CN113696740A - Vehicle braking method, device, equipment and storage medium - Google Patents

Vehicle braking method, device, equipment and storage medium Download PDF

Info

Publication number
CN113696740A
CN113696740A CN202111034377.5A CN202111034377A CN113696740A CN 113696740 A CN113696740 A CN 113696740A CN 202111034377 A CN202111034377 A CN 202111034377A CN 113696740 A CN113696740 A CN 113696740A
Authority
CN
China
Prior art keywords
braking
braking force
vehicle
electronic
assembly
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202111034377.5A
Other languages
Chinese (zh)
Other versions
CN113696740B (en
Inventor
杨升
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dilu Technology Co Ltd
Original Assignee
Dilu Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Dilu Technology Co Ltd filed Critical Dilu Technology Co Ltd
Priority to CN202111034377.5A priority Critical patent/CN113696740B/en
Publication of CN113696740A publication Critical patent/CN113696740A/en
Application granted granted Critical
Publication of CN113696740B publication Critical patent/CN113696740B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B60T17/22—Devices for monitoring or checking brake systems; Signal devices
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

The present disclosure relates to a vehicle braking method, apparatus, device and storage medium, the method comprising: responding to a braking signal, acquiring current state data of the vehicle, and calculating total braking force required by the vehicle according to the current state data; determining a limit value of the braking force that can be provided by the vehicle brake assembly; determining a first braking force provided by the electronic braking assembly and a second braking force provided by the motor braking assembly according to the magnitude of the total braking force, the first limit value and the second limit value; controlling the electronic brake assembly to provide a first braking force, and simultaneously controlling the motor brake assembly to provide a second braking force; the device, the equipment and the storage medium are used for realizing the method. This openly adopts the braking scheme that electronic brake and driving motor combined together, has not only reduced spare part quantity by a wide margin, and the whole car of being convenient for arranges, has still avoided single brake assembly to cause high temperature state owing to provide the brake force of high strength, the deration.

