CN117162984A - Vehicle brake control method and device, electronic equipment, medium and vehicle - Google Patents
Vehicle brake control method and device, electronic equipment, medium and vehicle Download PDFInfo
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- CN117162984A CN117162984A CN202211580734.2A CN202211580734A CN117162984A CN 117162984 A CN117162984 A CN 117162984A CN 202211580734 A CN202211580734 A CN 202211580734A CN 117162984 A CN117162984 A CN 117162984A
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- 238000000034 method Methods 0.000 title claims abstract description 45
- 230000004044 response Effects 0.000 claims abstract description 34
- 230000005856 abnormality Effects 0.000 claims abstract description 27
- 238000011084 recovery Methods 0.000 claims description 21
- 239000004606 Fillers/Extenders Substances 0.000 claims description 16
- 238000004590 computer program Methods 0.000 claims description 6
- 238000007781 pre-processing Methods 0.000 claims description 5
- 230000007547 defect Effects 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
- B60T8/92—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means automatically taking corrective action
- B60T8/96—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means automatically taking corrective action on speed responsive control means
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present disclosure relates to a vehicle brake control method, apparatus, electronic device, medium, and vehicle; wherein the method comprises the following steps: receiving a braking force abnormality processing request of a target wheel end of a vehicle; acquiring running data of the vehicle in response to the braking force abnormality processing request; and generating target braking force of the target wheel end based on the running data of the vehicle so as to perform braking control on the target wheel end, thereby, by receiving a braking force abnormality processing request of the target wheel end of the vehicle, and by responding to the braking force abnormality processing request, acquiring the running data of the vehicle, generating target braking force corresponding to the target wheel end, and performing braking control on the target wheel end, thereby, compensating for the loss of the braking force of the target wheel end, avoiding the problem that the braking deceleration of the vehicle is damaged due to the influence of the braking force of the other side wheel end caused by the loss of the braking force of the target wheel end, and effectively improving the braking efficiency of the vehicle.
Description
Technical Field
The disclosure relates to the technical field of vehicle control, in particular to a vehicle braking control method, a device, electronic equipment, a medium and a vehicle.
Background
When the vehicle is in a braking scene, a central controller sends a braking command to each wheel end braking actuator according to a driver command (or an external braking request) and the running state of the vehicle, and then each wheel end braking actuator generates braking force according to the received braking command of the central controller to perform braking control on the responsible wheel end of the vehicle, so that in general, the establishment of the braking force of each wheel end (such as front left, rear left, front right and rear right) is respectively generated and independent, that is, because the establishment of the braking force of each wheel end is controlled by each braking actuator, the establishment of the braking force of one wheel end does not influence (increase or decrease) the braking force of other wheel ends.
However, each brake actuator is controlled by the central controller in a unified manner, and if the brake actuator at one wheel end (such as the left front wheel) cannot complete braking force during the running braking of the vehicle, the central controller must control the brake actuator at the other wheel end (such as the right front wheel) to reduce the braking force in order to ensure the running stability of the vehicle.
Therefore, when the braking force of one side wheel end is insufficient, the braking deceleration which can be achieved by the whole vehicle is severely limited by means of the braking control mode for reducing the braking force of the other side wheel end, so that the braking efficiency is not high.
Disclosure of Invention
In order to solve the technical problems, the present disclosure provides a vehicle brake control method, a device, an electronic apparatus, a medium and a vehicle.
In a first aspect, the present disclosure provides a vehicle brake control method, including:
receiving a braking force abnormality processing request of a target wheel end of a vehicle;
acquiring running data of the vehicle in response to the braking force abnormality processing request;
and generating a target braking force of the target wheel end based on the running data of the vehicle so as to perform braking control on the target wheel end.
Optionally, the braking control of the target wheel end based on the running data of the vehicle includes:
determining a response operation to the vehicle based on the running data of the vehicle, the response operation being a preprocessing operation before performing brake control;
and executing the response operation, generating a target braking force of the target wheel end based on the braking force of the other side wheel end corresponding to the target wheel end, and performing braking control on the target wheel end.
Optionally, the driving data of the vehicle includes: battery power and battery temperature;
the determining a response operation to the vehicle based on the traveling data of the vehicle includes:
detecting that the battery power of the vehicle exceeds a preset power threshold;
responsive operation of the vehicle is determined based on a battery temperature of the vehicle.
Optionally, the determining a response operation to the vehicle according to the battery temperature of the vehicle includes:
if the battery temperature of the vehicle is detected to be smaller than a preset temperature threshold value, controlling the battery electric quantity of the vehicle to discharge to a target electric quantity value;
and controlling the battery temperature of the vehicle to be heated to a target temperature value.
