with said brake pressure comprises:
adjusting the brake pressure of the vacuum booster according to a preset period;
and decelerating the vehicle according to the adjusted brake pressure.
6. The method of claim 1, wherein while controlling the vacuum booster to decelerate the vehicle in accordance with the brake pressure, further comprising:
attenuating the deceleration torque of the vehicle motor according to a preset period, and taking the attenuated deceleration torque as an attenuation control torque;
controlling the vehicle motor to effect deceleration of the vehicle in accordance with the damping control torque.
7. A redundant brake control apparatus, comprising:
a torque determination module for determining a deceleration torque of a vehicle motor according to an initial speed and an initial acceleration of the vehicle;
a motor deceleration module for controlling a vehicle motor to decelerate the vehicle in accordance with the deceleration torque;
the pressure determining module is used for determining the brake pressure of a vacuum booster of the vehicle according to the current vehicle speed and a preset vehicle speed pressure association table when the current vehicle speed of the vehicle is less than or equal to a threshold speed;
and the vacuum pump deceleration module is used for controlling the vacuum booster to decelerate the vehicle according to the brake pressure.
8. A redundant brake control system, comprising:
one or more processors;
a memory for storing one or more programs;
at least one motor for outputting a deceleration torque;
at least one vacuum booster for outputting a deceleration pressure;
when executed by the one or more processors, cause the one or more processors to implement a redundant braking control method according to any one of claims 1-6.
9. A vehicle, characterized by comprising:
one or more controllers;
a memory for storing one or more programs;
at least one motor for outputting a deceleration torque to decelerate the vehicle;
at least one vacuum booster for outputting a deceleration pressure to decelerate the vehicle;
when executed by the one or more controllers, cause the one or more controllers to implement the redundant braking control method of any of claims 1-6.
10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out a redundant braking control method according to any one of claims 1-6.
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