Description

Vehicle braking method, device, equipment and storage medium
Technical Field
The present application relates to the field of vehicle braking, and in particular, to a vehicle braking method, apparatus, device, and storage medium.
Background
With the increase of national economy and the progress of the automobile industry, the automobile serving as a very common vehicle changes the living condition and the living mode of people and provides great convenience for people. Among them, the braking technology of automobiles becomes one of the important points for optimizing automobiles. In the prior art, the automobile brake system still mainly adopts a hydraulic brake system, and the vehicle brake is realized through a hydraulic brake. The parts of the vehicle brake system are various, the pipeline occupies large space, and the requirement for the sealing performance of the joints of the parts when brake fluid flows through the whole brake system is high.
Disclosure of Invention
In view of the above, the present disclosure provides a vehicle braking method, apparatus, device, program product and storage medium, wherein the vehicle braking method comprises the steps of:
responding to a braking signal, acquiring current state data of the vehicle, and calculating total braking force required by the vehicle according to the current state data; the braking signal is triggered by an electronic brake pedal or an automatic driving system;
determining a limit value of braking force which can be provided by a vehicle braking assembly, wherein the braking assembly comprises an electronic braking assembly and a motor braking assembly, the limit value of braking force which can be provided by the electronic braking assembly is a first limit value, and the limit value of braking force which can be provided by the motor braking assembly is a second limit value; the electronic brake assembly comprises a plurality of electronic brakes, and the motor brake assembly comprises a plurality of driving motors;
determining a first braking force provided by the electronic braking assembly and a second braking force provided by the motor braking assembly according to the magnitude of the total braking force, the first limit value and the second limit value; the sum of the first braking force and the second braking force is the total braking force, the first braking force is greater than or equal to zero and smaller than or equal to a first limit value, and the second braking force is greater than or equal to zero and smaller than or equal to a second limit value;
and controlling the electronic brake assembly to provide a first braking force, and simultaneously controlling the motor brake assembly to provide a second braking force.
In one embodiment, the obtaining current vehicle state data in response to the braking signal comprises:
when the braking signal is triggered by an electronic brake pedal, the current state data comprises treading force data and treading speed data of the electronic brake pedal.
In one embodiment, the obtaining current vehicle state data in response to the braking signal comprises:
when the brake signal is triggered by an automatic driving system equipped for the vehicle, the current state data comprises real-time vehicle speed data of the vehicle and target vehicle speed data set by the automatic driving system.
In one embodiment, the determining the limit value of the braking force that can be provided by the vehicle brake assembly comprises:
reading state data of all electronic brakes in the electronic brake assembly, and judging whether a fault occurs;
determining a first limit value of the braking force which can be provided by the electronic brake assembly according to the number and the position distribution information of the electronic brakes without faults and the electronic brakes with faults in the electronic brake assembly;
reading state data of all driving motors in the motor braking assembly, and judging whether a fault occurs;
and determining a second limit value of the braking force which can be provided by the motor braking assembly according to the number and the position distribution information of the drive motors without faults and the drive motors with faults in the motor braking assembly.
In one embodiment, the determining a first braking force provided by the electric brake assembly and a second braking force provided by the electric motor brake assembly based on the magnitude of the total braking force, the first limit value, and the second limit value includes:
when the total braking force is larger than zero and smaller than or equal to a first threshold value, determining that the first braking force is zero and the second braking force is the total braking force;
when the total braking force is larger than the first threshold value and smaller than or equal to a second threshold value, the determined first braking force is larger than zero, and the determined second braking force is larger than zero and smaller than the second limit value;
when the magnitude of the total braking force is larger than the second threshold value, the determined first braking force is larger than zero, and the determined second braking force is equal to the second limit value.
The present disclosure also provides a vehicle brake device, including:
the electronic brake assembly comprises a plurality of electronic brakes, and the electronic brakes are arranged on wheels of the vehicle and used for braking the vehicle;
the motor braking assembly comprises a plurality of driving motors, and the driving motors are connected with wheel shafts of the vehicle;
the electronic brake pedal is used for triggering a brake signal;
the first control unit is connected with the electronic brake and the electronic brake pedal through a communication network; the first control unit is used for responding to a braking signal triggered by the electronic brake pedal and acquiring current state data of the vehicle;
the first control unit is further connected with a second control unit through a communication network, the second control unit is connected with the driving motor and the electronic brake pedal through the communication network, and the second control unit is used for responding to a brake signal triggered by an automatic driving system equipped for the vehicle and acquiring current state data of the vehicle.
In one embodiment, the first control unit includes a first information acquisition module, and the first information acquisition module is configured to acquire current vehicle state data, where the current vehicle state data includes pedaling strength data and pedaling speed data of the electronic brake pedal.
In one embodiment, the second control unit includes a second information acquisition module, and the second information acquisition module is configured to acquire current vehicle state data, where the current vehicle state data includes real-time vehicle speed data and target vehicle speed data set by the automatic driving system.
In one embodiment, the first control unit comprises a first fault judgment module, and the first fault judgment module is used for reading the state data of all the electronic brakes in the electronic brake assembly and judging whether the electronic brakes are in fault; the second control unit comprises a second fault judgment module, and the second fault judgment module is used for reading the state data of all the driving motors in the motor braking assembly and judging whether a fault occurs;