Optionally, the determining a response operation to the vehicle according to the battery temperature of the vehicle includes:
detecting that the battery temperature of the vehicle is within a preset temperature range;
and not responding to a coasting energy recovery strategy of the vehicle, wherein the coasting energy recovery strategy is used for describing a battery charging operation when a target wheel end of the vehicle is braked.
Optionally, the method further comprises:
and if the vehicle is detected to belong to the range-extending vehicle, controlling the working state of the range extender of the vehicle to be closed.
Optionally, the driving data of the vehicle includes a motor rotation speed;
the determining a response operation to the vehicle according to the driving data of the vehicle comprises:
detecting that the motor speed of the vehicle exceeds a preset speed threshold;
and controlling the motor rotating speed of the vehicle to be a target rotating speed value.
Optionally, the method further comprises:
detecting that the driving state of the vehicle is automatic driving;
and if the current speed of the vehicle is greater than a preset speed threshold, or if the driving mode of the vehicle is in a preset driving mode, controlling the battery electric quantity of the vehicle to be a target electric quantity value, and controlling the battery temperature of the vehicle to be a target temperature value.
In a second aspect, the present disclosure provides a vehicle brake control apparatus including:
the receiving module is used for receiving a braking force abnormality processing request of a target wheel end of the vehicle;
an acquisition module for acquiring running data of the vehicle in response to the braking force abnormality processing request;
and the control module is used for generating a target braking force of the target wheel end based on the running data of the vehicle so as to perform braking control on the target wheel end.
Optionally, the control module includes: a determination unit and a control unit;
a determination unit configured to determine a response operation to the vehicle based on traveling data of the vehicle, the response operation being a preprocessing operation before performing brake control;
and a control unit configured to execute the response operation, generate a target braking force of the target wheel end based on a braking force of the other side wheel end corresponding to the target wheel end, and perform braking control on the target wheel end.
Optionally, the driving data of the vehicle includes: battery power and battery temperature;
the determining unit is specifically configured to:
detecting that the battery power of the vehicle exceeds a preset power threshold;
responsive operation of the vehicle is determined based on a battery temperature of the vehicle.
Optionally, the determining unit is specifically configured to:
if the battery temperature of the vehicle is detected to be smaller than a preset temperature threshold value, controlling the battery electric quantity of the vehicle to discharge to a target electric quantity value;
and controlling the battery temperature of the vehicle to be heated to a target temperature value.
Optionally, the determining unit is specifically configured to:
detecting that the battery temperature of the vehicle is within a preset temperature range;
and not responding to a coasting energy recovery strategy of the vehicle, wherein the coasting energy recovery strategy is used for describing a battery charging operation when a target wheel end of the vehicle is braked.
Optionally, the control module is further configured to control the working state of the range extender of the vehicle to be closed if the vehicle is detected to belong to the range extender vehicle.
Optionally, the driving data of the vehicle includes a motor rotation speed;
the determining unit is specifically configured to:
detecting that the motor speed of the vehicle exceeds a preset speed threshold;
and controlling the motor rotating speed of the vehicle to be a target rotating speed value.
Optionally, the apparatus further includes: a detection module;
the detection module is used for detecting that the driving state of the vehicle is automatic driving;
the control module is further configured to control the battery power of the vehicle to be a target power value and control the battery temperature of the vehicle to be a target temperature value if the current speed of the vehicle is greater than a preset speed threshold or if the driving mode of the vehicle is in a preset driving mode.
In a third aspect, the present disclosure also provides an electronic device, including:
one or more processors;
storage means for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle brake control method according to any one of the embodiments of the present application.
In a fourth aspect, the present disclosure also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the vehicle brake control method according to any one of the embodiments of the present application.
In a fifth aspect, the present disclosure also provides a vehicle comprising an electronic device as in the third aspect.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages: the braking force abnormality processing request of the target wheel end of the vehicle is received, the running data of the vehicle is obtained in response to the braking force abnormality processing request, the target braking force corresponding to the target wheel end is generated, and the braking control is carried out on the target wheel end, so that the defect of the braking force of the target wheel end is made up, the problem that the braking deceleration of the vehicle is damaged due to the fact that the braking force of the other side wheel end is influenced by the defect of the braking force of the target wheel end is avoided, and the braking efficiency of the vehicle can be effectively improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, the drawings that are required for the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic structural view of a distributed braking system provided by an embodiment of the present disclosure;
FIG. 2 is a schematic structural view of another distributed braking system provided by an embodiment of the present disclosure;
FIG. 3 is a flow chart of a vehicle brake control method provided by an embodiment of the present disclosure;
FIG. 4 is a flow chart of another vehicle brake control method provided by an embodiment of the present disclosure;
FIG. 5 is a schematic illustration of interactions of a distributed braking system with a drive system provided by an embodiment of the present disclosure;
fig. 6 is a schematic structural view of a vehicle brake control device provided in an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, a further description of aspects of the present disclosure will be provided below. It should be noted that, without conflict, the embodiments of the present disclosure and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the disclosure.
