CN118220075A - Vehicle, brake control method and device thereof, and storage medium - Google Patents

Abstract

The invention discloses a vehicle, a braking control method and a device thereof and a storage medium, wherein the braking control method of the vehicle firstly obtains a motor maximum feedback torque value, a rear wheel braking torque limit value, a whole vehicle required braking torque value and a whole vehicle braking torque limit value of the vehicle; and under the condition that the maximum feedback torque value of the motor is smaller than or equal to the brake torque limiting value of the rear wheels, if the required brake torque value of the whole vehicle is smaller than or equal to the brake torque limiting value of the whole vehicle, the hydraulic brake torque value of the front wheels and the hydraulic brake torque value of the rear wheels of the vehicle are simultaneously improved. Therefore, the braking control method of the vehicle can simultaneously improve the braking torque values of the front wheels and the rear wheels of the vehicle according to the braking torque required by the whole vehicle of the vehicle, so that the activating probability of ABS (anti-lock brake system) can be reduced in the braking process of the vehicle, the energy recovered by electric braking is improved, and the cruising ability of the vehicle can be improved.

Description

Vehicle, brake control method and device thereof, and storage medium

Technical Field

The present invention relates to the field of vehicle control technologies, and in particular, to a vehicle, a braking control method and apparatus thereof, and a storage medium.

Background

With the rapid development of electric vehicles, electric vehicles are generally equipped with a braking feedback function, that is, energy is recovered in the process of braking the vehicle, for example, the recovered energy can be used for charging a battery, so as to improve the cruising ability of the vehicle.

In the related art, in general, after the rear wheel uses the maximum braking torque that can be used, if the braking requirement of the vehicle is still not met, the front wheel is used to increase the braking force, and this situation often causes the ABS (Antilock Brake System, anti-lock braking system) in the vehicle to be activated due to the increase of the wheel slip rate in the braking process of the vehicle, the electric braking function is withdrawn, and thus the energy recovery can not be performed any more, so that more reasonable analysis of the braking force is required to avoid the activation of the ABS and the withdrawal of the electric braking function due to the overlarge braking force.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, an object of the present invention is to provide a braking control method for a vehicle, which can simultaneously increase braking torque values of front wheels and rear wheels of the vehicle according to braking torque required by the whole vehicle of the vehicle, so that the activation probability of ABS of the vehicle can be reduced during braking, the energy recovered by electric braking can be increased, and the cruising ability of the vehicle can be improved.

A second object of the present invention is to propose a computer readable storage medium.

A third object of the present invention is to provide a brake control device for a vehicle.

A fourth object of the present invention is to propose a vehicle.

In order to achieve the above objective, an embodiment of a first aspect of the present invention provides a vehicle brake control method, which includes obtaining a motor maximum feedback torque value, a rear wheel brake torque limit value, a vehicle brake torque demand value, and a vehicle brake torque limit value of the vehicle, where the vehicle brake torque limit value is a vehicle brake torque value corresponding to when a rear wheel brake torque value of the vehicle reaches the rear wheel brake torque limit value; and under the condition that the maximum feedback torque value of the motor is smaller than or equal to the rear wheel braking torque limiting value, if the whole vehicle required braking torque value is smaller than or equal to the whole vehicle braking torque limiting value, simultaneously improving the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value of the vehicle.

According to the vehicle braking control method, when the maximum feedback torque value of the motor is smaller than or equal to the rear wheel braking torque limit value and the required braking torque value of the whole vehicle is smaller than or equal to the whole vehicle braking torque limit value, the fact that the braking requirement of the vehicle cannot be met only through electric braking is indicated, so that the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value of the vehicle are improved at the same time, the activation probability of ABS (anti-lock brake system) can be reduced in the braking process of the vehicle, the energy recovered through electric braking is improved, and the cruising ability of the vehicle can be improved.

In some embodiments of the invention, the front wheel brake hydraulic pressure value of the vehicle is equal to the rear wheel brake hydraulic pressure value.

In some embodiments of the invention, the method further comprises: if the braking torque value of the whole vehicle is larger than the braking torque limit value of the whole vehicle, continuously increasing the hydraulic braking torque value of the front wheel, and simultaneously fixing the hydraulic braking torque value of the rear wheel to be the difference value between the braking torque limit value of the rear wheel and the maximum feedback torque value of the motor.

In some embodiments of the invention, the method further comprises: and if the vehicle demand braking torque value is smaller than the motor maximum feedback torque value, controlling the electric braking torque value of the vehicle to be equal to the vehicle demand braking torque value, and simultaneously controlling the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value to be zero, wherein the motor maximum feedback torque value is smaller than the vehicle braking torque limiting value.

