CN110155009B - Brake control method, system, equipment and storage medium based on intelligent assistance - Google Patents
Brake control method, system, equipment and storage medium based on intelligent assistance Download PDFInfo
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- CN110155009B CN110155009B CN201910534878.6A CN201910534878A CN110155009B CN 110155009 B CN110155009 B CN 110155009B CN 201910534878 A CN201910534878 A CN 201910534878A CN 110155009 B CN110155009 B CN 110155009B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- 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
- B60T13/10—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 fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
- B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/26—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels
- B60T8/266—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels using valves or actuators with external control means
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- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention provides a brake control method, a brake control system, brake control equipment and a storage medium based on intelligent assistance, wherein the method comprises the following steps: receiving a brake signal; acquiring the speed of the electric automobile and the wheel speed data of rear wheels; calculating a control target value of the wheel cylinder braking torque according to the wheel speed data of the rear wheel and the corresponding relation between the wheel speed and the wheel cylinder braking torque; obtaining the rear axle braking force according to the control target value; obtaining the front axle braking force according to the vehicle speed and the rear axle braking force; controlling the electric power-assisted system according to the obtained rear axle braking force and the front axle braking force so that the electric power-assisted system drives the hydraulic braking system. According to the braking control method, in the braking process, the braking pressure exists on the front axle and the rear axle through electronic braking force distribution, so that the anti-lock function of the rear wheels is realized, the braking efficiency is improved, and the driving safety is improved.
Description
Technical Field
The invention relates to the field of vehicle batteries, in particular to a brake control method, a brake control system, brake control equipment and a storage medium based on intelligent assistance.
Background
Vehicle braking systems play a crucial role in vehicle safety. The most primitive brake control is that the driver operates a simple set of mechanical devices to apply force to the brake, and at this moment, the vehicle has relatively low mass and relatively low speed, and the mechanical brake meets the requirement of vehicle braking. With the increase of the self-mass of the automobile, a power assisting device is necessary for a mechanical brake. The earliest appeared to be vacuum boosters. With the development of science and technology and the development of automobile industry, vehicle braking has a new breakthrough, and hydraulic braking is another important innovation following mechanical braking.
An Anti-lock Braking System (ABS) with electro-hydraulic control is widely used in automobiles, and has the function of automatically controlling the Braking force of a brake when the automobile brakes, so that wheels are not locked and are in a state of rolling and slipping to ensure that the adhesive force between the wheels and the ground is at the maximum.
An electric power assisting system (E-booster) is a novel intelligent brake system, and the automatic driving requirement is considered in the design. Different from other brake systems, the power assisting source is a motor, and the E-Booster is suitable for all power assembly solutions including traditional fuel-oil automobiles, hybrid electric vehicles and pure electric vehicles and can adapt to the development trend of future automobile electromotion and automation because the E-Booster has the advantages of reducing oil consumption, saving electric energy, realizing energy recovery maximization, braking flexible control and the like.
The E-boost is an Electronic Control Unit (ECU) that detects the displacement of the input rod of the Booster by a pedal stroke sensor integrated therein and transmits the displacement signal to the E-boost. The electronic control unit calculates the torque requirement generated by the motor, then the torque is converted into the servo braking force of the valve body of the booster through the transmission mechanism, and finally the boosting force generated by the motor and the force applied to the input push rod by the driver are converted into the brake hydraulic pressure in the brake master cylinder together. However, because the existing E-Booster directly pushes the oil pressure of the main cylinder into the wheel cylinders of four wheels, and the E-Booster does not have a valve body per se and cannot realize anti-lock braking, for an automatic driving automobile adopting a driving grade of L3 or above, if the ABS fails, the risk of wheel locking is easy to occur when the E-Booster is used for braking in an active pressure building mode.
It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present invention and therefore may include information that does not constitute prior art known to a person of ordinary skill in the art.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a brake control method, a system, equipment and a storage medium based on intelligent assistance.
The embodiment of the invention provides a brake control method based on intelligent power assistance, which is used for providing driving force for a hydraulic brake system of an electric automobile based on an intelligent electric power assistance system so that the hydraulic brake system generates front axle braking force and rear axle braking force;
the method comprises the following steps:
s100: receiving a brake signal;
s200: acquiring the speed of the electric automobile and the wheel speed data of rear wheels;
s300: calculating a control target value T of the wheel cylinder braking torque according to the wheel speed data of the rear wheel and the corresponding relation between the wheel speed and the wheel cylinder braking torqueb；
S400: according to the control target value TbObtaining the rear axle braking force;
s500: obtaining the front axle braking force according to the vehicle speed and the rear axle braking force;
s600: controlling the electric power-assisted system according to the obtained rear axle braking force and the front axle braking force so that the electric power-assisted system drives the hydraulic braking system.
