CN117087446A - Vehicle braking method and device, electronic equipment and storage medium - Google Patents

Abstract

The application relates to the technical field of vehicle control, and provides a vehicle braking method, a vehicle braking device, electronic equipment and a storage medium. When a vehicle enters a braking mode, determining initial motor torque of the current vehicle according to braking parameters, and determining total motor torque of the current vehicle according to the initial motor torque and the opening degree of a brake pedal; monitoring a motor of a current vehicle through a monitoring layer to obtain a target torque of the motor; verifying the total torque of the motor according to the target torque of the motor, and performing power control on the current vehicle according to a verification result; the motor total torque acquired by the functional layer is verified through the target torque acquired by the monitoring layer, so that verification of the motor total torque acquired based on the opening degree of the brake pedal is realized, and the problem that potential safety hazards exist because the current vehicle directly outputs power according to the motor total torque and does not verify the motor total torque corresponding to a brake request when the vehicle brakes is avoided.

Description

Vehicle braking method and device, electronic equipment and storage medium

Technical Field

The present application relates to the field of vehicle control technologies, and in particular, to a vehicle braking method, a device, an electronic apparatus, and a storage medium.

Background

The traditional automobile uses petroleum as energy to drive, but petroleum resources belong to limited resources, and the situation of shortage of petroleum also occurs along with the gradual increase of the use amount of the automobile, and the automobile driven by using electric energy as new energy is put into the market at the moment to relieve the energy crisis.

At present, in the field of new energy automobiles, a vehicle braking function is basically realized by matching a vehicle body electronic stabilizing system, an electronic parking braking system and an anti-lock braking system. In the prior art, the braking control accuracy is always improved in the aspect of vehicle braking, but if the accuracy of the braking control is only optimized and the total torque of a motor corresponding to a braking request is not monitored, because a plurality of external factors exist in the software development and the vehicle driving process, the total torque of the motor is abnormal, power is directly output according to the braking request, the power is abnormal, further, safety accidents are caused, and the personal safety of drivers is endangered.

Disclosure of Invention

In view of the above, the embodiments of the present application provide a vehicle braking method, device, electronic apparatus, and storage medium, so as to solve the problem in the prior art that potential safety hazards exist due to direct power control based on the total torque of a motor during braking when a vehicle brakes.

In a first aspect of an embodiment of the present application, there is provided a vehicle braking method, including: if the brake pedal enabling of the current vehicle is detected, determining the brake parameters of the current vehicle; determining initial motor torque of the current vehicle according to the braking parameters, and determining total motor torque of the current vehicle according to the initial motor torque and the opening degree of a brake pedal; monitoring a motor of a current vehicle through a monitoring layer to obtain a target torque of the motor; and verifying the total torque of the motor according to the target torque of the motor, and performing power control on the current vehicle according to a verification result.

In a second aspect of an embodiment of the present application, there is provided a vehicle brake apparatus including: the acquisition module is used for determining the braking parameters of the current vehicle; the determining module is used for determining the initial motor torque of the current vehicle according to the braking parameters and determining the total motor torque of the current vehicle according to the initial motor torque and the opening degree of a brake pedal; the monitoring module is used for monitoring the motor of the current vehicle through the monitoring layer so as to acquire the target torque of the motor; and the verification module is used for verifying the total torque of the motor according to the target torque of the motor and controlling the power of the current vehicle according to a verification result.

In a third aspect of the embodiments of the present application, there is provided an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the above method when executing the computer program.

In a fourth aspect of the embodiments of the present application, there is provided a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the above method.

Compared with the prior art, the embodiment of the application has the beneficial effects that: in the embodiment of the application, if the brake pedal of the current vehicle is detected to be enabled, determining the brake parameter of the current vehicle; determining initial motor torque of the current vehicle according to the braking parameters, and determining total motor torque of the current vehicle according to the initial motor torque and the opening degree of a brake pedal; monitoring a motor of a current vehicle through a monitoring layer to obtain a target torque of the motor; verifying the total torque of the motor according to the target torque of the motor, and performing power control on the current vehicle according to a verification result; the method comprises the steps of firstly determining the total motor torque of the current vehicle based on the opening degree of the brake pedal, realizing accurate acquisition of the total motor torque corresponding to the opening degree of the brake pedal, improving braking precision, secondly verifying the total motor torque acquired by the functional layer through the target torque acquired by the monitoring layer, further realizing verification of the total motor torque acquired based on the opening degree of the brake pedal, and avoiding the problem that potential safety hazards exist because the current vehicle directly outputs power according to the total motor torque and does not verify the total motor torque corresponding to a braking request when the vehicle brakes.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic flow chart of a vehicle braking method according to an embodiment of the present application;

FIG. 2 is a flow chart of another vehicle braking method according to an embodiment of the present application;

FIG. 3 is a flow chart of yet another vehicle braking method according to an embodiment of the present application;

FIG. 4 is a flow chart of yet another vehicle braking method provided by an embodiment of the present application;

FIG. 5 is a flow chart of an alternative vehicle braking method provided by an embodiment of the present application;

FIG. 6 is a flow chart of yet another alternative vehicle braking method provided by an embodiment of the present application;

FIG. 7 is a flow chart of yet another alternative vehicle braking method provided by an embodiment of the present application;

fig. 8 is a schematic structural view of a vehicle braking device according to an embodiment of the present application;

Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

A vehicle braking method and apparatus according to embodiments of the present application will be described in detail with reference to the accompanying drawings.

