CN112519737A - Control method and device for electric braking strength of vehicle, vehicle and storage medium - Google Patents
Control method and device for electric braking strength of vehicle, vehicle and storage medium Download PDFInfo
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- CN112519737A CN112519737A CN201910890796.5A CN201910890796A CN112519737A CN 112519737 A CN112519737 A CN 112519737A CN 201910890796 A CN201910890796 A CN 201910890796A CN 112519737 A CN112519737 A CN 112519737A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
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Abstract
The invention relates to the technical field of electric automobiles, and discloses a method and a device for controlling the electric braking strength of a vehicle, an automobile and a storage medium, wherein the method comprises the following steps: s1, when the vehicle is in a deceleration state, calculating the current slip rate of the vehicle in real time; s2, when the current slip ratio is larger than or equal to a preset first slip ratio, reducing the electric braking strength of the vehicle; s3, when the current slip ratio is less than or equal to the second slip ratio, increasing the electric brake strength of the vehicle to the theoretical maximum brake strength provided by the road surface; and S4, when the electric braking strength of the vehicle is increased to the theoretical maximum braking strength, judging whether the actual maximum braking strength which can be provided by the current road surface is greater than the theoretical maximum braking strength, if so, continuously increasing the electric braking strength of the vehicle and returning to S2, otherwise, directly returning to S2. According to the embodiment of the invention, in the vehicle braking process, the maximization of the electric braking strength of the vehicle is realized, the good energy-saving effect of the vehicle is ensured, and the tail flicking or sideslip of the vehicle can be prevented.
Description
Technical Field
The invention relates to the technical field of electric automobiles, in particular to a method and a device for controlling the electric braking strength of a vehicle, an automobile and a storage medium.
Background
Electric vehicles and hybrid vehicles realize electric braking by generating recovery torque opposite to the vehicle running direction through a motor; the electric braking strength of the vehicle is determined by the magnitude of the recovered torque, and the larger the electric braking strength is, the better the energy-saving effect is. However, excessive electric brake strength tends to cause the wheels to "lock up" when the vehicle is traveling on a road surface with a low adhesion coefficient, which in turn causes the vehicle to drift or sideslip. Therefore, how to maximize the electric braking strength and ensure the vehicle driving safety become one of the key technologies in the automobile electromotion process.
At present, the existing vehicle is generally to repeatedly adjust the electric braking strength according to the state of an Antilock Brake System (ABS) to realize vehicle braking and avoid the vehicle from drifting or sideslipping; specifically, when the wheels are "locked", the braking anti-lock system of the vehicle is activated and the electric braking is released; after the vehicle is electrically braked, the wheels are restored to a pure rolling state, so that the anti-lock braking system of the vehicle is withdrawn, and the electric brake is re-established; and repeating the steps until the vehicle completely exits the deceleration state. In the process of implementing the invention, the inventor finds that the prior art has at least the following technical problems: when the method is adopted to realize vehicle braking, the electric braking of the vehicle is always in the process of exit-establishment-exit-establishment, and when the anti-lock braking system of the vehicle is activated, the vehicle is completely free of electric braking, so that the energy-saving effect of the vehicle is poor.
Disclosure of Invention
The invention aims to provide a control method and device for electric braking strength of a vehicle, the vehicle and a storage medium, which can realize maximization of the electric braking strength of the vehicle in the vehicle braking process so as to ensure that the vehicle has good energy-saving effect and can prevent the vehicle from drifting or sideslipping.
In order to solve the technical problem, the invention provides a method for controlling the electric braking strength of a vehicle, which comprises the following steps:
s1, calculating the current slip rate of the vehicle in real time when the vehicle is in a deceleration state;
s2, when the current slip ratio is larger than or equal to a preset first slip ratio, reducing the electric braking strength of the vehicle;
s3, when the current slip ratio is smaller than or equal to the second slip ratio, increasing the electric brake strength of the vehicle to the theoretical maximum brake strength which can be provided by a road surface, wherein the first slip ratio is larger than the second slip ratio;
and S4, when the electric braking strength of the vehicle is increased to the theoretical maximum braking strength, judging whether the actual maximum braking strength provided by the current road surface is greater than the theoretical maximum braking strength provided by the road surface, if so, continuously increasing the electric braking strength of the vehicle and returning to S2, otherwise, directly returning to S2.
