CN117885702A - EMB braking deviation control and braking error correction method, device, equipment and medium - Google Patents

EMB braking deviation control and braking error correction method, device, equipment and medium Download PDF

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Publication number
CN117885702A
CN117885702A CN202410064537.8A CN202410064537A CN117885702A CN 117885702 A CN117885702 A CN 117885702A CN 202410064537 A CN202410064537 A CN 202410064537A CN 117885702 A CN117885702 A CN 117885702A
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China
Prior art keywords
braking
target vehicle
braking force
brake
force command
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CN202410064537.8A
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Chinese (zh)
Inventor
张峻峰
张俊智
何承坤
马瑞海
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Tsinghua University
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Tsinghua University
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Priority to CN202410064537.8A priority Critical patent/CN117885702A/en
Publication of CN117885702A publication Critical patent/CN117885702A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17552—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve responsive to the tire sideslip angle or the vehicle body slip angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17557—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for lane departure prevention
    • 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)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

The application relates to an EMB braking deviation control and braking error correction method, device, equipment and medium, wherein the method comprises the following steps: acquiring a total braking force command of the target vehicle to generate a braking force command of each wheel of the target vehicle; acquiring a deviation amount parameter of a target vehicle, and judging whether the target vehicle is braked and deviated or not based on a braking force instruction and the deviation amount parameter of each wheel; if the braking deviation occurs, calculating a target differential yaw moment of the target vehicle, performing braking stability control and error estimation operation on the target vehicle according to the total braking force command, the target differential yaw moment and the deviation amount parameter to obtain a braking error coefficient, and utilizing the braking error coefficient to correct parameters of an EMB controller of the target vehicle so as to control the target vehicle to brake by utilizing the corrected EMB controller. Therefore, the problems that the existing EMB controller lacks physical connection of the left side and the right side of the vehicle, and the braking deviation and the like possibly occur under the conditions of faults, braking abrasion and the like are solved.

Description

EMB braking deviation control and braking error correction method, device, equipment and medium
Technical Field
The application relates to the technical field of automobile braking systems and intelligent automobiles, in particular to an EMB braking deviation control and braking error correction method, device, equipment and medium.
Background
Brake misalignment is one of the common safety problems in vehicle operation, and refers to the phenomenon that a vehicle cannot be effectively maintained on a straight running track during a conventional braking process, and the vehicle is deviated to one side, and the brake misalignment is generally associated with uneven braking force distribution.
Compared with the traditional hydraulic braking system, the electronic mechanical braking system (EMB, electromechanical Braking System) has the advantages of faster response, higher integration level, independent four-wheel decoupling and the like, and is considered as a feasible hydraulic braking system alternative in the future, and has high application potential.
However, the electromechanical brake system cancels the hydraulic pipeline, and can not transmit the same braking force to the two sides of the vehicle body through the design of the brake pipeline as the hydraulic brake system, and particularly, after the EMB is worn, after the failure and other factors, the braking force of a single wheel is insufficient or excessive easily to cause the occurrence of braking deviation, so that the problem needs to be solved.
Disclosure of Invention
The application provides an EMB braking deviation control and braking error correction method, device, equipment and medium, so as to solve the problems that the existing EMB controller lacks physical connection of the left side and the right side of a vehicle, and braking deviation and the like possibly occur under the conditions of faults, braking abrasion and the like.
An embodiment of a first aspect of the present application provides an EMB brake misalignment control and brake error correction method, including the following steps: acquiring a total braking force command of a target vehicle, and generating a braking force command of each wheel of the target vehicle according to the total braking force command; acquiring a deviation amount parameter of the target vehicle, and judging whether the target vehicle is subjected to braking deviation or not based on the braking force instruction of each wheel and the deviation amount parameter; and if the braking deviation occurs to the target vehicle, calculating a target differential yaw moment of the target vehicle, and executing braking stability control and error estimation operation to the target vehicle according to the total braking force command, the target differential yaw moment and the deviation parameter to obtain a braking error coefficient of the target vehicle, and correcting the parameter of an EMB controller of the target vehicle by utilizing the braking error coefficient so as to control the target vehicle to brake by utilizing the corrected EMB controller.
