CN107444393B - Brake system control method and device - Google Patents

Brake system control method and device Download PDF

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Publication number
CN107444393B
CN107444393B CN201710596094.7A CN201710596094A CN107444393B CN 107444393 B CN107444393 B CN 107444393B CN 201710596094 A CN201710596094 A CN 201710596094A CN 107444393 B CN107444393 B CN 107444393B
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torque
motor
vehicle
braking
energy recovery
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CN107444393A (en
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李玮
代康伟
梁海强
王亚楠
罗曼
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Beijing Electric Vehicle Co Ltd
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Beijing Electric Vehicle Co Ltd
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Priority to PCT/CN2018/096414 priority patent/WO2019015666A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • 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
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B60T13/745—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/107—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/18—Braking system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Regulating Braking Force (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses a braking system control method and a device, wherein the method comprises the following steps: calculating a required braking torque according to a driving state of the vehicle; distributing torque to the motor and the hydraulic brake control unit according to the required brake torque, so that the motor and the hydraulic brake control unit brake the vehicle according to the distributed torque; and acquiring the running state of the vehicle in the process of braking the vehicle by the motor and the hydraulic brake control unit according to the distributed torque, and compensating the torque distributed to the motor according to the running state in the braking process. The control method and the control device for the braking system provided by the invention can enable the braking process to achieve the expected effect as much as possible and effectively improve the accuracy of braking control.

Description

Brake system control method and device
Technical Field
The invention relates to the technical field of automobile control, in particular to a brake system control method and device.
Background
In the face of increasingly severe energy and environmental problems, the increasing demand of traditional fuel oil vehicles for petroleum resources and the environmental pollution caused by the demand have attracted people increasingly, and meanwhile, energy-saving and new energy vehicles are becoming hot spots for research. The development of new energy automobiles, particularly pure electric automobiles with zero pollution and zero emission, has great significance for energy safety and environmental protection, is an important direction for realizing transformation upgrading and technical breakthrough in the automobile field, and is a trend of future development in the automobile field. The unmanned automobile is one of intelligent automobiles, and is also a trend of future development in the automobile field. The unmanned automobile is also called as a wheeled mobile robot, senses information such as road environment, vehicle position, traffic signals, obstacles and the like through a vehicle-mounted sensing system, automatically plans a driving route on the basis, and realizes longitudinal and transverse coupling control of the vehicle through certain control logic, so that the vehicle can safely reach a preset destination without manual extra intervention. The unmanned automobile integrates a plurality of technologies such as automatic control, a system structure, artificial intelligence, machine vision and the like, is a product of high development of computer science, mode recognition and intelligent control technologies, and is an important mark for measuring national scientific research strength and industrial level. Compared with a traditional fuel vehicle, the pure electric vehicle has the characteristics of pure electric platforms, motor driving and the like, so that the pure electric vehicle is known to be a better carrier of the unmanned vehicle.
Brake control is one of key technologies for realizing longitudinal control of an unmanned vehicle, and most of brake systems in the existing pure electric unmanned vehicle adopt a line control scheme and reserve a brake pedal so as to realize switching between unmanned driving and manual driving. When the vehicle is in a manual driving state, the vehicle controller obtains driving intention of a driver according to information such as the opening degree of a brake pedal and converts the intention into a demand brake torque command, and on the basis, the hydraulic brake control unit controls a hydraulic system to work according to the demand brake torque command to realize braking of the vehicle; when the vehicle is in the unmanned state, different from manual driving, the unmanned controller calculates the required braking torque according to the information of environment, obstacles, traffic signals, the current state of the vehicle and the like, and on the basis, the hydraulic braking control unit realizes the braking function of the vehicle.
In the above brake-by-wire scheme, a large number of non-linear links and uncertainties exist in the whole control process, which all affect the control precision, resulting in lower control precision.
Disclosure of Invention
The invention provides a control method and a control device of a brake system, which are used for solving the technical problem of low control precision of the brake system in the prior art.
Therefore, the invention provides a brake system control method, which comprises the following steps:
calculating a required braking torque according to a driving state of the vehicle;
distributing torque to the motor and the hydraulic brake control unit according to the required brake torque, so that the motor and the hydraulic brake control unit brake the vehicle according to the distributed torque;
and acquiring the running state of the vehicle in the process of braking the vehicle by the motor and the hydraulic brake control unit according to the distributed torque, and compensating the torque distributed to the motor according to the running state in the braking process.
Alternatively, calculating the required braking torque according to the running state of the vehicle includes:
acquiring a vehicle speed and an expected acceleration;
and determining the required braking torque through a table look-up according to the vehicle speed and the expected acceleration.