In some embodiments of the present invention, the vehicle brake torque limit value= (the rear wheel brake torque limit value-the motor maximum feedback torque value) ×kf/kr+the rear wheel brake torque limit value, where Kf is a conversion coefficient of a front wheel brake hydraulic pressure value and the front wheel hydraulic pressure brake torque value, and Kr is a conversion coefficient of a rear wheel brake hydraulic pressure value and the rear wheel hydraulic pressure brake torque value.

In some embodiments of the invention, the method further comprises: and under the condition that the maximum feedback torque value of the motor is larger than the rear wheel braking torque limiting value, if the whole vehicle required braking torque value is smaller than the rear wheel braking torque limiting value, controlling the electric braking torque value of the vehicle to be equal to the whole vehicle required braking torque value, and simultaneously controlling the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value to be zero.

In some embodiments of the invention, the method further comprises: and if the whole vehicle required braking torque value is larger than or equal to the rear wheel braking torque limiting value, controlling the electric braking torque value of the vehicle to be equal to the rear wheel braking torque limiting value, and simultaneously controlling the front wheel hydraulic braking torque value to be the difference value between the whole vehicle required braking torque value and the rear wheel braking torque limiting value.

To achieve the above object, a second aspect of the present invention provides a computer-readable storage medium having stored thereon a brake control program of a vehicle, which when executed by a processor, implements a brake control method of a vehicle according to the above embodiment.

According to the embodiment of the invention, the computer readable storage medium executes the braking control program of the vehicle stored on the computer readable storage medium through the processor, so that the braking torque value of the front wheels and the rear wheels of the vehicle can be improved simultaneously according to the braking torque required by the whole vehicle of the vehicle, the activation probability of ABS (anti-lock brake system) can be reduced in the braking process of the vehicle, the energy recovered by electric braking can be improved, and the cruising ability of the vehicle can be improved simultaneously.

To achieve the above object, an embodiment of a third aspect of the present invention provides a brake control device for a vehicle, the device including: the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a motor maximum feedback torque value, a rear wheel braking torque limit value, a whole vehicle required braking torque value and a whole vehicle braking torque limit value of the vehicle, wherein the whole vehicle braking torque limit value is a whole vehicle braking torque value corresponding to the rear wheel braking torque value of the vehicle reaching the rear wheel braking torque limit value; and the control module is used for simultaneously improving the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value of the vehicle if the whole vehicle required braking torque value is smaller than or equal to the whole vehicle braking torque limit value under the condition that the motor maximum feedback torque value is smaller than or equal to the rear wheel braking torque limit value.

In the braking control device of the vehicle in the embodiment, when the control module determines that the maximum feedback torque value of the motor acquired by the acquisition module is smaller than or equal to the rear wheel braking torque limit value and the required braking torque value of the whole vehicle is smaller than or equal to the whole vehicle braking torque limit value, the braking control device indicates that the braking requirement of the vehicle cannot be met only through electric braking, so that the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value of the vehicle are improved at the same time, the activation probability of ABS of the vehicle in the braking process can be reduced, the energy recovered through electric braking is improved, and the cruising ability of the vehicle can be improved.

To achieve the above object, a fourth aspect of the present invention provides a vehicle including the brake control device of the vehicle according to the above embodiment.

According to the vehicle disclosed by the embodiment of the invention, through the brake control device of the vehicle, the brake torque value of the front wheels and the rear wheels of the vehicle can be simultaneously improved according to the brake torque required by the whole vehicle of the vehicle, so that the activation probability of ABS (anti-lock brake system) can be reduced in the braking process of the vehicle, the energy recovered by electric braking can be improved, and the cruising ability of the vehicle can be improved.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

FIG. 1 is a flow chart of a method of controlling braking of a vehicle according to one embodiment of the invention;

FIG. 2 is a schematic illustration of a brake control module of a vehicle according to one embodiment of the invention;

FIG. 3 is a flow chart of a method of controlling braking of a vehicle in accordance with one embodiment of the present invention;

fig. 4 is a block diagram showing a structure of a brake control apparatus of a vehicle according to an embodiment of the present invention;

fig. 5 is a block diagram of a vehicle according to an embodiment of the present invention.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

The following describes a vehicle, a brake control method and apparatus thereof, and a storage medium according to an embodiment of the present invention with reference to the accompanying drawings.