Fig. 1 is a vehicle braking method according to an embodiment of the present application, as shown in fig. 1, the method includes:

s101, if the brake pedal enabling of the current vehicle is detected, determining the brake parameters of the current vehicle;

s102, determining initial motor torque of the current vehicle according to braking parameters, and determining total motor torque of the current vehicle according to the initial motor torque and the opening degree of a brake pedal;

s103, monitoring a motor of the current vehicle through a monitoring layer to obtain target torque of the motor;

And S104, verifying the total torque of the motor according to the target torque of the motor, and performing power control on the current vehicle according to a verification result.

It can be appreciated that the vehicle braking method provided in this example is applied to a vehicle including a vehicle that is driven automatically or intelligently (including a passenger function vehicle (e.g., a car, bus, car, etc.), a cargo function vehicle (e.g., a general truck, van, dump truck, closed truck, tank truck, flatbed truck, container truck, dump truck, special structure truck), a special vehicle (e.g., a logistics distribution truck, an automated guided transport truck AGV, patrol truck, crane, hoist, excavator, bulldozer, forklift, road roller, loader, off-road engineering truck, armored engineering truck, sewage treatment truck, sanitation truck, dust truck, floor cleaning truck, sprinkler, sweeping robot, meal delivery robot, shopping guide robot, mower, golf cart, etc.), a recreational vehicle (e.g., recreational vehicle, amusement park automatic driving device, balance car, etc.), rescue vehicle (e.g., fire truck, ambulance, electric power repair vehicle, engineering truck, etc.), and the like.

It can be understood that in step S101, when the current vehicle enters the braking mode, it is determined that the brake pedal of the current vehicle is enabled; specifically, if the current vehicle is in a running state (the current vehicle is powered on, and the current vehicle is in a forward gear (D-gear) or a reverse gear (R-gear)), and the driver depresses the brake pedal of the current vehicle, determining that the brake pedal is enabled; if the current vehicle is not in a driving state (the current vehicle is powered down, or the current vehicle is not in a forward gear (D gear) and a reverse gear (R gear)), or the driver does not press the brake pedal, judging that the brake pedal is not enabled. In some examples, the current vehicle needs to further determine the opening degree of the accelerator pedal, and when the opening degree of the accelerator pedal is smaller than a preset opening degree threshold, the preset opening degree threshold may be flexibly set by a first-pass person, and preferably, the preset opening degree threshold is 5%; for example, if the above condition is satisfied and the accelerator opening is less than 5%, it indicates that the vehicle enters a brake enabling mode and the brake pedal is enabled; in some examples, the current vehicle may also need to further determine a motor torque execution output condition; for example, when the current vehicle determines that the current vehicle itself satisfies the above condition and the motor torque execution output is normal, it is determined that the brake pedal is enabled; the current vehicle determines that itself satisfies the above condition, and the motor torque execution output is abnormal, it is determined that the brake pedal is not enabled.

In connection with the above example, upon determining that the brake pedal of the current vehicle is enabled, then the functional layer of the vehicle determines the braking parameters of the current vehicle, which are determined by the driving parameters of the current vehicle, including, but not limited to: gravity, acceleration, and vehicle mass; the gravity is the gravity applied to the current vehicle during running, the acceleration is the degree of acceleration (deceleration) of the current vehicle during running, and the automobile quality is substantially the weight of the current vehicle during running.

In some examples, after determining the braking parameters of the current vehicle, further determining an initial motor torque of the current vehicle based on the braking parameters; it can be understood that the current vehicle comprises a front motor of a front axle and a rear motor for driving a rear axle, the front motor corresponds to a front motor torque, the rear motor corresponds to a rear click torque, wherein before the current vehicle enters a braking mode, the distribution ratio of the front motor torque and the rear motor torque of the current vehicle is 1:1, so that before the current vehicle enters the braking mode, the front motor torque and the rear motor torque of the current vehicle are equal and are all the initial motor torques; for example, taking the initial motor torque as X as an example, the current front motor torque of the vehicle is X and the current rear motor torque is also X.

In the above example, after the current vehicle enters the braking mode, the current vehicle brakes and decelerates, and in the process of decelerating the current vehicle, as the front axle load of the current vehicle becomes larger, the rear axle load is reduced, and the front and rear axle motor torque distribution ratio is no longer 1:1, it is necessary to redetermine the front motor torque and the rear motor torque according to the initial motor torque and the opening degree of the brake pedal, and determine the total motor torque of the current vehicle based on the redetermined front motor torque and rear motor torque, and detailed description of the above steps will be omitted herein.

It can be understood that the total motor torque is a torque value which is determined by the functional layer based on the initial motor torque of the current vehicle and the opening degree of the brake pedal and is not verified, so that the problem that the total motor torque is not verified and potential safety hazards exist because the subsequent operation is directly performed based on the total motor torque is avoided; in the process of determining the total torque of the motor, the motor of the current vehicle is monitored by the monitoring layer synchronously, so that the target torque is obtained; it can be understood that the monitoring layer is a system layer for monitoring the safety-related part on the vehicle, specifically, a plurality of sensors are arranged in the monitoring layer, and the hardware on the vehicle can be monitored through the plurality of sensors, wherein the sensors in the monitoring layer can measure the output torque of the motor in real time, and the output torque is taken as the target torque; after the target torque is obtained, the motor total torque is verified based on the target torque, so that verification of the motor total torque is realized, and power control of the current vehicle based on the motor total torque is avoided.

