CN114802139B - Vehicle brake control method, device, medium and equipment - Google Patents
Vehicle brake control method, device, medium and equipment Download PDFInfo
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- CN114802139B CN114802139B CN202110674227.4A CN202110674227A CN114802139B CN 114802139 B CN114802139 B CN 114802139B CN 202110674227 A CN202110674227 A CN 202110674227A CN 114802139 B CN114802139 B CN 114802139B
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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
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
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- Regulating Braking Force (AREA)
Abstract
The present disclosure relates to a vehicle brake control method, apparatus, medium, and device. The method comprises the following steps: if the braking signal is received, determining a target braking force of the vehicle; and controlling the vehicle to brake according to the target braking force, wherein during the braking process of the vehicle, the control is performed to transfer part of the braking force of a front axle to a rear axle or transfer part of the braking force of the rear axle to the front axle so that the distribution coefficients of the braking force of the front axle and the braking force of the rear axle reach the target distribution coefficient. According to the scheme, the problem of vehicle braking and nodding can be solved in a mode of braking force transfer between the front shaft and the rear shaft under the condition that vehicle acceleration is not affected, and comfort of passengers during braking and stopping is improved.
Description
Technical Field
The present disclosure relates to the field of vehicle automatic control technology, and in particular, to a vehicle brake control method, device, medium, and apparatus.
Background
The anti-pitching capability of the vehicle is always a problem to be solved and optimized for the suspension system, but the application working condition of the suspension system is considered, and the limitation of mechanical characteristics is considered, so that further anti-rolling optimization of the vehicle is very challenging. With the advent of decoupled braking systems, the brake-off prevention nodding became a new direction through the braking system optimization.
When the vehicle is about to brake, the braking system can improve the vehicle nodding by reducing the braking moment, but the method has higher requirements on the consistency of the mass-produced braking system of the vehicle, and rear-end collision accidents are easy to occur in special cases, so the solution has a certain limitation.
Disclosure of Invention
An object of the present disclosure is to provide a vehicle brake control method, apparatus, medium and device capable of improving a vehicle brake nodding.
In order to achieve the above object, the present disclosure provides a vehicle brake control method including:
if the braking signal is received, determining a target braking force of the vehicle;
and controlling the vehicle to brake according to the target braking force, wherein during the braking process of the vehicle, the control is performed to transfer part of the braking force of a front axle to a rear axle or transfer part of the braking force of the rear axle to the front axle so that the distribution coefficients of the braking force of the front axle and the braking force of the rear axle reach the target distribution coefficient.
Optionally, the controlling of transferring a part of the braking force of the front axle to the rear axle or transferring a part of the braking force of the rear axle to the front axle during the braking of the vehicle includes:
determining an initial vehicle speed;
during braking of the vehicle, if the vehicle speed of the vehicle decreases to the starting vehicle speed, control is started to transfer part of the braking force of the front axle to the rear axle or to transfer part of the braking force of the rear axle to the front axle.
Optionally, the determining the starting vehicle speed includes: the starting vehicle speed is determined according to the following manner:
v start ＝v end +ax×t
wherein F is front F for braking force of the front axle rear For the braking force of the rear axle, ax is the acceleration of the vehicle, dF is a predetermined braking force transfer rate, v start For the initial vehicle speed, v end And for a preset ending vehicle speed, beta is the target distribution coefficient, and t is the time length required for braking force transfer.
Optionally, if the vehicle speed of the vehicle decreases to the starting vehicle speed, starting control to transfer part of the braking force of the front axle to the rear axle or transfer part of the braking force of the rear axle to the front axle includes:
if the initial vehicle speed is smaller than a predetermined vehicle speed threshold value, when the vehicle speed of the vehicle is reduced to the initial vehicle speed, control is started to transfer part of the braking force of a front axle to a rear axle or to transfer part of the braking force of the rear axle to the front axle.
Optionally, the controlling of transferring a part of the braking force of the front axle to the rear axle or transferring a part of the braking force of the rear axle to the front axle during the braking of the vehicle includes:
if the target braking force is greater than a predetermined first braking force threshold value and less than a predetermined second braking force threshold value, then during braking of the vehicle, control is performed to transfer a portion of the braking force of the front axle to the rear axle, or to transfer a portion of the braking force of the rear axle to the front axle, the first braking force threshold value being less than the second braking force threshold value.