Alternatively, in step S300, calculating a control target value of the wheel cylinder braking torque according to the wheel speed data of the rear wheel and the corresponding relationship between the wheel speed and the wheel cylinder braking torque includes the steps of:
s301: using a small wheel speed value of the wheel speed data of the two rear wheels as a reference wheel speed for calculating wheel cylinder braking torque;
s302: calculating a control target value T of the wheel cylinder braking torque according to the reference wheel speed and the corresponding relation between the wheel speed and the wheel cylinder braking torqueb。
3. An intelligent power-assisted brake control method according to claim 2, wherein in step S302, the corresponding relationship between the wheel speed and the wheel cylinder brake torque adopts the following formula:
wherein J is the moment of inertia of the wheel, ω is the reference wheel speed, μ is the ground adhesion coefficient, FNThe load on the wheel corresponding to the small rotating speed value, and R is the radius of the wheel.
Optionally, in step S400, the control according to the control target value TbObtaining the rear axle braking forceThe following formula is adopted:
FrA1＝Tb
wherein, FrFor rear axle braking force, A1The brake disc of the rear axle brakes the equivalent radius.
Optionally, in step S500, the front axle braking force is obtained according to the vehicle speed and a mapping relationship between the front axle braking force and the rear axle braking force at different vehicle speeds.
Optionally, the mapping relationship between the front axle braking force and the rear axle braking force at different vehicle speeds adopts the following formula:
wherein, FfFor front axle braking force, FrV is the rear axle braking force and v is the speed of the electric automobile.
Optionally, between step S100 and step S200, the following steps are further included:
judging whether the anti-lock braking system works normally or not;
if so, sending a pedal braking signal to the anti-lock braking system, and finishing the current process;
otherwise, step S200 is continued.
The embodiment of the invention also provides a brake control system based on intelligent power assistance, which is applied to the brake control method based on electric power assistance, and the system comprises the following components:
the brake signal receiving module is used for receiving a brake signal;
the data acquisition module is used for acquiring the speed of the electric automobile and the wheel speed data of rear wheels;
a calculation module for calculating a control target value T of the wheel cylinder braking torque according to the wheel speed data of the rear wheel and the corresponding relationship between the wheel speed and the wheel cylinder braking torqueb；
For controlling the target value T according tobObtaining the rear axle braking force; and
the front axle braking force is obtained according to the vehicle speed and the rear axle braking force;
and the control module is used for controlling the electric power-assisted system according to the obtained rear axle braking force and the front axle braking force so that the electric power-assisted system drives the hydraulic braking system.
An embodiment of the present invention further provides a brake control apparatus based on intelligent assistance, including:
a processor;
a memory having stored therein executable instructions of the processor;
wherein the processor is configured to perform the steps of the intelligent assistance-based braking control method via execution of the executable instructions.
Embodiments of the present invention also provide a computer-readable storage medium storing a program, wherein the program, when executed, implements the steps of the intelligent power assist-based brake control method.
In consideration of the fact that the vehicle load can be transferred to a front axle and the possibility of locking of a front wheel is low due to the fact that severe deceleration can be generated in the braking process, in the process of the braking control method, the wheel speed of a rear wheel is monitored, and braking force for preventing the wheel from locking is applied to the rear axle according to the wheel speed; meanwhile, the front axle and the rear axle have brake pressure through electronic brake force distribution, so that the anti-lock function of the rear wheels is realized, the brake efficiency is improved, and the driving safety is improved.
