CN117429397A - Vehicle brake control method, vehicle brake control system and vehicle - Google Patents
Vehicle brake control method, vehicle brake control system and vehicle Download PDFInfo
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- CN117429397A CN117429397A CN202210854536.4A CN202210854536A CN117429397A CN 117429397 A CN117429397 A CN 117429397A CN 202210854536 A CN202210854536 A CN 202210854536A CN 117429397 A CN117429397 A CN 117429397A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000008859 change Effects 0.000 claims description 13
- 239000000725 suspension Substances 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 6
- 230000001172 regenerating effect Effects 0.000 claims description 2
- 238000009826 distribution Methods 0.000 abstract description 2
- 238000011084 recovery Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000036461 convulsion Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000009828 non-uniform distribution Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17558—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for collision avoidance or collision mitigation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
-
- 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
- B60T8/24—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 vehicle inclination or change of direction, e.g. negotiating bends
- B60T8/245—Longitudinal vehicle inclination
-
- 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
- B60T8/26—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels
-
- 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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/10—Detection or estimation of road conditions
-
- 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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/20—Road shapes
- B60T2210/22—Banked curves
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/84—Driver circuits for actuating motor, valve and the like
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention relates to a vehicle brake control method, a vehicle brake control system and a vehicle. The vehicle brake control method includes: detecting the running state and/or road condition information of the vehicle; judging whether a smooth braking condition is met or not based on the detected running state and/or road condition information of the vehicle; and under the condition that the smooth braking condition is judged to be met, increasing the braking torque of the rear axle and equivalently reducing the braking torque of the front axle, so as to adjust the posture of the vehicle body on the premise of ensuring the deceleration of the vehicle, thereby realizing smooth braking and stopping. According to the invention, smooth stopping can be realized while ensuring the desired vehicle deceleration to a certain extent by dynamically adjusting the brake torque distribution of the front and rear axles.
Description
Technical Field
The present invention relates to the field of vehicles, and more particularly, to a vehicle brake control method and a vehicle brake control system capable of achieving smooth brake parking.
Background
In order to improve the riding experience of the occupants, smooth brake parking (softtop or Comfort Stop) techniques have been developed that are capable of timely reducing the brake pressure during braking deceleration of the vehicle to reduce the magnitude of jerk movements of the vehicle.
For example, CN112440951a discloses a method of vehicle automatic control that judges whether or not a vehicle needs to be smoothly braked and stopped based on a decelerating running condition of the vehicle, and when it is judged that the vehicle needs to be smoothly braked and stopped, reduces the magnitude of jerk motion of the vehicle at the time of automatic braking by extracting some brake fluid from a pressure unit for generating brake pressure or instructing the pressure unit to generate brake pressure smaller than the brake pressure corresponding to a brake pedal stroke of the vehicle.
The smooth-braking parking technique disclosed in CN112440951a achieves smooth braking only by reducing the braking pressure. However, an overall decrease in brake pressure implies a potential deceleration loss, and a safe braking distance may not be ensured.
In addition, electric vehicles are increasingly widely used, and brake-by-wire systems have become increasingly sophisticated for use on electric vehicles, with the latest brake-by-wire systems having been able to achieve non-uniform distribution of brake pressure to the front and rear axles in conventional braking.
Disclosure of Invention
The present invention has been made in view of the above background, and aims to provide a vehicle brake control method and a vehicle brake control system capable of realizing smooth brake parking while ensuring a desired vehicle deceleration.
A first aspect of the invention provides a vehicle brake control method that includes: detecting the running state and/or road condition information of the vehicle; judging whether a smooth braking condition is met or not based on the detected running state and/or road condition information of the vehicle; and under the condition that the smooth braking condition is judged to be met, increasing the braking torque of the rear axle and equivalently reducing the braking torque of the front axle, so as to adjust the posture of the vehicle body on the premise of ensuring the deceleration of the vehicle, thereby realizing smooth braking and stopping.
In a preferred embodiment, the increase of the braking torque of the rear axle is achieved by energy recuperation of a drive motor arranged on the rear axle and/or by friction braking on the rear axle.
In a preferred embodiment, the torque adjustment of the front and rear axles is stopped in the case where the rear wheel dynamics reaches a predetermined threshold value or in the case where the rear wheel dynamics does not reach the predetermined threshold value but it is determined that smooth parking has been enabled.
In a preferred embodiment, in the event that the rear wheel dynamically reaches a predetermined threshold but smooth stopping is not yet achieved, the braking torque of the rear axle is further reduced while the braking torque of the front axle is stopped.
