CN113352900B - Brake control method and device, electronic equipment and vehicle - Google Patents
Brake control method and device, electronic equipment and vehicle Download PDFInfo
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- CN113352900B CN113352900B CN202010142510.8A CN202010142510A CN113352900B CN 113352900 B CN113352900 B CN 113352900B CN 202010142510 A CN202010142510 A CN 202010142510A CN 113352900 B CN113352900 B CN 113352900B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a brake control method and device, electronic equipment and a vehicle. The brake control method is applied to a vehicle and comprises the following steps of: when the vehicle is in a braking state, acquiring the current electric brake distribution torque; processing the electric brake distribution torque to enable the change rate of the processed electric brake distribution torque to be smaller than a first change rate threshold; and determining the request torque of the motor according to the electric brake distribution torque obtained after the processing and the coasting recovery torque of the vehicle. According to the embodiment of the invention, the electric brake distribution torque of the vehicle is processed, so that adverse effects on driving comfort and driving safety are reduced.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a braking control method and apparatus, an electronic device, and a vehicle.
Background
Vehicle energy recovery refers to a vehicle braking mode in which a generator is driven to generate electricity through wheel rotation to convert kinetic energy of a vehicle into electric energy in a vehicle braking process. In the existing vehicle energy recovery process, the VCU (Vehicle Control Unit ) and ESP (Electronic Stability Program, vehicle body electronic stability system) are usually required to cooperate and coordinate with each other to achieve the maximum possible energy recovery. Specifically, when a driver presses a brake pedal, the ESP calculates the braking force demand of the whole vehicle through the braking demand of the whole vehicle, and calculates the electric braking torque and the hydraulic braking torque after comprehensive consideration.
However, in actual use, the calculation result of the ESP on the electric braking torque may have a certain deviation, which easily causes the rapid change speed of the braking force, and the sudden force unloading or force increasing may cause a certain influence on the driving comfort and the driving safety.
Disclosure of Invention
The embodiment of the invention provides a braking control method, a vehicle and a computer readable storage medium, which are used for solving the problem that certain influence can be caused on driving comfort and driving safety in the process of braking the existing vehicle and recovering energy.
In order to solve the technical problems, the invention is realized as follows:
in a first aspect, an embodiment of the present invention provides a brake control method applied to a vehicle, including the steps of:
when the vehicle is in a braking state, acquiring the current electric brake distribution torque;
processing the electric brake distribution torque to enable the change rate of the processed electric brake distribution torque to be smaller than a first change rate threshold;
and determining the request torque of the motor according to the electric brake distribution torque obtained after the processing and the coasting recovery torque of the vehicle.
Optionally, the processing the electric brake distribution torque includes:
and filtering the acquired electric brake distribution torque of the first period and the electric brake distribution torque of the second period subjected to filtering processing to obtain the processed electric brake distribution torque of the first period, wherein the filtering processing process comprises a plurality of continuously distributed processing periods, the first period and the second period are one processing period in the filtering processing process, and the second period is the previous processing period of the first period.
Optionally, the processing the electric brake distribution torque includes:
and performing filtering processing on the electric brake distribution torque by using a formula y1=y2+ (In-y 2)/(T+Δt), wherein y1 is the electric brake distribution torque subjected to filtering processing In a first period, y2 is the electric brake distribution torque subjected to filtering processing In a second period, in is the acquired current electric brake distribution torque, T is a filtering time constant, and Δt is a time step.
Optionally, before the electric brake distribution torque is processed, the method further includes:
controlling the rate of change of the processed electric brake distribution torque of the first period of the vehicle to be greater than a second rate of change threshold to calibrate the maximum value of T;
and controlling the response time of the braking of the vehicle to be smaller than a first time threshold value so as to calibrate the minimum value of T.
Optionally, before the current electric brake distribution torque is obtained, the method further includes:
a first rate of change threshold in a current state is determined from an environmental state of the vehicle, wherein the environmental state of the vehicle includes a temperature outside the vehicle.
Optionally, before the current electric brake distribution torque is obtained, the method further includes:
and acquiring the climate conditions of the vehicle, and determining a corresponding first change rate threshold according to the current climate conditions.
Optionally, the determining a corresponding first change rate threshold according to the current climate condition includes:
and determining a corresponding first change rate threshold according to the rainfall, wherein the first change rate threshold is positively related to the rainfall.