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Other features, objects, and advantages of the invention will be apparent from the following detailed description of non-limiting embodiments, which proceeds with reference to the accompanying drawings and which is incorporated in and constitutes a part of this specification, illustrating embodiments consistent with the present application and together with the description serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a flow chart of a method for controlling a brake based on intelligent assistance according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an intelligent power-assisted brake control system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an intelligent power-assisted brake control system according to an embodiment of the present invention to implement brake control;
FIG. 4 is a schematic structural diagram of an intelligent power-assisted brake control device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The brake control method is based on the intelligent electric power-assisted system to provide driving force for a hydraulic brake system of the electric automobile, so that the hydraulic brake system generates front axle braking force and rear axle braking force. FIG. 1 is a flow chart of a method for controlling a brake based on intelligent assistance according to an embodiment of the present invention; specifically, the brake control method includes the steps of:
s100: receiving a brake signal;
s200: acquiring the speed of the electric automobile and the wheel speed data of rear wheels; the wheel speed data of the rear wheel can be obtained by two additional wheel speed sensors in an E-Booster system;
s300: calculating a control target value T of the wheel cylinder braking torque according to the wheel speed data of the rear wheel and the corresponding relation between the wheel speed and the wheel cylinder braking torqueb；
In the step S300, calculating the control target value of the wheel cylinder braking torque according to the wheel speed data of the rear wheel and the corresponding relationship between the wheel speed and the wheel cylinder braking torque includes the following steps:
s301: using a small wheel speed value of the wheel speed data of the two rear wheels as a reference wheel speed for calculating wheel cylinder braking torque;
s302: calculating a control target value T of the wheel cylinder braking torque according to the reference wheel speed and the corresponding relation between the wheel speed and the wheel cylinder braking torqueb. In this step, the corresponding relationship between the wheel speed and the wheel cylinder braking torque may adopt the following formula:
wherein J is the moment of inertia of the wheel, ω is the reference wheel speed, μ is the ground adhesion coefficient, FNThe load on the wheel corresponding to the small rotating speed value, and R is the radius of the wheel.
In step S301, a reference wheel speed for calculating a target torque is determined according to small wheel speed data of two rear wheels, so as to prevent the wheel with a small wheel speed from locking under the condition of the same hydraulic braking force, and ensure that a slip rate S in a braking process reaches a set target value, where the slip rate S may be represented as:
S400: according to the control target value TbObtaining the rear axle braking force Fr(ii) a In this step, the control target value T is determinedbThe following formula can be adopted to obtain the rear axle braking force:
FrA1＝Tb
wherein, FrFor rear axle braking force, A1The brake disc of the rear axle brakes the equivalent radius.
S500: obtaining the front axle braking force according to the vehicle speed and the rear axle braking force;
in step S500, the front axle braking force is obtained according to the vehicle speed and the mapping relationship between the front axle braking force and the rear axle braking force at different vehicle speeds, and the mapping relationship between the front axle braking force and the rear axle braking force at different vehicle speeds may adopt the following formula:
wherein, FfFor front axle braking force, FrV is the rear axle braking force and v is the speed of the electric automobile.
According to the invention, the braking force of the front/rear axle of the vehicle is distributed through the mapping relation between the braking force of the front axle and the braking force of the rear axle under different vehicle speeds, namely, Electronic brake force Distribution (EBD) is realized. In practice, the mapping relationship between the front axle braking force and the rear axle braking force may be different for different vehicle models and different vehicle speeds.
S600: controlling the electric power-assisted system according to the obtained rear axle braking force and the front axle braking force so that the electric power-assisted system drives the hydraulic braking system.
In the flow of the brake control method, only the wheel speed of the rear wheel is monitored, and the braking force for preventing the wheel from locking is applied to the rear axle according to the wheel speed, so that the vehicle load can be transferred to the front axle by considering the severe deceleration generated in the braking process, and the possibility of locking the front wheel is very low. Therefore, the monitoring process is simplified in the invention. Meanwhile, as can be seen from the steps, the braking pressure exists on the front axle and the rear axle through the electronic braking force distribution, and the braking efficiency of the vehicle is greatly improved.
In the embodiment of the present invention, the following steps are further included between step S100 and step S200:
judging whether an anti-lock braking system (ABS) works normally or not;
if so, sending a pedal braking signal to the anti-lock braking system, and finishing the current process;
otherwise, step S200 is continued.
The braking control method of the invention obtains the front axle braking force and the rear axle braking force required by the vehicle hydraulic braking system when the wheels are prevented from locking through the wheel speed data of the rear wheels under the condition that the ABS fails, namely emergency braking is required, thereby ensuring that the vehicle can be safely stopped and reducing the risk of vehicle drift.
FIG. 2 is a schematic structural diagram of an intelligent power-assisted brake control system according to an embodiment of the present invention; the brake control system is applied to the electric power-assisted brake control method, and comprises the following steps:
a braking signal receiving module M100, configured to receive a braking signal;
the data acquisition module M200 is used for acquiring the speed of the electric automobile and the wheel speed data of rear wheels;
a calculating module M300 for calculating a control target value T of the wheel cylinder braking torque according to the wheel speed data of the rear wheel and the corresponding relationship between the wheel speed and the wheel cylinder braking torqueb；
For controlling the target value T according tobObtaining the rear axle braking force; and
the front axle braking force is obtained according to the vehicle speed and the rear axle braking force;
a control module M400, configured to control the electric power-assisted system according to the obtained rear axle braking force and the front axle braking force, so that the electric power-assisted system drives the hydraulic brake system.