In a preferred embodiment, the reduction of the braking torque of the front axle is stopped when it is determined that the braking torque of the front axle will continue to be reduced.
In a preferred embodiment, the vehicle brake control method further includes: judging whether a smooth braking suspension condition is met in the process of smooth braking; and stopping the smooth braking and executing the normal braking in the case that it is determined that the smooth braking suspension condition is satisfied.
The driving state of the vehicle includes vehicle speed, wheel dynamics, brake strength, brake request rate of change and steering wheel input. The road condition information comprises gradient, flatness and obstacle information of a vehicle running road surface.
The smooth braking condition includes at least one of: the vehicle speed is greater than zero and less than a preset first vehicle speed threshold; the dynamic state of the wheels is within a preset range; the braking strength is within a set range; the brake request change rate is smaller than a preset value; steering wheel input is less than a set threshold; the gradient of the vehicle running road surface is smaller than the set gradient value; the disturbance of the vehicle running path to the wheel speed is smaller than a set value; the distance between the vehicle and the obstacle is greater than the predetermined distance.
The smooth brake abort condition includes at least one of: the vehicle speed is higher than a preset second vehicle speed threshold; the wheel dynamics is outside a preset range; the braking strength exceeds a set range; the brake request change rate is larger than a preset value; steering wheel input is greater than a set threshold; the gradient of the vehicle running road surface is larger than the set gradient value; the disturbance of the vehicle running path to the wheel speed exceeds a set value; the distance between the vehicle and the obstacle is less than a predetermined distance.
A second aspect of the invention provides a vehicle brake control system including: a braking module for braking the vehicle to slow the vehicle down; the detection module is used for detecting the running state and/or road condition information of the vehicle; the judging module is used for judging whether the smooth braking condition is met or not based on the detected running state and/or road condition information of the vehicle; and the control module is used for controlling the braking module to carry out smooth braking under the condition that the judging module judges that the smooth braking condition is met. In this vehicle brake control system, the vehicle brake control method according to the above is implemented.
In a preferred embodiment, in the brake module, the brake pressure generated by the brake pressure source can be freely distributed and adjusted between the front axle and the rear axle of the vehicle.
A third aspect of the invention provides a vehicle comprising a vehicle brake control system according to the above.
In a preferred embodiment, the vehicle is an electric vehicle, and a drive motor capable of performing regenerative braking is provided on a front axle and/or a rear axle of the electric vehicle.
According to the vehicle braking control method and the vehicle braking control system, under the condition that the smooth braking condition is met, the braking torque of the front axle is equivalently reduced by increasing the braking torque of the rear axle, and smooth braking and stopping can be realized while the expected vehicle deceleration is ensured, so that smoothness and safety are both considered.
Drawings
Fig. 1 is a block diagram of a vehicle brake control system according to an embodiment of the present invention.
Fig. 2 is a flowchart of a vehicle brake control method according to an embodiment of the present invention.
Fig. 3 is an example scenario of a smooth braking park control according to the present invention.
Fig. 4 is another example scenario of a smooth braking park control according to the present invention.
Detailed Description
Specific embodiments of the present invention are described below with reference to the accompanying drawings.
Fig. 1 shows a block diagram of a vehicle brake control system according to an embodiment of the present invention. As shown in fig. 1, the vehicle brake control system according to this embodiment includes a brake module 10, a detection module 20, a judgment module 30, and a control module 40.
The braking module 10 is used to brake the vehicle to slow the vehicle. In this brake module 10, the brake pressure generated by the brake pressure source can be freely distributed and adjusted between the front axle and the rear axle of the vehicle.
The detection module 20 is used for detecting the running state and/or road condition information of the vehicle. For example, the driving state of the vehicle may include vehicle speed, wheel dynamics, brake strength, brake request rate of change, steering wheel input, etc.; the road condition information may include gradient, flatness, obstacle information, etc. of a road surface on which the vehicle is traveling.
The judging module 30 is configured to judge whether the smooth braking condition is satisfied based on the running state of the vehicle and/or the road condition information detected by the detecting module 20. For example, the smooth braking condition may include at least one of the following conditions: the vehicle speed is greater than zero and less than a preset first vehicle speed threshold; the dynamic state of the wheels is within a preset range; the braking strength is within a set range; the brake request change rate is smaller than a preset value; steering wheel input is less than a set threshold; the gradient of the vehicle running road surface is smaller than the set gradient value; the disturbance of the vehicle running path to the wheel speed is smaller than a set value; the distance between the vehicle and the obstacle is greater than the predetermined distance.