Optionally, determining the electric brake torque of the vehicle according to the filtered electric brake distribution torque and the electric recovery torque of the vehicle comprises:
and taking the sum of the processed electric brake distribution torque of the first period of the vehicle and the electric recovery torque of the vehicle as the electric brake torque of the vehicle.
In a second aspect, an embodiment of the present invention provides a brake control apparatus including:
the acquisition module is used for acquiring the current electric brake distribution torque when the vehicle is in a braking state;
the processing module is used for processing the electric brake distribution torque, so that the change rate of the processed electric brake distribution torque is smaller than a first change rate threshold value;
and the torque determining module is used for determining the request torque of the motor according to the processed electric brake distribution torque and the coasting recovery torque of the vehicle.
Optionally, the processing module is specifically configured to perform a filtering process on the obtained electric brake distribution torque of the first period and the electric brake distribution torque of the second period after the filtering process, so as to obtain the processed electric brake distribution torque of the first period, where a process of the filtering process includes a plurality of continuously distributed processing periods, the first period and the second period are both one processing period in the filtering process, and the second period is a previous processing period of the first period.
Optionally, the processing module is specifically configured to perform a filtering process on the electric brake distribution torque by using a formula y1=y2+ (In-y 2) ×Δt/(t+Δt), where y1 is the electric brake distribution torque subjected to the filtering process In the first period, y2 is the electric brake distribution torque subjected to the filtering process In the second period, in is the obtained current electric brake distribution torque, T is a filtering time constant, and Δt is a time step.
Optionally, the vehicle further comprises a calibration module, configured to control a rate of change of the electric brake distribution torque of the vehicle in the processed first period to be greater than a second rate threshold value, so as to calibrate the maximum value of T;
the calibration module is further configured to control a response time of braking of the vehicle to be less than a first time threshold value, so as to calibrate a minimum value of the T.
In a third aspect, an embodiment of the present invention provides an electronic device, including a processor, a memory, and a computer program stored on the memory and executable on the processor, the computer program implementing the steps of the brake control method as described in any one of the preceding claims when executed by the processor.
In a fourth aspect, embodiments of the present invention provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the brake control method of any of the above.
In a fifth aspect, an embodiment of the present invention provides a vehicle including a processor, a memory, and a computer program stored on the memory and executable on the processor, the computer program implementing the steps of any one of the above brake control methods when executed by the processor.
According to the embodiment of the invention, the electric brake distribution torque of the vehicle is processed, so that the change rate of the electric brake distribution torque in the first period is smaller than the first change rate threshold value, and the request torque of the motor is determined according to the processed electric brake distribution torque, so that the braking process of the vehicle can be more stable, abrupt acceleration or abrupt deceleration caused by overhigh change rate of the brake torque can be avoided, and adverse effects on driving comfort and driving safety can be reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.
FIG. 1 is a flow chart of a brake control method provided by an embodiment of the present invention;
FIG. 2 is a schematic diagram of a filtering process in an embodiment of the invention;
FIG. 3 is a schematic diagram of a filtering formula according to an embodiment of the present invention;
fig. 4 is a schematic structural view of a brake control device according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the invention provides a braking control method. The braking control method of the embodiment is applied to a vehicle with a braking energy recovery function, wherein the braking energy recovery function refers to the process of driving a generator to rotate through wheels in the braking process of the vehicle, so that the kinetic energy of the vehicle is recovered and converted into electric energy, the electric energy is used for the re-running of the vehicle, and the consumption of energy is reduced.
The braking torque required during braking of the vehicle mainly includes electric braking torque and mechanical braking torque. The mechanical braking torque or hydraulic braking torque is mainly provided by a hydraulic device pressing a brake pad. When the braking demand is low, for example when the vehicle is travelling at a low speed or only slightly retarded, this can be achieved by electric braking only, without the need to activate mechanical braking, so that the mechanical braking torque may be 0. When the braking demand is high, it is difficult to meet the braking demand by electric braking alone, and thus it is necessary to activate mechanical braking.
