CN113147703A - Vehicle brake control method and storage medium - Google Patents
Vehicle brake control method and storage medium Download PDFInfo
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- CN113147703A CN113147703A CN202110594745.5A CN202110594745A CN113147703A CN 113147703 A CN113147703 A CN 113147703A CN 202110594745 A CN202110594745 A CN 202110594745A CN 113147703 A CN113147703 A CN 113147703A
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- 230000001419 dependent effect Effects 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 2
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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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- 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
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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
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
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- Regulating Braking Force (AREA)
Abstract
The embodiment of the invention discloses a vehicle brake control method and a storage medium. The method comprises the following steps: acquiring a wheel speed sensor state of each wheel in the vehicle; if at least one wheel speed sensor is in a fault state, determining the wheel position and the wheel motor driving type of a wheel corresponding to the fault state; the wheel motor driving type is an independent motor control type or a non-independent motor control type; and determining a vehicle braking mode according to the driving type of the wheel motor and the wheel position. By operating the technical scheme provided by the embodiment of the invention, the problems that when the wheel speed sensor fails, the brake anti-lock control function is directly stopped, so that the wheels are locked and cannot steer and even the vehicle is unstable during brake steering can be solved, and the effects of improving the stability, the brake performance and the safety of the vehicle are realized.
Description
Technical Field
The embodiment of the invention relates to a vehicle control technology, in particular to a vehicle brake control method and a storage medium.
Background
The vehicle is usually prevented from losing control by the anti-lock braking control function in the braking process, and traffic accidents and other hazards are avoided. And the anti-lock control of braking often relies on the data that the wheel speed sensor acquireed, in case the wheel speed sensor breaks down, can directly influence the realization of anti-lock control of braking function.
In the prior art, when a wheel speed sensor fails, the anti-lock brake control function is directly stopped, so that wheels are locked easily and cannot be steered, and even the vehicle is unstable during braking and steering, so that the stability, the braking performance and the safety of the vehicle are reduced.
Disclosure of Invention
The embodiment of the invention provides a vehicle brake control method and a storage medium, which are used for improving the stability, the brake performance and the safety of a vehicle.
In a first aspect, an embodiment of the present invention provides a vehicle brake control method, including:
acquiring a wheel speed sensor state of each wheel in the vehicle;
if at least one wheel speed sensor is in a fault state, determining the wheel position and the wheel motor driving type of a wheel corresponding to the fault state; the wheel motor driving type is an independent motor control type or a non-independent motor control type;
and determining a vehicle braking mode according to the driving type of the wheel motor and the wheel position.
In a second aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the vehicle braking control method as described above.
The embodiment of the invention obtains the state of a wheel speed sensor of each wheel in the vehicle; if at least one wheel speed sensor is in a fault state, determining the wheel position and the wheel motor driving type of a wheel corresponding to the fault state; the wheel motor driving type is an independent motor control type or a non-independent motor control type; and determining a vehicle braking mode according to the driving type of the wheel motor and the wheel position. The problem of when the fast sensor trouble of wheel, braking anti-lock control function directly stops, leads to the wheel locking easily and can't turn to, vehicle unstability when even braking turns to is solved, realizes the effect that improves the stability, the brake performance and the security of vehicle.
Drawings
Fig. 1 is a flowchart of a vehicle braking control method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a vehicle brake control device according to a third embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to a fourth 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 further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a vehicle braking control method according to an embodiment of the present invention, where the embodiment is applicable to a case where a vehicle is braked under a state failure condition of a wheel speed sensor, and the method may be executed by a vehicle braking control apparatus according to an embodiment of the present invention, where the apparatus may be implemented by software and/or hardware. Referring to fig. 1, the vehicle braking control method provided by the embodiment includes:
Wherein, the wheel speed sensor is used for measuring the wheel speed of corresponding wheel, and each wheel can correspond to specific wheel speed sensor. The wheel speed sensor status may be obtained by a braking system in the vehicle, which is not limited by the embodiment. The state of the wheel speed sensor can be normal or fault, and if the wheel speed sensor is in the fault state, the wheel speed of the wheel cannot be detected.