The embodiment can be applied to vehicle braking control, such as braking control realized by a side wheel end braking force failure supplementary braking force under a vehicle braking state.
Currently, vehicles employ a distributed braking system (as exemplarily shown in fig. 1), wherein the distributed braking system includes: four wheel end actuators (left front, left rear, right front and right rear), central controller control, brake pedal, and external brake requests.
The brake pedal and the external brake request can initiate a brake request to the central controller, and the central controller can send a brake instruction to each wheel end brake according to the running state of the vehicle.
The wheel end executors can be controlled by the central controller respectively and independently, and generate respective braking forces when receiving braking instructions sent by the central controller so as to brake and control the wheel ends.
Wherein the braking force may be provided by a braking system or by a driving system. The braking system pushes the friction plate and the friction disc to generate clamping force through calipers in the braking actuator, so that braking force is generated between the tire and the ground; the drive system generates braking force by energy recovery of the motor.
In the related art, when a certain wheel end brake actuator (particularly, a front axle) cannot normally complete/lose braking force while the vehicle is in a braked state, in addition to the loss of braking force of the present wheel end, the braking force of the other side wheel end brake actuator must be limited in order to ensure the running stability of the vehicle.
As exemplarily shown in fig. 2, when the vehicle is in a braking state, the brake actuator of the left front wheel loses the braking force (as shown by a thickened frame in fig. 2), at this time, the braking force of the left front wheel is zero, in order to ensure that the vehicle is running stably, the left and right braking moment balance of the vehicle needs to be controlled, and the central controller needs to send a braking force reducing instruction to the brake actuator of the right front wheel, so that the brake actuator of the right front wheel reduces the braking force of the right front wheel, but this can result in that the braking force of the whole vehicle is reduced, the braking distance is long, the braking requirement is difficult to meet, and the braking effect is poor.
By receiving a braking force abnormality processing request of a target wheel end of a vehicle, responding to the braking force abnormality processing request, acquiring running data of the vehicle, generating target braking force corresponding to the target wheel end, and performing braking control on the target wheel end, thereby making up for the loss of the braking force of the target wheel end, avoiding the problem that the braking deceleration of the vehicle is damaged due to the influence of the loss of the braking force of the target wheel end on the braking force of the other side wheel end, and effectively improving the braking efficiency of the vehicle.
With particular reference to the exemplary illustration in fig. 3.
Fig. 3 is a flowchart of a vehicle brake control method according to an embodiment of the present disclosure. The method of the embodiment can be executed by a vehicle brake control device, and the device can be realized in a hardware/software mode and can be configured in electronic equipment. The vehicle brake control method according to any embodiment of the present application may be implemented. As shown in fig. 3, the method specifically includes the following steps:
s310, receiving a braking force abnormality processing request of a target wheel end of the vehicle.
The target wheel end can be one side of the vehicle, such as a left front wheel end, a right front wheel end, a left rear wheel end, or a right rear wheel end; alternatively, the target wheel end may be a multi-sided wheel end in the vehicle, such as a left front wheel end and a right front wheel end, or a right front wheel end and a left rear wheel end, or a left rear wheel end and a right rear wheel end, or a right rear wheel end and a left front wheel end, or the like.
Wherein the braking force abnormality processing request of the target wheel end can be used for representing the failure or/loss of braking force/braking force shortage of the brake actuator of the target wheel end.
For example, the braking force abnormality processing request of the target wheel end may be used for characterization of failure or/loss of braking force/braking force deficiency of the brake actuator corresponding to the left front wheel end/right front wheel end/left rear wheel end/right rear wheel end, or the braking force abnormality processing request of the target wheel end may be used for characterization of failure or/loss of braking force/braking force deficiency of the brake actuator corresponding to the left front wheel end and right front wheel end/left rear wheel end and right rear wheel end.
S320, in response to the braking force abnormality processing request, driving data of the vehicle are acquired.
Wherein, when the vehicle is in a braking state, the running data of the vehicle can be data generated in the braking state of the vehicle, including but not limited to: the battery charge of the vehicle, the battery temperature of the vehicle, the motor speed of the vehicle, the motor drive gear of the vehicle, the speed of the vehicle, the driving mode of the vehicle, and the like.
S330, generating a target braking force of the target wheel end based on the running data of the vehicle so as to perform braking control on the target wheel end.
When the vehicle is in abnormal braking, the target braking force of the target wheel end can be generated based on the running data of the vehicle, so that the braking force requirement of the target wheel end is compensated.