Optionally, distributing torque for the electric machine and the hydraulic brake control unit according to the demanded brake torque, comprising:
calculating the maximum allowable energy recovery torque of the motor;
calculating a torque allocated to the motor based on the maximum allowable energy recovery torque;
a torque allocated to the hydraulic brake control unit is calculated based on the torque allocated to the motor and the required brake torque.
Optionally, calculating a maximum allowable energy recovery torque of the electric machine comprises:
acquiring the maximum allowable generating power of the motor and the maximum allowable charging power of the battery;
determining the minimum value of the maximum allowable generating power of the motor and the maximum allowable charging power of the battery;
determining the limit energy recovery torque of the motor according to the minimum value, the power generation efficiency and the rotating speed of the motor;
and determining the maximum allowable energy recovery torque of the motor according to the limit energy recovery torque of the motor and a preset torque margin.
Optionally, calculating the torque allocated to the electric machine from the maximum allowed energy recovery torque comprises:
judging whether the required braking torque is larger than the maximum allowable energy recovery torque multiplied by a motor energy recovery coefficient;
if the maximum allowable energy recovery torque is larger than the maximum allowable energy recovery torque, the torque distributed to the motor is the maximum allowable energy recovery torque multiplied by a motor energy recovery coefficient;
if not, the torque allocated to the motor is the required braking torque.
Optionally, acquiring a driving state of the vehicle during braking of the vehicle by the motor and the hydraulic brake unit according to the distributed torque, and compensating the torque distributed to the motor according to the driving state during braking, including:
acquiring the speed and the acceleration of a vehicle in the braking process;
calculating an acceleration deviation between the acceleration of the vehicle and the expected acceleration during braking;
determining a compensation torque added to the motor according to the speed deviation and the acceleration deviation of the vehicle in the braking process;
and compensating the torque distributed to the motor by the required braking torque according to the compensation torque.
Optionally, determining a compensation torque to be added to the electric machine based on the speed of the vehicle during braking and the acceleration deviation, comprises:
acquiring a table storing corresponding relations of vehicle speed, acceleration deviation and compensation torque;
and obtaining and determining the compensation torque added to the motor by looking up a table according to the speed of the vehicle and the acceleration deviation in the braking process.
The present invention also provides a brake system control device including:
the calculating module is used for calculating the required braking torque according to the running state of the vehicle;
the distribution module is used for distributing torque to the motor and the hydraulic brake control unit according to the required brake torque so that the motor and the hydraulic brake control unit brake the vehicle according to the distributed torque;
and the compensation module is used for acquiring the running state of the vehicle in the process that the motor and the hydraulic brake control unit brake the vehicle according to the distributed torque, and compensating the torque distributed to the motor according to the running state in the braking process.
Optionally, the calculation module is specifically configured to:
acquiring a vehicle speed and an expected acceleration;
and determining the required braking torque through a table look-up according to the vehicle speed and the expected acceleration.
Optionally, the allocation module is specifically configured to:
calculating the maximum allowable energy recovery torque of the motor;
calculating a torque allocated to the motor based on the maximum allowable energy recovery torque;
a torque allocated to the hydraulic brake control unit is calculated based on the torque allocated to the motor and the required brake torque.
The invention provides a computer device, comprising a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor can execute a braking system control method when executing the program, and the method comprises the following steps: calculating a required braking torque according to a driving state of the vehicle; distributing torque to the motor and the hydraulic brake control unit according to the required brake torque, so that the motor and the hydraulic brake control unit brake the vehicle according to the distributed torque; and acquiring the running state of the vehicle in the process of braking the vehicle by the motor and the hydraulic brake control unit according to the distributed torque, and compensating the torque distributed to the motor according to the running state in the braking process.
The present invention provides a non-transitory computer readable storage medium having instructions that, when executed by a processor, are capable of performing a braking system control method, the method comprising: calculating a required braking torque according to a driving state of the vehicle; distributing torque to the motor and the hydraulic brake control unit according to the required brake torque, so that the motor and the hydraulic brake control unit brake the vehicle according to the distributed torque; and acquiring the running state of the vehicle in the process of braking the vehicle by the motor and the hydraulic brake control unit according to the distributed torque, and compensating the torque distributed to the motor according to the running state in the braking process.
The invention proposes a computer program product in which instructions, when executed by a processor, are capable of performing a braking system control method comprising: calculating a required braking torque according to a driving state of the vehicle; distributing torque to the motor and the hydraulic brake control unit according to the required brake torque, so that the motor and the hydraulic brake control unit brake the vehicle according to the distributed torque; and acquiring the running state of the vehicle in the process of braking the vehicle by the motor and the hydraulic brake control unit according to the distributed torque, and compensating the torque distributed to the motor according to the running state in the braking process.