The braking control method of the embodiment of the invention can be applied to the electric automobile, and the electric automobile has an electric braking feedback function, so that when the electric automobile is braked, braking energy can be recovered, and at the moment, the motor can serve as a generator to generate electricity so as to charge a battery, so that the activation probability of ABS can be reduced, the recovered energy of electric braking can be improved, and the cruising ability of the automobile can be improved.

Fig. 1 is a flowchart of a brake control method of a vehicle according to an embodiment of the present invention.

As shown in fig. 1, the present invention proposes a brake control method of a vehicle, the brake control method comprising the steps of:

S10, acquiring a motor maximum feedback torque value, a rear wheel braking torque limit value, a whole vehicle required braking torque value and a whole vehicle braking torque limit value of the vehicle, wherein the whole vehicle braking torque limit value is a whole vehicle braking torque value corresponding to when the rear wheel braking torque value of the vehicle reaches the rear wheel braking torque limit value.

Specifically, first, it is to be noted that the braking of the vehicle in the present embodiment includes hydraulic braking including front wheel hydraulic braking and rear wheel hydraulic braking, and motor braking, and electric braking may include only rear wheel electric braking. In the braking process of the vehicle, since the running speed and the ABS state of the vehicle affect the braking mode, when the vehicle is braked, it is necessary to acquire the running speed and the ABS state of the vehicle and determine the running speed and the ABS state of the vehicle. In this embodiment, the running degree of the vehicle may be obtained by a speed meter or a speed sensor, and the ABS state may be obtained by an ABS module.

When it is determined that the running speed of the vehicle is greater than the preset running speed (e.g., 5 kph) and the ABS is in an inactive state, it means that the vehicle can be braked to recover energy, and specifically, the motor maximum feedback torque value, the rear wheel braking torque limit value, the vehicle braking torque demand value and the vehicle braking torque limit value of the vehicle can be obtained, and the above torque values can be obtained through sensors on the vehicle. The brake torque limit value of the whole vehicle is a brake torque value of the whole vehicle corresponding to when the brake torque value of the rear wheel reaches the brake torque limit value of the rear wheel, and it can be understood that the brake torque limit value of the rear wheel represents a threshold value for activating the ABS of the vehicle, namely when the brake torque value of the rear wheel is larger than or equal to the brake torque limit value of the rear wheel, the ABS is activated, otherwise, the ABS is not activated. More specifically, the rear wheel brake torque value may be calculated by the following formula: a+b) +m+ax, h+u+r/(a+b), where a is the distance from the vehicle centroid to the front axle, b is the distance from the vehicle centroid to the rear axle, h is the vehicle centroid height, m is the vehicle mass, g is the gravitational acceleration, u is the road attachment coefficient, r is the rear wheel rolling radius, and ax is the longitudinal acceleration of the vehicle. In the embodiment mentioned below, the calculation manner of the rear wheel braking torque value is the same as the above formula, so in the embodiment mentioned below, a description thereof will not be repeated.

And S20, under the condition that the maximum feedback torque value of the motor is smaller than or equal to the rear wheel braking torque limit value, if the whole vehicle required braking torque value is smaller than or equal to the whole vehicle braking torque limit value, the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value of the vehicle are improved simultaneously.

Specifically, the motor maximum feedback torque value being less than or equal to the rear wheel braking torque limit value indicates that the ABS of the vehicle is not activated after the vehicle is braked by the electric braking torque value maximum value of the rear wheels of the vehicle, so that the braking torque of the rear wheels of the vehicle can be improved in the subsequent hydraulic braking process. Since the vehicle required braking torque value in the present embodiment is less than or equal to the vehicle braking torque limit value, the rear wheel braking torque value will be less than or equal to the rear wheel braking torque limit value before the braking torque of the control vehicle satisfies the vehicle required braking torque value, so that the ABS of the vehicle will not be activated. Under the condition, the embodiment can control the front wheel braking torque value and the rear wheel braking torque value to be simultaneously improved, and further slow down the speed that the rear wheel braking torque value reaches the rear wheel braking torque limit value, so that the energy recovery time can be improved, the energy recovery amount can be increased, and the cruising ability of the vehicle can be further improved.

In some embodiments of the present invention, the front wheel brake hydraulic pressure value and the rear wheel brake hydraulic pressure value of the vehicle are equal.

