CN116001754A - Control method for braking force distribution, computer equipment and storage medium - Google Patents
Control method for braking force distribution, computer equipment and storage medium Download PDFInfo
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- CN116001754A CN116001754A CN202310073904.6A CN202310073904A CN116001754A CN 116001754 A CN116001754 A CN 116001754A CN 202310073904 A CN202310073904 A CN 202310073904A CN 116001754 A CN116001754 A CN 116001754A
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Abstract
The present application relates to a control method of braking force distribution, a computer device, and a storage medium. The method comprises the following steps: acquiring multiple target data of a vehicle; monitoring a main EBD function of the main controller through target data, and matching the target data with an activation condition of a slave EBD function in the NBS controller when the main EBD function in the main controller fails; when the target data meets the activation condition of the slave EBD function, activating the slave EBD function in the NBS controller, and otherwise, when any item of target data does not meet the activation condition, exiting the slave EBD function; the preset braking force distribution flow is executed according to the slave EBD function in the NBS controller. By adopting the method, when the main controller fails, the stability of the vehicle under emergency braking is ensured through the slave EBD function on the NBS controller, the vehicle is prevented from being unstable, the vehicle is braked rapidly and stably, the safety of a driver is ensured, and the stability adjusting effect is obvious.
Description
Technical Field
The present disclosure relates to the field of automobile control technologies, and in particular, to a control method for braking force distribution, a computer device, and a storage medium.
Background
Automobile brake safety control is an important field of vehicle running safety research, and is always a hot spot for vehicle safety technology research and application. For example, the automobile ESC system (Electronic Speed Controller, electronic stability control system) can control the stable state of the automobile, and adjust the posture of the automobile when the automobile is in critical instability or instability, so that the automobile is ensured to recover to the stable state as much as possible, and the safety of personnel in the automobile is ensured.
However, when the ESC system fails, particularly when the EBD function fails, if the brake pedal is depressed, the front axle load of the whole vehicle increases, and the rear axle load decreases, which results in the rear wheels rapidly reaching a locked state. When the rear wheels are locked before the front wheels, the stability of the whole vehicle is difficult to ensure, and the tail flicking accident of the vehicle is easy to cause.
At present, redundant alternatives for the EBD function are not more, and although backup for the ABS exists in the prior art, the actual product effect is not ideal, for example, the vehicle misses the optimal time for stability control due to overlong adjustment time in a critical unstable state, and accidents occur.
Disclosure of Invention
Based on this, it is necessary to provide a control method of braking force distribution, a computer device, and a storage medium in view of the above-described technical problems.
The application provides a control method for braking force distribution, which is applied to an NBS controller, and comprises the following steps:
acquiring multiple target data of a vehicle;
monitoring a main EBD function of the main controller through target data, and matching the target data with an activation condition of a slave EBD function in the NBS controller when the main EBD function in the main controller fails;
when the target data meets the activation condition of the slave EBD function, activating the slave EBD function in the NBS controller, and otherwise, when any item of target data does not meet the activation condition, exiting the slave EBD function;
the preset braking force distribution flow is executed according to the slave EBD function in the NBS controller.
In one embodiment, the master controller is in signal connection with the NBS controller; the target data comprises state information of the main controller;
the step of monitoring the main EBD function of the main controller by the target data includes:
monitoring a main EBD function of the main controller by receiving state information of the main controller;
wherein the slave EBD function in the NBS controller is not enabled when the master EBD function of the master controller is active; when the master EBD function of the master controller fails, the slave EBD function in the NBS controller is enabled.
In one embodiment, the target data further includes wheel speed information of front and rear wheels of the vehicle, and driver expected pressure;
a step of acquiring a plurality of items of target data of a vehicle, comprising:
acquiring wheel speed information of front and rear wheels of a vehicle through a wheel speed sensor;
and/or, the driver desired pressure is obtained via a brake pedal.
In one embodiment, the step of matching the target data with the activation condition of the slave EBD function in the NBS controller when the master EBD function in the master controller fails includes:
judging whether the wheel speed information of front and rear wheels of the vehicle is effective according to the wheel speed information, so as to judge whether the slave EBD function is effective;
judging whether the slave EBD function in the NBS controller is in an enabling state according to the state information of the master controller;
when the EBD function is effective and in an enabling state, comparing and sorting the wheel speed information of front and rear wheels of the vehicle, and screening out the wheel speed information sorted at the second position to serve as a required reference vehicle speed;
and comparing the wheel speed difference value between the reference vehicle speed and the wheel speed information of any rear wheel with a preset activated wheel speed threshold value, and judging whether the wheel speed difference value is higher than the activated wheel speed threshold value.