The wheel positions can be divided into a left front wheel, a right front wheel, a left rear wheel and a right rear wheel. And if the wheel speed sensor state is identified to be a fault state, determining the corresponding wheel position and the wheel motor driving type.
The wheel motor driving type is whether the wheel is driven by an independent motor or not, if so, the wheel is an independent motor control type, and if not, the wheel is a non-independent motor control type.
And step 130, determining a vehicle braking mode according to the driving type of the wheel motor and the wheel position.
The manner of braking of the individual wheels may be determined according to the type of wheel motor drive. And determining the braking mode of the whole vehicle according to the wheel positions. The braking mode may be to obtain the wheel speed in a designated mode to replace the original work of the failed wheel speed sensor, so as to implement braking by the anti-lock braking control function, which is not limited in this embodiment.
In this embodiment, optionally, the determining a braking mode of the vehicle according to the driving type of the wheel motor and the position of the wheel includes:
if the wheel motor driving type is the independent motor control type, acquiring the motor rotating speed of the independent motor so as to determine the wheel speed according to the motor rotating speed;
and determining the vehicle braking mode according to the wheel speed and the wheel position.
If the wheel motor driving type is the independent motor control type, the motor rotation speed of the independent motor is obtained, and the wheel speed is obtained through the motor rotation speed conversion, and the conversion mode may be a substitution into a specified formula, for example, the motor rotation speed is multiplied by a specified coefficient, which is not limited in this embodiment.
And ensuring normal implementation of the anti-lock brake control function at the wheel according to the acquired wheel speed, for example, calculating a slip rate required by the anti-lock brake control function.
The vehicle braking mode of the wheel position is determined according to the wheel position, for example, if the wheel position is a left front wheel and the left front wheel is an independent motor control type, the wheel braking mode of the left front wheel is to acquire the motor rotation speed of the independent motor, so as to determine the wheel speed according to the motor rotation speed, and the implementation of the anti-lock brake control function of other wheels is not influenced while the normal anti-lock brake control function of the wheel position is implemented. Therefore, the timeliness and effectiveness of the whole vehicle brake control are improved, and the stability and safety of the vehicle are improved.
In this embodiment, optionally, the determining a braking mode of the vehicle according to the driving type of the wheel motor and the position of the wheel includes:
if the wheel motor driving type is the dependent motor control type, determining a vehicle braking mode according to the wheel position; wherein the vehicle braking modes comprise a first vehicle braking mode and a second vehicle braking mode;
closing a brake anti-lock control function at a brake position corresponding to the vehicle brake mode, and adjusting wheel pressure at the brake position according to a preset mode; the braking position corresponding to the first vehicle braking mode is a front vehicle axle, and the braking position corresponding to the second vehicle braking mode is a rear vehicle axle.
If the wheel motor driving type is a non-independent motor control type, the wheel motor driving type and other wheels are controlled by one motor together or are not controlled by the motor. Namely, the dependent motor control types include: a single motor control type and a non-motor control type.
A specific vehicle braking mode is determined based on the wheel position, the vehicle braking mode comprising a first vehicle braking mode and a second vehicle braking mode. The first vehicle braking mode and the second vehicle braking mode are different in corresponding braking positions when the vehicle brakes, wherein the braking positions are positions of all wheels which are coaxial with the wheel positions, and a four-wheel drive vehicle is taken as an example and comprises a front vehicle axle and a rear vehicle axle. The braking position corresponding to the first vehicle braking mode is a front vehicle axle, and the braking position corresponding to the second vehicle braking mode is a rear vehicle axle; when the braking mode is changed, the corresponding braking position is correspondingly changed.