the first control unit further comprises a braking force distribution module, wherein the braking force distribution module determines a first limit value of the braking force which can be provided by the electronic brake assembly according to the number and the position distribution information of the electronic brakes without faults and the electronic brakes with faults in the electronic brake assembly, and determines a second limit value of the braking force which can be provided by the motor brake assembly according to the number and the position distribution information of the driving motors without faults and the driving motors with faults in the motor brake assembly.
The present disclosure also provides a vehicle braking apparatus comprising a memory storing a computer program and a processor implementing the steps of the above vehicle braking method when the processor executes the computer program.
The present disclosure also provides a computer program product comprising instructions, characterized in that said instructions, when executed, are capable of performing the steps of the above-mentioned vehicle braking method.
The present disclosure also provides a computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, realizes the steps of the above-mentioned vehicle braking method.
The vehicle braking method, the vehicle braking device, the vehicle braking equipment, the computer program product and the computer storage medium at least have the following beneficial effects:
the braking scheme combining the electronic brake and the driving motor is adopted, so that the number of parts is greatly reduced, the whole vehicle arrangement is facilitated, the high-temperature state caused by the fact that a single braking assembly provides high-strength braking force is avoided, and the performance is reduced; in addition, the electronic brake and the driving motor are controlled comprehensively, the provided braking force is distributed reasonably, and the braking efficiency is improved; meanwhile, after the electronic brake assembly is determined to provide the first braking force and the motor brake assembly is determined to provide the second braking force in response to the braking signal, the electronic brake assembly and the motor brake assembly are directly controlled to execute braking actions according to the braking forces distributed by the electronic brake assembly and the motor brake assembly, a signal transmission path does not pass through other mechanical parts, response is fast, and efficiency loss in a transmission process is extremely low.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart diagram of a vehicle braking method provided in one embodiment;
FIG. 2 is a schematic flow chart illustrating the steps provided in one embodiment for determining a customized power limit;
FIG. 3 is a flowchart illustrating the steps provided in one embodiment for determining the first braking force and the second braking force;
FIG. 4 is a block diagram illustrating a vehicle braking device provided in one embodiment;
FIG. 5 is a schematic structural view of a vehicular brake device provided in an embodiment;
fig. 6 is a block diagram of a first control unit and a second control unit provided in an embodiment;
FIG. 7 is a block diagram of a detection device of a decision engine provided in an embodiment.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Embodiments of the present application are set forth in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the disclosure described herein are capable of operation in sequences other than those illustrated or otherwise described herein. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the presence of additional identical or equivalent elements in a process, method, article, or apparatus that comprises the recited elements is not excluded. For example, if the terms first, second, etc. are used to denote names, they do not denote any particular order.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be connected to the other element through intervening elements. Further, "connection" in the following embodiments is understood to mean "electrical connection", "communication connection", or the like, if there is a transfer of electrical signals or data between the connected objects.
As used herein, the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises/comprising," "includes" or "including," etc., specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof. Also, in this specification, the term "and/or" includes any and all combinations of the associated listed items.
In the field of vehicle braking, the most common scheme at present is to adopt a hydraulic braking system, when the hydraulic braking system works, brake fluid flows through the whole braking system, so that the response delay of the braking system is larger, the sealing requirements on each part and pipeline joint are strict, the mechanical friction of a plurality of mechanical parts, the damping force of a rubber part, the hydraulic loss of a hydraulic pipeline and the system efficiency after superposition are greatly reduced. Therefore, the vehicle braking method changes the triggering and transmitting modes of the braking signals and improves the efficiency and response sensitivity of the braking system. Specifically, referring to fig. 1, the present embodiment provides a vehicle braking method, including the following steps:
step S100: responding to the braking signal, acquiring current state data of the vehicle, and calculating the total braking force required by the vehicle according to the current state data; the braking signal is triggered by an electronic brake pedal or an automatic driving system.
The braking signal in this embodiment may be triggered by an electronic brake pedal or an automatic driving system. For example, when the driver determines that the vehicle needs braking, an electronic brake pedal is stepped on, and a brake signal is triggered, or when the vehicle is equipped with an automatic driving system, the automatic driving system determines that braking is currently needed and triggers a brake signal.
And after responding to a braking signal sent by the vehicle, acquiring current state data of the vehicle, and calculating according to the current state data to obtain the total braking force required by the vehicle to respond to the braking signal. The vehicle current state data may include vehicle speed, degree of depression of an electronically designated pedal, and the like.
Step S200: determining a limit value of a braking force which can be provided by a vehicle braking assembly, wherein the braking assembly comprises an electronic braking assembly and a motor braking assembly, the limit value of the braking force which can be provided by the electronic braking assembly is a first limit value, and the limit value of the braking force which can be provided by the motor braking assembly is a second limit value; the electronic brake assembly comprises a plurality of electronic brakes, and the motor brake assembly comprises a plurality of driving motors.