In combination with the above example, when the target wheel end is the left front wheel end of the vehicle, the target braking force of the left front wheel end of the vehicle may be generated based on the running data of the vehicle to perform braking control on the left front wheel end of the vehicle, or when the target wheel end is the right front wheel end of the vehicle, the target braking force of the right front wheel end of the vehicle may be generated based on the running data of the vehicle to perform braking control on the right front wheel end of the vehicle.
The target braking force of the target wheel end may be a braking force having a magnitude symmetrical to that of the other side of the target wheel end, or the target braking force of the target wheel end may be a braking force having a magnitude reduced from that of the other side of the target wheel end.
Specifically, generating the target braking force of the target wheel end based on the running data of the vehicle to perform braking control on the target wheel end may include: based on the running data of the vehicle, a braking force having a magnitude symmetrical to that of the other side of the target wheel end is generated as a target braking force of the target wheel end, and braking control is performed on the target wheel end by the target braking force.
Alternatively, generating the target braking force of the target wheel end based on the running data of the vehicle to perform braking control on the target wheel end may include: and generating a braking force with reduced magnitude of the braking force on the other side of the target wheel end as a target braking force of the target wheel end based on the running data of the vehicle, and performing braking control on the target wheel end through the target braking force, wherein the reduced magnitude can be that the magnitude of the target braking force finally generated by the target wheel end is smaller than the magnitude of the braking force on the other side corresponding to the target wheel end.
When the target braking force of the target wheel end is generated and the target wheel end is subjected to braking control, since the braking actuator corresponding to the target wheel end cannot control the braking of the target wheel end, the target braking force of the target wheel end can be generated by other braking equipment in the vehicle and the target wheel end can be subjected to braking control based on the target braking force, for example, a motor is used for generating the target braking force of the target wheel end and the motor is controlled to perform braking control on the target wheel end based on the target braking force.
According to the vehicle braking control method, the braking abnormality processing request of the target wheel end of the vehicle is received, the running data of the vehicle is obtained in response to the braking abnormality processing request, the target braking force corresponding to the target wheel end is generated, and the target wheel end is subjected to braking control, so that the defect of the braking force of the target wheel end is overcome, the problem that the braking deceleration of the vehicle is damaged due to the fact that the braking force of the other side wheel end is influenced by the defect of the braking force of the target wheel end is avoided, and the braking efficiency of the vehicle can be effectively improved.
Fig. 4 is a flowchart of another vehicle brake control method provided in an embodiment of the present disclosure. The present embodiment is based on the foregoing embodiment, wherein one possible implementation manner of S330 is as follows:
the present embodiment generates the braking force of the target wheel end by the motor, however, the motor providing braking recovery ability is affected by the battery level, the battery temperature, and the motor rotation speed, thereby affecting the braking stability of the motor.
For example, the battery capacity of the vehicle is full (greater than a preset capacity threshold), resulting in limited braking recovery capability of the motor; the battery temperature of the vehicle is low (less than a preset temperature threshold), resulting in limited braking recovery capability of the motor; the motor of the vehicle has a lower rotating speed (smaller than a first preset rotating speed threshold value), and the induced electromotive force is smaller, so that the braking recovery capability of the motor is limited; the motor speed of the vehicle is high (greater than the second preset speed threshold) subject to motor power, resulting in limited braking recovery capability of the motor.
S3301, based on the traveling data of the vehicle, a response operation to the vehicle is determined.
Wherein the response operation may be a preprocessing operation before performing the brake control for enabling the brake control of the vehicle to achieve the maximum braking effect, avoiding weakening of the braking effect of the vehicle due to the running data of the vehicle.
In this embodiment, optionally, the running data of the vehicle includes: battery power and battery temperature;
determining a responsive operation to the vehicle based on the travel data of the vehicle, comprising:
detecting that the battery power of the vehicle exceeds a preset power threshold;
responsive operation of the vehicle is determined based on a battery temperature of the vehicle.
When the battery electric quantity of the vehicle is detected to exceed the preset electric quantity threshold value, the response operation to the vehicle can be effectively determined through the judgment of the battery temperature of the vehicle.
It should be noted that, a determination threshold (preset power threshold) for the battery power of the vehicle may be preset, so as to determine the magnitude relationship between the current battery power of the vehicle and the preset power threshold, so as to determine whether the current battery power of the vehicle is too high.
The preset electric quantity threshold value can be 97% of the electric quantity of the vehicle in a normal full-power state, specifically, the preset electric quantity threshold value can be adaptively adjusted according to braking requirements, and the set value of the preset electric quantity threshold value is not specifically limited.
In this embodiment, optionally, determining the response operation to the vehicle according to the battery temperature of the vehicle includes:
if the detected battery temperature of the vehicle is smaller than the preset temperature threshold, controlling the battery electric quantity of the vehicle to discharge to a target electric quantity value;
the battery temperature of the vehicle is controlled to heat to a target temperature value.