Specifically, the hydraulic brake torque is equal to the product of the brake hydraulic pressure value and the conversion coefficient, that is, the front wheel hydraulic brake torque value is equal to the front wheel brake hydraulic pressure value multiplied by the front wheel hydraulic pressure torque conversion coefficient, and the rear wheel hydraulic brake torque value is equal to the rear wheel brake hydraulic pressure value multiplied by the rear wheel hydraulic pressure torque conversion coefficient. In this embodiment, the front wheel braking hydraulic pressure value and the rear wheel braking hydraulic pressure value are controlled to be equal, specifically, the quotient obtained by dividing the difference between the vehicle demand braking torque value and the motor maximum feedback torque by the sum of the front wheel hydraulic torque conversion coefficient and the rear wheel hydraulic torque conversion coefficient is set, that is, the front wheel braking hydraulic pressure value=the rear wheel braking hydraulic pressure value= (vehicle demand braking torque value-motor maximum feedback torque)/(kf+kr), where Kf represents the front wheel hydraulic torque conversion coefficient and Kr represents the rear wheel hydraulic torque conversion coefficient. In this embodiment, the front wheel brake hydraulic pressure value and the rear wheel brake hydraulic pressure value are set to be equal, so that the respective increases of the front wheel hydraulic brake torque value and the rear wheel hydraulic brake torque value in the process of increasing do not differ too much, thereby reducing noise generated in the braking process, and the brake hydraulic pressure applied by the rear wheel and the front wheel is equal, thereby reducing control difficulty and improving control accuracy.

In some embodiments of the present invention, the brake control method of a vehicle further includes: if the braking torque value of the whole vehicle is larger than the braking torque limit value of the whole vehicle, continuously improving the hydraulic braking torque value of the front wheels, and simultaneously fixing the hydraulic braking torque value of the rear wheels to be the difference value between the braking torque limit value of the rear wheels and the maximum feedback torque value of the motor.

Specifically, in the case where the motor maximum feedback torque value is smaller than or equal to the rear wheel brake torque value, if the vehicle demand brake torque value is larger than the vehicle brake torque limit value, it is stated that there may be a case where the rear wheel brake torque value is larger than the rear wheel brake torque limit value in the process of increasing the rear wheel brake torque value, and the ABS may be caused to be activated by the vehicle, so that the embodiment fixes the rear wheel hydraulic brake torque value on the difference between the rear wheel brake torque limit value and the motor maximum feedback torque value for this case, and reaches the vehicle demand brake torque value by increasing the front wheel hydraulic brake torque value.

It should be noted that, in this embodiment, the motor maximum feedback torque value is the rear wheel electric brake torque limit value, and the rear wheel brake torque value is equal to the rear wheel electric brake torque value plus the rear wheel hydraulic brake torque value, so in order to increase the energy recovery amount, this embodiment increases the rear wheel electric brake torque value to the motor maximum feedback torque value, and then decreases the torque difference obtained by subtracting the motor maximum feedback torque value from the rear wheel brake torque limit value by the rear wheel hydraulic brake torque value, that is, fixes the rear wheel hydraulic brake torque value as the difference. After determining the electric brake torque value and the rear wheel hydraulic brake torque value, the remaining required brake torque value is completed by the front wheel hydraulic brake torque value. Therefore, in this embodiment, the electric brake torque value=motor maximum feedback torque value, the rear wheel hydraulic brake torque value= (rear wheel brake torque limit value-motor maximum feedback torque value)/Kr, and the front wheel hydraulic brake torque value= (vehicle demand brake torque value-rear wheel brake torque limit value)/Kf.

In some embodiments of the present invention, the brake control method of a vehicle further includes: and if the vehicle demand braking torque value is smaller than the motor maximum feedback torque value, controlling the electric braking torque value of the vehicle to be equal to the vehicle demand braking torque value, and simultaneously controlling the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value to be zero, wherein the motor maximum feedback torque value is smaller than the vehicle braking torque limiting value.

Specifically, when the motor maximum feedback torque value is smaller than or equal to the rear wheel braking torque value, if the vehicle demand braking torque value is smaller than the motor maximum feedback torque value, it is indicated that the braking demand of the vehicle can be met only through electric braking, so in order to fully utilize energy recovery, the embodiment directly determines the electric braking torque value according to the vehicle demand braking torque value, and controls the electric braking torque value to be equal to the vehicle demand braking torque value, and because the electric braking can completely meet the vehicle demand braking torque value, the embodiment also controls the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value to be zero.