According to the control method and the control device of the brake system, the required brake torque is calculated, the torque is distributed to the motor and the hydraulic brake control unit according to the required brake torque, so that the motor and the hydraulic brake control unit brake the vehicle according to the distributed torque, the running state of the vehicle is obtained in the process that the motor and the hydraulic brake control unit brake the vehicle according to the distributed torque, the torque distributed to the motor is compensated according to the running state in the brake process, the brake process achieves the expected effect as much as possible, and the precision of brake control is effectively 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 schematic flow chart of a braking system control method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a control architecture of a brake system in a brake system control method according to an embodiment of the present invention;
FIG. 3 is a block diagram illustrating calculation of a demanded brake torque in a brake system control method according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating torque distribution and torque compensation in a control method of a braking system according to an embodiment of the present invention;
FIG. 5 is a block diagram illustrating the calculation of compensation torque in a braking system control method according to an embodiment of the present invention;
fig. 6 is a block diagram of a brake system control device according to a second embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Example one
The embodiment of the invention provides a control method of a brake system. Fig. 1 is a schematic flow chart of a braking system control method according to an embodiment of the present invention. As shown in fig. 1, the method in this embodiment may include the following steps:
step 101, calculating a required braking torque according to the running state of the vehicle.
And 102, distributing torque to the motor and the hydraulic brake control unit according to the required brake torque so that the motor and the hydraulic brake control unit brake the vehicle according to the distributed torque.
And 103, acquiring the running state of the vehicle in the process of braking the vehicle by the motor and the hydraulic brake control unit according to the distributed torque, and compensating the torque distributed to the motor according to the running state in the braking process.
The control method of the brake system in the embodiment can be used for the unmanned pure electric vehicle. Fig. 2 is a schematic diagram of a control architecture of a brake system in a brake system control method according to an embodiment of the present invention.
In fig. 2, the unmanned controller 1 acquires information such as the position, environment, traffic signal, and obstacle of the vehicle from an in-vehicle sensor (camera, laser radar, millimeter wave radar, ultrasonic radar, GPS, etc.), calculates a desired acceleration of the vehicle from the information, and the unmanned controller 1 feeds back the desired acceleration information to the vehicle controller 2, and if the desired acceleration is negative, the vehicle controller 2 performs a braking operation.
The vehicle controller 2 is a general name of three control systems in a traditional pure electric vehicle, and comprises a vehicle control unit, a motor controller and a battery management system. When the vehicle controller 2 executes a braking operation, firstly, a required braking torque is calculated according to a received expected acceleration (negative direction), then, state information of the power battery 3 is obtained from the vehicle power battery 3, the required braking torque is distributed according to the state information of the power battery 3, the state information of the driving motor 4 and the like, and is respectively distributed to the driving motor 4 and the hydraulic braking control unit 5, wherein the torque of the driving motor 4 is realized through an energy recovery mode, the braking torque generated by the driving motor 4 directly acts on wheels 7 through a single-stage speed reducer 6, and the hydraulic braking control unit 5 controls a braking caliper 8 according to the distributed braking torque, so that vehicle braking is realized. And finally, the vehicle controller 2 compares the negative acceleration generated by braking with the expected acceleration sent by the unmanned controller 1 to judge whether the braking reaches the expectation, if not, the torque distribution is adjusted to finally form a closed loop to control the vehicle braking process.
The hydraulic brake control unit 5 is an important component in the control architecture. After receiving the distributed torque information, the controller in the hydraulic brake control unit 5 controls the motor and the brake fluid pump to realize the inflow and outflow of brake fluid into and out of the brake wheel cylinder, and finally controls the brake caliper 8, thereby realizing the braking function (generating brake torque) of the vehicle.
Based on the control architecture, the braking system control method provided by the embodiment is mainly implemented by calculating the required braking torque, distributing the torque, and compensating the torque, which respectively correspond to the steps 101 to 103, and the main executing body of the method may be the vehicle controller 2.
In step 101, a required braking torque is calculated according to the running state of the vehicle.
In the driving process of the vehicle, the unmanned controller 1 acquires information such as the position, environment, traffic signals, obstacles and the like of the vehicle according to the vehicle-mounted sensor, and sends an expected control state to the vehicle controller 2 according to a certain control logic, so that the unmanned function is finally realized.
The longitudinal control of the unmanned automobile is actually vehicle speed control, wherein in terms of braking control of the vehicle, the unmanned controller 1 ultimately implements a braking function of the vehicle through control of energy recovery of a hydraulic brake control unit 5 and a drive motor (hereinafter referred to as motor) 4 by sending a desired acceleration (negative direction) to the vehicle controller 2 and then responding to the command by the vehicle controller 2.