To further illustrate the principle of implementing the brake control by the intelligent power-assisted brake control system, fig. 3 shows that, in this embodiment, the intelligent power-assisted brake control system is implemented in the electronic control unit of the electric power-assisted system E-Booster. The electronic control unit of the E-Booster is connected with the left rear wheel speed sensor and the right rear wheel speed sensor through hard wires, the electronic control unit of the E-Booster executes the flow of the brake control method shown in figure 1, after the driving force of a motor is obtained, a control instruction is sent to the motor, the motor pushes brake fluid in a main cylinder to enter a wheel cylinder through a transmission mechanism and a decoupling pedal, a PWM electronic valve is added at an oil outlet of the main cylinder, the distribution of the braking force of a front/rear shaft is controlled by controlling the opening degree of the PWM electromagnetic valve, and the main cylinder is communicated with the wheel cylinder through an oil pipe.
An electronic device 600 according to this embodiment of the invention is described below with reference to fig. 4. The electronic device 600 shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 4, the electronic device 600 is embodied in the form of a general purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one memory unit 620, a bus 630 connecting the different platform components (including the memory unit 620 and the processing unit 610), a display unit 640, etc.
Wherein the storage unit stores program code executable by the processing unit 610 to cause the processing unit 610 to perform steps according to various exemplary embodiments of the present invention described in the above-mentioned electronic prescription flow processing method section of the present specification. For example, processing unit 610 may perform the steps as shown in fig. 1.
The storage unit 620 may include readable media in the form of volatile memory units, such as a random access memory unit (RAM)6201 and/or a cache memory unit 6202, and may further include a read-only memory unit (ROM) 6203.
The memory unit 620 may also include a program/utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.
The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 600, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 600 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 650. Also, the electronic device 600 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via the network adapter 660. The network adapter 660 may communicate with other modules of the electronic device 600 via the bus 630. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, to name a few.
Embodiments of the present invention further provide a computer-readable storage medium for storing a program, where the program is executed to implement the steps of the method for controlling a brake based on intelligent assistance. In some possible embodiments, the aspects of the present invention may also be implemented in the form of a program product comprising program code for causing a terminal device to perform the steps according to various exemplary embodiments of the present invention described in the above-mentioned electronic prescription flow processing method section of this specification, when the program product is run on the terminal device.
Referring to fig. 5, a program product 800 for implementing the above method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited in this regard and, in the present document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
A computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
In summary, the present invention provides a brake control method, a brake control system, a brake control apparatus and a storage medium based on intelligent power assist, wherein the brake control method provides a driving force to a hydraulic brake system of an electric vehicle based on an intelligent electric power assist system, so that the hydraulic brake system generates a front axle braking force and a rear axle braking force, and comprises the following steps: receiving a brake signal; acquiring the speed of the electric automobile and the wheel speed data of rear wheels; calculating a control target value T of the wheel cylinder braking torque according to the wheel speed data of the rear wheel and the corresponding relation between the wheel speed and the wheel cylinder braking torqueb(ii) a According to the control target value TbObtaining the rear axle braking force; obtaining the front axle braking force according to the vehicle speed and the rear axle braking force; controlling the electric power-assisted system according to the obtained rear axle braking force and the front axle braking force so that the electric power-assisted system drives the hydraulic braking system. In the braking control method, the braking pressure exists on the front axle and the rear axle through electronic braking force distribution in the braking process, so that the anti-lock function of the rear wheel is realized, and the braking efficiency is improved, therebyHigh driving safety.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the apparatus claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Claims (8)
1. An intelligent power-assisted brake control method is characterized in that a driving force is provided for a hydraulic brake system of an electric automobile based on an intelligent electric power-assisted system, so that the hydraulic brake system generates a front axle brake force and a rear axle brake force, and the method comprises the following steps:
s100: receiving a brake signal;
s200: acquiring the speed of the electric automobile and the wheel speed data of rear wheels;
s300: calculating a control target value T of the wheel cylinder braking torque according to the wheel speed data of the rear wheel and the corresponding relation between the wheel speed and the wheel cylinder braking torqueb；
S400: according to the control target value TbObtaining the rear axle braking force;
s500: obtaining the front axle braking force according to the vehicle speed and the rear axle braking force;
s600: controlling the electric power-assisted system according to the obtained rear axle braking force and the obtained front axle braking force so that the electric power-assisted system drives the hydraulic braking system;
in step S500, the front axle braking force is obtained according to the vehicle speed and the mapping relationship between the front axle braking force and the rear axle braking force at different vehicle speeds;
the mapping relation between the front axle braking force and the rear axle braking force under different vehicle speeds adopts the following formula:
wherein, FfFor front axle braking force, FrV is the rear axle braking force and v is the speed of the electric automobile.