It should be noted that, the maximum feedback torque value of the motor in this embodiment is smaller than the brake torque limit value of the whole vehicle, and the above-described embodiments may be combined. That is, when the motor maximum feedback torque value is less than or equal to the rear wheel braking torque limit value, the motor maximum feedback torque value is divided according to the magnitude of the vehicle demand braking torque value, wherein the motor maximum feedback torque value is divided into three cases, namely, the vehicle demand braking torque value is less than the motor maximum feedback torque value, the vehicle demand braking torque value is less than or equal to the vehicle braking torque limit value, and the vehicle demand braking torque value is greater than the vehicle braking torque limit value. In the first case, since braking of the whole vehicle can be achieved by electric braking, the electric braking torque value is controlled to be equal to the braking torque value required by the whole vehicle, and the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value are controlled to be zero. In the second case, when the electric brake torque value has reached the motor maximum feedback torque value, it is necessary to cooperate with the hydraulic brake to achieve braking, so that the front wheel brake hydraulic pressure value and the rear wheel brake hydraulic pressure value are controlled to be equal, and the front wheel hydraulic brake torque value and the rear wheel hydraulic brake torque value are increased at the same time, in order to reduce the noise generated by the control valve body. In the third case, the sum of the electric braking torque value and the rear wheel hydraulic braking torque value reaches the rear wheel braking torque limit value, but the braking torque value required by the whole vehicle is not met, so that the rear wheel braking torque value can be fixed on the rear wheel braking torque limit value in order to avoid activating the ABS of the vehicle, and then the front wheel hydraulic braking torque value is independently increased, so that the recovery of braking energy is ensured.

In some embodiments of the present invention, the vehicle brake torque limit value= (rear wheel brake torque limit value-motor maximum feedback torque value) ×kf/kr+rear wheel brake torque limit value, where Kf is a conversion coefficient of a front wheel brake hydraulic pressure value and a front wheel hydraulic brake torque value, and Kr is a conversion coefficient of a rear wheel brake hydraulic pressure value and a rear wheel hydraulic brake torque value.

Specifically, the vehicle braking torque limit value is equal to the front wheel braking torque limit value plus the rear wheel braking torque limit value, and since the rear wheel braking torque limit value is obtained by adding the motor maximum feedback torque to the rear wheel braking torque limit value and the rear wheel braking torque limit value is equal to the front wheel braking torque limit value in the process of starting to increase, the present embodiment obtains the rear wheel braking torque limit value by subtracting the motor maximum feedback torque from the rear wheel braking torque limit value, then divides the rear wheel braking torque limit value by the rear wheel hydraulic torque conversion coefficient Kr to obtain the rear wheel braking torque limit value, and since the front wheel braking torque limit value is equal to the rear wheel braking torque limit value, the front wheel braking torque limit value is equal to the front wheel braking torque limit value multiplied by the front wheel hydraulic torque conversion coefficient Kf, and after the front wheel braking torque limit value is calculated, the vehicle braking torque limit value is obtained by adding the rear wheel braking torque limit value. Alternatively, the calculation formula of the brake torque limit value of the whole vehicle in this embodiment may be further converted into (1+kf/Kr) ×the brake torque limit value of the rear wheel—kf/kr×the motor maximum feedback torque.

In other embodiments of the present invention, the brake control method of a vehicle further includes: and under the condition that the maximum feedback torque value of the motor is larger than the rear wheel braking torque limit value, if the whole vehicle required braking torque value is smaller than the rear wheel braking torque limit value, controlling the electric braking torque value of the vehicle to be equal to the whole vehicle required braking torque value, and simultaneously controlling the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value to be zero.

Specifically, after the motor maximum feedback torque value, the rear wheel braking torque limit value, the whole vehicle required braking torque value and the whole vehicle braking torque limit value of the vehicle are obtained, if it is judged that the motor maximum feedback torque value is larger than the rear wheel braking torque limit value and the whole vehicle required braking torque value is smaller than the rear wheel braking torque limit value, it is indicated that the braking requirement of the vehicle can be met only through electric braking, and the whole vehicle required braking torque value is smaller than the rear wheel braking torque limit value, so that even though the torque required for braking is realized through controlling the rear wheels, the ABS of the vehicle is not activated. Therefore, the embodiment controls the electric braking torque value to be equal to the braking torque value required by the whole vehicle, and simultaneously controls the hydraulic braking torque value of the front wheels and the hydraulic braking torque value of the rear wheels to be zero.

In this embodiment, if the vehicle demand braking torque value is greater than or equal to the rear wheel braking torque limit value, the electric braking torque value of the vehicle is controlled to be equal to the rear wheel braking torque limit value, and the front wheel hydraulic braking torque value is controlled to be the difference between the vehicle demand braking torque value and the rear wheel braking torque limit value.