Before providing braking force to the vehicle, it is necessary to determine the limit value of the braking force that can be provided by the vehicle brake assembly. In this embodiment, the vehicle brake assembly includes an electronic brake assembly and a motor brake assembly, and the electronic brake assembly includes a plurality of electronic brakes, for example, four electronic brakes, which are respectively installed on four wheels of the vehicle. The electronic brake may be an electrically actuated wheel mounted caliper brake, or other electronic brake used to brake a vehicle. The motor braking assembly comprises a plurality of driving motors, for example, four driving motors which are respectively connected with four wheel shafts of the vehicle, and the driving motors can brake by directly applying wheel reaction force.
The method comprises the steps of acquiring state information of an electronic brake assembly and a motor brake assembly by adopting an electrifying scanning mode or other modes, such as the number of electronic brakes and driving motors, performance parameters and the like, calculating to obtain that the limit value of the braking force which can be provided by the electronic brake assembly is a first limit value, and the limit value of the braking force which can be provided by the motor brake assembly is a second limit value.
Step S300: determining a first braking force provided by the electronic braking assembly and a second braking force provided by the motor braking assembly according to the magnitude of the total braking force, the first limit value and the second limit value; the sum of the first braking force and the second braking force is the total braking force, the first braking force is larger than or equal to zero and smaller than or equal to a first limit value, and the second braking force is larger than or equal to zero and smaller than or equal to a second limit value.
After the total braking force magnitude, the first limit value and the second limit value are obtained, the first braking force provided by the electronic braking assembly and the second braking force provided by the motor braking assembly are distributed through calculation. During calculation, attention needs to be paid to a constraint condition, namely the sum of the first braking force and the second braking force is the total braking force; the first braking force may be greater than or equal to zero and must be less than or equal to a first limit value; the second braking force may be equal to or greater than zero and must be equal to or less than the second limit value.
If the sum of the first limit value and the second limit value is smaller than the total braking force, directly distributing a first braking force with the magnitude of the first limit value provided by the electronic braking assembly and a second braking force with the magnitude of the second limit value provided by the motor braking assembly, and simultaneously triggering an alarm mode to remind surrounding vehicles and a driver of the vehicle.
Step S400: and controlling the electronic brake assembly to provide a first braking force, and simultaneously controlling the motor brake assembly to provide a second braking force.
And after the distributed first braking force and the distributed second braking force are obtained, the electronic braking assembly and the motor braking assembly are controlled to execute braking actions according to the distributed braking forces, and the whole braking process of the vehicle is completed.
The vehicle braking method provided by the embodiment adopts a braking scheme combining the electronic brake and the driving motor, so that the number of parts is greatly reduced, the whole vehicle arrangement is facilitated, a high-temperature state caused by the fact that a single braking assembly provides high-strength braking force is avoided, and the performance is reduced; in addition, the electronic brake and the driving motor are controlled comprehensively, the provided braking force is distributed reasonably, and the braking efficiency is improved; meanwhile, after the electronic brake assembly is determined to provide the first braking force and the motor brake assembly is determined to provide the second braking force in response to the braking signal, the electronic brake assembly and the motor brake assembly are directly controlled to execute braking actions according to the braking forces distributed by the electronic brake assembly and the motor brake assembly, a signal transmission path does not pass through other mechanical parts, response is fast, and efficiency loss in a transmission process is extremely low.
In some exemplary embodiments of the present disclosure, the acquiring current state data of the vehicle in response to the braking signal in step S100 includes:
when the brake signal is triggered by the electronic brake pedal, the current state data comprises treading force data and treading speed data of the electronic brake pedal.
The electronic brake pedal can be an electronic brake pedal which senses the stepping degree of a driver on the brake pedal by using a sensor and outputs an electric signal, and particularly can sense the stepping force data and the stepping speed data of the driver. When the vehicle is in a manual driving mode, a driver steps on an electronic brake pedal to trigger a brake signal. The total braking force is calculated according to the treading force data and the treading speed data of the electronic brake pedal of the driver.
In some example embodiments of the present disclosure, the acquiring current state data of the vehicle in response to the braking signal in step S100 includes:
when the brake signal is triggered by an automatic driving system equipped with the vehicle, the current state data comprises real-time vehicle speed data of the vehicle and target vehicle speed data set by the automatic driving system.
The automatic driving system can be a driving system equipped for the vehicle, and can control the vehicle to start, run and brake, and simultaneously can monitor the vehicle state in real time to obtain the current vehicle speed information of the vehicle. In the automatic driving mode of the vehicle, the automatic driving system triggers a brake signal, the automatic driving system can acquire real-time vehicle speed data of the vehicle and target vehicle speed data set by the automatic driving system, and the total braking force is calculated according to the real-time vehicle speed data of the vehicle and the target vehicle speed data set by the automatic driving system.
In some example embodiments of the present disclosure, referring to fig. 2, the determining the limit value of the braking force that can be provided by the vehicle brake assembly in step S200 includes:
step S202: and reading the state data of all the electronic brakes in the electronic brake assembly, and judging whether the electronic brakes are in failure.
The status data of all the electronic brakes in the electronic brake assembly can be read by power-on scanning or other methods to determine whether the electronic brakes are in failure, such as open circuit failure or damage of the electronic brakes.
Step S204: a first limit value of the braking force that can be provided by the electric brake assembly is determined based on the number and location distribution information of the non-faulty electric brakes and the faulty electric brakes in the electric brake assembly.