The electric braking torque mainly comprises two parts, wherein one part is a coasting recovery torque for carrying out energy recovery by an energy recovery system in the coasting process of the vehicle, the coasting recovery torque of the vehicle is a torque generated by driving a generator to select, and the coasting recovery torque is directly related to the speed of the vehicle, so the coasting recovery torque is a value which is relatively determined and cannot be adjusted in an intervening way.
Another portion of the electric brake torque is determined by the CRBS (Coordinate Regeneration Braking System coordinated regenerative braking system) and then the electric brake split torque provided by the electric motor, or CRBS torque, is used to make up for the slip recovery torque deficiency to provide a sufficiently large, relatively stable electric brake torque.
As shown in fig. 1, the brake control method includes the steps of:
step 101: when the vehicle is in a braking state, a current electric brake distribution torque is acquired. First, the total braking torque required for the vehicle is determined, which may be calculated, for example, by an ESP (Electronic Stability Program, body electronic stability system) of the vehicle, thereby determining the total braking torque required.
Then, the distribution ratio for the mechanical braking torque and the electric braking torque is determined, thereby determining the electric braking torque required for the vehicle.
Finally, since the requested torque of the motor includes the coasting recovery torque and the electric brake distribution torque, and the coasting recovery torque can be determined in real time according to the current vehicle speed, the electric brake distribution torque of the vehicle can be obtained by subtracting the coasting recovery torque from the electric brake torque.
Step 102: and processing the electric brake distribution torque to enable the change rate of the processed electric brake distribution torque in the first period to be smaller than a first change rate threshold value.
After the electric brake distribution torque is determined, it is further processed to control the rate of change to be less than a first rate of change threshold.
It will be appreciated that the greater the electric brake distribution torque, the shorter the brake response time, the better the braking effect of the vehicle, but the greater the brake acceleration, i.e. the faster the vehicle speed changes, may have some effect on the comfort of the vehicle. Conversely, if the electric brake distribution torque is smaller, the longer the brake response time is, the worse the braking effect of the vehicle is, but the smaller the brake acceleration is, i.e., the slower the vehicle speed change, possibly causing some influence on the braking safety.
Further, the need considers setting of the first change rate threshold value according to the vehicle type, for example, the value of the first change rate threshold value needs to be set relatively large for a large vehicle and relatively small for a small vehicle. Therefore, the first change rate threshold should determine the value range according to the vehicle type, the vehicle weight, the road condition and the like.
In one specific embodiment, the total braking torque of a vehicle type at a certain moment is M, it is further determined that at the moment, the ratio of the electric braking torque to the mechanical braking torque is 3:7, the electric braking torque is 0.3M, further, the coasting recovery torque decreases with the speed reduction in the braking process, for example, the coasting recovery torque is f (v), that is, the coasting recovery torque is a function determined according to the speed v of the vehicle, the electric braking distribution torque is calculated to be 0.3M-f (v), and then the change rate of the electric braking distribution torque can be obtained through differentiation of the electric braking distribution torque with respect to time.
In the above process, the determining process of the electric braking torque and the mechanical braking torque ratio may be further obtained by calculating a preset distribution mode by using the vehicle-mounted controller or the ESP of the vehicle according to the conditions of the efficiency, the vehicle speed and the like of the energy recovery system of the vehicle, or may be determined according to the provided preset distribution ratio.
When the method is implemented, the braking process of the vehicle can be controlled by setting different first change rate thresholds according to actual conditions, and the braking response speed of the vehicle and the speed change condition of the vehicle are considered, so that the comfort and the safety of the vehicle are considered.
Step 103: and determining the request torque of the motor according to the electric brake distribution torque obtained after the processing and the coasting recovery torque of the vehicle.
In one embodiment, this step 103 specifically includes taking the sum of the processed electric brake distribution torque of the vehicle and the coast recovery torque of the vehicle as the requested torque of the electric machine. The electric braking torque is the required torque of the motor of the vehicle and is used as the required torque of the motor, so that the provided motor torque can independently or jointly complete braking control of the vehicle with the possible mechanical braking torque.
According to the embodiment of the invention, the electric brake distribution torque of the vehicle is processed, so that the change rate of the electric brake distribution torque is smaller than the first change rate threshold value, and the request torque of the motor is determined according to the processed electric brake distribution torque, so that the braking process of the vehicle can be more stable, abrupt acceleration or abrupt deceleration caused by overhigh change rate of the brake torque can be avoided, and adverse effects on driving comfort and driving safety can be reduced.