The control module 40 is configured to control the brake module 10 to perform smooth braking in a case where the judging module 30 judges that the smooth braking condition is satisfied. One example of the smooth brake control will be described in detail below.
Fig. 2 shows a flowchart of a vehicle brake control method according to an embodiment of the present invention.
First, in step S10, the detection module 20 detects a driving state of a vehicle and/or road condition information. As described above, the running state of the vehicle includes the vehicle speed, the wheel dynamics, the brake strength, the brake request change rate, the steering wheel input, and the like. The road condition information includes gradient, flatness, obstacle information, etc. of the road surface on which the vehicle is traveling.
Then, in step S12, the determination module 30 determines whether the smooth braking condition is satisfied based on the running state of the vehicle and/or the road condition information detected by the detection module 20. For example, the smooth braking condition may include at least one of the following conditions: the vehicle speed is greater than zero and less than a preset first vehicle speed threshold; the dynamic state of the wheels is within a preset range; the braking strength is within a set range; the brake request change rate is smaller than a preset value; steering wheel input is less than a set threshold; the gradient of the vehicle running road surface is smaller than the set gradient value; the disturbance of the vehicle running path to the wheel speed is smaller than a set value; the distance between the vehicle and the obstacle is greater than the predetermined distance.
When it is determined in step S12 that the smooth braking condition is not satisfied, the flow ends. On the other hand, in the case where it is determined that the smooth braking condition is satisfied, the control module 40 controls the braking module 10 to perform smooth braking. Specifically, the control module 40 causes the brake module 10 to increase the braking torque of the rear axle and equivalently decrease the braking torque of the front axle to achieve a desired vehicle deceleration while performing smooth braking. In other words, the total braking torque corresponding to the vehicle deceleration required by the driver to depress the brake pedal or required by the automatic driving system remains unchanged. Compared with the normal braking process, a part of braking torque is 'transferred' from the front axle to the rear axle, so that the vehicle body posture in braking is adjusted, and smooth parking is realized. The intervention timing for the front-rear axle torque adjustment may be determined from information collected at the time of initial braking.
For a vehicle having an internal combustion engine as a driving force source, an increase in rear axle braking torque is achieved by friction braking on the rear axle. For example, the total braking torque requested by the driver during braking is unchanged, but the built-up pressure of the rear axle is larger than that of the front axle, so that the braking torque of the rear axle increases.
In an electric vehicle having a drive motor on the rear axle, the increase in the rear axle braking torque is preferably achieved by energy recovery of the drive motor, and in the event of saturation of the energy recovery capacity, can be supplemented by friction braking on the rear axle. Compared with the prior smooth braking and stopping technology which does not fully utilize the energy recovery function of the electric vehicle and the brake pressure non-uniform distribution function of the brake-by-wire system, the invention fully utilizes the energy recovery function of the electric vehicle and reduces the energy consumption.
During the smooth braking, the judging module 30 judges in step S16 whether the smooth braking suspension condition is satisfied. The smooth brake abort condition may include at least one of: the vehicle speed is higher than a preset second vehicle speed threshold; the wheel dynamics is outside a preset range; the braking strength exceeds a set range; the brake request change rate is larger than a preset value; steering wheel input is greater than a set threshold; the gradient of the vehicle running road surface is larger than the set gradient value; the disturbance of the vehicle running path to the wheel speed exceeds a set value; the distance between the vehicle and the obstacle is less than a predetermined distance.
If it is determined in step S16 that the smooth brake suspension condition is satisfied, smooth brake adjustment is stopped in step S30, and the flow ends. The control module 40 then controls the brake module 10 to perform a normal braking process.
If it is determined in step S16 that the smooth brake suspension condition is not satisfied, smooth brake control is continued. In step S18, it is determined whether the rear wheel braking force reaches the limit and smooth parking is achievable according to the current braking torque. For example, the determination may be made by the determination module 30 based on the information of the rear wheel dynamics or the like detected by the detection module 20.
If it is determined in step S18 that the rear wheel braking force does not reach the limit (the rear wheel dynamics does not reach the predetermined threshold value) and that smooth stopping cannot be achieved based on the current brake torque distribution, the flow returns to step S14, where the "transfer" of brake torque between the front and rear axles is continued, i.e., the rear axle brake torque is further increased and the front axle brake torque is equivalently reduced.