Since the vehicle braking function is actually realized by the braking torque applied to the wheels 7, in the present embodiment, when the vehicle controller 2 determines that braking is required based on the desired acceleration after receiving the desired acceleration transmitted from the drone controller 1, it is necessary to calculate the required braking torque first.
The required braking torque may be calculated from a driving state of the vehicle, which may include, but is not limited to: vehicle speed, desired acceleration, etc.
Preferably, the calculating of the required braking torque according to the driving state of the vehicle in step 101 may include: acquiring a vehicle speed and an expected acceleration; and determining the required braking torque through a table look-up according to the vehicle speed and the expected acceleration.
Fig. 3 is a block diagram illustrating calculation of a demanded braking torque in a braking system control method according to an embodiment of the present invention. In FIG. 3, VaIndicating the desired acceleration, V, sent by the drone controller 1nIndicating the current vehicle speed, T, of the vehiclebThe required braking torque obtained by the table look-up is shown.
The method comprises the following steps that a vehicle in actual running applies specific braking torque to the vehicle, the generated negative acceleration of the vehicle is strongly related to the vehicle state and environmental factors, for example, in a high-speed running state, the wind resistance is large, and at the moment, the vehicle generates the negative acceleration under the same braking torque condition, and the running working condition is higher at a lower speed; similarly, ambient wind speed, road surface conditions (rolling friction coefficient of corresponding wheels), uphill and downhill, etc., all affect the final negative acceleration of the vehicle.
In this embodiment, a real-vehicle experiment is performed in an early stage (for example, the real-vehicle experiment is performed under a condition that the ambient wind speed is less than three levels and the paved road surface is dry and straight), different braking torques are applied to obtain negative acceleration values generated under different vehicle speeds, and the expected acceleration V is obtained after finishingaCurrent vehicle speed VnWith braking torque TbIs stored in a table, and in practical application, is represented by VaAnd VnThe required braking torque T can be directly inquiredb。
The method for calculating the required braking torque shown in FIG. 3 does not take into account the environmental factors, such as wind speed, road conditions, etc., versus TbThe resulting effect, but in this embodiment the effect of this part can be compensated for by adjusting the energy recovery intensity of the motor 4.
In step 102, distributing torques to the motor 4 and the hydraulic brake control unit 5 according to the required brake torque, so that the motor 4 and the hydraulic brake control unit 5 brake the vehicle according to the distributed torques.
Specifically, the required braking torque may be divided into a first torque and a second torque, and the sum of the first torque and the second torque is the required braking torque. The first braking torque is a torque at which the motor 4 brakes the vehicle, and the second braking torque is a torque at which the hydraulic brake control unit 5 brakes the vehicle.
For example, the required braking torque is calculated to be 10Nm, the first and second torques may be 7Nm and 3Nm, respectively, and the motor 4 and the hydraulic brake control unit 5 brake the vehicle at 7Nm and 3Nm, respectively.
Preferably, the distributing the torque to the motor 4 and the hydraulic brake control unit 5 according to the required braking torque in step 102 may include:
calculating the maximum allowable energy recovery torque of the motor 4; calculating the torque allocated to the electric machine 4 according to the maximum allowable energy recovery torque; the torque allocated to the hydraulic brake control unit 5 is calculated based on the torque allocated to the motor 4 and the required brake torque.
Wherein calculating the maximum allowable energy recovery torque of the electric machine 4 may comprise: acquiring the maximum allowable power generation power of the motor 4 and the maximum allowable charging power of the power battery 3; determining the minimum value of the maximum allowable power generation power of the motor 4 and the maximum allowable charging power of the power battery 3; determining the limit energy recovery torque of the motor 4 according to the minimum value, the power generation efficiency of the motor 4 and the rotating speed; and determining the maximum allowable energy recovery torque of the motor 4 according to the limit energy recovery torque of the motor 4 and a preset torque margin.
Specifically, in the present embodiment, in order to ensure that the vehicle energy use efficiency is maximally improved during the vehicle braking process, a maximum allowable energy recovery torque may be determined, and the torque allocated to the motor 4 may be calculated according to the maximum allowable energy recovery torque. To determine the maximum permissible energy recovery torque, the limit energy recovery torque of the electric machine 4 may be calculated.
A method of calculating the limit energy recovery torque of the motor 4 is shown in formula (1).
Figure BDA0001355936630000081
In the formula (1), TmaxRepresents the motor 4 limit energy recovery torque; pMotorRepresents the maximum allowable generated power (Kw) of the motor 4; pBattThe maximum allowable charging power (Kw) of the power battery 3, η the generating efficiency of the motor 4, omega the rotating speed of the motor 4, and the limit energy recovery torque of the motor 4 can be obtained according to the formula (1).