According to the technical scheme provided by the embodiment of the application, if the brake pedal of the current vehicle is detected to be enabled, determining the brake parameters of the current vehicle; determining initial motor torque of the current vehicle according to the braking parameters, and determining total motor torque of the current vehicle according to the initial motor torque and the opening degree of a brake pedal; monitoring a motor of a current vehicle through a monitoring layer to obtain a target torque of the motor; verifying the total torque of the motor according to the target torque of the motor, and performing power control on the current vehicle according to a verification result; the method comprises the steps of firstly determining the total motor torque of the current vehicle based on the opening degree of the brake pedal, realizing accurate acquisition of the total motor torque corresponding to the opening degree of the brake pedal, improving braking precision, secondly verifying the total motor torque acquired by the functional layer through the target torque acquired by the monitoring layer, further realizing verification of the total motor torque acquired based on the opening degree of the brake pedal, and avoiding the problem that potential safety hazards exist because the current vehicle directly outputs power according to the total motor torque and does not verify the total motor torque corresponding to a braking request when the vehicle brakes.

In some embodiments, as shown in FIG. 2, determining an initial motor torque for a current vehicle based on braking parameters includes:

S201, performing product operation on a plurality of braking parameters, and taking the obtained product operation result as the wheel end torque of the current vehicle;

s202, dividing the wheel end torque and the current corresponding transmission ratio of the current vehicle to determine the initial motor torque.

Specifically, determining the wheel end torque of the current vehicle according to the braking parameters, wherein the braking parameters are as follows: taking the product of gravity, acceleration and automobile mass as the wheel end torque of the current vehicle as an example of parameters such as gravity, acceleration and automobile mass, the calculation formula is as follows:

S＝G*A*N；

wherein S is the torque of a wheel end, G is gravity, A is acceleration, and N is the mass of the automobile; it can be understood that the gravity and the automobile mass received by the current vehicle during running are relatively fixed values, and the acceleration of the current vehicle during running changes along with the changes of the opening degree of the brake pedal and the opening degree of the accelerator pedal, so that the wheel end torque of the current vehicle changes along with the changes of the acceleration of the current vehicle, and the wheel end torque of the current vehicle has a linear relation with the acceleration of the current vehicle; specifically, the wheel end torque of the current vehicle is proportional to the acceleration of the current vehicle, that is, the greater the acceleration of the current vehicle, the greater the wheel end torque of the current vehicle.

After the wheel end torque of the current vehicle is obtained, the functional layer of the current vehicle determines the initial motor torque based on the wheel end torque and the current corresponding transmission ratio of the current vehicle, wherein the transmission ratio refers to the gear transmission ratio of a main speed reducer in an automobile drive axle, and it can be understood that the transmission ratio can be a fixed value or a value which changes along with the speed of the vehicle; taking the above transmission ratio as a fixed value as an example, after determining the transmission ratio, performing division operation on the wheel end torque and the transmission ratio currently corresponding to the current vehicle, taking the quotient of the wheel end torque and the transmission ratio currently corresponding to the current vehicle as the initial motor torque, and calculating the following formula:

F＝S/P；

wherein F is the initial motor torque, S is the wheel end torque, and P is the transmission ratio, it can be understood that when the transmission ratio is a fixed value, the initial motor torque changes along with the change of the wheel end torque, and the initial motor torque and the wheel end torque have a linear relation; specifically, the initial motor torque of the current vehicle is proportional to the wheel end torque of the current vehicle, and the larger the wheel end torque is, the larger the initial motor torque is, and conversely, the smaller the wheel end torque is, the smaller the initial motor torque is.

According to the technical scheme provided by the embodiment of the application, the wheel end torque of the current vehicle is determined according to the braking parameters; the initial motor torque is determined based on the wheel end torque and the current corresponding transmission ratio of the current vehicle, wherein the wheel end torque of the current vehicle is determined according to the braking parameters, the wheel end torque is accurately determined based on the running parameters of the current vehicle, the situation that the wheel end torque cannot be obtained is avoided, then the initial motor torque is accurately determined according to the wheel end torque and the transmission ratio, and the situation that the initial motor torque cannot be obtained is avoided.

In some embodiments, as shown in fig. 3, determining the current vehicle motor total torque from the initial motor torque and the opening of the brake pedal includes:

s301, determining the opening degree of a brake pedal and the real-time running speed of the current vehicle;

s302, determining a front motor intervention request torque and a rear motor intervention request torque corresponding to the current vehicle based on the opening degree of a brake pedal, the real-time running speed and a power distribution strategy;

s303, comparing the absolute value of the front motor intervention request torque with the absolute value of the wheel end torque, and determining the front motor torque corresponding to the current vehicle according to the absolute value comparison result; comparing the absolute value of the rear motor intervention request torque with the absolute value of the wheel end torque, and determining the rear motor torque corresponding to the current vehicle according to the absolute value comparison result;

S304, adding the front motor torque and the rear motor torque to determine the total motor torque.