Specifically, since the motor maximum feedback torque value is greater than the rear wheel braking torque limit value, when the vehicle demand braking torque value is greater than or equal to the rear wheel braking torque value, in order to ensure the recovery of braking energy, the vehicle ABS is ensured not to be activated, so the electric braking torque value can be controlled to be equal to the rear wheel braking torque limit value, and since the current braking torque value of the rear wheel has reached the limit value, the braking torque of the rear wheel is not required to be increased by hydraulic pressure, otherwise, the vehicle ABS is activated, and the rest of the required braking torque value is realized by the front wheel hydraulic braking torque, so the front wheel hydraulic braking torque value is equal to the difference value obtained by subtracting the rear wheel braking torque limit value from the vehicle demand braking torque value. In addition, the embodiment needs to adjust the hydraulic value of the front wheel, so that the electromagnetic valve needs to be controlled to operate less, the operation difficulty is reduced, and the operation precision is improved.

More specifically, referring to fig. 2, the brake control method of the vehicle in the present embodiment may be performed by a brake force distribution module, wherein the brake parameters may be acquired by a brake torque demand module, VCU (Vehicle control unit, vehicle controller), vehicle speed calculation module, ABS module, EBD (Electric Brakeforce Dis-tribution, electric brake force distribution) module, and the like. In addition, the embodiment shown in fig. 2 may be a rear-drive type vehicle, so that the rear-wheel electric brake torque value may correspond to the motor target brake torque value in the present application.

To summarize, referring to fig. 3, in a specific embodiment, it is first determined whether the required torque value of the whole vehicle is equal to zero, if so, it indicates that braking is not needed currently, so that the front wheel brake hydraulic pressure value, the rear wheel brake hydraulic pressure value and the motor target brake torque value can be all set to zero, and if not, it is further determined whether the running speed and ABS of the vehicle are activated. If the vehicle speed is less than 5kph or the ABS is in an activated state, the front wheel braking hydraulic pressure value=the whole vehicle required braking torque value/(kf+kr), the rear wheel braking hydraulic pressure value=the front wheel braking hydraulic pressure value, the motor target braking torque value=0, and if the vehicle speed is greater than or equal to 5kph and the ABS is not in an activated state, whether the motor maximum feedback torque value is less than or equal to the rear wheel braking torque limit value is further judged. If the motor maximum feedback torque value is smaller than or equal to the rear wheel braking torque limit value and the vehicle braking torque value is smaller than the motor maximum feedback torque value, the front wheel braking hydraulic pressure value=0, the rear wheel braking hydraulic pressure value=0 and the motor target braking torque value=the vehicle braking torque value. If the vehicle demand braking torque value is greater than or equal to the motor maximum feedback torque value, and the vehicle demand braking torque value is less than (1+kf/Kr) ×the rear wheel braking torque limit value-Kf/Kr) ×the motor maximum feedback torque value, the front wheel braking hydraulic pressure value= (vehicle demand braking torque value-motor maximum feedback torque value)/(kf+kr), the rear wheel braking hydraulic pressure value = the front wheel braking hydraulic pressure value, the motor target braking torque value = the motor maximum feedback torque value. If the vehicle demand braking torque value is greater than or equal to (1+kf/Kr) ×rear wheel braking torque limit value-Kf/Kr) ×motor maximum feedback torque value, then the front wheel braking hydraulic value= (vehicle demand braking torque value-rear wheel braking torque limit value)/Kf, the rear wheel braking hydraulic value= (rear wheel braking torque limit value-motor maximum feedback torque value)/Kr, motor target braking torque value = motor maximum feedback torque. If the motor maximum feedback torque value is larger than the rear wheel braking torque limit value and the whole vehicle required braking torque value is smaller than the rear wheel braking torque limit value, the front wheel braking hydraulic pressure value=0, the rear wheel braking hydraulic pressure value=0 and the motor target braking torque value=the whole vehicle required braking torque value. If the vehicle demand braking torque value is greater than or equal to the rear wheel braking torque limit value, the front wheel braking hydraulic pressure value= (vehicle demand braking torque value-rear wheel braking torque limit value)/Kf, rear wheel braking hydraulic pressure value=0, motor target braking torque value=rear wheel braking torque limit value.

In the present embodiment, the front wheel brake hydraulic pressure value and the rear wheel brake hydraulic pressure value are calculated, and the front wheel brake hydraulic pressure value and the rear wheel brake hydraulic pressure value are multiplied by the corresponding conversion coefficients, so that the corresponding brake torque value can be obtained.

In summary, the braking control method of the vehicle in the embodiment of the invention can reduce the activation probability of the ABS in the braking process of the vehicle, improve the energy recovered by electric braking, and improve the cruising ability of the vehicle.

The present invention proposes a computer-readable storage medium having stored thereon a brake control program of a vehicle, which when executed by a processor, implements a brake control method of a vehicle according to the above-described embodiments.