Optionally, in one embodiment of the present application, the calculating the target differential yaw moment of the target vehicle and performing the brake stability control and the error estimation operation on the target vehicle according to the total braking force command, the target differential yaw moment and the deviation parameter includes: calculating the yaw disturbance of the target vehicle and controlling a sliding mode surface, and completing the observation of the yaw disturbance within a preset time to obtain a yaw disturbance convergence value; calculating the target differential yaw moment based on the yaw disturbance convergence value and the control slip plane; distributing the total braking force command and the target differential yaw moment according to a preset distribution strategy to obtain a longitudinal force command of each wheel; and performing braking stability control on the target vehicle by utilizing the longitudinal force command.
Optionally, in one embodiment of the present application, the performing a braking stability control and an error estimation operation on the target vehicle according to the total braking force command, the target differential yaw moment and the off tracking parameter, to obtain a braking error coefficient of the target vehicle includes: acquiring an actual four-wheel braking force of the target vehicle, and constructing an estimation equation of the target vehicle based on the actual four-wheel braking force and the total braking force command; and estimating the braking error coefficient according to the estimation equation, and correcting the EMB controller by utilizing the braking error coefficient and a preset correction formula.
Optionally, in an embodiment of the present application, the correction formula is as follows:
wherein F is x,order,ij For the longitudinal force command of each wheel,and->Representing an estimate of each wheel multiplicative error coefficient and offset error coefficient in the target vehicle, respectively.
An embodiment of a second aspect of the present application provides an EMB brake misalignment control and brake error correction apparatus, including: the generating module is used for acquiring a total braking force command of a target vehicle and generating a braking force command of each wheel of the target vehicle according to the total braking force command; the judging module is used for acquiring the deviation amount parameter of the target vehicle and judging whether the target vehicle is braked and deviated or not based on the braking force instruction of each wheel and the deviation amount parameter; and the correction module is used for calculating a target differential yaw moment of the target vehicle if the target vehicle generates the braking deviation, executing braking stability control and error estimation operation on the target vehicle according to the total braking force command, the target differential yaw moment and the deviation parameter to obtain a braking error coefficient of the target vehicle, and correcting the parameter of an EMB controller of the target vehicle by utilizing the braking error coefficient so as to control the target vehicle to brake by utilizing the corrected EMB controller.
Optionally, in one embodiment of the present application, the correction module includes: the first calculation unit is used for calculating the yaw disturbance of the target vehicle and controlling the sliding mode surface, and completing the observation of the yaw disturbance within a preset time to obtain a yaw disturbance convergence value; a second calculation unit configured to calculate the target differential yaw moment based on the yaw disturbance convergence value and the control slip plane; the distribution unit is used for distributing the total braking force command and the target differential yaw moment according to a preset distribution strategy to obtain a longitudinal force command of each wheel; and the control unit is used for controlling the braking stability of the target vehicle by utilizing the longitudinal force command.
Optionally, in one embodiment of the present application, the correction module further includes: an acquisition unit configured to acquire an actual four-wheel braking force of the target vehicle, and construct an estimation equation of the target vehicle based on the actual four-wheel braking force and the total braking force command; and the estimation unit is used for estimating the braking error coefficient according to the estimation equation and correcting the EMB controller by utilizing the braking error coefficient and a preset correction formula.
Optionally, in an embodiment of the present application, the correction formula is as follows:
wherein F is x,order,ij For the longitudinal force command of each wheel,and->Representing an estimate of each wheel multiplicative error coefficient and offset error coefficient in the target vehicle, respectively.
An embodiment of a third aspect of the present application provides an electronic device, including: the system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the EMB brake deviation control and brake error correction method as described in the embodiment.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which, when executed by a processor, implements the above EMB brake misalignment control and brake error correction method.