Specifically, determining the opening degree of the brake pedal includes: acquiring a voltage circuit corresponding to a brake pedal, and determining the opening degree of the brake pedal based on a voltage value transmitted by the voltage circuit corresponding to the brake pedal; it will be appreciated how the determination of the opening of the brake pedal in particular can be flexibly set by the person concerned. Likewise, the manner of determining the current real-time driving speed of the vehicle may be flexibly set by the related personnel, and will not be described herein.

It can be appreciated that after determining the opening degree of the brake pedal, the real-time running speed and the power distribution strategy, determining the front motor intervention request torque and the rear motor intervention request torque corresponding to the current vehicle; wherein, the power distribution strategy is a strategy preset by related personnel; specifically, when a front vehicle is braked, more torque is distributed to a front axle according to the change of reverse acceleration, at the moment, a vehicle body stabilizing system performs torque intervention, the vehicle body stabilizing system realizes that the axle end slip rate of the front axle is taken as an abscissa, the reverse acceleration change rate is taken as an ordinate, the front motor intervention request torque is jointly determined, and then the rear motor intervention request torque is determined based on the same principle; it can be understood that how to determine the front motor intervention request torque and the rear motor intervention request torque of the current vehicle during braking can be flexibly set by related personnel according to actual requirements, and the embodiment is not limited to this.

It can be appreciated that in some examples, a petalmap is provided in the current vehicle, the petalmap on the current vehicle is preset with conversion parameters according to a power distribution strategy, the petalmap on the current vehicle converts the opening degree of the brake pedal and the real-time running speed into a front motor intervention request torque according to a two-dimensional linear interpolation method, and the basic rule is that as the opening degree of the brake pedal increases, the converted front motor intervention request torque correspondingly increases; similarly, the post-motor intervention request torque can be obtained based on the same principle.

After the front motor intervention request torque is determined, the front motor torque corresponding to the current vehicle is determined based on the front motor intervention request torque and the wheel end torque; specifically, the absolute value of the intervention request torque of the front motor is compared with the torque of the wheel end, the maximum value is taken, and finally the absolute value is divided by the transmission ratio to obtain the torque of the front motor after the intervention, and the specific calculation formula is as follows:

J＝MAX(|Q1|,|S|)/P

wherein J is front motor torque, S is wheel end torque, P is transmission ratio, MAX is maximum function, I is absolute value, and Q1 is front motor intervention request torque.

Similarly, after the rear motor intervention request torque is determined, determining the rear motor torque corresponding to the current vehicle based on the rear motor intervention request torque and the wheel end torque; specifically, comparing the absolute value of the intervention request torque of the rear motor with the torque of the wheel end, taking the maximum value, and finally dividing the maximum value by the transmission ratio to obtain the torque of the rear motor after the intervention, wherein the specific calculation formula is as follows:

K＝MAX(|Q2|,|S|)/P；

Wherein K is the torque of the rear motor, S is the torque of the wheel end, P is the transmission ratio, MAX is the maximum function, I is the absolute value, and Q2 is the torque of the rear motor intervention request.

In some examples, when determining the front motor torque and the rear motor torque, the values of the front motor torque and the rear motor torque are taken as the total motor torque, and the specific calculation mode is as follows:

total motor torque = j+k;

and J is the front motor torque, K is the rear motor torque, and therefore the total motor torque of the motor on the current vehicle is determined together based on the front motor torque and the rear motor torque during braking.

According to the technical scheme provided by the embodiment of the application, the opening degree of the brake pedal and the real-time running speed of the current vehicle are determined; determining a front motor intervention request torque and a rear motor intervention request torque corresponding to a current vehicle based on the opening degree of a brake pedal, the real-time running speed and a power distribution strategy; determining the front motor torque corresponding to the current vehicle according to the front motor intervention request torque and the wheel end torque; determining the rear motor torque corresponding to the current vehicle according to the rear motor intervention request torque and the wheel end torque; according to the front motor torque and the rear motor torque, the total motor torque is determined, the front motor torque and the rear motor torque are determined based on the opening degree of a brake pedal and the real-time running parameter, the front motor torque and the rear motor torque are accurately obtained, the problem that larger errors exist in the front motor torque and the rear motor torque due to the fact that the front motor torque and the rear motor torque are determined by only considering the opening degree of the brake pedal is avoided, and meanwhile, the problem that larger errors exist in the front motor torque and the rear motor torque due to the fact that the front motor torque and the rear motor torque are determined by only considering the real-time running speed is avoided.

In some embodiments, as shown in fig. 4, verifying the total torque of the motor according to the target torque of the motor, and performing power control on the current vehicle according to the verification result, includes:

s401, determining a first torque direction corresponding to target torque and a second torque direction corresponding to total torque of the motor;

s402, if the first torque direction is different from the second torque direction, comparing the target torque and the total torque of the motor with preset torques respectively to obtain two comparison results;

s403, generating a verification result according to the comparison result, and performing power control on the current vehicle according to the verification result.

Specifically, the total motor torque calculated by the functional layer and the target torque determined by the monitoring layer should be the same in torque direction, so that the first torque direction corresponding to the target torque and the second torque direction corresponding to the total motor torque are directly determined in the example, further, the subsequent comparison is realized, and it can be understood that the positive and negative values of the target torque and the total motor torque are determined, and further, the torque directions corresponding to the target torque and the total motor torque are determined; specifically, if the target torque is a positive value, the first torque direction corresponding to the target torque is a positive direction, and if the target torque is a negative value, the second torque direction corresponding to the target torque is a negative direction; similarly, if the total motor torque is positive, the first torque direction corresponding to the total motor torque is positive, and if the total motor torque is negative, the second torque direction corresponding to the total motor torque is negative.