In order to protect the electric machine 4 and the power battery 3 from operating at the limit values, a torque margin is introduced.
Tmotor＝T-ΔT (2)
In the formula (2), Δ T represents a torque margin, TmotorRepresents the maximum allowable energy recovery torque of the motor 4, and T represents the limit energy recovery torque of the motor 4, i.e., T in the formula (1)max. As can be seen from equation (2), the introduction of Δ T ensures that the motor 4 and the power battery 3 do not work in the limit state, so that the motor 4 and the power battery 3 are protected.
Further, calculating the torque allocated to the electric machine 4 from the maximum allowable energy recovery torque may include: judging whether the required braking torque is larger than the maximum allowable energy recovery torque multiplied by an energy recovery coefficient of a motor 4; if the maximum allowable energy recovery torque is larger than the maximum allowable energy recovery torque, the torque distributed to the motor 4 is the maximum allowable energy recovery torque multiplied by an energy recovery coefficient of the motor 4; if not, the torque allocated to the motor 4 is the required braking torque.
Specifically, in this embodiment, after the maximum allowable energy recovery torque is calculated, the required braking torque may be distributed according to the maximum allowable energy recovery torque, and T may be definedKDistribution of the resulting braking torque, T, to the hydraulic brake control unit 5MThe resulting energy recovery (generation) torque is distributed to the motor 4 and is calculated as follows:
Figure BDA0001355936630000091
Figure BDA0001355936630000092
wherein KMRepresenting the energy recovery factor of the motor 4, which is less than 1, with the aim of providing an adjustment margin for the subsequent fine adjustment of the energy recovery torque.
The required braking torque T of the vehicle is obtained by the method shown in FIG. 3bAccording to formulae (3) and (4), if KM·Tmotor≥TbMeans that the torque generated by the energy recovery of the electric machine 4 is able to meet the braking demand, TMIs TbAt the same time TKIs 0; if the above conditions are not met, the motor 4 is allocated a braking torque KM·TmotorThe hydraulic brake control unit 5 distributes the obtained braking torque to Tb-KM·Tmotor。
The distribution method considers the condition that the required braking torque is small, the braking torque is not distributed to the hydraulic braking control unit 5 under the condition, the braking energy of the motor 4 is completely recovered to provide the braking requirement, the total working time of the hydraulic braking control unit 5 is reduced, and the distribution method has important significance for avoiding the thermal attenuation of a braking system caused by long-time work and prolonging the service life; meanwhile, the method can greatly recover energy generated in braking, so that the method has a positive effect on prolonging the effective driving range of the vehicle.
In step 103, during braking of the vehicle by the electric motor 4 and the hydraulic brake control unit 5 according to the allocated torque, the running state of the vehicle is acquired, and the torque allocated to the electric motor 4 is compensated according to the running state during braking.
Equations (3) and (4) complete the distribution of the required braking torque, and considering that the error of the hydraulic braking control unit 5 in executing the braking torque command or the acceleration (negative direction) generated by the vehicle after the braking torque is applied under some special conditions (such as downhill, uphill, downwind, headwind, etc.) is lower or higher than the expected value, for these conditions, an adjustment strategy is designed, and the energy recovery torque of the motor 4 is adjusted to compensate the acceleration, so that the vehicle achieves the expected braking effect.
Preferably, the acquiring the driving state of the vehicle in the braking process of the vehicle by the motor 4 and the hydraulic brake control unit 5 according to the distributed torque in step 103, and compensating the distributed torque to the motor 4 according to the driving state in the braking process may include:
acquiring the speed and the acceleration of a vehicle in the braking process; calculating an acceleration deviation between the acceleration of the vehicle and the expected acceleration during braking; determining a compensation torque to be added to the motor 4 according to the speed deviation and the acceleration deviation of the vehicle in the braking process; the torque distributed to the motor 4 by the required braking torque is compensated according to the compensation torque.
Fig. 4 is a schematic flow chart illustrating torque distribution and torque compensation in a control method of a braking system according to an embodiment of the present invention. In FIG. 4, VaThe required braking torque T is obtained for the expected acceleration sent by the unmanned controller 1 through a braking torque calculation link (see figure 3)bOn the basis of which a torque distribution is performed, wherein the braking torques distributed to the hydraulic brake control unit 5 and the drive motor 4 are TKAnd TM(ii) a Then the hydraulic brake control unit 5 and the driving motor 4 respectively generate brake torque to the vehicle according to the torque command; under the action of braking torque, the vehicle generates deceleration VraDesired acceleration VaWith the acceleration V actually occurring in the vehicleraSubtracting to obtain the acceleration deviation aeAnd obtaining a compensation torque T through a torque compensation link by utilizing the deviationeBy means of TeFor TMCompensation is performed to finally ensure that the vehicle can generate the expected acceleration.