As a preferable scheme, the judging whether the actual maximum brake strength provided by the current road surface is greater than the theoretical maximum brake strength provided by the road surface specifically includes:
when the current slip ratio is smaller than or equal to a preset third slip ratio and the duration of the current slip ratio which is smaller than or equal to the third slip ratio is larger than or equal to a preset first time threshold, judging that the actual maximum brake strength which can be provided by the current road surface is larger than the theoretical maximum brake strength which can be provided by the road surface; wherein the third slip ratio is less than the second slip ratio.
Preferably, the theoretical maximum braking strength value that can be provided by the road surface is set as the braking strength value of the corresponding vehicle when the slip ratio of the vehicle is greater than or equal to the first slip ratio last time.
Preferably, when the current slip ratio is greater than or equal to a preset first slip ratio, reducing the electric braking strength of the vehicle specifically includes:
s21, when the current slip ratio is larger than or equal to a preset first slip ratio, reducing the electric braking strength of the vehicle;
s22, judging whether the current slip ratio is reduced along with the reduction of the electric braking intensity of the vehicle within a preset second time threshold, if not, entering S23, otherwise, entering S24;
s23, continuously reducing the electric braking strength of the vehicle and returning to S22;
and S24, keeping the current electric braking intensity of the vehicle unchanged, judging whether the current slip ratio is smaller than or equal to the second slip ratio, if so, entering S3, otherwise, returning to S23.
Preferably, before the calculating the current slip ratio of the vehicle in real time, the method further comprises:
acquiring the wheel speed, the longitudinal acceleration and the lateral acceleration of the vehicle in real time; then the process of the first step is carried out,
the real-time calculation of the current slip ratio of the vehicle specifically comprises:
and calculating the current slip rate of the vehicle in real time according to the wheel speed, the longitudinal acceleration and the lateral acceleration.
Preferably, the calculating the current slip ratio of the vehicle in real time according to the wheel speed, the longitudinal acceleration and the lateral acceleration specifically includes:
calculating a center of mass velocity of the vehicle from the wheel speed, the longitudinal acceleration, and the lateral acceleration;
calculating a current slip rate of the vehicle from the wheel speed and the center of mass speed.
In order to solve the same technical problem, correspondingly, the embodiment of the invention further provides a control device for vehicle electric brake strength, which includes a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, wherein the processor implements the control method for vehicle electric brake strength when executing the computer program.
In order to solve the same technical problem, an embodiment of the present invention further provides an automobile, including the above control device for electric braking strength of the vehicle.
In order to solve the same technical problem, an embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program, where the apparatus where the computer-readable storage medium is located is controlled to execute the above-mentioned method for controlling electric brake strength of a vehicle when the computer program runs.
Compared with the prior art, the method, the device, the automobile and the storage medium for controlling the electric braking strength of the vehicle provided by the invention have the advantages that when the current slip ratio is greater than or equal to the preset first slip ratio in the deceleration state of the vehicle, the electric braking strength of the vehicle is reduced until the current slip ratio is less than or equal to the preset second slip ratio, then when the current slip ratio is less than or equal to the second slip ratio, the electric braking strength of the vehicle is increased to the theoretical maximum braking strength capable of being provided by the road surface, after the electric braking strength of the vehicle is increased to the theoretical maximum braking strength, when the actual maximum braking strength capable of being provided by the road surface is greater than the theoretical maximum braking strength, the electric braking strength of the vehicle is continuously increased until the current slip ratio is greater than or equal to the first slip ratio again, the steps are continuously repeated, so that in the braking process of the vehicle, the electric braking strength of the vehicle tends to the maximum braking strength which can be provided by the current road surface, the maximization of the electric braking strength of the vehicle is realized, the vehicle is ensured to have a good energy-saving effect, and the phenomenon that the vehicle slips or sideslips can be prevented. In addition, before the anti-lock braking system is activated, the electric braking strength of the vehicle can be adjusted according to the current slip rate of the vehicle, so that the locking degree of wheels is effectively reduced, and the safety of the vehicle running on a low-attachment road surface is improved; meanwhile, the electric braking strength of the vehicle is adjusted before the brake anti-lock braking system is activated, so that the adjustment of the electric braking strength of the vehicle has longer adjustable time, the sudden change degree of the electric braking strength of the vehicle is reduced, the smoothness of the vehicle is improved, the sudden loss of the braking deceleration of the vehicle caused by the rapid reduction of the electric braking strength of the vehicle is effectively improved, the phenomenon of ' forward rushing ' of the vehicle ' is brought to a driver, and the driving experience of the vehicle is improved.