Thus, embodiments of the present application have the following benefits:
embodiments of the present application may generate a braking force command for each wheel of a target vehicle by obtaining a total braking force command for the target vehicle, and according to the total braking force command; acquiring a deviation amount parameter of a target vehicle, and judging whether the target vehicle is braked and deviated or not based on a braking force instruction and the deviation amount parameter of each wheel; if the target vehicle is in braking deviation, calculating a target differential yaw moment of the target vehicle, and executing braking stability control and error estimation operation on the target vehicle according to the total braking force command, the target differential yaw moment and the deviation amount parameter to obtain a braking error coefficient of the target vehicle, and utilizing the braking error coefficient to correct parameters of an EMB controller of the target vehicle so as to utilize the corrected EMB controller to control the target vehicle to brake. According to the method and the device, the braking error coefficient of each wheel braking system is estimated, the controller is corrected, braking force is accurately corrected for the wheels which are not braked or are braked excessively, braking force accuracy of the vehicle in a braking process is greatly improved, and performance and consistency of the whole-vehicle EMB controller in the braking process are effectively improved. Therefore, the problems that the existing EMB controller lacks physical connection of the left side and the right side of the vehicle, and the braking deviation and the like possibly occur under the conditions of faults, braking abrasion and the like are solved.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a flowchart of an EMB brake bias control and brake error correction method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of execution logic of an EMB brake bias control and brake error correction method according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a logic architecture of an EMB brake bias control and brake error correction system according to an embodiment of the present application;
FIG. 4 is an exemplary diagram of an EMB brake misalignment control and brake error correction apparatus according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
The device comprises a 10-EMB brake deviation control and brake error correction device, a 100-generation module, a 200-judgment module, a 300-correction module, a 501-memory, a 502-processor and a 503-communication interface.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.
The following describes methods, devices, equipment and media for EMB brake deviation control and brake error correction according to embodiments of the present application with reference to the accompanying drawings. In view of the above-mentioned problems in the background art, the present application provides an EMB brake misalignment control and brake error correction method in which a brake force command for each wheel of a target vehicle is generated by acquiring a total brake force command of the target vehicle and according to the total brake force command; acquiring a deviation amount parameter of a target vehicle, and judging whether the target vehicle is braked and deviated or not based on a braking force instruction and the deviation amount parameter of each wheel; if the target vehicle is in braking deviation, calculating a target differential yaw moment of the target vehicle, and executing braking stability control and error estimation operation on the target vehicle according to the total braking force command, the target differential yaw moment and the deviation amount parameter to obtain a braking error coefficient of the target vehicle, and utilizing the braking error coefficient to correct parameters of an EMB controller of the target vehicle so as to utilize the corrected EMB controller to control the target vehicle to brake. According to the method and the device, the braking error coefficient of each wheel braking system is estimated, the controller is corrected, braking force is accurately corrected for the wheels which are not braked or are braked excessively, braking force accuracy of the vehicle in a braking process is greatly improved, and performance and consistency of the whole-vehicle EMB controller in the braking process are effectively improved. Therefore, the problems that the existing EMB controller lacks physical connection of the left side and the right side of the vehicle, and the braking deviation and the like possibly occur under the conditions of faults, braking abrasion and the like are solved.
Specifically, fig. 1 is a flowchart of an EMB brake deviation control and brake error correction method provided in an embodiment of the present application.
As shown in fig. 1, the EMB brake deviation control and brake error correction method includes the following steps:
in step S101, a total braking force command of the target vehicle is acquired, and a braking force command of each wheel of the target vehicle is generated according to the total braking force command.
In step S102, a deviation amount parameter of the target vehicle is acquired, and whether the target vehicle is subjected to braking deviation is determined based on the braking force instruction and the deviation amount parameter of each wheel.
Embodiments of the present application may calculate the total braking force command F by receiving a brake strength command signal from an autopilot controller b,order The specific calculation formula is as follows:
F b,order ＝-mz brake
wherein m is the mass of the whole vehicle, z brake Is a brake strength command.
Thereafter, embodiments of the present application may perform a conventional braking operation, i.e., commanding the total braking force F described above b,order Assigned to four wheels, the corresponding calculation formula is as follows:
wherein F is b,order,ij The braking force command (ij=fl, fr, rl, rr) for each wheel represents the front left, front right, rear left, rear right wheels, respectively, and β is the front axle braking force distribution coefficient.
Furthermore, the embodiment of the application can select lateral displacement, lateral speed, yaw angle, yaw rate and the like in the braking process as the reference of the deviation amount, and combine the braking force instruction of each wheel so as to judge whether braking running occurs.