The preset temperature threshold may be used to measure whether the estimated battery temperature of the vehicle is too low, and a determination threshold (preset temperature threshold) for the battery temperature of the vehicle may be preset, so as to determine the magnitude relationship between the current battery temperature of the vehicle and the preset temperature threshold, so as to determine whether the current battery temperature of the vehicle is too low.
The preset temperature threshold value can be adaptively adjusted according to the braking requirement, and the set value of the preset temperature threshold value is not particularly limited in the disclosure.
When the battery temperature of the vehicle is detected to be smaller than the preset temperature threshold value, the battery electric quantity of the vehicle can be controlled to discharge to a target electric quantity value, and the battery temperature of the vehicle is controlled to heat to the target temperature value, so that the braking recovery capability of the motor is ensured, and therefore the effective generation of the braking force of the target wheel end is ensured, wherein the target electric quantity value can be an electric quantity value lower than the preset electric quantity threshold value, and the target temperature value can be a temperature value higher than the preset temperature threshold value.
For example, the preset temperature threshold is 0 ℃, the preset power threshold is 97% of the full power of the vehicle, when the battery power of the vehicle is 99% and the battery temperature of the vehicle is-5 ℃, the battery power of the vehicle can be discharged to less than 97% of the full power of the vehicle, for example, the battery power of the vehicle is discharged to 93% of the full power of the vehicle, the battery temperature of the vehicle can be heated to more than 0 ℃, for example, the battery temperature of the vehicle is heated to 5 ℃, wherein 93% is the target power value, and 5 ℃ is the target temperature value.
It should be noted that, the target electric quantity value and the target temperature value may be adaptively set based on the braking requirement and the vehicle attribute, and the set value of the target electric quantity value and the set value of the target temperature value are not particularly limited in the present disclosure.
In addition, when the battery power of the vehicle is controlled to be discharged to the target power value and the battery temperature of the vehicle is controlled to be heated to the target temperature value, the current battery power of the vehicle is discharged to the target power value through the PTC and the current battery temperature of the vehicle is heated to the target temperature value through the PTC, for example, based on the thermistor (Positive Temperature Coefficient, PTC)/discharge resistor/motor stator discharge.
In this embodiment, optionally, determining the response operation to the vehicle according to the battery temperature of the vehicle includes:
detecting that the battery temperature of the vehicle is within a preset temperature range;
the coasting energy recovery strategy is used to describe a battery charging operation when braking a target wheel end of the vehicle, without responding to the coasting energy recovery strategy of the vehicle.
Wherein, the preset temperature range may be a temperature range of the vehicle that does not affect the motor braking recovery capability, and in combination with the above example, the preset temperature range may be: the setting range interval of the preset temperature range is not particularly limited at 0-40 ℃.
The vehicle coasting energy recovery strategy enables the motor to charge the battery of the vehicle when the motor is performing brake control on the target wheel end of the vehicle.
For example, the preset temperature range is 0 ℃ to 40 ℃, and when the battery temperature of the vehicle is detected to be 10 ℃, the battery temperature of the vehicle is shown to be in the preset temperature range, so that the sliding energy recovery function of the vehicle can be closed, and the influence of the excessive battery power of the vehicle on the motor braking stability during the target wheel end braking is avoided.
Wherein, optionally, the method of this embodiment may further include:
if the vehicle is detected to belong to the range-extending vehicle, the working state of the range extender of the vehicle is controlled to be closed.
The range-extending vehicle can convert kinetic energy or other forms of capacity into electric energy to charge a battery of the vehicle, and in order to prevent the battery of the vehicle from being excessively full, the working state of a range extender of the vehicle is controlled to be closed when the vehicle is detected to belong to the range-extending vehicle, so that the influence of the excessively full battery on the braking efficiency of a motor is reduced.
If the vehicle is detected to belong to the range-extending vehicle, controlling the working state of the range extender of the vehicle to be closed may include: if the vehicle is detected to belong to the range extender, the working state of the range extender of the vehicle is obtained, and the working state of the range extender of the vehicle is controlled to be closed according to the working state of the range extender of the vehicle.
Specifically, when the operating state of the range extender of the vehicle is in operation, the operating state of the range extender of the vehicle is adjusted from operation to closing, and when the operating state of the range extender of the vehicle is in closing, the operating state of the range extender of the vehicle is maintained.
In this embodiment, optionally, the running data of the vehicle includes a motor rotation speed;
determining a response operation to the vehicle based on the travel data of the vehicle, comprising:
detecting that the motor speed of the vehicle exceeds a preset speed threshold;
the motor rotation speed of the vehicle is controlled to a target rotation speed value.