Optionally, in a specific embodiment, the step 102 specifically includes:
and filtering the acquired electric brake distribution torque of the first period and the electric brake distribution torque of the second period subjected to filtering processing to obtain the processed electric brake distribution torque of the first period, wherein the filtering processing process comprises a plurality of continuously distributed processing periods, the first period and the second period are one processing period in the filtering processing process, and the second period is the previous processing period of the first period.
In the present embodiment, the current electric brake distribution torque obtained is the electric brake distribution torque of the vehicle directly obtained through calculation.
It should be appreciated that the electric brake distribution torque of the second period of the filtering process is introduced as a parameter into the filtering process of the electric brake distribution torque of the first period during the braking time of the vehicle by the periodic control, as shown in fig. 2, which contributes to an improvement in the uniformity and consistency of the overall process.
In one embodiment, the filtering process is implemented by a step filtering process, and specifically, the filtering process includes:
and (3) filtering the electric brake distribution torque by using the formula (1).
y1＝y2+(In-y2)*Δt/(T+Δt)……(1)
Wherein y1 is the electric brake distribution torque of the current period after the filtering treatment, namely the electric brake distribution torque of the first period after the filtering treatment, y2 is the electric brake distribution torque of the previous period after the filtering treatment, namely the electric brake distribution torque of the second period after the filtering treatment, in is the obtained current electric brake distribution torque, T is a filtering time constant, and Deltat is a time step, namely the time length of each treatment period.
Fig. 3 is a schematic diagram of the filtering process corresponding to the above formula (1), as shown in the formula (1) and fig. 3, wherein 1/z in fig. 3 represents that the obtained y2 is the electric brake distribution torque of the previous period of the filtering process, that is, the y2 value in the formula (1), and the rest of operation symbols respectively correspond to the operation processes in the formula (1).
As can be seen from fig. 3 and equation (1), as T is larger, the change rate of y1 is smaller, that is, the filtering effect is also larger, and the corresponding braking time is shortened; conversely, the smaller T, the greater the rate of change of y1, i.e., the smaller the effect of the filtering, and correspondingly, the greater the comfort.
Optionally, before the processing the electric brake distribution torque, the method further includes:
controlling the rate of change of the processed electric brake distribution torque of the first period of the vehicle to be greater than a second rate of change threshold to calibrate the maximum value of T;
and controlling the response time of the braking of the vehicle to be smaller than a first time threshold value so as to calibrate the minimum value of T.
In the above formula (1), the filter time constant T is a constant set according to factors such as a vehicle type, and may be specifically set empirically, or may be measured by testing a vehicle during a design of the vehicle. For example, the braking process of the vehicle may be tested and recorded after having set different T values a number of times.
If the set T value enables the braking response time of the vehicle to be too long, the T value is reduced, and the test is conducted again; otherwise, if the value of T makes the braking response time of the vehicle too short, namely makes the change rate of the electric braking distribution torque of the vehicle too large, the value of T is regulated and tested again, so that the reasonable value range of the T value of the vehicle type is finally determined according to the test result through repeated continuous tests.
The set T value should satisfy the condition that the braking response time of the vehicle is not too long or too short, for example, for a small car, the braking response time from 100 km/h to rest is controlled to be 2.5 to 4.5 seconds, the T value when the braking response time is 2.5 seconds is measured to be T1 through testing, the T value when the braking response time is 4.5 seconds is T2, and the range of T values can be determined to be T1 to T2.
When the method is implemented, a plurality of T values set by the same vehicle type can be provided, for example, the vehicle has a plurality of driving modes such as a comfort mode and a movement mode, the T value corresponding to the comfort mode can be controlled to be slightly larger, and the T value corresponding to the movement mode is slightly smaller, so that the corresponding time of braking of the vehicle is shorter in the movement mode, the braking comfort of the vehicle is higher in the comfort mode, the use requirements of different users can be met, and the user experience is further improved.
Optionally, in a specific embodiment, before step 101, the method further includes:
a first rate of change threshold in a current state is determined from an environmental state of the vehicle, wherein the environmental state of the vehicle includes a temperature outside the vehicle.