The present disclosure also provides a vehicle brake control apparatus, the apparatus including:
the determining module is used for determining the target braking force of the vehicle if the braking signal is received;
and the control module is used for controlling the vehicle to brake according to the target braking force, and controlling to transfer part of the braking force of a front axle to a rear axle or transfer part of the braking force of the rear axle to the front axle in the braking process of the vehicle so as to enable the distribution coefficients of the braking force of the front axle and the braking force of the rear axle to reach the target distribution coefficient.
Optionally, the control module includes:
the determining submodule is used for determining the starting vehicle speed;
and the first control sub-module is used for starting control to transfer part of braking force of a front axle to a rear axle or transfer part of braking force of the rear axle to the front axle if the vehicle speed of the vehicle is reduced to the initial vehicle speed during the braking process of the vehicle.
Optionally, the determining submodule is configured to determine the starting vehicle speed according to the following manner:
v start ＝v end +ax×t
wherein F is front F for braking force of the front axle rear For the braking force of the rear axle, ax is the acceleration of the vehicle, dF is a predetermined braking force transfer rate, v start For the initial vehicle speed, v end And for a preset ending vehicle speed, beta is the target distribution coefficient, and t is the time length required for braking force transfer.
The present disclosure also provides a non-transitory computer readable storage medium having stored thereon a computer program, characterized in that the program when executed by a processor implements the steps of the above method provided by the present disclosure.
The present disclosure also provides an electronic device, including:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the above method provided by the present disclosure.
According to the technical scheme, during the braking process of the vehicle, the braking forces of the front axle and the rear axle are controlled to be partially transferred so that the distribution coefficient of the braking forces of the front axle and the rear axle reaches the target distribution coefficient, and if the distribution coefficient reaches the target distribution coefficient, the pitch angle during braking can be reduced. Therefore, the scheme can optimize the problem of vehicle braking and nodding through a braking force transfer mode between the front shaft and the rear shaft under the condition that the acceleration of the vehicle is not influenced, and improves the comfort of passengers during braking and stopping.
Additional features and advantages of the present disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification, illustrate the disclosure and together with the description serve to explain, but do not limit the disclosure. In the drawings:
FIG. 1 is a flow chart of a vehicle brake control method provided by an exemplary embodiment;
FIG. 2 is a block diagram of a vehicle brake control device provided by an exemplary embodiment;
fig. 3 is a block diagram of an electronic device, as shown in an exemplary embodiment.
Detailed Description
Specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the disclosure, are not intended to limit the disclosure.
In the present disclosure, unless otherwise indicated, terms of orientation such as "front and rear" are used generally with respect to the direction in which the vehicle is traveling normally.
When the vehicle is braked at acceleration ax, the inertial force f=m·ax acting on the vehicle mass, and the vertical force variation of the front and rear axles of the vehicle is Δg, which is Δg=fh/L. Where h is the height of the vehicle centroid and the ground, and L is the wheelbase. Front axle braking force F front Rear axle braking force F rear The method comprises the following steps of:
F front ＝βF veh ＝βF (1)
F rear ＝F veh -F front ＝(1-β)F (2)
wherein beta is a target distribution coefficient of braking force, m is the mass of the vehicle, and the total braking force F veh ＝F。
The moment balance equations of the front suspension pitching center column and the rear suspension pitching center column can be obtained respectively:
(c 1 Δf 1 -ΔG)d 1 +F front e 1 ＝0 (3)
(c 2 Δf 2 -ΔG)d 2 +F rear e 2 ＝0 (4)
wherein c1 and c2 are respectively the vertical rigidity of the front suspension and the rear suspension, d 1 D is the distance from the pitch center of the front suspension to the front axle 2 E is the distance from the pitch center of the rear suspension to the rear axle 1 、e 2 The heights of the pitch centers of the front and rear suspensions from the ground, Δf, respectively 1 For front suspension deflection Δf 2 Is the deflection of the rear suspension.
Substituting the formulas (1) and (2) into the formulas (3) and (4) to obtain the following products by arrangement:
definition eta 1 、η 2 The initial anti-pitch ratios of the front and rear suspensions are:
if eta 1 ＝k 1 η 2 ，c 1 ＝k 2 c 2 The pitch angle epsilon of the whole vehicle is as follows:
wherein k is 1 、k 2 Is a proportionality coefficient, beta 0 Is an initial distribution coefficient of the braking force.
As can be seen from equation (9), if
The pitch angle decreases as β increases (front axle braking force gradually increases); if->
The pitch angle increases as β increases (front axle braking force gradually increases); if->
The pitch angle is unchanged with the change of β, but this is almost not the case.