As can be seen from fig. 4, the core of the control method is torque compensation, i.e. the compensation torque is calculated from the acceleration deviation. Preferably, determining the compensation torque to be added to the electric machine 4 on the basis of the deviation of the speed of the vehicle from said acceleration during said braking may comprise:
acquiring a table storing corresponding relations of vehicle speed, acceleration deviation and compensation torque; and obtaining and determining the compensation torque added to the motor 4 through a table look-up according to the speed of the vehicle in the braking process and the acceleration deviation.
Fig. 5 is a block diagram illustrating calculation of compensation torque in a braking system control method according to an embodiment of the present invention. In FIG. 5, VnThe current vehicle speed is shown, and in the embodiment, the actual vehicle calibration of the uphill slope and the downhill slope can be respectively carried out under the working conditions of different slopes, so that different vehicle speeds can be obtainedAcceleration deviation a in uphill and downhill driving conditionseAnd compensation torque TeAnd storing the corresponding relation in a table form, and in the actual application process, the corresponding relation is obtained through the acceleration deviation aeWith the current speed V of the vehiclenObtaining the compensation torque T by direct inquirye. The compensation mode can effectively compensate acceleration deviation caused by vehicle uphill, downhill, downwind driving, upwind driving, different road conditions (corresponding to different wheel rolling resistance coefficients) and braking torque error of the hydraulic braking control unit 5.
According to the control method of the brake system provided by the embodiment, the required braking torque is calculated, the torque is distributed to the motor 4 and the hydraulic brake control unit 5 according to the required braking torque, so that the motor 4 and the hydraulic brake control unit 5 brake the vehicle according to the distributed torque, the running state of the vehicle is obtained in the process that the motor 4 and the hydraulic brake control unit 5 brake the vehicle according to the distributed torque, the torque distributed to the motor 4 is compensated according to the running state in the braking process, the braking process achieves the expected effect as much as possible, and the accuracy of the brake control is effectively improved.
According to the method provided by the embodiment, in practical application, the vehicle controller 2 may first calculate the current required braking torque of the vehicle according to the expected acceleration (negative direction) obtained by the unmanned controller 1 in the unmanned mode, and then calculate the maximum allowable energy recovery torque of the driving motor 4 according to the states of the power battery 3 and the driving motor 4; on the basis, the required braking torque is distributed, and the required braking torque is divided into two parts, wherein one part is realized by the hydraulic braking control unit 5, and the other part is realized by the energy recovery of the driving motor 4.
In the embodiment, the motor 4 is introduced into the brake control, so that the energy generated in the braking can be recovered to the maximum extent to prolong the driving range of the vehicle, and meanwhile, the influence of thermal attenuation caused by continuous braking on the braking effect is weakened, and the method has good popularization value.
In the method for distributing the required braking torque in the embodiment, the required braking torque is reasonably and effectively distributed to the hydraulic braking control unit 5 and the driving motor 4, and the hydraulic braking control unit 5 and the driving motor 4 generate the braking torque together by controlling the oil pressure and the energy recovery of the motor 4 according to the corresponding torque command, so that the braking function of the vehicle is realized. In the distribution process, the protection of the motor 4 and the power battery 3 is considered, and the motor is prevented from working in a limit state, so that the distribution method has positive significance for prolonging the service life of the motor; in addition, the distribution method considers the condition that the required braking torque is small (the required braking torque can be generated only through the energy recovery of the motor 4), the braking torque is not distributed to the hydraulic braking control unit 5 in the condition, the braking energy recovery of the motor 4 is completely used for providing the braking requirement for the driver, and the distribution method has positive significance for avoiding the heat attenuation of a braking system due to long-time work, recovering the energy generated in the braking to the maximum extent and prolonging the effective driving range of the vehicle.
Considering that there is an error between the braking torque actually generated by the hydraulic braking control unit 5 and the actual demand, and the deviation between the negative acceleration generated in the braking process and the actual demand caused by factors such as environment and road surface, etc., the compensation can be performed by adjusting the braking torque generated in the energy recovery process of the motor 4 within a certain range. The braking energy recovery torque of the motor 4 is adjusted to realize braking compensation, and the braking process can achieve the expected effect as much as possible by increasing or reducing the energy recovery intensity on the premise of ensuring the safe work of the motor 4.