The preset rotation speed threshold value can be 4000 r/min, specifically, the preset rotation speed threshold value can be adaptively adjusted according to the type of the vehicle or other requirements, and the preset value of the preset rotation speed threshold value is not particularly limited in the disclosure.
The rotation speed range may be 2000 r/min-4000 r/min, and the target rotation speed value may be one rotation speed value of 2000 r/min-4000 r/min, for example, the target rotation speed value may be 3000 r/min.
For example, if the motor speed of the vehicle is 5000 r/min, it is determined that the motor speed of the vehicle exceeds the preset speed threshold, and the motor speed of the vehicle may be adjusted from 5000 r/min to 3000 r/min.
S3302, performing a response operation, generating a target braking force of the target wheel end based on the braking force of the other side wheel end corresponding to the target wheel end, and performing braking control on the target wheel end.
Wherein the other side wheel end corresponding to the target wheel end is a side wheel end which is not at the same side as the target wheel end and has the same arrangement position,
for example, the target wheel end is the left front wheel end, and the other side wheel end corresponding to the target wheel end is the right front wheel end; the target wheel end is a left rear wheel end, and the other side wheel end corresponding to the target wheel end is a right rear wheel end; the target wheel end is a right front wheel end, and the other side wheel end corresponding to the target wheel end is a left front wheel end; the target wheel end is the right rear wheel end, and the other side wheel end corresponding to the target wheel end is the left rear wheel end.
The target braking force of the target wheel end may be generated based on the braking force of the other side wheel end corresponding to the target wheel end, and the braking control may be performed on the target wheel end based on the target braking force.
In combination with the above example, if the target wheel end is the left front wheel end, the other side wheel end corresponding to the target wheel end is the right front wheel end, the brake actuator of the right front wheel end generates the brake force F1, the target brake force of the target wheel end may be F1 based on the brake force of the other side wheel end corresponding to the target wheel end, and the target wheel end is braked based on the brake force F1, or the brake actuator of the right front wheel end generates the brake force F1, the target brake force of the target wheel end may be F2 based on the brake force of the other side wheel end corresponding to the target wheel end, and the target wheel end is braked based on the brake force F2, wherein F2 < F1.
Based on the description of the foregoing embodiment, in this embodiment, optionally, the method of this embodiment may further include:
detecting that the driving state of the vehicle is automatic driving;
if the current speed of the vehicle is greater than the preset speed threshold, or if the driving mode of the vehicle is in the preset driving mode, controlling the battery electric quantity of the vehicle to be a target electric quantity value and controlling the battery temperature of the vehicle to be a target temperature value.
Wherein when the driving state of the vehicle is changed from manual driving to automatic driving, it can be determined that the driving state of the vehicle is detected as automatic driving, and when the driving state of the vehicle is detected as automatic driving, the running data of the vehicle can be determined by one of two factors.
When the driving state of the vehicle is detected to be automatic driving, the current speed of the vehicle can be detected, and if the current speed of the vehicle is larger than a preset speed threshold, the battery electric quantity of the vehicle is controlled to be a target electric quantity value, and the battery temperature of the vehicle is controlled to be a target temperature value.
Or when the driving state of the vehicle is detected to be automatic driving, the driving mode of the vehicle can be detected, if the driving mode of the vehicle is in a preset driving mode, the battery electric quantity of the vehicle is controlled to be a target electric quantity value, and the battery temperature of the vehicle is controlled to be a target temperature value, wherein the preset driving mode can be a high-order automatic driving mode.
Therefore, the braking redundancy capacity of the motor is effectively ensured, and the motor braking is stabilized.
The disclosure further provides an information interaction schematic diagram of the distributed braking system and the driving system, as shown in fig. 5 by way of example, in fig. 5, the distributed braking system may have a braking redundancy state request in addition to an existing braking recovery request, so as to restrict running data of a vehicle and ensure stable braking of a motor.
Fig. 6 is a schematic structural view of a vehicle brake control device provided in an embodiment of the present disclosure; the device is configured in the electronic equipment, and can realize the vehicle braking control method according to any embodiment of the application. The device specifically comprises the following steps:
a receiving module 610, configured to receive a braking force abnormality processing request of a target wheel end of a vehicle;
an acquisition module 620 configured to acquire travel data of the vehicle in response to the braking force abnormality processing request;
and a control module 630 for generating a target braking force of the target wheel end based on the running data of the vehicle to perform braking control on the target wheel end.
In this embodiment, optionally, the control module 630 includes: a determination unit and a control unit;
a determination unit configured to determine a response operation to the vehicle based on traveling data of the vehicle, the response operation being a preprocessing operation before performing brake control;
and a control unit configured to execute the response operation, generate a target braking force of the target wheel end based on a braking force of the other side wheel end corresponding to the target wheel end, and perform braking control on the target wheel end.