After determining a first torque direction corresponding to the target torque and a second torque direction corresponding to the total torque of the motor, comparing the first torque direction with the second torque direction, and if the first torque direction and the second torque direction are different (one torque direction is positive and the other torque direction is negative), comparing the target torque and the total torque of the motor with preset torques respectively to obtain two comparison results; specifically, comparing the target torque with a preset torque to obtain a first comparison result, and comparing the total torque of the motor with the preset torque to obtain a second comparison result. The preset torque is a value set by a relevant person according to actual requirements, for example, the preset torque is 70Nm.

It can be understood that if the first torque direction is the same as the second torque direction, the steps following step S402 and step S403 are performed, and other verification is performed on the total motor torque according to the target motor torque, or the power control is directly performed based on the total motor torque.

After the comparison result is obtained, generating a verification result according to the comparison result, and performing power control on the current vehicle according to the verification result; specifically, if the first comparison result is that the target torque is greater than the preset torque, and the second comparison result is that the total motor torque is greater than the preset torque, it is determined that the verification result is that the total motor torque is abnormal, at this time, the total motor torque request direction comparison fault is activated, if the drive ready activation is satisfied at this time, the zero torque safety state is not activated, and if the absolute value of the real-time running speed of the current vehicle is higher than the preset speed (the preset speed can be flexibly set by related personnel, preferably, the preset speed is 30 kph), the total motor torque request direction comparison fault is confirmed by debounce, then the safety state is triggered, the current vehicle directly cuts off power, and the problem that unexpected acceleration is caused and safety accidents are caused because the total motor torque calculated by the functional layer is opposite to the torque direction of the target torque acquired by the monitoring layer in the braking mode of the current vehicle is avoided.

It can be understood that if the first comparison result is that the target torque is smaller than the preset torque, or the second comparison result is that the total motor torque is smaller than the preset torque, it is determined that the verification result is that the total motor torque is normal, at this time, the comparison fault of the total motor torque request direction cannot be activated, and the current vehicle performs other verification on the total motor torque according to the target torque of the motor (such as the verification in the following steps S501-S502), or directly performs power control based on the total motor torque.

To better understand this example, this embodiment provides a more specific example for illustration, in which the target torque and the motor total torque are multiplied, and if the product of the target torque and the motor total torque is less than 0, it indicates that the torque directions of the target torque and the motor total torque are opposite; when the torque directions of the target torque and the motor total torque are opposite, the target torque and the motor total torque are respectively compared with preset torque (70 Nm), if the motor total torque acquired by the functional layer and the target torque monitored by the monitoring layer are both greater than 70Nm, the motor total torque request direction comparison fault is activated, if the drive ready activation is met at this time, the zero torque safety state is not activated, the absolute value of the real-time running speed of the current vehicle is higher than 30kph (which can be flexibly set by related personnel), the motor total torque request direction comparison fault is confirmed through debounce, then the safety state is triggered, and the power is cut off.

According to the technical scheme provided by the embodiment of the application, the first torque direction corresponding to the target torque is determined, and the second torque direction corresponding to the total torque of the motor is determined; if the first torque direction is different from the second torque direction, comparing the target torque and the total torque of the motor with preset torques respectively to obtain two comparison results; and generating a verification result according to the comparison result, and performing power control on the current vehicle according to the verification result, so that the verification of the torque direction of the total torque of the motor is realized accurately, and the problem that the total torque of the motor calculated by a functional layer in a braking mode is opposite to the target torque obtained by monitoring of a monitoring layer, so that unexpected acceleration is caused and potential safety hazards exist is avoided.

In some examples, as shown in fig. 5, verifying the total torque of the motor according to the target torque of the motor, and performing power control on the current vehicle according to the verification result, includes:

s501, determining a torque difference value between a target torque and the total torque of the motor;

s502, generating a verification result according to the torque difference value, and performing power control on the current vehicle according to the verification result.

Specifically, the target torque and the motor total torque should be within a certain range, so this example indicates that the difference between the motor total torque calculated by the functional layer and the target torque is within the target range by calculating a torque difference between the target torque and the motor total torque and then comparing the torque difference with a preset difference (which may be set by a person involved according to actual needs), if the torque difference is higher than the preset difference, indicating that the difference between the motor total torque calculated by the functional layer and the target torque is too high, and if the torque difference is not higher than the preset difference, indicating that the difference between the motor total torque calculated by the functional layer and the target torque is within the target range.

After the torque difference value is determined, generating a verification result according to the torque difference value, and performing power control on the current vehicle according to the verification result; specifically, if the difference between the motor total torque calculated by the functional layer and the target torque is too high, and it is determined that the motor total torque is normal at this time, the motor total torque request comparison fault function is activated. When the current vehicle meets the drive ready activation and the zero torque safety state is not activated, the motor total torque request comparison fault is confirmed by debounce, and then the safety state is triggered, namely the motor total torque is cleared, and the torque output is turned off. In some examples, the target torque output by the motor also needs to be monitored, the motor needs to control and output correct torque according to the value requested by the controller, then the motor feeds back correct output torque signals to the controller, and when the controller monitors that the difference between the target torque output by the motor and the total torque of the motor is too large, the motor needs to enter a safe state within a certain time to turn off the torque output.