In addition, the compensation method provided by the embodiment does not change the brake torque distribution of the hydraulic brake control unit 5, compensates the acceleration error of the vehicle by adjusting the energy recovery torque of the motor 4 as much as possible, and reduces the control difficulty, so that the method has great popularization significance.
Example two
The second embodiment of the invention provides a brake system control device. Fig. 6 is a block diagram of a brake system control device according to a second embodiment of the present invention. As shown in fig. 6, the apparatus in this embodiment may include:
a calculating module 201, configured to calculate a required braking torque according to a driving state of a vehicle;
the distribution module 202 is used for distributing torques to the motor and the hydraulic brake control unit according to the required brake torque, so that the motor and the hydraulic brake control unit brake the vehicle according to the distributed torques;
and the compensation module 203 is used for acquiring the running state of the vehicle in the process that the motor and the hydraulic brake control unit brake the vehicle according to the distributed torque, and compensating the torque distributed to the motor according to the running state in the braking process.
The brake system control device in this embodiment may be configured to execute the brake system control method described in the first embodiment, and specific principles and implementation processes of the brake system control device may be referred to in the first embodiment, which are not described herein again.
The braking system control device provided by this embodiment calculates a required braking torque, allocates torques to the motor and the hydraulic braking control unit according to the required braking torque, so that the motor and the hydraulic braking control unit brake the vehicle according to the allocated torques, acquires a driving state of the vehicle during braking of the vehicle by the motor and the hydraulic braking control unit according to the allocated torques, and compensates the torque allocated to the motor according to the driving state during braking, so that the braking process achieves an expected effect as much as possible, and the accuracy of braking control is effectively improved.
Further, the calculation module 201 may specifically be configured to:
acquiring a vehicle speed and an expected acceleration;
and determining the required braking torque through a table look-up according to the vehicle speed and the expected acceleration.
Further, the allocating module 202 may specifically be configured to:
calculating the maximum allowable energy recovery torque of the motor;
calculating a torque allocated to the motor based on the maximum allowable energy recovery torque;
a torque allocated to the hydraulic brake control unit is calculated based on the torque allocated to the motor and the required brake torque.
Further, calculating a maximum allowable energy recovery torque of the electric machine may include:
acquiring the maximum allowable generating power of the motor and the maximum allowable charging power of the battery;
determining the minimum value of the maximum allowable generating power of the motor and the maximum allowable charging power of the battery;
determining the limit energy recovery torque of the motor according to the minimum value, the power generation efficiency and the rotating speed of the motor;
and determining the maximum allowable energy recovery torque of the motor according to the limit energy recovery torque of the motor and a preset torque margin.
Further, calculating a torque allocated to the motor based on the maximum allowable energy recovery torque may include:
judging whether the required braking torque is larger than the maximum allowable energy recovery torque multiplied by a motor energy recovery coefficient;
if the maximum allowable energy recovery torque is larger than the maximum allowable energy recovery torque, the torque distributed to the motor is the maximum allowable energy recovery torque multiplied by a motor energy recovery coefficient;
if not, the torque allocated to the motor is the required braking torque.
Further, the compensation module 203 may be specifically configured to:
acquiring the speed and the acceleration of a vehicle in the braking process;
calculating an acceleration deviation between the acceleration of the vehicle and the expected acceleration during braking;
determining a compensation torque added to the motor according to the speed deviation and the acceleration deviation of the vehicle in the braking process;
and compensating the torque distributed to the motor by the required braking torque according to the compensation torque.
Further, determining a compensation torque to be added to the electric machine based on the speed of the vehicle during braking and the acceleration deviation may include:
acquiring a table storing corresponding relations of vehicle speed, acceleration deviation and compensation torque;
and obtaining and determining the compensation torque added to the motor by looking up a table according to the speed of the vehicle and the acceleration deviation in the braking process.
In order to implement the above embodiments, the present invention further provides a computer device, including a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor is capable of executing a braking system control method when executing the program, and the method includes: calculating a required braking torque according to a driving state of the vehicle; distributing torque to the motor and the hydraulic brake control unit according to the required brake torque, so that the motor and the hydraulic brake control unit brake the vehicle according to the distributed torque; and acquiring the running state of the vehicle in the process of braking the vehicle by the motor and the hydraulic brake control unit according to the distributed torque, and compensating the torque distributed to the motor according to the running state in the braking process.
To achieve the above embodiments, the present invention also proposes a non-transitory computer-readable storage medium in which instructions are executable by a processor to perform a braking system control method, the method comprising: calculating a required braking torque according to a driving state of the vehicle; distributing torque to the motor and the hydraulic brake control unit according to the required brake torque, so that the motor and the hydraulic brake control unit brake the vehicle according to the distributed torque; and acquiring the running state of the vehicle in the process of braking the vehicle by the motor and the hydraulic brake control unit according to the distributed torque, and compensating the torque distributed to the motor according to the running state in the braking process.