On the other hand, if it is determined in step S18 that the rear wheel braking force has reached the limit (the rear wheel dynamic reaches the predetermined threshold value) or that the rear wheel braking force has not reached the limit but that smooth parking has been enabled based on the current braking torque adjustment, the control module stops increasing the braking torque of the rear axle in step S20.
Then, in step S22, it is further judged whether or not a condition is in which the rear wheel braking force has reached the limit but smooth parking is not yet achievable. If not, it indicates that the current brake torque adjustment can achieve smooth stopping, and the smooth brake adjustment is stopped in step S30, and the flow ends. The control module 40 then controls the brake module 10 to maintain the current brake torque.
If it is determined in step S22 that the rear wheel braking force has reached the limit but smooth parking is not yet achievable, only the braking torque of the front axle is reduced in step S24. In this case, a part of the braking force is lost as in the conventional smooth-braking parking, but the deceleration loss to achieve smooth-braking parking is relatively small through the foregoing control.
Then, in step S26, it is determined whether or not there is a possibility that the braking is insufficient due to a decrease in the front axle braking torque. If so, the flow goes to step S30, the smooth brake adjustment is stopped, and the flow ends. The control module 40 then controls the brake module 10 to maintain the current braking torque or to increase the braking torque to compensate for the actual under-braking.
If it is determined in step S26 that the decrease in front axle braking torque does not result in an insufficient braking, it is next determined in step S28 whether a smooth stop is achievable based on the current braking torque.
If it is determined in step S28 that smooth stopping can be achieved based on the current braking torque, smooth braking adjustment is stopped in step S30, and the flow ends. The control module 40 then controls the brake module 10 to maintain the current brake torque. Otherwise, the flow goes to step S24 to further reduce the braking torque of the front axle, and the processing of steps S26, S28, S30 is continued as appropriate.
One example of a smooth braking control flow according to the present invention is described above. It should be noted, however, that the steps in fig. 2 are not necessarily all performed in the order shown. For example, step S16 of determining whether the smooth brake suspension condition is satisfied may be performed after steps S20, S24, S30. In other words, once it is determined that the smooth brake suspension condition is satisfied during the smooth brake control, the smooth brake control is exited.
Fig. 3 shows an example case of smooth braking parking control according to the present invention. In this case, in the early stage, the vehicle speed is high, and only in the final stage of the braking process, it is determined in step S12 that the comfort braking condition (t 1 ) Thereby increasing the rear wheel pressure and equivalently decreasing the front wheel brake pressure (t in step S14 1 -t 2 ). It is determined in step S22 that the rear wheel braking force has reached the limit but smooth parking is not yet achievable, whereas in step S24 only the braking force of the front axle is reduced (t 3 -t 4 ). Returning to the original requested pressure after stopping (t 5 )。
Fig. 4 shows another example case of the smooth brake parking control according to the present invention. In this case, the initial vehicle speed is smaller than the preset first vehicle speed threshold value, and the brake strength is within the set range, and the brake request change rate is also smaller than the preset value. Accordingly, it is determined in step S12 that the comfort braking condition (t 1 ) In step S14, the rear wheel brake pressure is increased to equivalently decrease the front wheel brake pressure (t 1 -t 2 ). Returning to the original requested pressure after stopping (t 3 ). The adjustment of the braking torque at an early stage of the braking process can reduce or even avoid a later reduction in the front wheel braking pressure, thereby enabling a further improvement in comfort.
Compared with the prior art, the vehicle braking control method and the vehicle braking control system provided by the invention have the advantages that the braking torque of the front axle is equivalently reduced by increasing the braking torque of the rear axle under the condition that the smooth braking condition is met, and smooth braking and stopping can be realized while the expected vehicle deceleration is ensured, so that the smoothness and the safety are both considered.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of the application of the principles of the present invention and that the present invention is not limited thereto. Various modifications and improvements may be made by those skilled in the art without departing from the spirit and substance of the invention. The scope of the invention is to be defined only by the meaning of the language of the following claims and the equivalents thereof.
Claims (12)
1. A vehicle brake control method comprising:
detecting the running state and/or road condition information of the vehicle;
judging whether a smooth braking condition is met or not based on the detected running state and/or road condition information of the vehicle; and
under the condition that the smooth braking condition is judged to be met, the braking torque of the rear axle is increased, and the braking torque of the front axle is reduced equivalently, so that the posture of the vehicle body is adjusted on the premise of ensuring the deceleration of the vehicle, and smooth braking and stopping are realized.