It can be understood that, after determining the torque difference, a verification result is generated according to the torque difference, and in the power control of the current vehicle according to the verification result, if the torque difference is not higher than the preset difference, it indicates that the difference between the total motor torque calculated by the functional layer and the target torque is within the target range, at this time, it is determined that the total motor torque is normal, the comparison fault of the total motor torque request direction is not activated, and the current vehicle performs other verification on the total motor torque according to the target motor torque (such as the verification in step S401-step S403), or directly performs the power control based on the total motor torque.

According to the technical scheme provided by the embodiment of the application, the torque difference between the target torque and the total torque of the motor is determined; and generating a verification result according to the torque difference value, and performing power control on the current vehicle according to the verification result, so that the verification of the torque value of the total torque of the motor is realized accurately, and the problems that the total torque of the motor calculated by a functional layer in a braking mode and the target torque difference value obtained by monitoring of a monitoring layer are too large, so that unexpected energy feedback electric braking of the current vehicle is reduced, and potential safety hazards exist are avoided.

In some examples, as shown in fig. 6, the method further comprises:

s601, acquiring a braking energy recovery request torque of a current vehicle;

s602, determining a request torque difference value between a brake energy recovery request torque and a brake energy recovery available torque;

s603, comparing the requested torque difference value with a preset target requested torque difference value, and recovering energy of the current vehicle according to a comparison result.

Specifically, if the current vehicle performs kinetic energy recovery in the braking mode, further monitoring of the effectiveness of the kinetic energy recovery is required, so that the problem of insufficient braking force of the current vehicle caused by excessive kinetic energy recovery in the braking mode is avoided.

In connection with the above example, the present example first obtains a braking energy recovery request torque of a vehicle, which is a torque that is currently determined by the vehicle together according to a real-time running speed of the vehicle, an opening degree of a brake pedal, and the like, and requests recovery; when determining the braking energy recovery request torque, the current vehicle synchronously determines a braking energy recovery available torque (the motor is monitored through a monitoring layer, and the obtained braking energy recovery available torque), namely the torque which can be recovered by the current vehicle under the condition that the braking force is not insufficient; and finally, comparing the braking energy recovery request torque with the braking energy recovery available torque, and determining a request torque difference value between the braking energy recovery request torque and the braking energy recovery available torque.

The above example is accepted, the difference value of the request torque is compared with the preset target request difference value, and the energy recovery is carried out on the current vehicle according to the comparison result, comprising: after determining the request torque difference, comparing the torque difference with a preset target request difference, if the request torque difference is higher than the target request difference, determining that the braking energy recovery request torque is abnormal, activating a braking energy recovery torque request comparison fault function, if the current vehicle meets drive ready activation, a zero torque safety state is not activated, and when a braking energy recovery torque enabling condition is activated, the braking energy recovery torque request comparison fault is confirmed by debounce, and then triggering a safety state, namely that the actual energy recovery torque is set to 0.

As an example, in some examples, if the brake energy recovery available torque is excessive, when the brake energy recovery request torque is activated, the brake energy recovery available torque calculated by the monitoring layer exceeds a preset torque threshold (e.g., a torque value corresponding to a deceleration of 0.32 g), the brake energy recovery torque request excessive fault should be activated, and the current vehicle actual brake energy recovery torque value is set to 0.

In some examples, comparing the requested torque difference with a preset target requested difference, and recovering energy from the current vehicle according to the comparison result, further comprising: and if the difference value of the torque is not higher than the target difference value of the target request, determining that the braking energy recovery request torque is normal, and recovering the torque according to the braking energy recovery request torque.

According to the technical scheme provided by the embodiment of the application, the braking energy recovery request torque of the vehicle is obtained; determining a requested torque difference between the requested torque for braking energy recovery and the available torque for braking energy recovery; the method comprises the steps of comparing the request torque difference value with a preset target request difference value, recovering energy of the current vehicle according to the comparison result, further verifying the brake energy recovery request torque of the current vehicle when the current vehicle activates a kinetic energy recovery function, and avoiding the problems of insufficient current braking force and potential safety hazards caused by direct power control based on the brake energy recovery request torque.

In some examples, as shown in fig. 7, determining the braking energy recovery request torque of the vehicle includes:

s701, determining the coasting recovery torque of the current vehicle according to the opening degree of a brake pedal, the real-time running speed of the current vehicle and a coasting recovery torque strategy;

s702, determining the rear motor torque of the current vehicle;

and S703, weighting the coasting recovery torque and the rear motor matrix to obtain the braking energy recovery request torque corresponding to the current vehicle.

Specifically, determining the corresponding coasting recovery torque of the current vehicle based on the opening degree of a brake pedal, the real-time running speed and the coasting recovery torque strategy; wherein, the sliding recovery torque strategy is a strategy preset by related personnel; it can be appreciated that in some examples, a petalmap is provided in the current vehicle, the petalmap on the current vehicle is preset with a coasting recovery parameter according to a coasting recovery strategy, and the petalmap on the current vehicle converts the opening degree of the brake pedal and the real-time running speed into a coasting recovery torque according to a two-dimensional linear interpolation method, and the basic rule is that as the opening degree of the brake pedal increases, the converted coasting recovery torque correspondingly increases.