In the technical solution of the present embodiment, the influence of the external environmental state of the vehicle is further considered, and it should be understood that, under the condition that other conditions are unchanged, the external environmental state of the vehicle has a larger influence on the braking distance, that is, even if the braking torque of the vehicle is the same, the braking distance may be different.
In this embodiment, the temperature condition is further considered to determine the corresponding first change rate parameter, wherein when the other conditions are unchanged and the temperature increases, the friction coefficient between the wheel and the ground decreases, resulting in an increase in the braking distance of the vehicle, and therefore, when the external temperature is greater than a certain temperature, for example, greater than 20 degrees celsius, the first change rate threshold is controlled to increase with the increase in temperature, in which case, although the first change rate threshold increases, the actual braking distance may not increase.
As another example, if the external temperature is lower than a certain temperature, for example, the temperature is lower than 0 degrees celsius, there may be a possibility that the road surface is frozen or frosted, and at this time, the first change rate threshold value increases with a decrease in temperature, and in this case, the actual braking distance may not increase although the first change rate threshold value increases.
Thus, the present embodiment is equivalent to providing a temperature range, for example, 0 degrees celsius to 20 degrees celsius, and obviously, the temperature range is not limited thereto, and can be adjusted accordingly according to practical situations. In the temperature interval, the first change rate threshold value can be kept basically unchanged, and when the temperature is larger than the temperature preset interval or smaller than the preset temperature interval, the first change rate threshold value is increased so as to reduce the influence of the external environment state on the braking distance and improve the driving safety.
Alternatively, in one embodiment, the effects that may be caused by the climate conditions outside the vehicle are introduced. Specifically, before step 101, the method further includes:
and acquiring the climate conditions of the vehicle, and determining a corresponding first change rate threshold according to the current climate conditions.
In this embodiment, the positioning device may be combined with the communication module to obtain the climate condition of the current location from the remote server, or the sensor may be used to detect the external condition, or the user may manually switch or manually select the climate condition.
For example, in one embodiment, the current position of the vehicle is first obtained by the positioning device, and then the weather condition of the current position is determined according to the weather information provided by the weather table, the weather forecast and the like and combined with the current position of the vehicle, so that the corresponding first change rate threshold is determined in a targeted manner.
In another specific embodiment, the rainfall sensor is used for detecting rainfall, and the corresponding first change rate threshold value is determined according to the detected rainfall, which specifically includes:
the rainfall is detected by a rainfall sensor of the vehicle, and a corresponding first change rate threshold value is determined according to the rainfall, wherein the first change rate threshold value is positively related to the rainfall.
In this embodiment, the current rainfall is detected by the rainfall sensor, and when the rainfall is larger, the first change rate threshold is controlled to be increased, so that the first change rate threshold is effectively controlled, the braking distance in a rainy day is reduced, and the safety performance is improved.
For another embodiment, an image in front of the vehicle may also be acquired by the image sensor to determine the humidity of the road surface, whether the road surface has weather conditions such as snow and ice, and the corresponding first change rate threshold is determined according to the detection result.
Obviously, the process can also be manually switched by a user, for example, a driving mode corresponding to different climatic conditions such as a rainy day mode, a snowy day mode, a frosting mode and the like is provided, and in the driving process, the corresponding first change rate threshold value can be determined by switching to different setting modes so as to improve the safety of the setting process.
As shown in fig. 4, an embodiment of the present invention further provides a brake control apparatus 400, including:
an acquisition module 401 that acquires a current electric brake distribution torque when the vehicle is in a braking state;
a processing module 402, configured to process the electric brake distribution torque, so that a rate of change of the processed electric brake distribution torque in a first period is less than a first rate threshold;
a torque determination module 403, configured to determine, during a first period, a requested torque of the motor according to the electric brake distribution torque obtained after the processing and the coasting recovery torque of the vehicle.
Optionally, the processing module 402 is specifically configured to perform a filtering process on the obtained electric brake distribution torque of the first period and the electric brake distribution torque of the second period after the filtering process, so as to obtain the processed electric brake distribution torque of the first period, where a process of the filtering process includes a plurality of processing periods that are continuously distributed, where each of the first period and the second period is one processing period in the filtering process, and the second period is a previous processing period of the first period.