When the electronic brake is judged to be in failure, the position information of the electronic brake is acquired at the same time, for example, which wheel the failed electronic brake is mounted on, and the mounting position of the electronic brake can be determined by numbering the electronic brake. Further, according to the position information of the electronic brake, whether the electronic brake with the fault is installed on a driving wheel or a driven wheel of the vehicle can be judged, and the first limit value of the braking force provided by the whole electronic brake assembly is calculated by comprehensively considering the number of the electronic brakes with the fault and the position distribution information.
Step S206: and reading the state data of all the driving motors in the motor braking assembly, and judging whether the driving motors are in failure.
The status data of all the driving motors in the motor braking assembly can be read by adopting an electrifying scanning mode or other modes, and whether the driving motors are in failure or not can be judged, for example, an open circuit failure or damage of the driving motors can be caused.
Step S208: and determining a second limit value of the braking force which can be provided by the motor braking assembly according to the number and the position distribution information of the drive motors without faults and the drive motors with faults in the motor braking assembly.
When the driving motor is judged to be in failure, the position information of the driving motor is acquired at the same time, for example, the mounting position of the electronic brake can be determined by numbering the driving motor on which wheel the failed driving motor is mounted. Further, according to the position information of the driving motors, whether the driving motors with faults are installed on driving wheels or driven wheels of the vehicle can be judged, the number and the position distribution information of the driving motors with faults are comprehensively considered, and the second limit value of the braking force which can be provided by the whole motor braking assembly is calculated.
The present embodiment calculates the brake force limit values that can be provided by each of the electric brake assembly and the motor brake assembly by determining the health status of the electric brake assembly and the motor brake assembly in the vehicle. The method has the advantages that the accuracy of the first limit value and the second limit value is improved, and the rationality of the brake force distribution of the electronic brake assembly and the motor brake assembly is improved by determining the state of each electronic brake and each drive motor, comprehensively considering the number information and the specific position distribution information of the electronic brake and the drive motor with faults, determining the first limit value of the brake force provided by the electronic brake assembly, and determining the second limit value of the brake force provided by the motor brake assembly.
In a preferred embodiment, the aforementioned vehicle braking method is adopted, wherein the electric braking assembly includes four electric brakes respectively disposed on four wheels of the vehicle, and the motor braking assembly includes four driving motors respectively connected to the four wheel shafts of the vehicle.
When one electronic brake fails, compared with the situation that the braking force loss is less than 25% when both the electronic brake assembly and the motor brake assembly are not in failure, the deceleration provided by the total braking force of the vehicle is greater than 0.65g (g is gravity acceleration), and the national standard is met.
When two electronic brakes fail due to faults, compared with the situation that the braking force loss is less than 50% when both the electronic brake assembly and the motor brake assembly are not in faults, the deceleration provided by the total braking force of the vehicle is greater than 0.65g (g is gravity acceleration), and the national standard is met.
When one driving motor fails, compared with the situation that the braking force loss is less than 25% when both the electronic brake assembly and the motor brake assembly are not failed, the deceleration provided by the total braking force of the vehicle is greater than 0.65g (g is gravity acceleration), and the national standard is met.
When two driving motors fail due to faults, compared with the situation that the braking force loss is less than 50% when the electronic braking assembly and the motor braking assembly are not in faults, the deceleration provided by the total braking force of the vehicle is greater than 0.65g (g is gravity acceleration), and the national standard is met.
In some example embodiments of the present disclosure, referring to fig. 3, step S300 includes:
step S302: when the magnitude of the total braking force is larger than zero and smaller than or equal to a first threshold value, the determined first braking force is zero, and the determined second braking force is the total braking force.
When the total braking force is judged to be larger than zero and smaller than or equal to the first threshold value, the braking force required by the vehicle is smaller, the total braking force provided by the motor braking assembly can be distributed, namely the determined first braking force is zero, and the determined second braking force is the total braking force.
Step S304: when the total braking force is larger than a first threshold value and smaller than or equal to a second threshold value, the determined first braking force is larger than zero, and the determined second braking force is larger than zero and smaller than a second limit value.
When the total braking force is judged to be larger than the first threshold value and smaller than or equal to the second threshold value, the braking force required by the vehicle is larger, the total braking force provided by the motor braking assembly and the electronic braking assembly together can be distributed, namely the determined first braking force is larger than zero, and the determined second braking force is larger than zero and smaller than the second threshold value.
Step S306: when the magnitude of the total braking force is larger than the second threshold value, the distributed first braking force is larger than zero, and the distributed second braking force is equal to the second threshold value.
When the total braking force is judged to be larger than the second threshold value, the braking force required by the vehicle is larger at the moment, and belongs to the condition of emergency braking, the total braking force provided by the motor braking assembly and the electronic braking assembly together can be distributed, wherein the motor braking assembly directly distributes the braking force with the size of the second limit value, namely the determined first braking force is larger than zero, and the determined second braking force is equal to the second limit value.
According to the braking method and the braking device, a plurality of threshold values are set for dividing different threshold value intervals according to the total braking force, the total braking force distributes different braking forces for the motor braking assembly and the electronic braking assembly in different threshold value intervals, the rationality of the braking force distribution of the electronic braking assembly and the motor braking assembly is improved, the braking response speed is improved, and the overall braking efficiency of a vehicle is improved.