And (3) closing the anti-lock brake control function at the brake position corresponding to the vehicle brake mode, and because the non-independent motor control type cannot accurately acquire the wheel speed at the wheel position, determining whether the anti-lock brake control is required or not and how to realize the anti-lock brake control function at the position cannot be determined. And closing the integral anti-lock brake control function at the braking position, and adjusting the wheel pressure at the braking position according to a preset mode to realize the braking of the wheel at the braking position.
And if the vehicle is braked according to the first vehicle braking mode, closing the anti-lock brake control function of the front axle of the vehicle, and adjusting the wheel pressure at the front axle of the vehicle according to a preset mode.
And if the vehicle is braked according to the second vehicle braking mode, closing the anti-lock brake control function of the rear axle of the vehicle, and adjusting the wheel pressure at the rear axle of the vehicle according to a preset mode.
The preset manner may be to adjust the pressure at the other wheels according to a preset formula, which is not limited in this embodiment.
In this embodiment, optionally, the determining a braking mode of the vehicle according to the wheel position includes:
if the wheel position is one of a left front wheel, a right front wheel and two front wheels, determining that the vehicle braking mode comprises the first vehicle braking mode;
and if the wheel position is one of a left rear wheel, a right rear wheel and two rear wheels, determining that the vehicle braking mode comprises the second vehicle braking mode.
If the wheel position includes one of the left front wheel, the right front wheel and the two front wheels and one of the left rear wheel, the right rear wheel and the two rear wheels, for example, the left front wheel and the right rear wheel, the vehicle braking manner is determined to include a first vehicle braking manner and a second vehicle braking manner. The vehicle braking mode is divided into a first vehicle braking mode and a second vehicle braking mode, the wheels at the front axle and/or the wheels at the rear axle are uniformly braked and controlled, the situation that the vehicle is unstable and deviates due to inconsistent left and right braking forces is avoided, the uniformity of braking control is improved, and the stability of the vehicle is improved.
In this embodiment, optionally, adjusting the wheel pressure at the wheel position according to a preset manner includes:
adjusting the wheel pressure at the braking position to a master cylinder pressure.
The master cylinder pressure is generally in direct proportion to the braking degree, the pressure of the wheel at the braking position is controlled to be consistent with the master cylinder pressure, and the synchronism and effectiveness of vehicle braking can be guaranteed. And because the master cylinder pressure is obtained more conveniently, the wheel pressure at the braking position is directly kept consistent with the master cylinder pressure, other operations are avoided, and the vehicle braking efficiency is improved.
The vehicle brake control is realized by closing the anti-lock brake control function at the brake position and adjusting the wheel pressure at the wheel position according to the preset mode, so that the phenomenon that the wheel is locked to influence the brake steering performance and the safety of the vehicle when the anti-lock brake control function cannot be realized due to the fact that the wheel rotation speed data cannot be acquired is avoided, and the stability, the brake performance and the safety of the vehicle are improved.
According to the technical scheme provided by the embodiment, the state of a wheel speed sensor of each wheel in the vehicle is obtained; if at least one wheel speed sensor is in a fault state, determining the wheel position and the wheel motor driving type of a wheel corresponding to the fault state; the wheel motor driving type is an independent motor control type or a non-independent motor control type; according to the wheel motor driving type and the wheel position, the vehicle braking mode is determined, the problems that when a wheel speed sensor fails, the anti-lock braking control function is directly stopped, wheels are locked easily and cannot steer, and even the vehicle is unstable during braking and steering are solved, and the effects of improving the stability, the braking performance and the safety of the vehicle are achieved.
Example two
In order to make the technical solution more clear to those skilled in the art, the second embodiment of the present invention further provides a specific implementation manner of the vehicle brake control.
The wheel whose wheel speed sensor is in a failure state is referred to as a failed wheel hereinafter.