Therefore, the inventors have conceived that the magnitude of the pitch angle can be changed by redistributing the front-rear braking force when the longitudinal acceleration of the vehicle is constant. Based on the concept, the influence trend of the braking force distribution on the pitch angle is judged through the anti-pitching characteristics and the vertical rigidity of the front suspension and the rear suspension, and the proportion of the braking force on the front shaft and the rear shaft is changed before braking is stopped, so that the pitch angle of the whole vehicle can be reduced, and the comfort during braking is improved.
Fig. 1 is a flowchart of a vehicle brake control method provided by an exemplary embodiment. As shown in fig. 1, the method may include the steps of:
in step S101, when a brake signal is received, a target braking force of the vehicle is determined. For example, the target braking force of the vehicle may be calculated from the brake pedal stroke and the target deceleration of the additional function in the related art.
Step S102, controlling the vehicle to brake according to the target braking force, and during the braking of the vehicle, controlling to transfer part of the braking force of the front axle to the rear axle or to transfer part of the braking force of the rear axle to the front axle so that the distribution coefficients of the braking force of the front axle and the braking force of the rear axle reach the target distribution coefficient.
From the above formula (9), it can be seen that
The relationship with 0 determines the distribution coefficient of the front axle and rear axle braking forces. For example, when->
In this case, the distribution coefficient of 0.6 (the ratio of the front-rear axis braking force of 0.6 to 0.4) can be transferred to the distribution coefficient of 0.2 (the target distribution coefficient, the ratio of the front-rear axis braking force of 0.2 to 0.8). In particular, the braking force transfer may be performed by an actuator in the vehicle braking system, for example by a body electronic stability system (Electronic Stability Program, ESP) or an electro-mechanical braking system (Electromechanical Brake System, EMB).
According to the technical scheme, during the braking process of the vehicle, the braking forces of the front axle and the rear axle are controlled to be partially transferred so that the distribution coefficient of the braking forces of the front axle and the rear axle reaches the target distribution coefficient, and if the distribution coefficient reaches the target distribution coefficient, the pitch angle during braking can be reduced. Therefore, the scheme can optimize the problem of vehicle braking and nodding through a braking force transfer mode between the front shaft and the rear shaft under the condition that the acceleration of the vehicle is not influenced, and improves the comfort of passengers during braking and stopping.
In still another embodiment, during braking of the vehicle in S102, controlling to transfer a part of the braking force of the front axle to the rear axle or a part of the braking force of the rear axle to the front axle may include, on the basis of fig. 1:
determining an initial vehicle speed; during braking of the vehicle, if the vehicle speed of the vehicle decreases to the initial vehicle speed, control is started to transfer part of the braking force of the front axle to the rear axle or to transfer part of the braking force of the rear axle to the front axle.
The initial vehicle speed is the vehicle speed at which the control of the braking force transfer is started, that is, the vehicle speed is reduced to the initial vehicle speed, and is a trigger condition for controlling the braking force transfer. When the braking is started, the braking is firstly performed according to the method in the related art, and when the vehicle speed is reduced to the initial vehicle speed, the braking force transfer is controlled again, so that the distribution coefficients of the braking force of the front axle and the braking force of the rear axle reach the target distribution coefficient. The initial vehicle speed can be a smaller value, and the vehicle speed is further reduced on the basis of the initial vehicle speed along with the continuous application of the braking force, so that the vehicle speed is smaller in the whole braking force transferring process, and the problem of stability of the vehicle caused by transferring the braking force when the vehicle speed is larger is avoided. The starting vehicle speed may be a value predetermined from experimentation or experience.
In yet another embodiment, determining the starting vehicle speed may include: the starting vehicle speed is determined according to the following manner:
v start ＝v end +ax×t
wherein F is front F is the braking force of the front axle rear For the braking force of the rear axle, ax is the acceleration of the vehicle, dF is the predetermined braking force transfer rate, v start For starting vehicle speed v end For a predetermined end vehicle speed, β is a target distribution coefficient, t is a time period required for braking force transfer, |·| represents an absolute value。
The braking forces of the front axle and the rear axle may be determined according to the target braking force and the structural characteristics of the vehicle in the related art. The acceleration of the vehicle may be detected or calculated in real time. The braking force transfer rate, the time required for braking force transfer, and the end vehicle speed may be calibrated in advance.