Optionally, the processing module 402 is specifically configured to perform a filtering process on the electric brake distribution torque by using a formula y1=y2+ (In-y 2) ×Δt/(t+Δt), where y1 is the electric brake distribution torque subjected to the filtering process In the first period, y2 is the electric brake distribution torque subjected to the filtering process In the second period, in is the obtained current electric brake distribution torque, T is a filtering time constant, and Δt is a time step.
Optionally, the vehicle further comprises a calibration module for controlling the rate of change of the electric brake distribution torque of the processed first period of the vehicle to be greater than a second rate threshold value to calibrate the maximum value of T;
the calibration module is further configured to control a response time of braking of the vehicle to be less than a first time threshold value, so as to calibrate a minimum value of the T.
Optionally, the method further comprises: and the environment state acquisition module is used for determining a first change rate threshold value in the current state according to the environment state of the vehicle, wherein the environment state of the vehicle comprises the temperature outside the vehicle.
Optionally, the vehicle climate condition acquisition module is further included, and is used for acquiring the climate condition of the vehicle and determining a corresponding first change rate threshold according to the current climate condition.
Optionally, the climate condition acquisition module determines a corresponding first change rate threshold value according to the rainfall, and the first change rate threshold value is positively correlated with the rainfall.
Optionally, the torque determination module 403 is specifically configured to take the sum of the processed electric brake distribution torque of the first cycle of the vehicle and the electric recovery torque of the vehicle as the electric brake torque of the vehicle.
The brake control device provided by the embodiment of the invention can realize each process of the embodiment of the brake control method and achieve the same technical effect, and in order to avoid repetition, the description is omitted here.
An embodiment of the present invention provides an electronic device including a processor, a memory, and a computer program stored on the memory and executable on the processor, the computer program implementing the steps of the brake control method as described in any one of the above when executed by the processor.
An embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the brake control method described in any of the above.
An embodiment of the present invention provides a vehicle including a processor, a memory, and a computer program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the brake control method of any one of the above.
Since the electronic device, the computer readable storage medium and the computer program in the vehicle of the present embodiment realize the respective processes of the above-described brake control method embodiments when executed by the processor, and achieve the same technical effects, the repetition is avoided, and the description thereof is omitted here.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (15)
1. A brake control method applied to a vehicle, characterized by comprising the steps of:
when the vehicle is in a braking state, acquiring the current electric brake distribution torque;
processing the electric brake distribution torque to enable the change rate of the processed electric brake distribution torque to be smaller than a first change rate threshold;
determining the request torque of a motor according to the processed electric brake distribution torque and the vehicle coasting recovery torque;
the first change rate threshold value should determine the value range according to the vehicle type, the vehicle weight and the road condition;
the coasting recovery torque is reduced along with the speed reduction in the braking process, the coasting recovery torque is a function determined according to the speed v of the vehicle, the electric braking distribution torque is obtained according to the coasting recovery torque, and the change rate of the electric braking distribution torque is obtained through the differentiation of the electric braking distribution torque with respect to time;
the determination of the electric and mechanical braking torque ratios is obtained by calculation from the on-board controller or the ESP of the vehicle, using a preset distribution pattern, or is determined according to a supplied prefabricated distribution ratio, depending on the efficiency and the vehicle speed of the energy recovery system of the vehicle.
2. The brake control method according to claim 1, characterized in that said processing said electric brake distribution torque includes:
and filtering the acquired electric brake distribution torque of the first period and the electric brake distribution torque of the second period subjected to filtering processing to obtain the processed electric brake distribution torque of the first period, wherein the filtering processing process comprises a plurality of continuously distributed processing periods, the first period and the second period are one processing period in the filtering processing process, and the second period is the previous processing period of the first period.
3. The brake control method according to claim 2, characterized in that said processing said electric brake distribution torque includes:
and performing filtering processing on the electric brake distribution torque by using a formula y1=y2+ (In-y 2)/(T+Δt), wherein y1 is the electric brake distribution torque subjected to filtering processing In a first period, y2 is the electric brake distribution torque subjected to filtering processing In a second period, in is the acquired current electric brake distribution torque, T is a filtering time constant, and Δt is a time step.
4. The brake control method according to claim 3, characterized by further comprising, before said processing said electric brake distribution torque:
controlling the change rate of the electric brake distribution torque of the first period to be larger than a second change rate threshold value so as to calibrate the maximum value of T;
and controlling the response time of the braking of the vehicle to be smaller than a first time threshold value so as to calibrate the minimum value of T.