1. For a front axle double-motor and rear axle double-motor vehicle, namely a four-wheel drive vehicle with wheels all of which are of independent motor control type, a vehicle brake control method when a wheel speed sensor is in a fault state is as follows:
if the wheel motor driving type is the independent motor control type, acquiring the motor rotating speed of the independent motor so as to determine the wheel speed according to the motor rotating speed;
and determining the vehicle braking mode according to the wheel speed and the wheel position.
For the fault wheel, no matter the number of the fault wheels or the position of the fault wheel, the wheel speed can be determined according to the rotating speed of the motor, actual control is not affected, and the anti-lock brake control function is normally realized.
2. For a front axle single motor and rear axle double-motor vehicle, namely a four-wheel drive vehicle with a front axle two wheels controlled by a single motor and a rear axle two wheels controlled by independent motors, the control scheme of the wheel speed sensor when the wheel speed sensor fails is as follows:
(1) determining a vehicle braking mode according to the wheel motor drive type and the wheel position, comprising:
and if the wheel motor driving type is the dependent motor control type and the wheel position is the left front wheel and/or the right front wheel, determining that the vehicle braking mode is to close the anti-lock braking control function at the rear axle of the vehicle, and adjusting the wheel pressure at the front axle of the vehicle to be the master cylinder pressure.
For single wheel failure (the failed wheel is the left front wheel or the right front wheel) or two wheel failure (the failed wheel is the two front wheels), the brake anti-lock control function of the front axle is closed, the wheel pressure of the front axle is controlled to be consistent with the master cylinder pressure, and the brake anti-lock control function of the rear axle is normally realized;
(2) determining a vehicle braking mode according to the wheel motor drive type and the wheel position, comprising:
if the wheel motor driving type is the independent motor control type and the wheel position is the left rear wheel and/or the right rear wheel, acquiring the motor rotating speed of the independent motor at the rear axle of the vehicle to determine the wheel speed according to the motor rotating speed;
and determining the vehicle braking mode according to the wheel speed and the wheel position.
For single wheel faults (the fault wheel is a left rear wheel or a right rear wheel) or two wheel faults (the fault wheel is two rear wheels), the front axle has no influence, the rear axle can determine the wheel speed according to the rotating speed of the motor, the actual control has no influence, and the anti-lock brake control function is normally realized;
(3) determining a vehicle braking mode according to the wheel motor drive type and the wheel position, comprising:
if the wheel motor driving type is the dependent motor control type and the wheel position is the left front wheel and/or the right front wheel, determining that the vehicle braking mode is to close the anti-lock braking control function at the rear axle of the vehicle and adjust the wheel pressure at the front axle of the vehicle to be the master cylinder pressure;
if the wheel motor driving type is the independent motor control type and the wheel position is the left rear wheel and/or the right rear wheel, acquiring the motor rotating speed of the independent motor at the rear axle of the vehicle to determine the wheel speed according to the motor rotating speed;
and determining the vehicle braking mode according to the wheel speed and the wheel position.
For two-wheel faults (fault wheels are respectively positioned on a front axle and a rear axle) or three-wheel faults or four-wheel faults, the anti-lock brake control function of the front axle is closed, the wheel pressure of the front axle is controlled to be consistent with the pressure of a main cylinder, the wheel speed of the rear axle can be determined according to the rotating speed of a motor, actual control is not affected, and the anti-lock brake control function is normally realized.
3. For a front axle double-motor rear axle single-motor vehicle, namely a four-wheel drive vehicle with a rear axle and two wheels of a front axle controlled by a single motor, wherein the two wheels of the rear axle are controlled by a single motor and are in a non-independent motor control type, and the two wheels of the front axle are in an independent motor control type, the control scheme when a wheel speed sensor fails is as follows:
(1) determining a vehicle braking mode according to the wheel motor drive type and the wheel position, comprising:
if the wheel motor driving type is the independent motor control type and the wheel position is the left front wheel and/or the right front wheel, acquiring the motor rotating speed of the independent motor at the front axle of the vehicle so as to determine the wheel speed according to the motor rotating speed;
and determining the vehicle braking mode according to the wheel speed and the wheel position.