In one embodiment, the step of matching the target data with an activation condition of the slave EBD function in the NBS controller further includes:
and comparing the driver expected pressure with a preset locking expected pressure threshold value, and judging whether the driver expected pressure is higher than the locking expected pressure threshold value.
In one embodiment, the step of activating the slave EBD function in the NBS controller when the target data satisfies the activation condition includes:
the slave EBD function in the NBS controller is in an enabled state and the slave EBD function is active and the wheel speed difference is above the activated wheel speed threshold and the driver desired pressure is above the lock desired pressure threshold, activating the slave EBD function in the NBS controller.
In one embodiment, the step of exiting the slave EBD function when any of the project label data does not satisfy the activation condition includes:
when the rear wheel speed is higher than the reference vehicle speed, or the slave EBD function in the NBS controller is in an inactive state, or the driver desired pressure is lower than the lock desired pressure threshold, the slave EBD function is exited.
In one embodiment, the steps of the preset braking force distribution flow are performed according to the slave EBD function in the NBS controller, including:
acquiring the expected pressure of a driver;
and adjusting the locking expected pressure threshold to the driver expected pressure according to the preset calibration speed.
The application provides a computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring multiple target data of a vehicle;
monitoring a main EBD function of the main controller through target data, and matching the target data with an activation condition of a slave EBD function in the NBS controller when the main EBD function in the main controller fails;
when the target data meets the activation condition of the slave EBD function, activating the slave EBD function in the NBS controller, and otherwise, when any item of target data does not meet the activation condition, exiting the slave EBD function;
the preset braking force distribution flow is executed according to the slave EBD function in the NBS controller.
The present application provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
acquiring multiple target data of a vehicle;
monitoring a main EBD function of the main controller through target data, and matching the target data with an activation condition of a slave EBD function in the NBS controller when the main EBD function in the main controller fails;
when the target data meets the activation condition of the slave EBD function, activating the slave EBD function in the NBS controller, and otherwise, when any item of target data does not meet the activation condition, exiting the slave EBD function;
the preset braking force distribution flow is executed according to the slave EBD function in the NBS controller.
The control method, the computer equipment and the storage medium for braking force distribution have the beneficial effects that: the slave EBD function is configured on the NBS controller to carry out redundant backup on the master EBD function on the master controller, so that the technical problem that when the master controller (ESC system/ABS system) fails, the instability and tail flick of the vehicle cannot be restrained is solved, the stability of the vehicle under emergency braking can be ensured to a great extent through the slave EBD function on the NBS controller, the instability of the vehicle is prevented, the vehicle is braked rapidly and stably, the safety of a driver is ensured, and the stability adjusting effect is obvious. .
Drawings
FIG. 1 is an application environment diagram of a control method of braking force distribution in one embodiment;
FIG. 2 is a flow chart of a method of controlling braking force distribution in one embodiment;
FIG. 3 is a schematic diagram of the software and hardware deployment of a control method for braking force distribution in one embodiment;
FIG. 4 is a block diagram showing the construction of a control device for braking force distribution in one embodiment;
fig. 5 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The control method for braking force distribution provided by the application can be applied to an application environment shown in fig. 1. The main controller 10 and the NBS controller 20 are both configured with EBD functions, the EBD is generally known as Electronic Brake force Distribution, and the electronic braking force is distributed, so that if the front wheels lock and slip first in the braking process of the automobile, the automobile can be kept in a stable state during the linear deceleration and parking. The EBD function can utilize the difference of axle load transfer generated during automobile braking to adjust the braking force distribution proportion of the front axle and the rear axle, and improve the braking efficiency so as to improve the braking stability. When the automobile is braked, the ground surface conditions of the four tires of the front wheel and the rear wheel are different. The EBD function respectively senses and calculates different ground surfaces attached by the four tires by utilizing a high-speed computer at the moment of automobile braking to obtain different friction force values, so that the braking devices of the four tires are braked in different modes and forces according to different conditions and continuously keep adjustment in movement, and the braking force is matched with the friction force, thereby ensuring the stability of the vehicle. When the front and rear wheels are actually adjusted, the braking process is controlled according to the weight of the vehicle and the road surface condition, the front wheels are automatically used as the reference, the slip rate of the rear wheels (namely, the ratio of the difference between the actual speed of the vehicle and the circumferential line speed of the wheels to the actual speed of the vehicle) is compared, and if the difference between the front and rear wheels is detected, and the degree of the difference is required to be adjusted, an automobile braking hydraulic system is adjusted so that the hydraulic pressures of the front and rear wheels are close to the ideal braking force distribution. The EBD function balances the effective ground grip of each wheel, prevents the occurrence of a rear wheel lock-up condition, improves the balance of braking forces, and shortens the braking distance of the automobile. Under the condition that the emergency brake wheel is locked, the EBD function balances the effective ground grabbing force of each wheel, prevents the occurrence of tail flick and side shift, and shortens the braking distance of the automobile.