In this embodiment, the initial vehicle speed is simply calculated by the above formula so that the control of the braking force transfer of the front and rear axles is started when the vehicle speed of the vehicle decreases to the initial vehicle speed, and the calculation method is simple, accurate, and fast.
In still another embodiment, if the vehicle speed of the vehicle decreases to the initial vehicle speed, the start control may include: if the initial vehicle speed is smaller than a predetermined vehicle speed threshold value, when the vehicle speed of the vehicle decreases to the initial vehicle speed, control is started to transfer part of the braking force of the front axle to the rear axle or to transfer part of the braking force of the rear axle to the front axle.
That is, when the calculated starting vehicle speed is relatively small (smaller than a predetermined vehicle speed threshold value), the braking force transfer of the front and rear axles is started to be controlled when the vehicle speed of the vehicle decreases to the starting vehicle speed. If the calculated initial vehicle speed ratio is large (greater than a predetermined vehicle speed threshold value), a braking force transfer method may not be adopted, so that the problems of wheel locking and the like caused by excessive transfer braking force of the vehicle speed can be avoided.
In still another embodiment, controlling to transfer a part of the braking force of the front axle to the rear axle or transfer a part of the braking force of the rear axle to the front axle during braking of the vehicle may include:
if the target braking force is greater than a predetermined first braking force threshold value and less than a predetermined second braking force threshold value, then during braking of the vehicle, control is performed to transfer a portion of the braking force of the front axle to the rear axle or to transfer a portion of the braking force of the rear axle to the front axle, the first braking force threshold value being less than the second braking force threshold value.
That is, if the target braking force is too large (greater than a predetermined first braking force threshold value), no transfer may be performed in order to avoid the braking force transfer causing wheel locking; if the target braking force is small (less than the predetermined second braking force threshold value), then the vehicle pitch is small and the braking force transfer does not have a significant optimisation of the vehicle nodding, so that no transfer may be performed at this time. The first braking force threshold value and the second braking force threshold value may be calibrated in advance according to experiments or experience.
Fig. 2 is a block diagram of a vehicle brake control device provided in an exemplary embodiment. As shown in fig. 2, the vehicle brake control device 200 may include a determination module 201 and a control module 202.
The determining module 201 is configured to determine a target braking force of the vehicle if the braking signal is received.
The control module 202 is configured to control the vehicle to brake according to the target braking force, and during braking of the vehicle, control to transfer a part of the braking force of the front axle to the rear axle or transfer a part of the braking force of the rear axle to the front axle so that the distribution coefficients of the braking force of the front axle and the braking force of the rear axle reach the target distribution coefficient.
Alternatively, the control module 202 may include a determination sub-module and a first control sub-module.
The determination submodule is used for determining the starting vehicle speed.
The first control sub-module is used for starting control to transfer part of the braking force of the front axle to the rear axle or transfer part of the braking force of the rear axle to the front axle if the speed of the vehicle is reduced to the initial speed during braking of the vehicle.
Optionally, the determining submodule is configured to determine the starting vehicle speed according to:
v start ＝v end +ax×t
wherein F is front F is the braking force of the front axle rear For the braking force of the rear axle, ax is the acceleration of the vehicle, dF is the predetermined braking force transfer rate, v start For starting vehicle speed v end For a predetermined end vehicle speed, beta is the target distribution systemAnd t is the time required for braking force transfer.
Optionally, the first control sub-module is configured to start controlling to transfer part of the braking force of the front axle to the rear axle or to transfer part of the braking force of the rear axle to the front axle when the vehicle speed of the vehicle decreases to the initial vehicle speed if the initial vehicle speed is less than a predetermined vehicle speed threshold.
Alternatively, the control module 202 is configured to control to transfer a portion of the braking force of the front axle to the rear axle or transfer a portion of the braking force of the rear axle to the front axle during braking of the vehicle if the target braking force is greater than a predetermined first braking force threshold and less than a predetermined second braking force threshold, the first braking force threshold being less than the second braking force threshold.
The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.
According to the technical scheme, during the braking process of the vehicle, the braking forces of the front axle and the rear axle are controlled to be partially transferred so that the distribution coefficient of the braking forces of the front axle and the rear axle reaches the target distribution coefficient, and if the distribution coefficient reaches the target distribution coefficient, the pitch angle during braking can be reduced. Therefore, the scheme can optimize the problem of vehicle braking and nodding through a braking force transfer mode between the front shaft and the rear shaft under the condition that the acceleration of the vehicle is not influenced, and improves the comfort of passengers during braking and stopping.