Drawings
FIG. 1 is a schematic flow chart of a method for controlling the electric brake intensity of a vehicle in an embodiment of the present invention;
FIG. 2 is a detailed flowchart of step S2 in FIG. 1;
fig. 3 is a schematic structural diagram of a control device of vehicle electric brake strength in the embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a method for controlling an electric braking strength of a vehicle according to an embodiment of the present invention is provided.
In the embodiment of the invention, the control method of the electric braking strength of the vehicle comprises the following steps of S1-S4:
s1, when the vehicle is in a deceleration state, calculating the current slip rate of the vehicle in real time;
s2, when the current slip rate is larger than or equal to a preset first slip rate, reducing the electric braking strength of the vehicle;
it should be noted that the preset first slip ratio can be set according to actual use conditions; the slip rate represents the locking degree of the wheels when the automobile brakes, and the first slip rate is the maximum locking degree of the wheels acceptable by a user.
In specific implementation, when the current slip rate is greater than or equal to the preset first slip rate, the current wheel state is beyond the maximum wheel locking degree acceptable by a user, so that the electric braking strength of the vehicle needs to be reduced to reduce the slip rate of the vehicle.
S3, when the current slip ratio is smaller than or equal to the second slip ratio, increasing the electric brake strength of the vehicle to the theoretical maximum brake strength which can be provided by a road surface, wherein the first slip ratio is larger than the second slip ratio;
it should be noted that the numerical value of the preset second slip ratio can be set according to the actual use condition; wherein the second slip ratio is an acceptable maximum degree of wheel locking set by the host plant.
In addition, it is known from newton's second law that the slip ratio of a vehicle can be reduced only if the electric braking strength of the vehicle is less than the actual maximum braking strength that can be provided by the road surface. Therefore, it can be understood that, after the step S2 is implemented, when the current slip ratio is less than or equal to the second slip ratio, it indicates that the electric brake strength of the vehicle at the current moment is less than the theoretical maximum brake strength that can be provided by the road surface, and therefore, the electric brake strength of the vehicle needs to be gradually increased to the theoretical maximum brake strength that can be provided by the road surface.
Further, it is preferable that the theoretical maximum braking strength value that the road surface can provide in this embodiment is set to an electric braking strength value of the corresponding vehicle when the slip ratio of the vehicle is greater than or equal to the first slip ratio last time. It is understood that, whenever the slip ratio of the vehicle is greater than or equal to the first slip ratio, the electric brake strength value of the vehicle at that time is obtained, and the theoretical maximum brake strength value that can be provided by the road surface is updated to the obtained electric brake strength value of the vehicle. Of course, other methods may be used to obtain the theoretical maximum braking strength value that the road surface can provide, and the invention is not limited in this respect.
S4, when the electric braking strength of the vehicle is increased to the theoretical maximum braking strength, judging whether the actual maximum braking strength provided by the current road surface is larger than the theoretical maximum braking strength provided by the road surface, if so, continuously increasing the electric braking strength of the vehicle and returning to S2, otherwise, directly returning to S2.