It should be understood that although the various steps in the flowcharts of fig. 1-3 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-3 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps or stages.
Based on the description of the vehicle braking method embodiment, the present disclosure also provides a vehicle braking device. The apparatus may include systems (including distributed systems), software (applications), modules, components, servers, clients, etc. that use the methods described in embodiments of the present specification in conjunction with any necessary apparatus to implement the hardware. Based on the same innovative concept, the embodiments of the present disclosure provide an apparatus in one or more embodiments as described in the following embodiments. Since the implementation scheme of the apparatus for solving the problem is similar to that of the method, the specific implementation of the apparatus in the embodiment of the present specification may refer to the implementation of the foregoing method, and repeated details are not repeated. As used hereinafter, the term "unit" or "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
FIG. 4 is a block diagram illustrating a vehicle braking device according to an exemplary embodiment. The device may be the terminal, the server, or a module, a component, a device, a unit, etc. integrated in the terminal. Referring specifically to fig. 5, the apparatus may include:
the electronic brake assembly comprises a plurality of electronic brakes Z30, and the electronic brakes Z30 are arranged on wheels 100 of the vehicle and are used for braking the vehicle;
the motor brake assembly comprises a plurality of driving motors Z40, and the driving motors Z40 are connected with the wheels 100 of the vehicle through shafts;
an electronic brake pedal Z50 for triggering a braking signal;
the first control unit Z10 is connected with the electronic brake Z30 and the electronic brake pedal Z50 through a communication network; the first control unit Z10 is used for responding to a braking signal triggered by an electronic brake pedal Z50 and acquiring current state data of the vehicle;
the first control unit Z10 is also connected with a second control unit Z20 through a communication network, the second control unit Z20 is connected with a driving motor Z40 and an electronic brake pedal Z50 through the communication network, and the second control unit Z20 is used for responding to a brake signal triggered by an automatic driving system equipped for the vehicle and acquiring current state data of the vehicle.
In the embodiment, the first control unit Z10, the second control unit Z20, the electronic brake assembly Z30, the motor brake assembly Z40 and the electronic brake pedal Z50 are connected through a network architecture, so that the transmission of brake signals is more convenient and efficient, a signal transmission path does not pass through other mechanical parts, the response is fast, and the efficiency loss of a transmission process is extremely low.
It should be noted that the description of the above device according to the embodiment of the method may also include other embodiments, and specific implementation may refer to the description of the foregoing embodiment of the vehicle braking method, which is not described in detail herein. The respective modules of the above vehicle brake device may be implemented in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules. It should be noted that, in the embodiment of the present application, the division of the module is schematic, and is only one logic function division, and there may be another division manner in actual implementation.
In an exemplary embodiment, referring to fig. 6, the first control unit Z10 includes a first information acquisition module Z102, and the first information acquisition module Z102 is configured to acquire current vehicle state data, which includes pedaling strength data and pedaling speed data of the electronic brake pedal Z50.
In an exemplary embodiment, referring to fig. 6, the second control unit Z20 includes a second information collecting module Z202, and the second information collecting module Z202 is configured to obtain current vehicle state data, where the current vehicle state data includes real-time vehicle speed data of the vehicle and target vehicle speed data set by the automatic driving system.
In an exemplary embodiment, referring to fig. 6, the first control unit Z10 includes a first failure determination module Z104, where the first failure determination module Z104 is configured to read status data of all electronic brakes Z30 in the electronic brake assembly to determine whether there is a failure; the second control unit Z20 includes a second fault determining module Z204, and the second fault determining module Z204 is configured to read status data of all drive motors Z40 in the motor brake assembly, and determine whether a fault occurs;
the first control unit Z10 further includes a braking force distribution module Z106, the braking force distribution module Z106 determining a first limit value of the braking force that can be provided by the electric brake assembly based on the number and position distribution information of the non-faulty electric brake Z30 and the faulty electric brake Z30 in the electric brake assembly, and determining a second limit value of the braking force that can be provided by the electric brake assembly based on the number and position distribution information of the non-faulty drive motor Z40 and the faulty drive motor Z40 in the electric brake assembly.
In another embodiment of the apparatus provided by the present disclosure, based on the foregoing description of the method embodiment, there is provided a vehicle braking device S00, comprising a memory S22 and a processor, the memory S22 storing a computer program, the processor implementing the steps of the vehicle braking method in the foregoing embodiment when executing the computer program.
Fig. 7 is a block diagram illustrating a vehicle brake device S00 according to an exemplary embodiment. For example, the device S00 may be a server. Referring to FIG. 7, device S00 includes a processing component S20 that further includes one or more processors and memory resources represented by memory S22 for storing instructions, e.g., applications, that are executable by processing component S20. The application program stored in the memory S22 may include one or more modules each corresponding to a set of instructions. Further, the processing component S20 is configured to execute instructions to perform the steps of the vehicle braking method described above.
The device S00 may also include a power supply component S24 configured to perform power management of the device S00, a wired or wireless network interface S26 configured to connect the device S00 to a network, and an input-output (I/O) interface S28. The device S00 may operate based on an operating system stored in the memory 722, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, or the like.