Compared with hidden dangers of the EBD function configured in the existing ESC system/ABS system, the embodiment is based on the existing EBD function configuration scheme, and redundant backup design is carried out on the EBD function in the NBS controller. The master controller 10 may be, but is not limited to, a control unit in an existing ESC system, ABS system.
In the control method of braking force distribution provided in the present application, the master EBD function is configured in the master controller 10, and the slave EBD function is configured in the NBS controller 20. The main controller 10 and the NBS controller 20 are connected to a brake pedal 30 and a wheel speed sensor 40, and the driver's foot depth is obtained by the brake pedal 30, thereby calculating and obtaining the driver's desired pressure. In one embodiment, a required braking force of the vehicle may be calculated based on a current depth of a brake pedal stepped on by the driver, and a driver desired pressure may be obtained based on the required braking force. Wheel speed information of front and rear wheels of the vehicle is acquired by a wheel speed sensor 40. In one embodiment, the wheel speed information may be understood as the distance the tire has been rolled over for 1 hour, so the size of the tire is a circle that ultimately affects the speed of the vehicle. The output shaft of the rear axle rotates for 1 circle, the tire rotates for one circle, the larger the tire is, the larger the circumference is, the longer the distance travelled in unit time is, and the faster the vehicle speed is. The wheel speed sensor commonly used at present mainly comprises: magnetoelectric wheel speed sensor and Hall wheel speed sensor. Currently, wheel speed information is required for an automobile dynamic control system (VDC), an automobile Electronic Stability Program (ESP), an anti-lock brake system (ABS), a control system of an automatic transmission, and the like in the automotive field.
In this embodiment, when the main EBD function of the main controller 10 fails, the braking force distribution ratio of the front axle and the rear axle is automatically adjusted by the slave EBD function in the NBS controller under the condition that the preset activation condition is satisfied, so as to improve the braking efficiency and further improve the stability of the vehicle.
In one embodiment, as shown in fig. 2, a control method for braking force distribution is provided, and an example of application of the method to the NBS controller in fig. 1 is described, including the steps of:
step S101, acquiring multiple target data of a vehicle;
step S102, monitoring a main EBD function of a main controller through target data, and matching the target data with an activation condition of a slave EBD function in an NBS controller when the main EBD function in the main controller fails;
step S103, when the target data meets the activation condition of the slave EBD function, activating the slave EBD function in the NBS controller, and if any item of target data does not meet the activation condition, exiting the slave EBD function;
step S104, executing a preset braking force distribution flow according to the slave EBD function in the NBS controller.
The target data in the present embodiment includes, but is not limited to, state information of the main controller, wheel speed information of front and rear wheels of the vehicle, and driver's desired pressure.
When the target data includes status information of the main controller, on the premise that the main controller is in signal connection with the NBS controller, the step of monitoring the main EBD function of the main controller through the target data includes: the main EBD function of the main controller is monitored by receiving status information of the main controller.
Wherein the slave EBD function in the NBS controller of the present embodiment is configured such that the slave EBD function in the NBS controller is not enabled when the master EBD function of the master controller is active; when the master EBD function of the master controller fails, the slave EBD function in the NBS controller is enabled.