For single wheel faults (the fault wheel is the left front wheel or the right front wheel) or two wheel faults (the fault wheel is the two front wheels), the front axle can determine the wheel speed according to the rotating speed of the motor, the actual control has no influence, the anti-lock brake control function is normally realized, and the rear axle has no influence;
(2) determining a vehicle braking mode according to the wheel motor drive type and the wheel position, comprising:
and if the wheel motor driving type is the dependent motor control type and the wheel position is the left rear wheel and/or the right rear wheel, determining that the vehicle braking mode is to close the anti-lock braking control function at the rear axle of the vehicle, and adjusting the wheel pressure at the rear axle of the vehicle to be the master cylinder pressure.
For single wheel failure (the failed wheel is the left rear wheel or the right rear wheel) or two wheel failure (the failed wheel is the two rear wheels), the brake anti-lock control function of the rear axle is closed, the wheel pressure of the front axle is controlled to be consistent with the master cylinder pressure, and the front axle has no influence;
(3) determining a vehicle braking mode according to the wheel motor drive type and the wheel position, comprising:
if the wheel motor driving type is the independent motor control type and the wheel position is the left front wheel and/or the right front wheel, acquiring the motor rotating speed of the independent motor at the front axle of the vehicle so as to determine the wheel speed according to the motor rotating speed;
determining the vehicle braking mode according to the wheel speed and the wheel position;
and if the wheel motor driving type is the dependent motor control type and the wheel position is the left rear wheel and/or the right rear wheel, determining that the vehicle braking mode is to close the anti-lock braking control function at the rear axle of the vehicle, and adjusting the wheel pressure at the rear axle of the vehicle to be the master cylinder pressure.
For two-wheel faults (fault wheels are respectively positioned on a front axle and a rear axle) or three-wheel faults or four-wheel faults, the anti-lock brake control function of the rear axle is closed, the wheel pressure of the rear axle is controlled to be consistent with the pressure of a main cylinder, the wheel speed of the front axle can be determined according to the rotating speed of a motor, actual control is not affected, and the anti-lock brake control function is normally realized.
4. For a front axle single motor or no motor, a rear axle single motor or no motor vehicle, i.e. a four-wheel drive vehicle with front and rear axles in a non-independent motor control type, which may be a front axle single motor and rear axle single motor vehicle, a front axle single motor-free rear axle single motor vehicle or a front axle single motor and rear axle motor-free vehicle, the control scheme when the wheel speed sensor fails is as follows:
(1) determining a vehicle braking mode according to the wheel motor drive type and the wheel position, comprising:
and if the wheel motor driving type is the dependent motor control type and the wheel position is the left front wheel and/or the right front wheel, determining that the vehicle braking mode is to close the anti-lock braking control function at the rear axle of the vehicle, and adjusting the wheel pressure at the front axle of the vehicle to be the master cylinder pressure.
For single wheel failure (the failed wheel is the left front wheel or the right front wheel) or two wheel failure (the failed wheel is the two front wheels), the brake anti-lock control function of the front axle is closed, the wheel pressure of the front axle is controlled to be consistent with the master cylinder pressure, and the rear axle has no influence;
(2) determining a vehicle braking mode according to the wheel motor drive type and the wheel position, comprising:
and if the wheel motor driving type is the dependent motor control type and the wheel position is the left rear wheel and/or the right rear wheel, determining that the vehicle braking mode is to close the anti-lock braking control function at the rear axle of the vehicle, and adjusting the wheel pressure at the rear axle of the vehicle to be the master cylinder pressure.
For single wheel failure (the failed wheel is the left rear wheel or the right rear wheel) or two wheel failure (the failed wheel is the two rear wheels), the brake anti-lock control function of the rear axle is closed, the wheel pressure of the front axle is controlled to be consistent with the master cylinder pressure, and the front axle has no influence;
(3) determining a vehicle braking mode according to the wheel motor drive type and the wheel position, comprising:
and if the wheel motor driving type is the dependent motor control type and the wheel position is at least one of the left front wheel and the right front wheel and at least one of the left rear wheel and the right rear wheel, determining that the vehicle braking mode is to close the anti-lock brake control function at the front axle and the rear axle of the vehicle, and adjusting the wheel pressure at the front axle and the rear axle of the vehicle to be the master cylinder pressure.
And for two-wheel faults (the fault wheels are respectively positioned on the front axle and the rear axle) or three-wheel faults or four-wheel faults, the anti-lock brake control function of the front axle and the rear axle is closed, and the braking force and the deviation of the vehicle are avoided.
EXAMPLE III
Fig. 2 is a schematic structural diagram of a vehicle brake control device according to a third embodiment of the present invention. The device can be realized in a hardware and/or software mode, can execute the vehicle brake control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. As shown in fig. 2, the apparatus includes:
a wheel speed sensor state acquisition module 210 for acquiring a wheel speed sensor state of each wheel in the vehicle;
the position type determining module 220 is configured to determine a wheel position and a wheel motor driving type of a wheel corresponding to a fault state if at least one wheel speed sensor state is the fault state; the wheel motor driving type is an independent motor control type or a non-independent motor control type;
a vehicle braking mode determining module 230, configured to determine a vehicle braking mode according to the wheel motor driving type and the wheel position.
The embodiment of the invention obtains the state of a wheel speed sensor of each wheel in the vehicle; if at least one wheel speed sensor is in a fault state, determining the wheel position and the wheel motor driving type of a wheel corresponding to the fault state; the wheel motor driving type is an independent motor control type or a non-independent motor control type; and determining a vehicle braking mode according to the driving type of the wheel motor and the wheel position. The problem of when the fast sensor trouble of wheel, braking anti-lock control function directly stops, leads to the wheel locking easily and can't turn to, vehicle unstability when even braking turns to is solved, realizes the effect that improves the stability, the brake performance and the security of vehicle.
On the basis of the above technical solutions, optionally, the vehicle braking manner determining module includes:
the motor rotating speed acquisition unit is used for acquiring the motor rotating speed of the independent motor if the wheel motor driving type is the independent motor control type so as to determine the wheel speed according to the motor rotating speed;
a first vehicle braking mode determination unit for determining the vehicle braking mode based on the wheel speed and the wheel position.
On the basis of the above technical solutions, optionally, the vehicle braking manner determining module includes:
a second vehicle braking mode determining unit, configured to determine a vehicle braking mode according to the wheel position if the wheel motor driving type is the dependent motor control type; wherein the vehicle braking modes comprise a first vehicle braking mode and a second vehicle braking mode;
the wheel pressure adjusting unit is used for closing a brake anti-lock control function at a brake position corresponding to the vehicle brake mode and adjusting the wheel pressure at the wheel position according to a preset mode; the braking position corresponding to the first vehicle braking mode is a front vehicle axle, and the braking position corresponding to the second vehicle braking mode is a rear vehicle axle.
On the basis of the above technical solutions, optionally, the wheel pressure adjusting unit includes:
a wheel pressure adjusting subunit for adjusting the wheel pressure at the braking position to a master cylinder pressure.
On the basis of the above technical solutions, optionally, the vehicle braking manner determining unit includes:
a first vehicle braking mode determining subunit, configured to determine that the vehicle braking mode includes the first vehicle braking mode if the wheel position is one of a left front wheel, a right front wheel, and two front wheels;
and a second vehicle braking mode determining subunit, configured to determine that the vehicle braking mode includes the second vehicle braking mode if the wheel position is one of a left rear wheel, a right rear wheel, and two rear wheels.