According to the embodiment of the invention, the computer readable storage medium executes the braking control program of the vehicle stored on the computer readable storage medium through the processor, so that the braking torque value of the front wheels and the rear wheels of the vehicle can be improved simultaneously according to the braking torque required by the whole vehicle of the vehicle, the activation probability of ABS (anti-lock brake system) can be reduced in the braking process of the vehicle, the energy recovered by electric braking can be improved, and the cruising ability of the vehicle can be improved simultaneously.

Fig. 4 is a block diagram showing a structure of a brake control apparatus of a vehicle according to an embodiment of the present invention.

As shown in fig. 4, the present invention proposes a brake control device 100 of a vehicle, the brake control device 100 of the vehicle including an acquisition module 101 and a control module 102.

The obtaining module 101 is configured to obtain a motor maximum feedback torque value, a rear wheel braking torque limit value, a vehicle required braking torque value, and a vehicle braking torque limit value of the vehicle, where the vehicle braking torque limit value is a vehicle braking torque value corresponding to when the rear wheel braking torque value of the vehicle reaches the rear wheel braking torque limit value; the control module 102 is configured to, when the motor maximum feedback torque value is less than or equal to the rear wheel braking torque limit value, increase the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value of the vehicle at the same time if the vehicle demand braking torque value is less than or equal to the vehicle braking torque limit value.

In some embodiments of the present invention, the front wheel brake hydraulic pressure value of the vehicle is equal to the rear wheel brake hydraulic pressure value.

In some embodiments of the present invention, the control module 102 is further configured to continuously increase the front wheel hydraulic braking torque value if the vehicle braking torque value is greater than the vehicle braking torque limit value, and simultaneously fix the rear wheel hydraulic braking torque value as a difference between the rear wheel braking torque limit value and the motor maximum feedback torque value.

In some embodiments of the present invention, the control module 102 is further configured to control the electric brake torque value of the vehicle to be equal to the vehicle demand brake torque value and simultaneously control the front wheel hydraulic brake torque value and the rear wheel hydraulic brake torque value to be zero if the vehicle demand brake torque value is smaller than the motor maximum feedback torque value, wherein the motor maximum feedback torque value is smaller than the vehicle brake torque limit value.

In some embodiments of the present invention, the vehicle brake torque limit value= (rear wheel brake torque limit value-motor maximum feedback torque value) ×kf/kr+rear wheel brake torque limit value, where Kf is a conversion coefficient of a front wheel brake hydraulic pressure value and a front wheel hydraulic brake torque value, and Kr is a conversion coefficient of a rear wheel brake hydraulic pressure value and a rear wheel hydraulic brake torque value.

In some embodiments of the present invention, the control module 102 is further configured to control the electric brake torque value of the vehicle to be equal to the vehicle demand brake torque value and simultaneously control the front wheel hydraulic brake torque value and the rear wheel hydraulic brake torque value to be zero if the vehicle demand brake torque value is smaller than the rear wheel brake torque limit value in the case that the motor maximum feedback torque value is larger than the rear wheel brake torque limit value.

In some embodiments of the present invention, the control module 102 is further configured to control the electric brake torque value of the vehicle to be equal to the rear wheel brake torque limit value and control the hydraulic brake torque value of the front wheel to be the difference between the vehicle demand brake torque value and the rear wheel brake torque limit value if the vehicle demand brake torque value is greater than or equal to the rear wheel brake torque limit value.

It should be noted that, for the specific implementation of the braking control device for a vehicle in the embodiment of the present invention, reference may be made to the specific implementation of the braking control method for a vehicle in the above embodiment, and in order to avoid redundancy, the description is omitted here.

In summary, the braking control device of the vehicle in the embodiment of the invention can reduce the activation probability of the ABS in the braking process of the vehicle, improve the energy recovered by electric braking, and improve the cruising ability of the vehicle.

Fig. 5 is a block diagram of a vehicle according to an embodiment of the present invention.

As shown in fig. 5, the present invention proposes a vehicle 1000, the vehicle 1000 including the brake control device 100 of the vehicle in the above-described embodiment.

According to the vehicle disclosed by the embodiment of the invention, through the vehicle braking control device, the activation probability of the ABS can be reduced in the vehicle braking process, the energy recovered by electric braking can be improved, and meanwhile, the cruising ability of the vehicle can be improved.

In addition, other structures and functions of the vehicle in the embodiments of the present invention are known to those skilled in the art, and are not described herein for redundancy reduction.

It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, for example, may be considered as a ordered listing of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.