5. The brake control method according to claim 2, characterized by further comprising, before the current electric brake distribution torque is obtained:
a first rate of change threshold in a current state is determined from an environmental state of the vehicle, wherein the environmental state of the vehicle includes a temperature outside the vehicle.
6. The brake control method according to claim 2, characterized by further comprising, before the current electric brake distribution torque is obtained:
and acquiring the climate conditions of the vehicle, and determining a corresponding first change rate threshold according to the current climate conditions.
7. The brake control method of claim 6, wherein determining the respective first rate of change threshold based on the current climate conditions comprises:
and determining a corresponding first change rate threshold according to the rainfall, wherein the first change rate threshold is positively correlated with the rainfall.
8. The brake control method according to any one of claims 1 to 7, characterized in that determining an electric brake torque of a vehicle from the filtered electric brake distribution torque and the electric recovery torque of the vehicle includes:
and taking the sum of the processed electric brake distribution torque of the first period of the vehicle and the electric recovery torque of the vehicle as the electric brake torque of the vehicle.
9. A brake control apparatus, characterized by comprising:
the acquisition module is used for acquiring the current electric brake distribution torque when the vehicle is in a braking state;
the processing module is used for processing the electric brake distribution torque, so that the change rate of the processed electric brake distribution torque is smaller than a first change rate threshold value;
the torque determining module is used for determining the request torque of the motor according to the processed electric brake distribution torque and the vehicle coasting recovery torque;
the first change rate threshold value should determine the value range according to the vehicle type, the vehicle weight and the road condition;
the coasting recovery torque is reduced along with the speed reduction in the braking process, the coasting recovery torque is a function determined according to the speed v of the vehicle, the electric braking distribution torque is obtained according to the coasting recovery torque, and the change rate of the electric braking distribution torque is obtained through the differentiation of the electric braking distribution torque with respect to time;
the determination of the electric and mechanical braking torque ratios is obtained by calculation from the on-board controller or the ESP of the vehicle, using a preset distribution pattern, or is determined according to a supplied prefabricated distribution ratio, depending on the efficiency and the vehicle speed of the energy recovery system of the vehicle.
10. The brake control apparatus according to claim 9, wherein the processing module is specifically configured to perform a filtering process on the obtained electric brake distribution torque of the first period and the electric brake distribution torque of the second period subjected to the filtering process, to obtain the processed electric brake distribution torque of the first period, wherein a process of the filtering process includes a plurality of processing periods that are continuously distributed, each of the first period and the second period being one of the processing periods during the filtering process, and the second period being a preceding processing period of the first period.
11. The brake control apparatus according to claim 10, wherein the processing module is specifically configured to perform a filtering process on the electric brake distribution torque using a formula y1=y2+ (In-y 2) ×Δt/(t+Δt), where the filtering process includes a plurality of processing cycles distributed consecutively, y1 is the electric brake distribution torque of the first cycle subjected to the filtering process, y2 is the electric brake distribution torque of the second cycle subjected to the filtering process, in is the current electric brake distribution torque obtained, T is a filtering time constant, and Δt is a time step.
12. The brake control apparatus according to claim 11, characterized by further comprising:
the calibration module is used for controlling the change rate of the electric brake distribution torque of the vehicle in the processed first period to be larger than a second change rate threshold value so as to calibrate the maximum value of T;
the calibration module is further configured to control a response time of braking of the vehicle to be less than a first time threshold value, so as to calibrate a minimum value of the T.
13. An electronic device comprising a processor, a memory and a computer program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the brake control method according to any one of claims 1 to 8.
14. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the brake control method according to any one of claims 1 to 8.
15. A vehicle comprising a processor, a memory and a computer program stored on the memory and executable on the processor, which when executed by the processor carries out the steps of the brake control method according to any one of claims 1 to 8.
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| CN202010142510.8A CN113352900B (en) | 2020-03-04 | 2020-03-04 | Brake control method and device, electronic equipment and vehicle |
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| CN202010142510.8A CN113352900B (en) | 2020-03-04 | 2020-03-04 | Brake control method and device, electronic equipment and vehicle |
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