2. The vehicle brake control method according to claim 1, characterized in that,
increasing the braking torque of the rear axle is achieved by energy recuperation of a drive motor arranged on the rear axle and/or by friction braking on the rear axle.
3. The vehicle brake control method according to claim 1 or 2, characterized in that,
in the case where the rear wheel dynamics reaches a predetermined threshold value or in the case where the rear wheel dynamics does not reach the predetermined threshold value but it is determined that smooth parking has been enabled, torque adjustment of the front and rear axles is stopped.
4. The vehicle brake control method according to claim 1 or 2, characterized in that,
in the case where the rear wheel dynamically reaches a predetermined threshold but smooth stopping is not yet achieved, the braking torque of the front axle is further reduced while stopping increasing the braking torque of the rear axle.
5. The vehicle brake control method according to claim 4, characterized in that,
when it is determined that the braking torque of the front axle is to be reduced continuously, the braking torque of the front axle is stopped from being reduced.
6. The vehicle brake control method according to claim 1 or 2, characterized by further comprising:
judging whether a smooth braking suspension condition is met in the process of smooth braking; and
when it is determined that the smooth brake suspension condition is satisfied, the smooth brake is stopped and the normal brake is executed.
7. The vehicle brake control method according to claim 1 or 2, characterized in that,
the running state of the vehicle comprises vehicle speed, wheel dynamics, braking strength, braking request change rate and steering wheel input;
the road condition information comprises gradient, flatness and obstacle information of a vehicle running road surface;
the smooth braking condition includes at least one of: the vehicle speed is greater than zero and less than a preset first vehicle speed threshold; the dynamic state of the wheels is within a preset range; the braking strength is within a set range; the brake request change rate is smaller than a preset value; steering wheel input is less than a set threshold; the gradient of the vehicle running road surface is smaller than the set gradient value; the disturbance of the vehicle running path to the wheel speed is smaller than a set value; the distance between the vehicle and the obstacle is greater than the predetermined distance.
8. The vehicle brake control method according to claim 6, characterized in that,
the running state of the vehicle comprises vehicle speed, wheel dynamics, braking strength, braking request change rate and steering wheel input;
the road condition information comprises gradient, flatness and obstacle information of a vehicle running road surface;
the smooth brake abort condition includes at least one of: the vehicle speed is higher than a preset second vehicle speed threshold; the wheel dynamics is outside a preset range; the braking strength exceeds a set range; the brake request change rate is larger than a preset value; steering wheel input is greater than a set threshold; the gradient of the vehicle running road surface is larger than the set gradient value; the disturbance of the vehicle running path to the wheel speed exceeds a set value; the distance between the vehicle and the obstacle is less than a predetermined distance.
9. A vehicle brake control system comprising:
a braking module for braking the vehicle to slow the vehicle down;
the detection module is used for detecting the running state and/or road condition information of the vehicle;
the judging module is used for judging whether the smooth braking condition is met or not based on the detected running state and/or road condition information of the vehicle; and
a control module for controlling the braking module to perform smooth braking under the condition that the judging module judges that the smooth braking condition is satisfied,
the vehicle brake control method according to any one of claims 1 to 8 is implemented in the vehicle brake control system.
10. The vehicle brake control system according to claim 9, characterized in that,
in the brake module, the brake pressure generated by the brake pressure source can be freely distributed and adjusted between the front axle and the rear axle of the vehicle.
11. A vehicle characterized in that it comprises a vehicle brake control system according to claim 9 or 10.
12. The vehicle of claim 11, wherein the vehicle is further characterized by,
the vehicle is an electric vehicle, and a drive motor capable of performing regenerative braking is provided on a front axle and/or a rear axle of the electric vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210854536.4A CN117429397A (en) | 2022-07-15 | 2022-07-15 | Vehicle brake control method, vehicle brake control system and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210854536.4A CN117429397A (en) | 2022-07-15 | 2022-07-15 | Vehicle brake control method, vehicle brake control system and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117429397A true CN117429397A (en) | 2024-01-23 |
Family
ID=89554197
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210854536.4A Pending CN117429397A (en) | 2022-07-15 | 2022-07-15 | Vehicle brake control method, vehicle brake control system and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117429397A (en) |
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2022
- 2022-07-15 CN CN202210854536.4A patent/CN117429397A/en active Pending
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