That is, based on the state information of the master controller, it can be determined whether the slave EBD function in the NBS controller is in an enabled state. In this embodiment, according to the state information of the master controller, it is determined that the master EBD function of the master controller is disabled, and it is determined that the slave EBD function in the NBS controller is in an enabled state.
That is, based on the state information of the master controller, the slave EBD function in the NBS controller can be activated for use when the master EBD function in the master controller fails, otherwise, the braking force is adjusted by using the EBD function simultaneously with the master controller, which is more likely to cause instability of the vehicle.
In one embodiment, step S101, the step of acquiring a plurality of target data of a vehicle includes:
acquiring wheel speed information of front and rear wheels of a vehicle through a wheel speed sensor; and/or, the driver desired pressure is obtained via a brake pedal.
Wherein the validity of the slave EBD function is determined from the wheel speed information. And determining the enabling state of the slave EBD function in the NBS controller according to the state information of the master controller.
In one embodiment, referring to FIG. 3, the front and rear wheels comprise: left front wheel, right front wheel, left rear wheel, right rear wheel. In the step of determining the validity of the slave EBD function according to the wheel speed information, the wheel speed information of the front left wheel is acquired to determine that the front left wheel signal is valid; acquiring wheel speed information of a right front wheel to determine that a right front wheel signal is effective; acquiring wheel speed information of a left rear wheel to determine that a left rear wheel signal is effective; acquiring wheel speed information of a right rear wheel to determine that a right rear wheel signal is effective; and when the signals of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel are all valid, determining the validity of the slave EBD function, and otherwise, determining that the slave EBD function is invalid.
The wheel speed sensor in the embodiment is provided with the wheel speed pulse signal sampling circuit corresponding to the NBS controller, and the current wheel speed pulse signal sampling circuit is independent of the wheel speed pulse signal sampling circuit corresponding to the main controller, and accordingly, the NBS controller is provided with the wheel speed pulse resolving program, so that when the main controller fails, the NBS controller can resolve the wheel speed information of the current vehicle in real time.
In one embodiment, step S102, when the master EBD function in the master controller fails, matches the target data with the activation condition of the slave EBD function in the NBS controller, includes:
judging whether the wheel speed information of front and rear wheels of the vehicle is effective according to the wheel speed information, so as to judge whether the slave EBD function is effective;
judging whether the slave EBD function in the NBS controller is in an enabling state according to the state information of the master controller;
when the EBD function is effective and in an enabling state, comparing and sorting the wheel speed information of front and rear wheels of the vehicle, and screening out the wheel speed information sorted at the second position to serve as a required reference vehicle speed;
and comparing the wheel speed difference value of the reference vehicle speed and the wheel speed information of any rear wheel with a preset activated wheel speed threshold value, and judging whether the wheel speed difference value is higher than the activated wheel speed threshold value or not so as to match one of the activation conditions.
In one embodiment, step S102, the step of matching the target data with the activation condition of the slave EBD function in the NBS controller further includes:
and comparing the expected pressure of the driver with a preset locking expected pressure threshold value, and judging whether the expected pressure of the driver is higher than the locking expected pressure threshold value or not so as to match one of the activation conditions.
That is, the step of matching the target data with the activation condition of the slave EBD function in the NBS controller includes: judging whether the slave EBD function is effective or not by utilizing the wheel speed information, judging whether the slave EBD function is enabled or not by utilizing the state information of the main controller, judging whether the wheel speed difference value is higher than an activated wheel speed threshold value or not, and judging whether the expected pressure of a driver is higher than a preset locking expected pressure threshold value or not.
In one embodiment, step S103, the slave EBD function in the NBS controller is activated when the target data satisfies the slave EBD function activation condition, otherwise, the step of exiting the slave EBD function is exited when any item of target data does not satisfy the activation condition.
When the target data satisfies the activation condition, a step of activating the slave EBD function in the NBS controller, comprising:
the slave EBD function in the NBS controller is in an enabled state and the slave EBD function is active and the wheel speed difference is above the activated wheel speed threshold and the driver desired pressure is above the lock desired pressure threshold, activating the slave EBD function in the NBS controller.
That is, at least the following activation conditions are preset:
the validity of the slave EBD function in the NBS controller is valid;
the slave EBD function in the NBS controller is in an enabled state;
the driver expected brake pressure is higher than a preset lock-up expected pressure threshold;
subtracting the wheel speed difference value of the wheel speed information of any rear wheel by the reference vehicle speed to exceed a preset activated wheel speed threshold value;
when the activation conditions are satisfied simultaneously, the slave EBD function in the NBS controller is awakened to be activated.