The present disclosure also provides an electronic device including a memory and a processor. A memory having a computer program stored thereon; the processor is configured to execute the computer program in the memory to implement the steps of the above-described method provided by the present disclosure.
Fig. 3 is a block diagram of an electronic device 300, shown in an exemplary embodiment. As shown in fig. 3, the electronic device 300 may include: a processor 301, a memory 302. The electronic device 300 may also include one or more of a multimedia component 303, an input/output (I/O) interface 304, and a communication component 305.
The processor 301 is configured to control the overall operation of the electronic device 300 to perform all or part of the steps of the vehicle brake control method described above. The memory 302 is used to store various types of data to support operation at the electronic device 300, which may include, for example, instructions for any application or method operating on the electronic device 300, as well as application-related data, such as contact data, transceived messages, pictures, audio, video, and the like. The Memory 302 may be implemented by any type or combination of volatile or non-volatile Memory devices, such as static random access Memory (Static Random Access Memory, SRAM for short), electrically erasable programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM for short), erasable programmable Read-Only Memory (Erasable Programmable Read-Only Memory, EPROM for short), programmable Read-Only Memory (Programmable Read-Only Memory, PROM for short), read-Only Memory (ROM for short), magnetic Memory, flash Memory, magnetic disk, or optical disk. The multimedia component 303 may include a screen and an audio component. Wherein the screen may be, for example, a touch screen, the audio component being for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in the memory 302 or transmitted through the communication component 305. The audio assembly further comprises at least one speaker for outputting audio signals. The I/O interface 304 provides an interface between the processor 301 and other interface modules, which may be a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 305 is used for wired or wireless communication between the electronic device 300 and other devices. Wireless communication, such as Wi-Fi, bluetooth, near field communication (Near Field Communication, NFC for short), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or one or a combination of more of them, is not limited herein. The corresponding communication component 305 may thus comprise: wi-Fi module, bluetooth module, NFC module, etc.
In an exemplary embodiment, the electronic device 300 may be implemented by one or more application specific integrated circuits (Application Specific Integrated Circuit, abbreviated as ASIC), digital signal processors (Digital Signal Processor, abbreviated as DSP), digital signal processing devices (Digital Signal Processing Device, abbreviated as DSPD), programmable logic devices (Programmable Logic Device, abbreviated as PLD), field programmable gate arrays (Field Programmable Gate Array, abbreviated as FPGA), controllers, microcontrollers, microprocessors, or other electronic components for performing the vehicle braking control method described above.
In another exemplary embodiment, a computer readable storage medium is also provided that includes program instructions that, when executed by a processor, implement the steps of the vehicle brake control method described above. For example, the computer readable storage medium may be the memory 302 including program instructions described above that are executable by the processor 301 of the electronic device 300 to perform the vehicle brake control method described above.
In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-mentioned vehicle brake control method when being executed by the programmable apparatus.
The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solutions of the present disclosure within the scope of the technical concept of the present disclosure, and all the simple modifications belong to the protection scope of the present disclosure.
In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. The various possible combinations are not described further in this disclosure in order to avoid unnecessary repetition.
Moreover, any combination between the various embodiments of the present disclosure is possible as long as it does not depart from the spirit of the present disclosure, which should also be construed as the disclosure of the present disclosure.
Claims (10)
1. A vehicle brake control method, characterized by comprising:
if the braking signal is received, determining a target braking force of the vehicle;
controlling the vehicle to brake according to the target braking force, and controlling to transfer part of the braking force of a front axle to a rear axle or transfer part of the braking force of the rear axle to the front axle during the braking process of the vehicle so that the distribution coefficients of the braking force of the front axle and the braking force of the rear axle reach target distribution coefficients; wherein the target distribution coefficient is according to
Relationship to 0 determines, k 1 、k 2 Is a proportionality coefficient, beta 0 Is an initial distribution coefficient of the braking force.
2. The method according to claim 1, wherein controlling to transfer a part of the braking force of a front axle to a rear axle or a part of the braking force of the rear axle to the front axle during braking of the vehicle includes:
determining an initial vehicle speed;
during braking of the vehicle, if the vehicle speed of the vehicle decreases to the starting vehicle speed, control is started to transfer part of the braking force of the front axle to the rear axle or to transfer part of the braking force of the rear axle to the front axle.