In the above example, when determining the coasting recovery torque, the rear motor torque of the current vehicle during braking is determined synchronously, and the specific manner of determining the rear motor torque is referred to the steps of the above embodiment, which are not described herein. In some examples, after determining the coasting recovery torque and the rear motor torque, determining weights of the coasting recovery torque and the rear motor torque respectively, and then weighting the coasting recovery torque and the rear motor matrix according to the determined weights to obtain a braking energy recovery request torque corresponding to the current vehicle; in some examples, the gear ratio of the current vehicle is taken as the weight of the coasting recovery torque, the distribution ratio (the ratio of the front motor torque and the rear motor torque of the current vehicle in the braking mode) is taken as the weight of the rear motor torque, and then the braking energy recovery request torque corresponding to the current vehicle is calculated based on the determined weight, with the following specific calculation formula: and the braking energy recovery request torque is equal to the transmission ratio of motor torque after the braking energy recovery request torque is equal to the sliding recovery torque distribution ratio, so that the braking energy recovery request torque of the current vehicle is accurately acquired.

According to the technical scheme provided by the embodiment of the application, the coasting recovery torque of the current vehicle is determined according to the opening degree of the brake pedal, the real-time running speed of the current vehicle and the coasting recovery torque strategy; determining a rear motor torque of the current vehicle; the method comprises the steps of carrying out weighted processing on the sliding recovery torque and the rear motor matrix to obtain the braking energy recovery request torque corresponding to the current vehicle, accurately obtaining the braking energy recovery request torque, and verifying the braking energy recovery request torque subsequently, so that the problems of insufficient current braking force and potential safety hazards caused by direct power control based on the braking energy recovery request torque are avoided.

Any combination of the above optional solutions may be adopted to form an optional embodiment of the present application, which is not described herein.

The following are examples of the apparatus of the present application that may be used to perform the method embodiments of the present application. For details not disclosed in the embodiments of the apparatus of the present application, please refer to the embodiments of the method of the present application.

The present embodiment also provides a vehicle brake device, as shown in fig. 8, including:

an acquisition module 801 for determining a braking parameter of a current vehicle;

a determining module 802, configured to determine an initial motor torque of the current vehicle according to the braking parameter, and determine a total motor torque of the current vehicle according to the initial motor torque and an opening degree of a brake pedal;

a monitoring module 803, configured to monitor, by the monitoring layer, a motor of a current vehicle to obtain a target torque of the motor;

the verification module 804 is configured to verify the total torque of the motor according to the target torque of the motor, and perform power control on the current vehicle according to the verification result.

In some examples, the determination module 802 is further configured to determine a wheel end torque of the current vehicle based on the braking parameters; an initial motor torque is determined based on the wheel end torque and a current corresponding gear ratio of the current vehicle.

In some examples, the determination module 802 is further configured to determine an opening degree of a brake pedal, and a current real-time travel speed of the vehicle; determining a front motor intervention request torque and a rear motor intervention request torque corresponding to a current vehicle based on the opening degree of a brake pedal, the real-time running speed and a power distribution strategy; determining the front motor torque corresponding to the current vehicle according to the front motor intervention request torque and the wheel end torque; determining the rear motor torque corresponding to the current vehicle according to the rear motor intervention request torque and the wheel end torque; and determining the total motor torque according to the front motor torque and the rear motor torque.

In some examples, the verification module 804 is further configured to determine a first torque direction corresponding to the target torque, and determine a second torque direction corresponding to the total torque of the motor; if the first torque direction is different from the second torque direction, comparing the target torque and the total torque of the motor with preset torques respectively to obtain two comparison results; and generating a verification result according to the comparison result, and performing power control on the current vehicle according to the verification result.

In some examples, the verification module 804 is further configured to determine a torque difference between the target torque and the total motor torque; and generating a verification result according to the torque difference value, and performing power control on the current vehicle according to the verification result.

In some examples, the verification module 804 is further to obtain a braking energy recovery request torque for the current vehicle; determining a requested torque difference between the requested torque for braking energy recovery and the available torque for braking energy recovery; and comparing the request torque difference value with a preset target request difference value, and recovering energy of the current vehicle according to the comparison result.

In some examples, the verification module 804 is further configured to determine a coasting recovery torque of the current vehicle based on the opening of the brake pedal, the real-time travel speed of the current vehicle, and the coasting recovery torque strategy; determining a rear motor torque of the current vehicle; and weighting the coasting recovery torque and the rear motor matrix to obtain the braking energy recovery request torque corresponding to the current vehicle.

According to the technical scheme provided by the embodiment of the application, if the vehicle braking device provided by the embodiment detects that the brake pedal of the current vehicle is enabled, determining the braking parameters of the current vehicle; determining initial motor torque of the current vehicle according to the braking parameters, and determining total motor torque of the current vehicle according to the initial motor torque and the opening degree of a brake pedal; monitoring a motor of a current vehicle through a monitoring layer to obtain a target torque of the motor; verifying the total torque of the motor according to the target torque of the motor, and performing power control on the current vehicle according to a verification result; the method comprises the steps of firstly determining the total motor torque of the current vehicle based on the opening degree of the brake pedal, realizing accurate acquisition of the total motor torque corresponding to the opening degree of the brake pedal, improving braking precision, secondly verifying the total motor torque acquired by the functional layer through the target torque acquired by the monitoring layer, further realizing verification of the total motor torque acquired based on the opening degree of the brake pedal, and avoiding the problem that potential safety hazards exist because the current vehicle directly outputs power according to the total motor torque and does not verify the total motor torque corresponding to a braking request when the vehicle brakes.