2. The intelligent power-assisted brake control method according to claim 1, wherein in step S300, calculating a control target value of wheel cylinder brake torque according to the wheel speed data of the rear wheel and the corresponding relationship between the wheel speed and the wheel cylinder brake torque comprises the following steps:
s301: using a small wheel speed value of the wheel speed data of the two rear wheels as a reference wheel speed for calculating wheel cylinder braking torque;
s302: calculating a control target value T of the wheel cylinder braking torque according to the reference wheel speed and the corresponding relation between the wheel speed and the wheel cylinder braking torqueb。
3. An intelligent power-assisted brake control method according to claim 2, wherein in step S302, the corresponding relationship between the wheel speed and the wheel cylinder brake torque adopts the following formula:
wherein J is the moment of inertia of the wheel, ω is the reference wheel speed, μ is the groundCoefficient of adhesion, FNThe load on the wheel corresponding to the small rotating speed value, and R is the radius of the wheel.
4. The intelligent boosting-based brake control method according to claim 1, wherein in step S400, the control is performed according to the control target value TbThe following formula is adopted to obtain the braking force of the rear axle:
FrA1＝Tb
wherein, FrFor rear axle braking force, A1The brake disc of the rear axle brakes the equivalent radius.
5. The intelligent power-assisted brake control method according to claim 1, wherein between the step S100 and the step S200, the method further comprises the following steps:
judging whether the anti-lock braking system works normally or not;
if so, sending a pedal braking signal to the anti-lock braking system, and finishing the current process;
otherwise, step S200 is continued.
6. An intelligent power-assisted brake control system, which is applied to the intelligent power-assisted brake control method of any one of claims 1 to 5, and comprises:
the brake signal receiving module is used for receiving a brake signal;
the data acquisition module is used for acquiring the speed of the electric automobile and the wheel speed data of rear wheels;
a calculation module for calculating a control target value T of the wheel cylinder braking torque according to the wheel speed data of the rear wheel and the corresponding relationship between the wheel speed and the wheel cylinder braking torqueb；
For controlling the target value T according tobObtaining the rear axle braking force; and
the front axle braking force is obtained according to the vehicle speed and the rear axle braking force;
and the control module is used for controlling the electric power-assisted system according to the obtained rear axle braking force and the front axle braking force so that the electric power-assisted system drives the hydraulic braking system.
7. An intelligent assistance-based brake control apparatus, comprising:
a processor;
a memory having stored therein executable instructions of the processor;
wherein the processor is configured to perform the steps of the intelligent assistance-based braking control method of any one of claims 1 to 5 via execution of the executable instructions.
8. A computer readable storage medium storing a program, wherein the program when executed implements the steps of the intelligent assistance-based brake control method of any one of claims 1 to 5.
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| CN115179755B (en) * | 2022-07-14 | 2023-12-08 | 江苏徐工工程机械研究院有限公司 | Engineering vehicle driving system, driving method and engineering vehicle |
| CN115257391A (en) * | 2022-07-19 | 2022-11-01 | 东风汽车集团股份有限公司 | Three-motor electric automobile composite braking control method, device, equipment and medium |
| CN115167101B (en) * | 2022-09-07 | 2022-12-27 | 万向钱潮股份公司 | Redundancy control method and redundancy control system for multi-brake system |
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| DE19541601B4 (en) * | 1995-11-08 | 2007-08-09 | Robert Bosch Gmbh | Method and device for controlling the brake system of a vehicle |
| DE102014215306A1 (en) * | 2014-08-04 | 2016-02-04 | Robert Bosch Gmbh | Method and device for operating a vehicle |
| CN107303820B (en) * | 2016-04-25 | 2019-06-28 | 上海汽车集团股份有限公司 | Anti-lock braking system and its control method, device |
| CN109421678B (en) * | 2017-08-28 | 2020-08-25 | 比亚迪股份有限公司 | Braking method, device, braking system and storage medium for automobile |
| CN108081961B (en) * | 2017-11-30 | 2019-12-17 | 北京新能源汽车股份有限公司 | braking energy recovery control method and device and electric automobile |
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