Based on the foregoing description of the embodiments of the method, in another embodiment of the apparatus provided by the present disclosure, a computer program product is provided, which includes instructions that, when executed, are capable of performing the steps of the vehicle braking method in the foregoing embodiments.
Based on the foregoing description of the method embodiments, in another embodiment of the apparatus provided by the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, which, when being executed by a processor, implements the steps of the vehicle braking method in the foregoing embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The description is intended to include within at least one embodiment or example of the invention a particular feature, structure, material, or characteristic described in connection with the embodiment or example. In this specification, a schematic description of the above terminology may not necessarily refer to the same embodiment or example.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features of the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A vehicle braking method, characterized by comprising the steps of:
responding to a braking signal, acquiring current state data of the vehicle, and calculating total braking force required by the vehicle according to the current state data; the braking signal is triggered by an electronic brake pedal or an automatic driving system;
determining a limit value of braking force which can be provided by a vehicle braking assembly, wherein the braking assembly comprises an electronic braking assembly and a motor braking assembly, the limit value of braking force which can be provided by the electronic braking assembly is a first limit value, and the limit value of braking force which can be provided by the motor braking assembly is a second limit value; the electronic brake assembly comprises a plurality of electronic brakes, and the motor brake assembly comprises a plurality of driving motors;
determining a first braking force provided by the electronic braking assembly and a second braking force provided by the motor braking assembly according to the magnitude of the total braking force, the first limit value and the second limit value; the sum of the first braking force and the second braking force is the total braking force, the first braking force is greater than or equal to zero and smaller than or equal to a first limit value, and the second braking force is greater than or equal to zero and smaller than or equal to a second limit value;
and controlling the electronic brake assembly to provide a first braking force, and simultaneously controlling the motor brake assembly to provide a second braking force.
2. The method of claim 1, wherein said obtaining vehicle current state data in response to a braking signal comprises:
when the braking signal is triggered by an electronic brake pedal, the current state data comprises treading force data and treading speed data of the electronic brake pedal.
3. The method of claim 1, wherein said obtaining vehicle current state data in response to a braking signal comprises:
when the brake signal is triggered by an automatic driving system equipped for the vehicle, the current state data comprises real-time vehicle speed data of the vehicle and target vehicle speed data set by the automatic driving system.
4. The method of claim 1, wherein determining the limit value of braking force that can be provided by the vehicle brake assembly comprises:
reading state data of all electronic brakes in the electronic brake assembly, and judging whether a fault occurs;
determining a first limit value of the braking force which can be provided by the electronic brake assembly according to the number and the position distribution information of the electronic brakes without faults and the electronic brakes with faults in the electronic brake assembly;
reading state data of all driving motors in the motor braking assembly, and judging whether a fault occurs;
and determining a second limit value of the braking force which can be provided by the motor braking assembly according to the number and the position distribution information of the drive motors without faults and the drive motors with faults in the motor braking assembly.
5. The method of claim 1, wherein determining a first braking force provided by an electric brake assembly and a second braking force provided by an electric motor brake assembly based on the magnitude of the total braking force, the first limit value, and the second limit value comprises:
when the total braking force is larger than zero and smaller than or equal to a first threshold value, determining that the first braking force is zero and the second braking force is the total braking force;
when the total braking force is larger than the first threshold value and smaller than or equal to a second threshold value, the determined first braking force is larger than zero, and the determined second braking force is larger than zero and smaller than the second limit value;
when the magnitude of the total braking force is larger than the second threshold value, the determined first braking force is larger than zero, and the determined second braking force is equal to the second limit value.
6. A vehicle brake device, characterized by comprising:
the electronic brake assembly comprises a plurality of electronic brakes, and the electronic brakes are arranged on wheels of the vehicle and used for braking the vehicle;
the motor braking assembly comprises a plurality of driving motors, and the driving motors are connected with wheel shafts of the vehicle;
the electronic brake pedal is used for triggering a brake signal;
the first control unit is connected with the electronic brake and the electronic brake pedal through a communication network; the first control unit is used for responding to a braking signal triggered by the electronic brake pedal and acquiring current state data of the vehicle;
the first control unit is further connected with a second control unit through a communication network, the second control unit is connected with the driving motor and the electronic brake pedal through the communication network, and the second control unit is used for responding to a brake signal triggered by an automatic driving system equipped for the vehicle and acquiring current state data of the vehicle.
7. The apparatus of claim 6, wherein the first control unit comprises a first information acquisition module, and the first information acquisition module is configured to acquire current vehicle state data, and the current vehicle state data comprises pedaling strength data and pedaling speed data of the electronic brake pedal.
8. A vehicle braking apparatus comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any one of claims 1 to 5.
9. A computer program product comprising instructions, characterized in that said instructions, when executed, are capable of performing the steps of the method of any one of claims 1 to 5.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 5.
CN202111034377.5A 2021-09-03 2021-09-03 Vehicle braking method, device, equipment and storage medium Active CN113696740B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111034377.5A CN113696740B (en) 2021-09-03 2021-09-03 Vehicle braking method, device, equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111034377.5A CN113696740B (en) 2021-09-03 2021-09-03 Vehicle braking method, device, equipment and storage medium