And when any item label data does not meet the activation condition, the step of exiting the slave EBD function comprises the following steps: the slave EBD function in the NBS controller is either deactivated when the wheel speed difference is below an activated wheel speed threshold or is exited when the driver desired pressure is below a lock desired pressure threshold.
That is, the exit activation condition is preset. When the slave EBD function in the NBS controller is invalid, immediately exiting the brake force distribution control of the slave EBD function; when the driver desired pressure is lower than the lock desired pressure threshold value, the brake force distribution control from the EBD function is exited; when the reference vehicle speed is simultaneously less than or equal to the wheel speed information of the two rear wheels, the braking force distribution control from the EBD function is exited. And, when any one of the exit activation conditions is satisfied, the brake force distribution control is immediately exited from the EBD function.
Step S104, according to the slave EBD function in the NBS controller, of executing a preset braking force distribution flow, including:
acquiring the expected pressure of a driver;
and adjusting the locking expected pressure threshold to the driver expected pressure according to the preset calibration speed.
Further, in this embodiment, the locking desired pressure threshold is adjusted to control the stability of the whole vehicle. Specifically, the driver expected pressure is obtained, the driver expected pressure is compared with a locking expected pressure threshold value, if the locking expected pressure threshold value is higher than the current driver expected pressure, the locking expected pressure threshold value is controlled to be reduced to the current driver expected pressure at a preset calibration speed, and if the locking expected pressure threshold value is lower than the current driver expected pressure, the locking expected pressure threshold value is controlled to be increased to the current driver expected pressure at the preset calibration speed.
According to the control method for braking force distribution, the slave EBD function is configured on the NBS controller to carry out redundant backup on the master EBD function on the master controller, so that the technical problem that when the master controller (ESC system/ABS system) fails, the instability and tail flick of the vehicle cannot be restrained is solved, the stability of the vehicle under emergency braking can be ensured to a great extent through the slave EBD function on the NBS controller, the instability of the vehicle is prevented, the vehicle is braked rapidly and stably, the safety of a driver is ensured, and the stability adjusting effect is obvious.
It should be understood that, although the steps in the flowchart of fig. 2 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 2 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the sub-steps or stages of other steps or other steps.
In one embodiment, as shown in fig. 4, there is provided a control device of braking force distribution, including: a data acquisition module 201, a data monitoring module 202, a function analysis module 203, and a function execution module 204, wherein:
the data acquisition module 201 is configured to acquire a plurality of target data of a vehicle.
The data monitoring module 202 is configured to monitor the master EBD function of the master controller by using the target data, and match the target data with the activation condition of the slave EBD function in the NBS controller when the master EBD function in the master controller fails.
And the function analysis module 203 is configured to activate the slave EBD function in the NBS controller when the target data satisfies the slave EBD function activation condition, and to exit the slave EBD function when any item of target data does not satisfy the activation condition.
The function execution module 204 is configured to execute a preset braking force distribution flow according to the slave EBD function in the NBS controller.
The specific definition of the control device for braking force distribution can be found in the above definition of the control method for braking force distribution, and will not be described in detail here. The respective modules in the control device for braking force distribution described above may be implemented in whole or in part by software, hardware, or a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 5. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used for storing brake force distribution data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a control method of braking force distribution.
It will be appreciated by those skilled in the art that the structure shown in fig. 5 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of:
acquiring multiple target data of a vehicle; monitoring a main EBD function of the main controller through target data, and matching the target data with an activation condition of a slave EBD function in the NBS controller when the main EBD function in the main controller fails; when the target data meets the activation condition of the slave EBD function, activating the slave EBD function in the NBS controller, and otherwise, when any item of target data does not meet the activation condition, exiting the slave EBD function; the preset braking force distribution flow is executed according to the slave EBD function in the NBS controller.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring multiple target data of a vehicle; monitoring a main EBD function of the main controller through target data, and matching the target data with an activation condition of a slave EBD function in the NBS controller when the main EBD function in the main controller fails; when the target data meets the activation condition of the slave EBD function, activating the slave EBD function in the NBS controller, and otherwise, when any item of target data does not meet the activation condition, exiting the slave EBD function; the preset braking force distribution flow is executed according to the slave EBD function in the NBS controller.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples represent only a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (10)
1. A control method of braking force distribution, applied to an NBS controller, characterized in that the method comprises:
acquiring multiple target data of a vehicle;
monitoring a main EBD function of a main controller through the target data, and matching the target data with an activation condition of a slave EBD function in the NBS controller when the main EBD function in the main controller fails;
activating a slave EBD function in the NBS controller when the target data satisfies the activation condition of the slave EBD function, and exiting the slave EBD function when any one of the target data does not satisfy the activation condition;
and executing a preset braking force distribution flow according to the slave EBD function in the NBS controller.