It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, as used in embodiments of the present invention, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or as implying any particular number of features in the present embodiment. Thus, a feature of an embodiment of the invention that is defined by terms such as "first," "second," etc., may explicitly or implicitly indicate that at least one such feature is included in the embodiment. In the description of the present invention, the word "plurality" means at least two or more, for example, two, three, four, etc., unless explicitly defined otherwise in the embodiments.

In the present invention, unless explicitly stated or limited otherwise in the examples, the terms "mounted," "connected," and "fixed" as used in the examples should be interpreted broadly, e.g., the connection may be a fixed connection, may be a removable connection, or may be integral, and it may be understood that the connection may also be a mechanical connection, an electrical connection, etc.; of course, it may be directly connected, or indirectly connected through an intermediate medium, or may be in communication with each other, or in interaction with each other. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific embodiments.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.

Claims (10)

1. A brake control method of a vehicle, characterized by comprising:

The method comprises the steps of obtaining a motor maximum feedback torque value, a rear wheel braking torque limit value, a whole vehicle required braking torque value and a whole vehicle braking torque limit value of the vehicle, wherein the whole vehicle braking torque limit value is a whole vehicle braking torque value corresponding to the rear wheel braking torque value of the vehicle reaching the rear wheel braking torque limit value;

And under the condition that the maximum feedback torque value of the motor is smaller than or equal to the rear wheel braking torque limiting value, if the whole vehicle required braking torque value is smaller than or equal to the whole vehicle braking torque limiting value, simultaneously improving the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value of the vehicle.

2. The brake control method according to claim 1, characterized in that a front wheel brake hydraulic pressure value of the vehicle is equal to a rear wheel brake hydraulic pressure value.

3. The brake control method according to claim 1, characterized in that the method further comprises:

If the braking torque value of the whole vehicle is larger than the braking torque limit value of the whole vehicle, continuously increasing the hydraulic braking torque value of the front wheel, and simultaneously fixing the hydraulic braking torque value of the rear wheel to be the difference value between the braking torque limit value of the rear wheel and the maximum feedback torque value of the motor.

4. The brake control method according to claim 1, characterized in that the method further comprises:

And if the vehicle demand braking torque value is smaller than the motor maximum feedback torque value, controlling the electric braking torque value of the vehicle to be equal to the vehicle demand braking torque value, and simultaneously controlling the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value to be zero, wherein the motor maximum feedback torque value is smaller than the vehicle braking torque limiting value.

5. The brake control method according to any one of claims 1 to 4, characterized in that the vehicle brake torque limit value= (the rear wheel brake torque limit value-the motor maximum feedback torque value) xkf/kr+the rear wheel brake torque limit value, where Kf is a conversion coefficient of a front wheel brake hydraulic pressure value and the front wheel hydraulic brake torque value, and Kr is a conversion coefficient of a rear wheel brake hydraulic pressure value and the rear wheel hydraulic brake torque value.

6. The brake control method according to claim 1, characterized in that the method further comprises:

And under the condition that the maximum feedback torque value of the motor is larger than the rear wheel braking torque limiting value, if the whole vehicle required braking torque value is smaller than the rear wheel braking torque limiting value, controlling the electric braking torque value of the vehicle to be equal to the whole vehicle required braking torque value, and simultaneously controlling the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value to be zero.

7. The brake control method according to claim 6, characterized in that the method further comprises:

And if the whole vehicle required braking torque value is larger than or equal to the rear wheel braking torque limiting value, controlling the electric braking torque value of the vehicle to be equal to the rear wheel braking torque limiting value, and simultaneously controlling the front wheel hydraulic braking torque value to be the difference value between the whole vehicle required braking torque value and the rear wheel braking torque limiting value.

8. A computer-readable storage medium, characterized in that a brake control program of a vehicle is stored thereon, which when executed by a processor, implements the brake control method of a vehicle according to any one of claims 1 to 7.

9. A brake control apparatus of a vehicle, characterized by comprising:

the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a motor maximum feedback torque value, a rear wheel braking torque limit value, a whole vehicle required braking torque value and a whole vehicle braking torque limit value of the vehicle, wherein the whole vehicle braking torque limit value is a whole vehicle braking torque value corresponding to the rear wheel braking torque value of the vehicle reaching the rear wheel braking torque limit value;

And the control module is used for simultaneously improving the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value of the vehicle if the whole vehicle required braking torque value is smaller than or equal to the whole vehicle braking torque limit value under the condition that the motor maximum feedback torque value is smaller than or equal to the rear wheel braking torque limit value.

10. A vehicle comprising the brake control device of the vehicle according to claim 9.