During the running process of a vehicle, the road surface is changed all the time, so that the actual maximum brake strength provided by the current road surface can be greater than the theoretical maximum brake strength provided by the road surface; therefore, in practical implementation, after the electric brake strength of the vehicle is increased to the theoretical maximum brake strength, when the actual maximum brake strength available on the current road surface is greater than the theoretical maximum brake strength, it indicates that the electric brake strength of the vehicle is still less than the actual maximum brake strength available on the current road surface, and at this time, the electric brake strength of the vehicle needs to be increased continuously until the current slip ratio is again greater than or equal to the first slip ratio. When the current slip ratio is greater than or equal to the first slip ratio again, reducing the electric braking strength of the vehicle again until the current slip ratio is less than or equal to a preset second slip ratio, namely returning to the step S2;
during the running process of the vehicle, the actual maximum brake strength provided by the current road surface may also be smaller than the theoretical maximum brake strength provided by the road surface; therefore, in a further specific implementation, after the electric braking strength of the vehicle is increased to the theoretical maximum braking strength, when the actual maximum braking strength available on the current road surface is less than the theoretical maximum braking strength, it indicates that the electric braking strength of the vehicle is greater than the actual maximum braking strength available on the current road surface, that is, in the process of increasing the electric braking strength of the vehicle, the current slip ratio is again greater than or equal to the first slip ratio, and therefore, after the electric braking strength of the vehicle is increased to the theoretical maximum braking strength, the electric braking strength of the vehicle needs to be decreased again until the current slip ratio is again less than or equal to the second slip ratio, that is, the process returns to step S2.
In the embodiment of the invention, when the current slip ratio is greater than or equal to a preset first slip ratio under the condition that the vehicle is in a deceleration state, the electric braking strength of the vehicle is reduced until the current slip ratio is less than or equal to a preset second slip ratio, then when the current slip ratio is less than or equal to the second slip ratio, the electric braking strength of the vehicle is increased to the theoretical maximum braking strength available on the road surface, after the electric braking strength of the vehicle is increased to the theoretical maximum braking strength, when the actual maximum braking strength available on the current road surface is greater than the theoretical maximum braking strength, the electric braking strength of the vehicle is continuously increased until the current slip ratio is greater than or equal to the first slip ratio again, and the steps are repeatedly executed, so that the electric braking strength of the vehicle approaches to the maximum braking strength available on the current road surface in the vehicle braking process, the maximization of the electric braking strength of the vehicle is realized, so that the vehicle is ensured to have a good energy-saving effect, and the phenomenon that the vehicle slips or sideslips can be prevented. In addition, before the anti-lock braking system is activated, the electric braking strength of the vehicle can be adjusted according to the current slip rate of the vehicle, so that the locking degree of wheels is effectively reduced, and the safety of the vehicle running on a low-attachment road surface is improved; meanwhile, the electric braking strength of the vehicle is adjusted before the brake anti-lock braking system is activated, so that the adjustment of the electric braking strength of the vehicle has longer adjustable time, the sudden change degree of the electric braking strength of the vehicle is reduced, the smoothness of the vehicle is improved, the sudden loss of the braking deceleration of the vehicle caused by the rapid reduction of the electric braking strength of the vehicle is effectively improved, the phenomenon of ' forward rushing ' of the vehicle ' is brought to a driver, and the driving experience of the vehicle is improved.
In this embodiment of the present invention, preferably, when step S4 is implemented, the determining whether the actual maximum braking strength that can be provided by the current road surface is greater than the theoretical maximum braking strength that can be provided by the road surface specifically includes:
when the current slip ratio is smaller than or equal to a preset third slip ratio and the duration of the current slip ratio which is smaller than or equal to the third slip ratio is larger than or equal to a preset first time threshold, judging that the actual maximum brake strength which can be provided by the current road surface is larger than the theoretical maximum brake strength which can be provided by the road surface; wherein the third slip ratio is less than the second slip ratio.