Publications (2)

Publication Number Publication Date
CN113696740A true CN113696740A (en) 2021-11-26
CN113696740B CN113696740B (en) 2023-07-07

Family

ID=78659585

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111034377.5A Active CN113696740B (en) 2021-09-03 2021-09-03 Vehicle braking method, device, equipment and storage medium

Country Status (1)

Country Link
CN (1) CN113696740B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113968205A (en) * 2021-12-01 2022-01-25 吉林大学 Composite braking fault-tolerant control method based on multi-axis electrically driven vehicle and vehicle

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101492046A (en) * 2008-11-25 2009-07-29 吉林大学 Parallel type hybrid vehicles energy management and assembly coordinated control method
CN205022354U (en) * 2015-10-15 2016-02-10 王永德 Braking is from energy -conserving automobile of oil -electricity hybrid vehicle that generates electricity
CN107415704A (en) * 2017-07-31 2017-12-01 北京新能源汽车股份有限公司 Composite braking method, apparatus and adaptive learning algorithms device
CN108162766A (en) * 2017-12-07 2018-06-15 燕山大学 A kind of In-wheel motor driving automobile mechanical electronic hydraulic redundant braking system and control method
KR20200067297A (en) * 2018-12-03 2020-06-12 현대자동차주식회사 Eco-friendly vehicle and method of hill descent control for the same
CN111823881A (en) * 2020-07-10 2020-10-27 的卢技术有限公司 Braking system and braking method for electric automobile

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101492046A (en) * 2008-11-25 2009-07-29 吉林大学 Parallel type hybrid vehicles energy management and assembly coordinated control method
CN205022354U (en) * 2015-10-15 2016-02-10 王永德 Braking is from energy -conserving automobile of oil -electricity hybrid vehicle that generates electricity
CN107415704A (en) * 2017-07-31 2017-12-01 北京新能源汽车股份有限公司 Composite braking method, apparatus and adaptive learning algorithms device
CN108162766A (en) * 2017-12-07 2018-06-15 燕山大学 A kind of In-wheel motor driving automobile mechanical electronic hydraulic redundant braking system and control method
KR20200067297A (en) * 2018-12-03 2020-06-12 현대자동차주식회사 Eco-friendly vehicle and method of hill descent control for the same
CN111823881A (en) * 2020-07-10 2020-10-27 的卢技术有限公司 Braking system and braking method for electric automobile

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113968205A (en) * 2021-12-01 2022-01-25 吉林大学 Composite braking fault-tolerant control method based on multi-axis electrically driven vehicle and vehicle
CN113968205B (en) * 2021-12-01 2024-05-28 吉林大学 Multi-shaft electric drive vehicle-based compound brake fault-tolerant control method and vehicle

Also Published As

Publication number Publication date
CN113696740B (en) 2023-07-07

Similar Documents

Publication Publication Date Title
US10093187B2 (en) Redundant power supply
CN107776408B (en) Vehicle system, battery system, and control method for battery system
JP4155198B2 (en) Abnormality detection device for vehicle control system
CN110214312A (en) Shared stand-by unit and control system
CN108622065B (en) Method and system for testing vehicle brake system
CN105083295A (en) System and method for diagnosing failure of smart sensor or smart actuator of vehicle
US10839619B2 (en) Electronic control unit and method for connection authentication
CN108602449A (en) Cell managing device
CN113696740A (en) Vehicle braking method, device, equipment and storage medium
CN114906117B (en) Method, device, equipment and medium for determining brake pedal state of vehicle
CN103364204A (en) Diagnostics for smart sensors of vehicles
CN114475263A (en) Control method, vehicle control unit, control system, electric vehicle and storage medium
US10286923B1 (en) Tire vibration and loose wheel detection
US10600261B2 (en) Vehicle with health-based active self-testing method
US20070016840A1 (en) Method for checking the safety and reliability of software-based electronic system
CN115071439A (en) Vehicle loading control method and device, computer equipment and storage medium
KR20240011157A (en) Prediction device and prediction method for at least one brake system component of the brake system of my vehicle
CN112995061A (en) Vehicle data transmission method, device and system and storage medium
CN113602250A (en) Automatic parking method and device for electric automobile, vehicle and storage medium
CN111591302A (en) Vehicle control method and device
CN116088485B (en) Vehicle fault data acquisition system and method and vehicle
CN114312722B (en) Vehicle braking state judgment method, device, equipment and storage medium
CN115320565B (en) Control method and device for vehicle braking system, vehicle and storage medium
CN113704132A (en) Method, device, equipment and medium for testing vehicle function system
CN115246321A (en) New energy vehicle energy recovery method and device and vehicle-mounted controller

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant