CN114771481A - Vehicle brake control method and device, controller and vehicle - Google Patents
Vehicle brake control method and device, controller and vehicle Download PDFInfo
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- CN114771481A CN114771481A CN202110729400.6A CN202110729400A CN114771481A CN 114771481 A CN114771481 A CN 114771481A CN 202110729400 A CN202110729400 A CN 202110729400A CN 114771481 A CN114771481 A CN 114771481A
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000004590 computer program Methods 0.000 claims description 2
- 230000004044 response Effects 0.000 abstract description 17
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- 238000004422 calculation algorithm Methods 0.000 description 3
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- 238000004364 calculation method Methods 0.000 description 2
- 230000002596 correlated effect Effects 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
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Classifications
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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
- B60T13/58—Combined or convertible systems
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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
- B60T13/74—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 electrical assistance or drive
Abstract
The disclosure relates to a vehicle brake control method, a vehicle brake control device, a controller and a vehicle. The control method for vehicle braking is applied to a vehicle, the vehicle comprises a hydraulic braking system and a motor braking system, and the method comprises the following steps: acquiring opening information of a brake pedal; if the hydraulic braking system and the motor braking system are required to brake simultaneously and wheels of the vehicle are not locked according to the opening information, controlling the hydraulic braking system to output a first braking torque and controlling the motor braking system to output a second braking torque according to the opening information; and updating the second braking torque in real time according to the opening information, and controlling a motor braking system to output the updated second braking torque. Therefore, the motor braking system can be controlled to output the second braking torque updated according to the current opening information in real time. Because the motor braking system is quick in response, the braking torque can be quickly adjusted, the response speed of a vehicle to a brake pedal can be further improved, and the braking distance can be conveniently shortened.
Description
Technical Field
The disclosure relates to the technical field of vehicles, in particular to a vehicle brake control method, device, controller and vehicle.
Background
During the running process of the vehicle, the inertia of the vehicle is large, and the requirement on the reliability of a braking system is high.
In the prior art, vehicles are usually braked by a hydraulic system. However, in the hydraulic system, the action of corresponding parts is realized through hydraulic oil, the braking response speed is slow, and the vehicle braking distance is long easily caused by untimely response.
Disclosure of Invention
The invention aims to provide a control method, a control device, a controller and a vehicle for vehicle braking, so as to shorten the braking distance of the vehicle.
In order to achieve the above object, the present disclosure provides a control method of vehicle braking, applied to a vehicle, the method including:
acquiring opening information of a brake pedal;
if it is determined that the hydraulic braking system and the motor braking system are required to brake simultaneously and wheels of the vehicle are not locked according to the opening information, controlling the hydraulic braking system to output a first braking torque and controlling the motor braking system to output a second braking torque according to the opening information;
and updating the second braking torque in real time according to the opening information, and controlling the motor braking system to output the updated second braking torque.
Optionally, the updating the second braking torque in real time according to the opening information includes:
determining a target total braking torque according to the opening information;
inputting the braking parameters of the vehicle into a motor braking proportion prediction model to obtain the braking proportion of the motor braking system output by the motor braking proportion prediction model;
and updating the second braking torque in real time according to the target total braking torque and the braking proportion.
Optionally, the braking parameter comprises at least one of:
the opening degree information, an SOC value of a power battery of the vehicle, and a current vehicle speed of the vehicle.
Optionally, after the step of acquiring the opening degree information of the brake pedal, the method further includes:
if the hydraulic braking system and the motor braking system are required to brake simultaneously and wheels of the vehicle are locked according to the opening information, inputting real-time running state parameters of the vehicle into a braking torque prediction model to obtain target braking torques output by the braking torque prediction model and corresponding to the hydraulic braking system and the motor braking system respectively;
and respectively controlling the hydraulic braking system and the motor braking system to brake according to the target braking torque respectively corresponding to the hydraulic braking system and the motor braking system.
Optionally, the real-time operating state parameter comprises at least one of:
a current vehicle speed of the vehicle, a current angular speed of the vehicle, a brake pressure of the hydraulic brake system, a current slip rate of the vehicle, a mass of the vehicle, and a radius of the wheel.
Optionally, the determining that the hydraulic braking system and the motor braking system are required to perform braking simultaneously according to the opening information includes:
determining the braking strength according to the opening information;
and when the braking intensity exceeds a preset intensity threshold value, determining that the hydraulic braking system and the motor braking system are required to brake simultaneously.
Optionally, the determining that the hydraulic braking system and the motor braking system are required to perform braking simultaneously according to the opening information includes:
determining the braking strength according to the opening information;
determining an SOC value of a power battery of the vehicle;
and when the SOC value is smaller than a saturation threshold value and the braking strength exceeds a preset strength threshold value, determining that the hydraulic braking system and the motor braking system are required to brake simultaneously.
Optionally, after determining the SOC value of the power battery of the vehicle, the method further includes:
and when the SOC value is smaller than the saturation threshold and the braking intensity is smaller than or equal to the preset intensity threshold, controlling the motor braking system to brake according to the opening information.
The second aspect of the present disclosure provides a control device for vehicle braking, which is applied to a vehicle including a hydraulic braking system and a motor braking system, and the device includes:
the device comprises an acquisition module, a control module and a control module, wherein the acquisition module is configured to acquire opening information of a brake pedal;
the control module is configured to control the hydraulic braking system to output a first braking torque and control the motor braking system to output a second braking torque according to the opening information if the hydraulic braking system and the motor braking system are required to brake simultaneously and wheels of the vehicle are not locked according to the opening information;
the control module is further configured to update the second braking torque in real time according to the opening degree information, and control the motor braking system to output the updated second braking torque.
Optionally, the control module is configured to update the second braking torque in real time according to the opening degree information by:
determining a target total braking torque according to the opening information;
inputting the braking parameters of the vehicle into a motor braking proportion prediction model to obtain the braking proportion of the motor braking system output by the motor braking proportion prediction model;
and updating the second braking torque in real time according to the target total braking torque and the braking proportion.
Optionally, the apparatus further comprises:
the calculation module is configured to, after the obtaining module obtains the opening information of the brake pedal, if it is determined that the hydraulic brake system and the motor brake system are required to perform braking simultaneously and wheels of the vehicle are locked according to the opening information, input real-time running state parameters of the vehicle into a brake torque prediction model to obtain target brake torques, output by the brake torque prediction model, corresponding to the hydraulic brake system and the motor brake system respectively;
the control module is further configured to control the hydraulic braking system and the motor braking system to brake according to target braking torques respectively corresponding to the hydraulic braking system and the motor braking system.
Optionally, the apparatus further comprises:
a braking mode determination module configured to determine a braking intensity according to the opening degree information; and when the braking intensity exceeds a preset intensity threshold value, determining that the hydraulic braking system and the motor braking system are required to brake simultaneously.
Optionally, the apparatus further comprises:
a braking mode determination module configured to determine a braking intensity according to the opening degree information;
determining an SOC value of a power battery of the vehicle;
and when the SOC value is smaller than a saturation threshold value and the braking strength exceeds a preset strength threshold value, determining that the hydraulic braking system and the motor braking system are required to brake simultaneously.
Optionally, the control module is further configured to control the motor braking system to brake according to the opening information when the SOC value is smaller than the saturation threshold and the braking intensity is smaller than or equal to the preset intensity threshold after the braking mode determination module determines the SOC value of the power battery of the vehicle.
A third aspect of the present disclosure provides a controller comprising:
a memory having a computer program stored thereon;
a processor, which program is able to carry out the steps of the method provided by the first aspect of the present disclosure when executed by said processor.
A fourth aspect of the present disclosure provides a vehicle including a hydraulic brake system and a motor brake system, and a controller provided by the third aspect of the present disclosure.
According to the technical scheme, if it is determined that the hydraulic braking system and the motor braking system are required to brake simultaneously and wheels of the vehicle are not locked according to the opening information, the hydraulic braking system is controlled to output a first braking torque and the motor braking system is controlled to output a second braking torque according to the opening information of the brake pedal, so that the vehicle can be braked. Meanwhile, the second braking torque can be updated in real time according to the opening information, and the motor braking system is controlled to output the updated second braking torque. The motor braking system is fast in response, so that the braking torque can be quickly adjusted, the response speed of the vehicle to the brake pedal can be further improved, and the braking distance can be conveniently shortened.
Additional features and advantages of the present disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart of a method of controlling vehicle braking provided by an exemplary embodiment of the present disclosure;
FIG. 2 is a flow chart of a method of controlling vehicle braking provided by another exemplary embodiment of the present disclosure;
FIG. 3 is a block diagram of a control device for vehicle braking provided by an exemplary embodiment of the present disclosure;
fig. 4 is a block diagram of a controller provided in an exemplary embodiment of the present disclosure.
Detailed Description
The following detailed description of the embodiments of the disclosure refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
In the present disclosure, unless otherwise stated, the use of directional terms such as "front and rear" is generally defined according to the direction of the vehicle in a normal driving state, with the front direction being the front and the rear direction being the rear. The terms "first," "second," and the like, are used herein to distinguish one element from another, not necessarily in order and not necessarily in order. In addition, when the following description refers to the accompanying drawings, the same numbers in different drawings represent the same or similar elements, unless otherwise indicated.
As described in the background art, the hydraulic system realizes the actions of corresponding components through hydraulic oil, and the braking response speed is slow, which is likely to result in a long braking distance of a vehicle due to untimely response.
In view of the above, the present disclosure provides a method, an apparatus, a controller and a vehicle for controlling vehicle braking, so as to reduce the wheel locking during braking.
Fig. 1 is a flowchart of a control method for vehicle braking according to an exemplary embodiment of the present disclosure. Referring to fig. 1, the present disclosure provides a control method of vehicle braking, which may include steps S11 through S13.
In step S11, the opening degree information of the brake pedal is acquired.
For example, the opening degree information of the brake pedal may be acquired by a brake pedal position sensor. The opening degree information of the brake pedal can represent the current braking strength of the vehicle, and the braking mode can be determined according to the braking torque range and the braking strength which can be provided by the hydraulic braking system and the motor braking system. The braking mode can include braking by the hydraulic braking system alone, braking by the electric motor braking system alone, and simultaneous braking by the hydraulic braking system and the electric motor braking system, so that the braking torque of the vehicle can meet the requirement of braking strength.
Wherein the braking strength is the ratio of the deceleration of the vehicle to the gravitational acceleration of the vehicle. Since the braking intensity is positively correlated with the opening degree of the brake pedal, in this example, after the opening degree information is acquired, the braking intensity may be determined according to the opening degree information and the proportional coefficient of the brake pedal opening degree to the braking intensity.
In step S12, if it is determined that the hydraulic braking system and the motor braking system are required to perform braking simultaneously and the wheels of the vehicle are not locked according to the opening degree information, a target total braking torque of the vehicle may be determined according to the opening degree information, and the target total braking torque may be distributed to the hydraulic braking system and the motor braking system, so as to determine a first braking torque of the hydraulic braking system and a second braking torque of the motor braking system. Subsequently, the hydraulic brake system can be controlled to output a first brake torque, and the motor brake system can be controlled to output a second brake torque, so as to realize braking.
In step S13, the second braking torque is updated in real time according to the opening degree information, and the motor braking system is controlled to output the updated second braking torque.
Therefore, the second braking torque can be adjusted in real time according to the opening information, and the braking torque can be adjusted quickly due to the rapid response of the motor braking system, so that the response speed of the vehicle to the brake pedal can be increased, and the braking distance can be shortened conveniently.
Specifically, after the hydraulic brake system is controlled to output the first brake torque, and the motor brake system is controlled to output the second brake torque, if the opening change of the brake pedal is small, that is, the change range of the target total brake torque does not exceed the range of the maximum brake torque which can be provided by the motor brake system, the motor brake system can quickly respond to the action of the brake pedal to adjust the second brake torque output by the motor brake system, so that the controllability of the vehicle is improved, and the braking distance is conveniently shortened.
Of course, if the opening of the brake pedal changes greatly, that is, the change range of the target total brake torque exceeds the range of the maximum brake torque that can be provided by the motor brake system, the motor brake system can quickly respond to the action of the brake pedal within the range, and meanwhile, the hydraulic brake system can respond according to the updated first brake torque, so that the brake torques provided by the hydraulic brake system and the motor brake system meet the brake requirement. Thus, the response speed to the brake pedal operation can be maximized.
For example, updating the second braking torque in real time according to the opening degree information may include:
and determining the target total braking torque according to the opening information.
For example, the brake intensity may be determined from the opening degree information, and then the target total brake torque may be determined from the brake intensity.
Inputting the braking parameters of the vehicle into a motor braking proportion prediction model to obtain the braking proportion of a motor braking system output by the motor braking proportion prediction model; and updating the second braking torque in real time according to the target total braking torque and the braking proportion. That is, the target total braking torque is multiplied by the braking ratio to obtain the updated second braking torque.
Therefore, the second braking torque can be updated in real time, so that the opening of the brake pedal can be quickly responded, and the braking distance of the vehicle can be conveniently shortened.
Illustratively, the braking parameters may include at least one of: the opening degree information, the SOC value of the power battery of the vehicle and the current vehicle speed of the vehicle.
For example, the motor braking proportion prediction model may be based on a fuzzy control algorithm, and the braking proportion of the motor braking system may be obtained in real time by inputting the braking parameters into the motor braking proportion prediction model, and meanwhile, the target total braking torque may also be determined in real time according to the opening degree information, so that the second braking torque of the motor braking system may be determined in real time according to the target total braking torque and the braking proportion. Meanwhile, the motor braking system is quick in response and can quickly respond according to corresponding control signals so as to quickly respond to the action of the brake pedal.
Illustratively, the method may further include: if the hydraulic braking system and the motor braking system are required to brake simultaneously and wheels of the vehicle are locked according to the opening information, inputting real-time running state parameters of the vehicle into a braking torque prediction model to obtain target braking torques output by the braking torque prediction model and corresponding to the hydraulic braking system and the motor braking system respectively;
and respectively controlling the hydraulic braking system and the motor braking system to brake according to the target braking torque respectively corresponding to the hydraulic braking system and the motor braking system.
Therefore, under the condition that the wheels are locked, the target braking torques corresponding to the hydraulic braking system and the motor braking system can be determined in real time by using the braking torque prediction model, and the hydraulic braking system and the motor braking system are respectively controlled to brake, so that the current slip rate of the wheels is close to the ideal slip rate, the friction force between the wheels and the ground is increased, and the braking distance of the vehicle is reduced.
Illustratively, the real-time operating condition parameters include at least one of:
the current vehicle speed of the vehicle, the current angular speed of the vehicle, the brake pressure of the hydraulic brake system, the current slip rate of the vehicle, the mass of the vehicle, and the radius of the wheels.
For example, the current vehicle speed of the vehicle may include a current vehicle speed of front wheels of the vehicle and a current vehicle speed of rear wheels of the vehicle.
For example, the current angular velocity of the vehicle may be a current angular velocity of the vehicle body.
The current angular velocity can be detected by an angular velocity sensor, for example. Alternatively, the current angular velocity of the vehicle may be determined from the information on the rotational angle of the steering wheel of the vehicle and the information on the wheel speed of the wheels.
For example, the brake pressure of the hydraulic brake system may include a pressure of a master cylinder of the hydraulic brake system and a pressure of wheel cylinders of the hydraulic brake system.
For example, the current slip rate of the vehicle may include a current slip rate of a front wheel of the vehicle and a current slip rate of a rear wheel of the vehicle.
For example, the braking torque prediction model may be based on a model prediction control algorithm, and by inputting the real-time operating state parameters into the braking torque prediction model, the braking torques corresponding to the hydraulic braking system and the motor braking system can be directly obtained, so as to increase the operation speed, avoid complex hierarchical control (i.e., calculating the braking torques of the front and rear axles of the vehicle first, and then calculating the braking torques of the front and rear axles of the vehicle respectively), improve the response speed of the vehicle, and reduce the time for locking the wheels, so as to shorten the braking distance of the vehicle.
For example, determining that the hydraulic braking system and the motor braking system are required to perform braking simultaneously according to the opening information may include:
and determining the braking strength according to the opening information.
It is understood that the braking intensity is positively correlated with the opening degree of the brake pedal, and therefore, the braking intensity can be determined from the opening degree information.
And when the braking strength exceeds a preset strength threshold value, determining that the hydraulic braking system and the motor braking system are required to brake simultaneously.
The preset intensity threshold value represents the maximum braking torque that the motor braking system can provide. When the braking strength exceeds a preset strength threshold value, the braking torque provided by the motor braking system cannot meet the requirement of the braking strength, and therefore it is determined that the hydraulic braking system and the motor braking system need to brake simultaneously.
For example, determining that the hydraulic braking system and the motor braking system are required to perform braking simultaneously according to the opening information may include:
determining the braking strength according to the opening information;
determining an SOC value of a power battery of a vehicle;
and when the SOC value is smaller than the saturation threshold and the braking strength exceeds a preset strength threshold, determining that the hydraulic braking system and the motor braking system need to perform braking simultaneously.
In the scheme, when the SOC value of the power battery is smaller than the saturation threshold and the braking strength exceeds the preset strength threshold, it is determined that the hydraulic braking system and the motor braking system need to brake simultaneously, so that the braking torque provided by the hydraulic braking system and the motor braking system can meet the braking requirement.
Illustratively, the method may further include: and when the SOC value is smaller than the saturation threshold and the braking intensity is smaller than or equal to the preset intensity threshold, controlling a motor braking system to brake according to the opening information.
In the scheme, when the SOC value of the power battery is smaller than the saturation threshold value and the braking strength is smaller than or equal to the preset strength threshold value, the braking torque provided by the motor braking system can meet the braking requirement at the moment, the power battery does not have the risk of overcharging at present, the motor braking system can be controlled to brake according to the opening information at the moment, the speed of braking response can be increased, energy recovery can be realized, and the cruising mileage of a vehicle can be conveniently improved.
Fig. 2 is a flowchart of a method for controlling vehicle braking according to another exemplary embodiment of the disclosure. Referring to fig. 2, the method may include steps S21 through S32.
In step S21, opening degree information of the brake pedal is acquired;
in step S22, determining whether the SOC value of the power battery is smaller than a saturation threshold, and generating a first determination result;
under the condition that the first judgment result is negative, the SOC value of the power battery is larger than or equal to the saturation threshold, and if the motor braking system is used for braking, the power battery has the risk of overcharging. In order to protect the power battery, step S23 is executed to control the hydraulic brake system to brake.
If the first judgment result is yes, the SOC value of the power battery is smaller than the saturation threshold, and the motor braking system may be used for braking.
In step S24, the brake strength is determined from the opening degree information.
It should be noted that, although it is shown in fig. 2 that the step S24 is performed after the step S22, the present disclosure is not limited thereto. The present disclosure is not intended to limit the execution sequence of steps S24 and S22, which may be performed simultaneously or after step S24 and step S22 are performed.
In step S25, it is determined whether the braking intensity exceeds a preset intensity threshold, and a second determination result is generated.
If the second determination result is negative, the braking strength is smaller than or equal to the preset strength threshold value, and the preset strength threshold value represents the maximum braking torque that the motor braking system can provide, and the braking torque that the motor braking system can provide at this time can meet the braking requirement, so that step S26 is executed, and the motor braking system is controlled to brake, so that the speed of braking response can be increased, and energy recovery can be realized, so as to improve the cruising mileage of the vehicle.
And if the second judgment result is yes, the braking strength is greater than the preset strength threshold value, and the hydraulic braking system and the motor braking system are required to brake simultaneously.
In step S27, it is determined whether or not the wheel is locked, and a third determination result is generated.
In the case where the third determination result is no, steps S28 through S30 are performed.
In step S28, a first braking torque of the hydraulic braking system and a second braking torque of the electric motor braking system are determined as a function of the braking intensity.
In step S29, the hydraulic brake system is controlled to output a first brake torque, and the electric motor brake system is controlled to output a second brake torque to achieve vehicle braking.
In step S30, the second braking torque is updated in real time according to the opening degree information, and the motor braking system is controlled to output the updated second braking torque, so that the motor braking system can be used to quickly respond to the action of the brake pedal, thereby facilitating the shortening of the braking distance.
In a case where the third determination result is yes, step S31 and step S32 are executed.
In step S31, inputting the real-time operating state parameters of the vehicle into the braking torque prediction model to obtain target braking torques output by the braking torque prediction model and corresponding to the hydraulic braking system and the motor braking system respectively;
the real-time running state parameters can include the current vehicle speed of the front wheels of the vehicle, the current vehicle speed of the rear wheels of the vehicle, the current angular speed of the vehicle, the pressure of a master cylinder of a hydraulic braking system, the pressure of wheel cylinders of the hydraulic braking system, the current slip rate of the front wheels of the vehicle, the current slip rate of the rear wheels of the vehicle, the mass of the vehicle and the radius of the wheels. The braking torque prediction model may be based on a model predictive control algorithm.
In step S32, the hydraulic brake system and the motor brake system are controlled to brake according to the target braking torques respectively corresponding to the hydraulic brake system and the motor brake system.
Therefore, under the condition that the wheels are locked, the target braking torques corresponding to the hydraulic braking system and the motor braking system can be determined according to the real-time running state parameters of the vehicle, and the hydraulic braking system and the motor braking system are respectively controlled to brake according to the target braking torques corresponding to the hydraulic braking system and the motor braking system, so that the current slip rate of the wheels is maintained near the ideal slip rate, and the braking distance of the vehicle is conveniently shortened.
Through the scheme of this example, can be according to whether SOC value, the brake intensity of the battery of power and wheel lock the reasonable braking mode of selection, improve the travelling comfort of braking in-process, be convenient for improve energy recuperation efficiency simultaneously.
It should be noted that, each threshold related to the present disclosure may be calibrated in advance, and the value of each threshold is not limited.
Based on the same inventive concept, the disclosure also provides a control device for vehicle braking. Fig. 3 is a block diagram of a control apparatus 400 for vehicle braking according to an exemplary embodiment of the present disclosure. Referring to fig. 3, a control apparatus 400 for vehicle braking is applied to a vehicle, which may include a hydraulic braking system and a motor braking system, and the apparatus 400 may include an acquisition module 401 and a control module 402.
The obtaining module 401 is configured to obtain opening information of a brake pedal;
the control module 402 is configured to control the hydraulic braking system to output a first braking torque and control the motor braking system to output a second braking torque according to the opening information if it is determined that the hydraulic braking system and the motor braking system are required to perform braking simultaneously and wheels of the vehicle are not locked according to the opening information;
the control module 402 is further configured to update the second braking torque in real time according to the opening degree information, and control the motor braking system to output the updated second braking torque.
Therefore, if it is determined that the hydraulic braking system and the motor braking system are required to brake simultaneously and wheels of the vehicle are not locked according to the opening information, the hydraulic braking system is controlled to output a first braking torque and the motor braking system is controlled to output a second braking torque according to the opening information of the brake pedal, so that the vehicle can be braked. Meanwhile, the second braking torque can be updated in real time according to the opening information, and the motor braking system is controlled to output the updated second braking torque. The motor braking system is fast in response, so that the braking torque can be quickly adjusted, the response speed of the vehicle to the brake pedal can be further improved, and the braking distance can be conveniently shortened.
For example, the control module 402 may be configured to update the second braking torque in real time according to the opening information by:
determining a target total braking torque according to the opening information;
inputting the braking parameters of the vehicle into the motor braking proportion prediction model to obtain the braking proportion of a motor braking system output by the motor braking proportion prediction model;
and updating the second braking torque in real time according to the target total braking torque and the braking proportion.
Illustratively, the apparatus 400 may further include:
the calculation module is configured to input real-time running state parameters of the vehicle into the braking torque prediction model to obtain target braking torques which are output by the braking torque prediction model and correspond to the hydraulic braking system and the motor braking system respectively if the hydraulic braking system and the motor braking system are required to brake simultaneously and wheels of the vehicle are locked according to the opening information after the opening information of the brake pedal is obtained by the obtaining module;
the control module 402 is further configured to control the hydraulic brake system and the motor brake system to brake according to the target braking torques respectively corresponding to the hydraulic brake system and the motor brake system.
Illustratively, the apparatus 400 may further include:
a braking mode determination module configured to determine a braking intensity according to the opening degree information; and when the braking strength exceeds a preset strength threshold value, determining that the hydraulic braking system and the motor braking system need to brake simultaneously.
Illustratively, the apparatus 400 may further include:
a braking mode determination module configured to determine a braking intensity according to the opening degree information;
determining an SOC value of a power battery of a vehicle;
and when the SOC value is smaller than the saturation threshold and the braking strength exceeds a preset strength threshold, determining that the hydraulic braking system and the motor braking system need to perform braking simultaneously.
For example, the control module 402 may be further configured to control the motor braking system to brake according to the opening degree information when the SOC value is less than the saturation threshold and the braking intensity is less than or equal to the preset intensity threshold after the braking mode determination module determines the SOC value of the power battery of the vehicle.
With regard to the apparatus in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be described in detail here.
The present disclosure also provides a vehicle including a hydraulic braking system and a motor braking system, and a control device for vehicle braking provided by the above embodiments of the present disclosure.
Fig. 4 is a block diagram of a controller 600 provided in an exemplary embodiment of the present disclosure. As shown in fig. 4, the controller 600 may include: a processor 601, a memory 602. The controller 600 may also include one or more of a multimedia component 603, an input/output (I/O) interface 604, and a communication component 605.
The processor 601 is configured to control the overall operation of the controller 600 to complete all or part of the steps of the control method for braking the vehicle. The memory 602 is used to store various types of data to support operations at the controller 600, such data can include, for example, instructions for any application or method operating on the controller 600, as well as application-related data, such as contact data, messages sent or received, pictures, audio, video, and so forth. The Memory 602 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk or optical disk.
In an exemplary embodiment, the controller 600 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), microcontrollers, microprocessors or other electronic components for executing the above-mentioned control method of the vehicle brake.
In another exemplary embodiment, there is also provided a computer readable storage medium including program instructions which, when executed by a processor, implement the steps of the above-described control method of vehicle braking. For example, the computer readable storage medium may be the above-mentioned memory 602 including program instructions executable by the processor 601 of the controller 600 to perform the above-mentioned control method of vehicle braking.
The preferred embodiments of the present disclosure are described in detail above with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details in the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A control method for vehicle braking is characterized by being applied to a vehicle, wherein the vehicle comprises a hydraulic braking system and an electric motor braking system, and the method comprises the following steps:
acquiring opening information of a brake pedal;
if it is determined that the hydraulic braking system and the motor braking system are required to brake simultaneously and wheels of the vehicle are not locked according to the opening information, controlling the hydraulic braking system to output a first braking torque and controlling the motor braking system to output a second braking torque according to the opening information;
and updating the second braking torque in real time according to the opening information, and controlling the motor braking system to output the updated second braking torque.
2. The method of claim 1, wherein updating the second braking torque in real time according to the opening information comprises:
determining a target total braking torque according to the opening information;
inputting the braking parameters of the vehicle into a motor braking proportion prediction model to obtain the braking proportion of the motor braking system output by the motor braking proportion prediction model;
and updating the second braking torque in real time according to the target total braking torque and the braking proportion.
3. The method of claim 2, wherein the braking parameters comprise at least one of:
the opening degree information, an SOC value of a power battery of the vehicle, and a current vehicle speed of the vehicle.
4. The method according to claim 1, characterized by, after the step of acquiring the opening degree information of the brake pedal, further comprising:
if the hydraulic braking system and the motor braking system are required to brake simultaneously and wheels of the vehicle are locked according to the opening information, inputting real-time running state parameters of the vehicle into a braking torque prediction model to obtain target braking torques output by the braking torque prediction model and corresponding to the hydraulic braking system and the motor braking system respectively;
and respectively controlling the hydraulic braking system and the motor braking system to brake according to the target braking torque respectively corresponding to the hydraulic braking system and the motor braking system.
5. The method of claim 4, wherein the real-time operating state parameters comprise at least one of:
a current vehicle speed of the vehicle, a current angular speed of the vehicle, a brake pressure of the hydraulic brake system, a current slip rate of the vehicle, a mass of the vehicle, and a radius of the wheel.
6. The method according to any one of claims 1 to 5, wherein the determining that the hydraulic brake system and the motor brake system are required to brake simultaneously according to the opening information comprises:
determining the braking strength according to the opening information;
and when the braking intensity exceeds a preset intensity threshold value, determining that the hydraulic braking system and the motor braking system are required to brake simultaneously.
7. The method of any one of claims 1 to 5, wherein said determining from said opening information that simultaneous braking by said hydraulic braking system and said electric machine braking system is required comprises:
determining the braking strength according to the opening information;
determining an SOC value of a power battery of the vehicle;
and when the SOC value is smaller than a saturation threshold value and the braking strength exceeds a preset strength threshold value, determining that the hydraulic braking system and the motor braking system are required to brake simultaneously.
8. A control device for vehicle braking, characterized by being applied to a vehicle comprising a hydraulic braking system and an electric motor braking system, the device comprising:
an acquisition module configured to acquire opening degree information of a brake pedal;
the control module is configured to control the hydraulic braking system to output a first braking torque and control the motor braking system to output a second braking torque according to the opening information if the hydraulic braking system and the motor braking system are required to brake simultaneously and wheels of the vehicle are not locked according to the opening information;
the control module is further configured to update the second braking torque in real time according to the opening degree information, and control the motor braking system to output the updated second braking torque.
9. A controller, comprising:
a memory having a computer program stored thereon;
processor, which program is operative to perform the steps of the method according to any one of claims 1 to 7 when executed by said processor.
10. A vehicle comprising a hydraulic braking system and an electric motor braking system, and a controller according to claim 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110729400.6A CN114771481A (en) | 2021-06-29 | 2021-06-29 | Vehicle brake control method and device, controller and vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110729400.6A CN114771481A (en) | 2021-06-29 | 2021-06-29 | Vehicle brake control method and device, controller and vehicle |
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| CN114771481A true CN114771481A (en) | 2022-07-22 |
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