It should be noted that, since only the electric brake strength of the vehicle is smaller than the actual maximum brake strength that can be provided by the road surface, the slip ratio of the vehicle can be reduced; therefore, after the step S3 is executed to increase the electric brake strength of the vehicle to the theoretical maximum brake strength that can be provided by the road surface when the current slip ratio is smaller than or equal to the second slip ratio, when the current slip ratio is smaller than or equal to a preset third slip ratio and the time that the current slip ratio is smaller than or equal to the third slip ratio is equal to a preset first time threshold, it indicates that the electric brake strength of the vehicle is still smaller than the actual maximum brake strength that can be provided by the road surface, that is, the actual maximum brake strength that can be provided by the current road surface is greater than the theoretical maximum brake strength.
In the embodiment of the present invention, preferably, in step S2, when the current slip ratio is greater than or equal to a preset first slip ratio, the reducing the electric braking strength of the vehicle specifically includes:
s21, when the current slip ratio is larger than or equal to a preset first slip ratio, reducing the electric braking strength of the vehicle;
s22, judging whether the current slip ratio is reduced along with the reduction of the electric braking intensity of the vehicle within a preset second time threshold, if not, entering S23, otherwise, entering S24;
s23, continuously reducing the electric braking strength of the vehicle and returning to S22;
and S24, keeping the current electric braking intensity of the vehicle unchanged, judging whether the current slip ratio is smaller than or equal to the second slip ratio, if so, entering S3, otherwise, returning to S23.
Specifically, when the electric braking strength of the vehicle is reduced, there are two cases, one is that the current slip ratio is reduced with the reduction of the electric braking strength of the vehicle within the preset second time threshold, and the other is that the current slip ratio is unchanged within the preset second time threshold, that is, is not reduced with the reduction of the electric braking strength of the vehicle. Therefore, in the process of reducing the electric braking strength of the vehicle, when it is determined that the current slip ratio is not reduced with the reduction of the electric braking strength of the vehicle within the preset second time threshold, the electric braking strength of the vehicle is continuously reduced, and it is determined again whether the current slip ratio is reduced with the reduction of the electric braking strength of the vehicle within the preset second time threshold; repeating the steps until the current slip rate is judged to be reduced along with the reduction of the electric braking strength of the vehicle within a preset second time threshold;
when the electric braking strength of the vehicle is reduced, when the current slip ratio is judged to be reduced along with the reduction of the electric braking strength of the vehicle within a preset second time threshold, the electric braking strength of the vehicle is kept unchanged; after keeping the electric brake intensity of the vehicle unchanged, there are two cases, one is that the current slip rate is continuously reduced to be less than or equal to the second slip rate, and the other is that the current slip rate is not continuously reduced to be less than or equal to the second slip rate; therefore, when it is determined that the current slip ratio continues to decrease to be less than or equal to the second slip ratio after keeping the electric brake intensity of the vehicle unchanged, the next step S3 is executed; when the current slip rate is judged to be continuously reduced to be smaller than or equal to the second slip rate, the electric braking strength of the vehicle is reduced again, whether the current slip rate is reduced along with the reduction of the electric braking strength of the vehicle within a preset second time threshold value is judged, and the steps are repeated until the current slip rate is reduced to be smaller than or equal to the second slip rate.
In the embodiment of the present invention, before implementing step S1 and calculating the current slip ratio of the vehicle in real time, the method preferably further includes the following steps:
acquiring the wheel speed, the longitudinal acceleration and the lateral acceleration of the vehicle in real time; then the process of the first step is carried out,
the real-time calculation of the current slip ratio of the vehicle specifically comprises:
and calculating the current slip rate of the vehicle in real time according to the wheel speed, the longitudinal acceleration and the lateral acceleration.
It should be noted that the wheel speed of the vehicle specifically includes: the rotational speed of each wheel; for example, when the vehicle has four wheels, the wheel speeds are specifically the rotational speed of the vehicle left front wheel, the rotational speed of the vehicle right front wheel, the rotational speed of the vehicle left rear wheel, and the rotational speed of the vehicle right rear wheel.