In this embodiment, optionally, the driving data of the vehicle includes: battery power and battery temperature;
the determining unit is specifically configured to:
detecting that the battery power of the vehicle exceeds a preset power threshold;
responsive operation of the vehicle is determined based on a battery temperature of the vehicle.
In this embodiment, optionally, the determining unit is specifically configured to:
if the battery temperature of the vehicle is detected to be smaller than a preset temperature threshold value, controlling the battery electric quantity of the vehicle to discharge to a target electric quantity value;
and controlling the battery temperature of the vehicle to be heated to a target temperature value.
In this embodiment, optionally, the determining unit is specifically configured to:
detecting that the battery temperature of the vehicle is within a preset temperature range;
and not responding to a coasting energy recovery strategy of the vehicle, wherein the coasting energy recovery strategy is used for describing a battery charging operation when a target wheel end of the vehicle is braked.
In this embodiment, optionally, the control module 630 is further configured to control the working state of the range extender of the vehicle to be closed if it is detected that the vehicle belongs to the range-extending vehicle.
In this embodiment, optionally, the running data of the vehicle includes a motor rotation speed;
the determining unit is specifically configured to:
detecting that the motor speed of the vehicle exceeds a preset speed threshold;
and controlling the motor rotating speed of the vehicle to be a target rotating speed value.
In this embodiment, optionally, the apparatus of this embodiment may further include: a detection module;
the detection module is used for detecting that the driving state of the vehicle is automatic driving;
the control module 630 is further configured to control the battery power of the vehicle to be a target power value and control the battery temperature of the vehicle to be a target temperature value if the current speed of the vehicle is greater than a preset speed threshold, or if the driving mode of the vehicle is in a preset driving mode.
According to the vehicle brake control device provided by the embodiment of the application, the braking force abnormality processing request of the target wheel end of the vehicle is received, the running data of the vehicle is obtained by responding to the braking force abnormality processing request, and the target braking force corresponding to the target wheel end is generated to brake and control the target wheel end, so that the defect of the braking force of the target wheel end is overcome, the problem that the braking deceleration of the vehicle is damaged due to the fact that the braking force of the other side wheel end is influenced by the defect of the braking force of the target wheel end is avoided, and the braking efficiency of the vehicle can be effectively improved.
The vehicle brake control device provided by the embodiment of the application can execute the vehicle brake control method provided by any embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method.
The present disclosure also provides an electronic device, including: and a processor for executing a computer program stored in a memory, which when executed by the processor implements the steps of the method embodiments described above.
Fig. 7 is a schematic structural diagram of an electronic device provided in the present disclosure, and fig. 7 shows a block diagram of an exemplary electronic device suitable for implementing the embodiment of the present application. The electronic device shown in fig. 7 is only an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present application.
As shown in fig. 7, the electronic device 12 is in the form of a general purpose computing device. Components of the electronic device 12 may include, but are not limited to: one or more processors 16, a system memory 28, a bus 18 that connects the various system components, including the system memory 28 and the processors 16.
Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, and a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Electronic device 12 typically includes a variety of computer system readable media. Such media can be any medium that is accessible by electronic device 12 and includes both volatile and non-volatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32. The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from or write to non-removable, nonvolatile magnetic media (commonly referred to as a "hard disk drive"). Disk drives for reading from and writing to removable nonvolatile magnetic disks (e.g., a "floppy disk"), and optical disk drives for reading from and writing to removable nonvolatile optical disks (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 18 through one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of embodiments of the application.
A program/utility 40 having a set (at least one) of program modules 42 may be stored in, for example, system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 42 generally perform the functions and/or methods of the embodiments described herein.
The processor 16 executes various functional applications and information processing, such as implementing method embodiments provided by embodiments of the present application, by running at least one of a plurality of programs stored in the system memory 28.
The present disclosure also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the above-described method embodiments.
Any combination of one or more computer readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The present disclosure also provides a computer program product which, when run on a computer, causes the computer to perform the steps of implementing the method embodiments described above.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is merely a specific embodiment of the disclosure to enable one skilled in the art to understand or practice the disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown and described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (12)
1. A vehicle brake control method characterized by comprising:
receiving a braking force abnormality processing request of a target wheel end of a vehicle;
acquiring running data of the vehicle in response to the braking force abnormality processing request;
and generating a target braking force of the target wheel end based on the running data of the vehicle so as to perform braking control on the target wheel end.
2. The method according to claim 1, wherein the brake control of the target wheel end based on the running data of the vehicle includes:
determining a response operation to the vehicle based on the running data of the vehicle, the response operation being a preprocessing operation before performing brake control;
and executing the response operation, generating a target braking force of the target wheel end based on the braking force of the other side wheel end corresponding to the target wheel end, and performing braking control on the target wheel end.