On the basis of the foregoing technical solutions, optionally, the vehicle braking manner determining module is further configured to include:
if the wheel motor driving type is the dependent motor control type and the wheel position is the left front wheel and/or the right front wheel, determining that the vehicle braking mode is to close the anti-lock braking control function at the rear axle of the vehicle and adjust the wheel pressure at the front axle of the vehicle to be the master cylinder pressure;
if the wheel motor driving type is the independent motor control type and the wheel position is the left rear wheel and/or the right rear wheel, acquiring the motor rotating speed of the independent motor at the rear axle of the vehicle to determine the wheel speed according to the motor rotating speed;
and determining the vehicle braking mode according to the wheel speed and the wheel position.
On the basis of the above technical solutions, optionally, the vehicle braking manner determining module is further configured to:
and if the wheel motor driving type is the dependent motor control type and the wheel position is the left front wheel and/or the right front wheel, determining that the vehicle braking mode is to close the anti-lock braking control function at the rear axle of the vehicle, and adjusting the wheel pressure at the front axle of the vehicle to be the master cylinder pressure.
On the basis of the above technical solutions, optionally, the vehicle braking manner determining module is further configured to:
and if the wheel motor driving type is the non-independent motor control type and the wheel position is the left rear wheel and/or the right rear wheel, closing the anti-lock brake control function at the rear axle of the vehicle according to the vehicle braking mode and adjusting the wheel pressure at the rear axle of the vehicle to be the master cylinder pressure.
On the basis of the above technical solutions, optionally, the vehicle braking manner determining module is further configured to:
if the wheel motor driving type is the independent motor control type and the wheel position is the left front wheel and/or the right front wheel, acquiring the motor rotating speed of the independent motor at the front axle of the vehicle so as to determine the wheel speed according to the motor rotating speed;
determining the vehicle braking mode according to the wheel speed and the wheel position;
and if the wheel motor driving type is the dependent motor control type and the wheel position is the left rear wheel and/or the right rear wheel, determining that the vehicle braking mode is to close the anti-lock braking control function at the rear axle of the vehicle, and adjusting the wheel pressure at the rear axle of the vehicle to be the master cylinder pressure.
Example four
Fig. 3 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention, as shown in fig. 3, the electronic device includes a processor 30, a memory 31, an input device 32, and an output device 33; the number of the processors 30 in the electronic device may be one or more, and one processor 30 is taken as an example in fig. 3; the processor 30, the memory 31, the input device 32 and the output device 33 in the electronic apparatus may be connected by a bus or other means, and the bus connection is exemplified in fig. 3.
The memory 31 is a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the vehicle brake control method in the embodiment of the present invention. The processor 30 executes various functional applications of the electronic device and data processing by executing software programs, instructions and modules stored in the memory 31, that is, implements the vehicle brake control method described above.
The memory 31 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 31 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 31 may further include memory located remotely from the processor 30, which may be connected to the electronic device through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
EXAMPLE five
Embodiments of the present invention also provide a storage medium containing computer-executable instructions which, when executed by a computer processor, perform a vehicle braking control method, the method comprising:
acquiring a wheel speed sensor state of each wheel in the vehicle;
if at least one wheel speed sensor is in a fault state, determining the wheel position and the wheel motor driving type of a wheel corresponding to the fault state; the wheel motor driving type is an independent motor control type or a non-independent motor control type;
and determining a vehicle braking mode according to the driving type of the wheel motor and the wheel position.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the vehicle brake 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 can 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 vehicle 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 vehicle brake control method characterized by comprising:
acquiring a wheel speed sensor state of each wheel in the vehicle;
if at least one wheel speed sensor is in a fault state, determining the wheel position and the wheel motor driving type of a wheel corresponding to the fault state; the wheel motor driving type is an independent motor control type or a non-independent motor control type;
and determining a vehicle braking mode according to the driving type of the wheel motor and the wheel position.