Further, the real-time calculation of the current slip ratio of the vehicle according to the wheel speed, the longitudinal acceleration and the lateral acceleration specifically includes the following steps S111-S112:
s111, calculating the mass center speed of the vehicle according to the wheel speed, the longitudinal acceleration and the lateral acceleration;
and S112, calculating the current slip rate of the vehicle according to the wheel speed and the centroid speed.
Specifically, when the vehicle has four wheels, in step S111, a centroid speed of the vehicle is calculated from the rotational speed of the vehicle left front wheel, the rotational speed of the vehicle right front wheel, the rotational speed of the vehicle left rear wheel, the rotational speed of the vehicle right rear wheel, the longitudinal acceleration, and the lateral acceleration; then, in step S112, the current slip ratio of the vehicle is calculated from the rotation speed of the vehicle left front wheel, the rotation speed of the vehicle right front wheel, the rotation speed of the vehicle left rear wheel, the rotation speed of the vehicle right rear wheel, and the centroid speed of the vehicle.
The current slip rate of the vehicle is calculated through the steps S111-S112, so that the electric braking strength of the vehicle can be adjusted according to the calculated current slip rate, and the phenomenon that the vehicle slips or sideslips due to the fact that the slip rate is too large is avoided.
Referring to fig. 3, another embodiment of the present invention correspondingly provides a control device for electric braking strength of a vehicle.
The control device 1 for the vehicle electric braking strength comprises a processor 11, a memory 12 and a computer program 121 stored in the memory 12 and configured to be executed by the processor 11, wherein the processor 12 implements the control method for the vehicle electric braking strength when executing the computer program.
Illustratively, the computer program may be divided into one or more modules/units, which are stored in the memory 12 and executed by the processor 11 to accomplish the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions for describing the execution process of the computer program in the control device 1 for the electric brake intensity of the vehicle.
The Processor 11 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 12 can be used to store the computer programs and/or modules, and the processor 11 implements various functions of the control device 1 for the electric brake intensity of the vehicle by running or executing the computer programs and/or modules stored in the memory 12 and calling up the data stored in the memory 12. The memory 12 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The modules/units integrated with the control device 1 for the electric braking intensity of a vehicle may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as separate products. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
In addition, in order to solve the same technical problem, an embodiment of the present invention further provides an automobile including the above control device for electric braking strength of a vehicle.
In summary, the present invention provides a method, an apparatus, an automobile and a storage medium for controlling electric braking strength of a vehicle, wherein when a vehicle is in a deceleration state and a current slip ratio is greater than or equal to a preset first slip ratio, the electric braking strength of the vehicle is decreased until the current slip ratio is less than or equal to a preset second slip ratio, then when the current slip ratio is less than or equal to the second slip ratio, the electric braking strength of the vehicle is increased to a theoretical maximum braking strength that can be provided by a road surface, and after the electric braking strength of the vehicle is increased to the theoretical maximum braking strength, when an actual maximum braking strength that can be provided by the current road surface is greater than the theoretical maximum braking strength, the electric braking strength of the vehicle is continuously increased until the current slip ratio is again greater than or equal to the first slip ratio, and the above steps are repeated, the electric braking intensity of the vehicle tends to the maximum braking intensity provided by the current road surface in the vehicle braking process, and the maximization of the electric braking intensity of the vehicle is realized, so that the vehicle is ensured to have a good energy-saving effect, and the phenomenon of tail flicking or side slipping of the vehicle can be prevented. In addition, before the anti-lock braking system is activated, the electric braking strength of the vehicle can be adjusted according to the current slip rate of the vehicle, so that the locking degree of wheels is effectively reduced, and the safety of the vehicle running on a low-attachment road surface is improved; meanwhile, the electric braking strength of the vehicle is adjusted before the brake anti-lock braking system is activated, so that the adjustment of the electric braking strength of the vehicle has longer adjustable time, the sudden change degree of the electric braking strength of the vehicle is reduced, the smoothness of the vehicle is improved, the sudden loss of the braking deceleration of the vehicle caused by the rapid reduction of the electric braking strength of the vehicle is effectively improved, the phenomenon of ' forward rushing ' of the vehicle ' is brought to a driver, and the driving experience of the vehicle is improved.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (9)
1. A control method for the electric braking intensity of a vehicle is characterized by comprising the following steps:
s1, calculating the current slip rate of the vehicle in real time when the vehicle is in a deceleration state;
s2, when the current slip ratio is larger than or equal to a preset first slip ratio, reducing the electric braking strength of the vehicle;
s3, when the current slip ratio is smaller than or equal to the second slip ratio, increasing the electric brake strength of the vehicle to the theoretical maximum brake strength which can be provided by a road surface, wherein the first slip ratio is larger than the second slip ratio;
and S4, when the electric braking strength of the vehicle is increased to the theoretical maximum braking strength, judging whether the actual maximum braking strength provided by the current road surface is greater than the theoretical maximum braking strength provided by the road surface, if so, continuously increasing the electric braking strength of the vehicle and returning to S2, otherwise, directly returning to S2.