Fig. 9 is a schematic diagram of an electronic device 9 according to an embodiment of the present application. As shown in fig. 9, the electronic apparatus 9 of this embodiment includes: a processor 901, a memory 902 and a computer program 903 stored in the memory 902 and executable on the processor 901. The steps of the various method embodiments described above are implemented when the processor 901 executes the computer program 903. Alternatively, the processor 901 performs the functions of the modules/units in the above-described apparatus embodiments when executing the computer program 903.

The electronic device 9 may be a desktop computer, a notebook computer, a palm computer, a cloud server, or the like. The electronic device 9 may include, but is not limited to, a processor 901 and a memory 902. It will be appreciated by those skilled in the art that fig. 9 is merely an example of the electronic device 9 and is not limiting of the electronic device 9 and may include more or fewer components than shown, or different components.

The processor 901 may be a central processing unit (Central Processing Unit, CPU) or other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like.

The memory 902 may be an internal storage unit of the electronic device 9, for example, a hard disk or a memory of the electronic device 9. The memory 902 may also be an external storage device of the electronic device 9, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the electronic device 9. The memory 902 may also include both internal and external memory units of the electronic device 9. The memory 902 is used to store computer programs and other programs and data required by the electronic device.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit.

The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, and the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. The computer program may comprise computer program code, which may be in source code form, object code form, executable file or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the area and the patent practice, for example, in some areas, the computer readable medium does not include the electric carrier signal and the telecommunication signal according to the area requirements and the patent practice.

The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims (10)

1. A method of braking a vehicle, the method comprising:

if the brake pedal of the current vehicle is detected to be enabled, determining the brake parameters of the current vehicle;

determining initial motor torque of the current vehicle according to the braking parameters, and determining total motor torque of the current vehicle according to the initial motor torque and the opening degree of the brake pedal;

monitoring a motor of the current vehicle through a monitoring layer to obtain a target torque of the motor;

and verifying the total torque of the motor according to the target torque of the motor, and performing power control on the current vehicle according to a verification result.

2. The method of claim 1, wherein determining an initial motor torque of the current vehicle based on the braking parameter comprises:

performing product operation on a plurality of braking parameters, and taking the obtained product operation result as the wheel end torque of the current vehicle;

and dividing the wheel end torque and the current corresponding transmission ratio of the current vehicle to determine the initial motor torque.

3. The method of claim 2, wherein determining the current vehicle motor total torque based on the initial motor torque and the brake pedal opening comprises:

determining an opening degree of the brake pedal and a real-time running speed of the current vehicle;

determining a front motor intervention request torque and a rear motor intervention request torque corresponding to the current vehicle based on the opening degree of the brake pedal, the real-time running speed and a power distribution strategy;

comparing the absolute value of the front motor intervention request torque with the absolute value of the wheel end torque, and determining the front motor torque corresponding to the current vehicle according to the absolute value comparison result; comparing the absolute value of the rear motor intervention request torque with the absolute value of the wheel end torque, and determining the rear motor torque corresponding to the current vehicle according to the absolute value comparison result;

And carrying out addition operation on the front motor torque and the rear motor torque to determine the total motor torque.

4. The method according to claim 1, wherein verifying the motor total torque based on the target torque of the motor and power controlling the current vehicle based on a verification result, comprises:

determining a first torque direction corresponding to the target torque and a second torque direction corresponding to the total torque of the motor;

if the first torque direction is different from the second torque direction, comparing the target torque and the total motor torque with preset torques respectively to obtain two comparison results;

and generating a verification result according to the comparison result, and performing power control on the current vehicle according to the verification result.

5. The method according to claim 1, wherein verifying the motor total torque based on the target torque of the motor and power controlling the current vehicle based on a verification result, comprises:

determining a torque difference between the target torque and the total torque of the motor;

and generating a verification result according to the torque difference value, and performing power control on the current vehicle according to the verification result.

6. The method according to claim 1, wherein the method further comprises:

acquiring a braking energy recovery request torque of the current vehicle;

determining a requested torque difference of the braking energy recovery requested torque and a braking energy recovery available torque;

and comparing the request torque difference value with a preset target request difference value, and recovering energy of the current vehicle according to a comparison result.

7. The method of claim 6, wherein determining a braking energy recovery request torque for the vehicle comprises:

determining the coasting recovery torque of the current vehicle according to the opening degree of the brake pedal, the real-time running speed of the current vehicle and the coasting recovery torque strategy;

determining a rear motor torque of the current vehicle;

and weighting the coasting recovery torque and the rear motor matrix to obtain the braking energy recovery request torque corresponding to the current vehicle.

8. A vehicle braking device, the device comprising:

the acquisition module is used for determining the braking parameters of the current vehicle;

the determining module is used for determining initial motor torque of the current vehicle according to the braking parameters and determining total motor torque of the current vehicle according to the initial motor torque and the opening degree of the brake pedal;

The monitoring module is used for monitoring the motor of the current vehicle through the monitoring layer so as to acquire the target torque of the motor;

and the verification module is used for verifying the total torque of the motor according to the target torque of the motor and controlling the power of the current vehicle according to a verification result.

9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 7 when the computer program is executed.

10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 1 to 7.