3. The method of claim 2, wherein the determining the starting vehicle speed comprises: the starting vehicle speed is determined according to the following manner:
v start ＝v end +ax×t
wherein F is ffront F for braking force of the front axle rear For the braking force of the rear axle, ax is the acceleration of the vehicle, dF is a predetermined braking force transfer rate, v start For the initial vehicle speed, v end And for a preset ending vehicle speed, beta is the target distribution coefficient, and t is the time length required for braking force transfer.
4. The method according to claim 2, characterized in that the start control of transferring a part of the braking force of a front axle to a rear axle or transferring a part of the braking force of the rear axle to the front axle if the vehicle speed of the vehicle decreases to the starting vehicle speed includes:
if the initial vehicle speed is smaller than a predetermined vehicle speed threshold value, when the vehicle speed of the vehicle is reduced to the initial vehicle speed, control is started to transfer part of the braking force of a front axle to a rear axle or to transfer part of the braking force of the rear axle to the front axle.
5. The method according to any one of claims 1-4, characterized in that the controlling of transferring part of the braking force of a front axle to a rear axle or transferring part of the braking force of the rear axle to the front axle during braking of the vehicle comprises:
if the target braking force is greater than a predetermined first braking force threshold value and less than a predetermined second braking force threshold value, then during braking of the vehicle, control is performed to transfer a portion of the braking force of the front axle to the rear axle, or to transfer a portion of the braking force of the rear axle to the front axle, the first braking force threshold value being less than the second braking force threshold value.
6. A vehicle brake control apparatus, characterized by comprising:
the determining module is used for determining the target braking force of the vehicle if the braking signal is received;
a control module for controlling the vehicle to brake according to the target braking force, wherein during the braking process of the vehicle, the control module controls the partial braking force of the front axle to be transferred to the rear axleOr transferring a part of the braking force of the rear axle to the front axle so that the distribution coefficients of the braking force of the front axle and the braking force of the rear axle reach a target distribution coefficient; wherein the target distribution coefficient is according to
Relationship to 0 determines, k 1 、k 2 Is a proportionality coefficient, beta 0 Is an initial distribution coefficient of the braking force.
7. The apparatus of claim 6, wherein the control module comprises:
the determining submodule is used for determining the starting vehicle speed;
and the first control sub-module is used for starting control to transfer part of braking force of a front axle to a rear axle or transfer part of braking force of the rear axle to the front axle if the vehicle speed of the vehicle is reduced to the initial vehicle speed during the braking process of the vehicle.
8. The apparatus of claim 7, wherein the determination submodule is configured to determine the starting vehicle speed according to:
v start ＝v end +ax×t
wherein F is front F for braking force of the front axle rear For the braking force of the rear axle, ax is the acceleration of the vehicle, dF is a predetermined braking force transfer rate, v start For the initial vehicle speed, v end And for a preset ending vehicle speed, beta is the target distribution coefficient, and t is the time length required for braking force transfer.
9. A non-transitory computer readable storage medium having stored thereon a computer program, characterized in that the program when executed by a processor realizes the steps of the method according to any of claims 1-5.
10. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the method of any one of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110674227.4A CN114802139B (en) | 2021-06-17 | 2021-06-17 | Vehicle brake control method, device, medium and equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110674227.4A CN114802139B (en) | 2021-06-17 | 2021-06-17 | Vehicle brake control method, device, medium and equipment |
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| Publication Number | Publication Date |
|---|---|
| CN114802139A CN114802139A (en) | 2022-07-29 |
| CN114802139B true CN114802139B (en) | 2023-05-05 |
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| CN202110674227.4A Active CN114802139B (en) | 2021-06-17 | 2021-06-17 | Vehicle brake control method, device, medium and equipment |
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| CN101007529A (en) * | 2006-11-17 | 2007-08-01 | 陈增新 | Brake system for motor vehicle |
| DE102011076980B4 (en) * | 2011-06-06 | 2016-02-04 | Ford Global Technologies, Llc | Brake system for motor vehicle, thus equipped motor vehicle and method for operating the brake system |
| CN109606369B (en) * | 2017-09-30 | 2021-01-19 | 比亚迪股份有限公司 | Vehicle running control method and device and four-wheel drive type vehicle |
| JP7139652B2 (en) * | 2018-03-30 | 2022-09-21 | 株式会社アドヴィックス | vehicle braking controller |
| JP7331654B2 (en) * | 2019-11-21 | 2023-08-23 | トヨタ自動車株式会社 | Braking force controller |
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