2. The method for controlling electric brake strength of a vehicle according to claim 1, wherein the determining whether the actual maximum brake strength that can be provided by the current road surface is greater than the theoretical maximum brake strength that can be provided by the road surface specifically comprises:
when the current slip ratio is smaller than or equal to a preset third slip ratio and the duration of the current slip ratio which is smaller than or equal to the third slip ratio is larger than or equal to a preset first time threshold, judging that the actual maximum brake strength which can be provided by the current road surface is larger than the theoretical maximum brake strength which can be provided by the road surface; wherein the third slip ratio is less than the second slip ratio.
3. A method for controlling an electric brake intensity of a vehicle according to claim 1, wherein the theoretical maximum brake intensity value that the road surface can provide is set as a brake intensity value of the vehicle corresponding to the last time the slip ratio of the vehicle was greater than or equal to the first slip ratio.
4. The method for controlling the electric brake strength of the vehicle according to claim 1, wherein when the current slip ratio is greater than or equal to a preset first slip ratio, the reducing the electric brake strength of the vehicle specifically comprises:
s21, when the current slip ratio is larger than or equal to a preset first slip ratio, reducing the electric braking strength of the vehicle;
s22, judging whether the current slip ratio is reduced along with the reduction of the electric braking intensity of the vehicle within a preset second time threshold, if not, entering S23, otherwise, entering S24;
s23, continuously reducing the electric braking strength of the vehicle and returning to S22;
and S24, keeping the current electric braking intensity of the vehicle unchanged, judging whether the current slip ratio is smaller than or equal to the second slip ratio, if so, entering S3, otherwise, returning to S23.
5. The method for controlling electric brake intensity of a vehicle according to claim 1, further comprising, before the calculating the current slip ratio of the vehicle in real time:
acquiring the wheel speed, the longitudinal acceleration and the lateral acceleration of the vehicle in real time; then the process of the first step is carried out,
the real-time calculation of the current slip ratio of the vehicle specifically comprises:
and calculating the current slip rate of the vehicle in real time according to the wheel speed, the longitudinal acceleration and the lateral acceleration.
6. The method for controlling electric brake intensity of a vehicle according to claim 5, wherein the calculating the current slip ratio of the vehicle in real time according to the wheel speed, the longitudinal acceleration and the lateral acceleration specifically comprises:
calculating a center of mass velocity of the vehicle from the wheel speed, the longitudinal acceleration, and the lateral acceleration;
calculating a current slip rate of the vehicle from the wheel speed and the center of mass speed.
7. A control device of vehicle electric brake intensity, characterized by comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the control method of vehicle electric brake intensity according to any one of claims 1 to 6 when executing the computer program.
8. An automobile characterized by comprising a control device of vehicle electric brake intensity according to claim 7.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored computer program, wherein the computer program, when running, controls an apparatus in which the computer-readable storage medium is located to perform the method for controlling electric brake intensity of a vehicle according to any one of claims 1 to 6.
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| CN114407855A (en) * | 2022-01-18 | 2022-04-29 | 上汽通用五菱汽车股份有限公司 | Electric brake adjusting method, electric vehicle and computer readable storage medium |
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