To achieve the above embodiments, the present invention further proposes a computer program product, which when executed by an instruction processor is capable of executing a braking system control method, the method comprising: calculating a required braking torque according to a driving state of the vehicle; distributing torque to the motor and the hydraulic brake control unit according to the required brake torque, so that the motor and the hydraulic brake control unit brake the vehicle according to the distributed torque; and acquiring the running state of the vehicle in the process of braking the vehicle by the motor and the hydraulic brake control unit according to the distributed torque, and compensating the torque distributed to the motor according to the running state in the braking process.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean 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 invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can 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). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can 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 should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (9)

1. A brake system control method, characterized by comprising the steps of:
the method comprises the steps that an unmanned controller is obtained, and the speed and the expected acceleration of a vehicle are obtained through calculation according to the position, the environment, traffic signals and obstacle information of the vehicle obtained by a vehicle-mounted sensor;
if the expected acceleration is negative, determining the required braking torque according to the vehicle speed and the expected acceleration table;
distributing torque to the motor and the hydraulic brake control unit according to the required brake torque, so that the motor and the hydraulic brake control unit brake the vehicle according to the distributed torque;
and acquiring the running state of the vehicle in the process of braking the vehicle by the motor and the hydraulic brake control unit according to the distributed torque, and compensating the torque distributed to the motor according to the running state in the braking process.
2. A brake system control method according to claim 1, wherein distributing torque to the electric motor and the hydraulic brake control unit according to the required braking torque comprises:
calculating the maximum allowable energy recovery torque of the motor;
calculating a torque allocated to the motor based on the maximum allowable energy recovery torque;
a torque allocated to the hydraulic brake control unit is calculated based on the torque allocated to the motor and the required brake torque.
3. The brake system control method according to claim 2, wherein calculating the maximum allowable energy recovery torque of the motor includes:
acquiring the maximum allowable generating power of the motor and the maximum allowable charging power of the battery;
determining the minimum value of the maximum allowable generating power of the motor and the maximum allowable charging power of the battery;
determining the limit energy recovery torque of the motor according to the minimum value, the power generation efficiency and the rotating speed of the motor;
and determining the maximum allowable energy recovery torque of the motor according to the limit energy recovery torque of the motor and a preset torque margin.
4. The brake system control method according to claim 2, wherein calculating the torque allocated to the motor based on the maximum allowable energy recovery torque includes:
judging whether the required braking torque is larger than the maximum allowable energy recovery torque multiplied by a motor energy recovery coefficient;
if the maximum allowable energy recovery torque is larger than the maximum allowable energy recovery torque, the torque distributed to the motor is the maximum allowable energy recovery torque multiplied by a motor energy recovery coefficient;
if not, the torque allocated to the motor is the required braking torque.
5. The brake system control method according to any one of claims 1 to 4, wherein acquiring the running state of the vehicle during braking of the vehicle by the motor and the hydraulic brake unit according to the allocated torque, and compensating the torque allocated to the motor according to the running state during braking, comprises:
acquiring the speed and the acceleration of a vehicle in the braking process;
calculating an acceleration deviation between the acceleration of the vehicle and the expected acceleration during braking;
determining a compensation torque added to the motor according to the speed deviation and the acceleration deviation of the vehicle in the braking process;
and compensating the torque distributed to the motor by the required braking torque according to the compensation torque.
6. A brake system control method according to claim 5, wherein determining a compensation torque to be added to the electric machine based on the speed of the vehicle during braking and the acceleration deviation comprises:
acquiring a table storing corresponding relations of vehicle speed, acceleration deviation and compensation torque;
and obtaining and determining the compensation torque added to the motor by looking up a table according to the speed of the vehicle and the acceleration deviation in the braking process.
7. A brake system control device, characterized by comprising:
the calculation module is used for acquiring the position, environment, traffic signals and obstacle information of a vehicle acquired by the unmanned controller according to the vehicle-mounted sensor, calculating to obtain the speed and the expected acceleration of the vehicle, and determining the required braking torque according to a table look-up of the speed and the expected acceleration if the expected acceleration is negative;
the distribution module is used for distributing torque to the motor and the hydraulic brake control unit according to the required brake torque so that the motor and the hydraulic brake control unit brake the vehicle according to the distributed torque;
and the compensation module is used for acquiring the running state of the vehicle in the process that the motor and the hydraulic brake control unit brake the vehicle according to the distributed torque, and compensating the torque distributed to the motor according to the running state in the braking process.
8. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the program, implements the method according to any of claims 1-6.
9. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the method of any one of claims 1-6.
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