2. The method of claim 1, wherein determining a vehicle braking mode based on the wheel motor drive type and the wheel position comprises:
if the wheel motor driving type is the independent motor control type, acquiring the motor rotating speed of the independent motor so as to determine the wheel speed according to the motor rotating speed;
and determining the vehicle braking mode according to the wheel speed and the wheel position.
3. The method of claim 1, wherein determining a vehicle braking mode based on the wheel motor drive type and the wheel position comprises:
if the wheel motor driving type is the dependent motor control type, determining a vehicle braking mode according to the wheel position; wherein the vehicle braking modes comprise a first vehicle braking mode and a second vehicle braking mode;
closing a brake anti-lock control function at a brake position corresponding to the vehicle brake mode, and adjusting wheel pressure at the brake position according to a preset mode; the braking position corresponding to the first vehicle braking mode is a front vehicle axle, and the braking position corresponding to the second vehicle braking mode is a rear vehicle axle.
4. The method of claim 3, wherein adjusting the wheel pressure at the braking position in a preset manner comprises:
adjusting the wheel pressure at the braking position to a master cylinder pressure.
5. The method of claim 3, wherein determining a vehicle braking mode based on the wheel position comprises:
if the wheel position is one of a left front wheel, a right front wheel and two front wheels, determining that the vehicle braking mode comprises the first vehicle braking mode;
and if the wheel position is one of a left rear wheel, a right rear wheel and two rear wheels, determining that the vehicle braking mode comprises the second vehicle braking mode.
6. The method of claim 1, wherein determining a vehicle braking mode based on the wheel motor drive type and the wheel position comprises:
if the wheel motor driving type is the dependent motor control type and the wheel position is the left front wheel and/or the right front wheel, determining that the vehicle braking mode is to close the anti-lock braking control function at the rear axle of the vehicle and adjust the wheel pressure at the front axle of the vehicle to be the master cylinder pressure;
if the wheel motor driving type is the independent motor control type and the wheel position is the left rear wheel and/or the right rear wheel, acquiring the motor rotating speed of the independent motor at the rear axle of the vehicle to determine the wheel speed according to the motor rotating speed;
and determining the vehicle braking mode according to the wheel speed and the wheel position.
7. The method of claim 1, wherein determining a vehicle braking mode based on the wheel motor drive type and the wheel position comprises:
and if the wheel motor driving type is the dependent motor control type and the wheel position is the left front wheel and/or the right front wheel, determining that the vehicle braking mode is to close the anti-lock braking control function at the rear axle of the vehicle, and adjusting the wheel pressure at the front axle of the vehicle to be the master cylinder pressure.
8. The method of claim 1, wherein determining a vehicle braking mode based on the wheel motor drive type and the wheel position comprises:
and if the wheel motor driving type is the non-independent motor control type and the wheel position is the left rear wheel and/or the right rear wheel, closing the anti-lock brake control function at the rear axle of the vehicle according to the vehicle braking mode and adjusting the wheel pressure at the rear axle of the vehicle to be the master cylinder pressure.
9. The method of claim 1, wherein determining a vehicle braking mode based on the wheel motor drive type and the wheel position comprises:
if the wheel motor driving type is the independent motor control type and the wheel position is the left front wheel and/or the right front wheel, acquiring the motor rotating speed of the independent motor at the front axle of the vehicle so as to determine the wheel speed according to the motor rotating speed;
determining the vehicle braking mode according to the wheel speed and the wheel position;
and if the wheel motor driving type is the dependent motor control type and the wheel position is the left rear wheel and/or the right rear wheel, determining that the vehicle braking mode is to close the anti-lock braking control function at the rear axle of the vehicle, and adjusting the wheel pressure at the rear axle of the vehicle to be the master cylinder pressure.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, carries out a vehicle brake control method according to any one of claims 1-9.
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