3. The method of claim 2, wherein the vehicle travel data comprises: battery power and battery temperature;
the determining a response operation to the vehicle based on the traveling data of the vehicle includes:
detecting that the battery power of the vehicle exceeds a preset power threshold;
responsive operation of the vehicle is determined based on a battery temperature of the vehicle.
4. A method according to claim 3, wherein said determining responsive operation to the vehicle based on the battery temperature of the vehicle comprises:
if the battery temperature of the vehicle is detected to be smaller than a preset temperature threshold value, controlling the battery electric quantity of the vehicle to discharge to a target electric quantity value;
and controlling the battery temperature of the vehicle to be heated to a target temperature value.
5. A method according to claim 3, wherein said determining responsive operation to the vehicle based on the battery temperature of the vehicle comprises:
detecting that the battery temperature of the vehicle is within a preset temperature range;
and not responding to a coasting energy recovery strategy of the vehicle, wherein the coasting energy recovery strategy is used for describing a battery charging operation when a target wheel end of the vehicle is braked.
6. The method as recited in claim 5, further comprising:
and if the vehicle is detected to belong to the range-extending vehicle, controlling the working state of the range extender of the vehicle to be closed.
7. The method of claim 2, wherein the vehicle travel data includes motor speed;
the determining a response operation to the vehicle according to the driving data of the vehicle comprises:
detecting that the motor speed of the vehicle exceeds a preset speed threshold;
and controlling the motor rotating speed of the vehicle to be a target rotating speed value.
8. The method as recited in claim 1, further comprising:
detecting that the driving state of the vehicle is automatic driving;
and if the current speed of the vehicle is greater than a preset speed threshold, or if the driving mode of the vehicle is in a preset driving mode, controlling the battery electric quantity of the vehicle to be a target electric quantity value, and controlling the battery temperature of the vehicle to be a target temperature value.
9. A vehicle brake control apparatus characterized by comprising:
the receiving module is used for receiving a braking force abnormality processing request of a target wheel end of the vehicle;
an acquisition module for acquiring running data of the vehicle in response to the braking force abnormality processing request;
and the control module is used for generating a target braking force of the target wheel end based on the running data of the vehicle so as to perform braking control on the target wheel end.
10. An electronic device, comprising:
one or more processors;
storage means for storing one or more programs,
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the vehicle brake control method according to any one of claims 1 to 8.
11. A computer-readable storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements the vehicle brake control method according to any one of claims 1 to 8.
12. A vehicle comprising the electronic device of claim 10.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211580734.2A CN117162984A (en) | 2022-12-06 | 2022-12-06 | Vehicle brake control method and device, electronic equipment, medium and vehicle |
| PCT/CN2023/136784 WO2024120439A1 (en) | 2022-12-06 | 2023-12-06 | Vehicle braking control method and apparatus, electronic device, medium, and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211580734.2A CN117162984A (en) | 2022-12-06 | 2022-12-06 | Vehicle brake control method and device, electronic equipment, medium and vehicle |
Publications (1)
| Publication Number | Publication Date |
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| CN117162984A true CN117162984A (en) | 2023-12-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211580734.2A Pending CN117162984A (en) | 2022-12-06 | 2022-12-06 | Vehicle brake control method and device, electronic equipment, medium and vehicle |
Country Status (2)
| Country | Link |
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| CN (1) | CN117162984A (en) |
| WO (1) | WO2024120439A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024120439A1 (en) * | 2022-12-06 | 2024-06-13 | 北京车和家汽车科技有限公司 | Vehicle braking control method and apparatus, electronic device, medium, and vehicle |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6452934B2 (en) * | 2013-11-19 | 2019-01-16 | Ntn株式会社 | Electric brake device |
| US10647311B2 (en) * | 2017-11-09 | 2020-05-12 | Robert Bosch Gmbh | System and method for motor brake boost function failure |
| KR20210007510A (en) * | 2019-07-11 | 2021-01-20 | 현대자동차주식회사 | Redundancy brake operating system and method for breakdown of main brake of autonomous vehicle |
| CN115366688A (en) * | 2022-09-29 | 2022-11-22 | 重庆长安新能源汽车科技有限公司 | Vehicle brake control method, device, equipment and storage medium |
| CN117162984A (en) * | 2022-12-06 | 2023-12-05 | 北京车和家汽车科技有限公司 | Vehicle brake control method and device, electronic equipment, medium and vehicle |
-
2022
- 2022-12-06 CN CN202211580734.2A patent/CN117162984A/en active Pending
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- 2023-12-06 WO PCT/CN2023/136784 patent/WO2024120439A1/en unknown
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024120439A1 (en) * | 2022-12-06 | 2024-06-13 | 北京车和家汽车科技有限公司 | Vehicle braking control method and apparatus, electronic device, medium, and vehicle |
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