2. The method for controlling braking force distribution according to claim 1, characterized in that the main controller is signal-connected with the NBS controller; the target data comprises state information of a main controller;
the step of monitoring the main EBD function of the main controller by the target data includes:
monitoring a main EBD function of the main controller by receiving state information of the main controller;
wherein the slave EBD function in the NBS controller is not enabled when the master EBD function of the master controller is active; when the master EBD function of the master controller fails, the slave EBD function in the NBS controller is enabled.
3. The control method of braking force distribution according to claim 2, characterized in that the target data further includes wheel speed information of front and rear wheels of the vehicle, a driver's desired pressure;
the step of acquiring a plurality of target data of the vehicle includes:
acquiring wheel speed information of front and rear wheels of the vehicle through a wheel speed sensor;
and/or, the driver desired pressure is obtained by a brake pedal.
4. A control method of braking force distribution according to claim 3, characterized in that said step of matching target data with activation conditions of slave EBD functions in said NBS controller when a master EBD function in a master controller fails, comprises:
judging whether the wheel speed information of the front and rear wheels of the vehicle is effective according to the wheel speed information, so as to judge whether the slave EBD function is effective;
judging whether the slave EBD function in the NBS controller is in an enabling state according to the state information of the master controller;
when the slave EBD function is effective and in an enabling state, comparing and sorting the wheel speed information of the front wheel and the rear wheel of the vehicle, and screening out the wheel speed information sorted at the second position to serve as a required reference vehicle speed;
and comparing the wheel speed difference value between the reference vehicle speed and the wheel speed information of any rear wheel with a preset activated wheel speed threshold value, and judging whether the wheel speed difference value is higher than the activated wheel speed threshold value.
5. The control method of braking force distribution according to claim 4, characterized in that the step of matching target data with activation conditions of slave EBD functions in the NBS controller further comprises:
and comparing the driver expected pressure with a preset locking expected pressure threshold value, and judging whether the driver expected pressure is higher than the locking expected pressure threshold value.
6. The control method of braking force distribution according to claim 5, characterized in that the step of activating the slave EBD function in the NBS controller when the target data satisfies the activation condition includes:
the slave EBD function in the NBS controller is in an enabled state and the slave EBD function is active and the wheel speed difference is above the activated wheel speed threshold and the driver desired pressure is above the lock desired pressure threshold, activating the slave EBD function in the NBS controller.
7. The method according to claim 4, characterized in that the step of exiting the slave EBD function when the activation condition is not satisfied by any one of the project label data, comprises:
and when the rear wheel speed is higher than the reference vehicle speed, or a slave EBD function in the NBS controller is in an invalid state, or the driver expected pressure is lower than the locking expected pressure threshold value, the slave EBD function is exited.
8. The method according to claim 4, wherein the step of executing a preset braking force distribution flow according to the slave EBD function in the NBS controller includes:
acquiring the driver desired pressure;
and adjusting the locking expected pressure threshold to the driver expected pressure according to a preset calibration speed.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 8 when the computer program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310073904.6A CN116001754A (en) | 2023-01-13 | 2023-01-13 | Control method for braking force distribution, computer equipment and storage medium |
Applications Claiming Priority (1)
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| CN116215475A (en) * | 2023-05-09 | 2023-06-06 | 清华大学 | Fault-tolerant control method for sudden fault of new energy intelligent network bus brake unit |
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| CN116215475A (en) * | 2023-05-09 | 2023-06-06 | 清华大学 | Fault-tolerant control method for sudden fault of new energy intelligent network bus brake unit |
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