In step S103, if the target vehicle is subject to braking deviation, a target differential yaw moment of the target vehicle is calculated, and braking stability control and error estimation operations are performed on the target vehicle according to the total braking force command, the target differential yaw moment and the deviation amount parameter, so as to obtain a braking error coefficient of the target vehicle, and the parameters of the EMB controller of the target vehicle are modified by using the braking error coefficient, so that the modified EMB controller is used for controlling the target vehicle to brake.
Embodiments of the present application provide yaw angleFor example, in the case of a braking force command for each wheel, i.e., a normal response of a four-wheel braking command, the yaw angle fluctuation during braking is small, and no deviation occurs; yaw angle during braking>Less than the allowable yaw error->When the brake is applied, the conventional brake distribution operation is continuously executed; yaw angle during braking>Greater than the allowable yaw error->When the braking stability control, the braking error coefficient estimation and the braking controller correction flow are triggered, as shown in fig. 2.
The four-wheel braking force under the conventional braking is as follows:
F x,order,ij ＝F b,order,ij
wherein F is x,order,ij For the input of a braking force command for each wheel of the EMB controller, i.e. four wheel longitudinal force commands (ij=fl, fr, rl,rr, representing front left, front right, rear left and rear right wheels, respectively).
It can be understood that with the deep development of the intelligent and domain control technology of the automobile, the perception capability of the automobile is gradually improved, the control requirement of the accurate braking force of the automobile is improved, and the embodiment of the application can ensure that the braking deviation problem caused by inconsistent braking in the EMB braking process is solved, meanwhile, the braking error coefficient of each wheel braking system is estimated and the controller is corrected, so that the braking accuracy of the automobile in the braking process is greatly improved, and the safety of the automobile is effectively improved.
Optionally, in one embodiment of the present application, calculating a target differential yaw moment of the target vehicle, and performing a braking stability control and error estimation operation on the target vehicle according to the total braking force command, the target differential yaw moment, and the deviation amount parameter, includes: calculating the yaw disturbance of the target vehicle, controlling a sliding mode surface, and completing the observation of the yaw disturbance within a preset time to obtain a yaw disturbance convergence value; calculating a target differential yaw moment based on the yaw disturbance convergence value and the control slip plane; distributing the total braking force command and the target differential yaw moment according to a preset distribution strategy to obtain a longitudinal force command of each wheel; the target vehicle is brake stability controlled using the longitudinal force command.
When the target vehicle is subjected to braking deviation, braking stability control operation can be performed, and the specific process is as follows:
modeling for yaw degrees of freedom of the vehicle:
wherein:
d＝(F y,fl +F y,fr )l f +(F y,rl +F y,rr )l r +ΔM z -ΔM z,order
wherein r is equal toIs the yaw rate of the vehicle; />Yaw acceleration for the vehicle; i z Is the z-axis moment of inertia of the vehicle; f (F) y,ij For side force of four wheels, F x,ij Actual longitudinal force response for four wheels; l (L) f And l r The front axle to centroid distance and the rear axle to centroid distance of the vehicle are respectively; w is the track of the vehicle; ΔM z ΔM for the actual yaw moment generated by four-wheel differential braking z,order A yaw moment command for differential braking; d is yaw disturbance due to braking error and braking misalignment.
In embodiments of the present application, an extended state observer may be employed to estimate the yaw disturbance d caused by braking error and braking misalignment:
wherein,respectively->Observations of r, d, ω being adjustable observer parameters.
In order to complete the observation convergence for the disturbance within a preset time, when T < T, the following steps are selected:
wherein r and m are designable parameters of the observer, T is preset time, and T is time after the controller is triggered.
Then, the embodiment of the present application may select the control sliding surface as:
wherein lambda is the sliding mode surface parameter.
The differential yaw moment output by the brake stability controller is designed to be:
wherein k is 1 Is an adjustable controller parameter.
Furthermore, embodiments of the present application may implement a braking force distribution that takes into account differential motion to command the total braking force F b,order Differential yaw moment ΔM from target z,order Assigned to four wheels, the calculation formula is as follows:
therefore, the embodiment of the application controls the whole vehicle to swing up the vehicle body and resume normal running by performing the brake stability control operation to perform differential braking on four wheels.
Optionally, in one embodiment of the present application, performing a braking stability control and error estimation operation on the target vehicle according to the total braking force command, the target differential yaw moment and the deviation parameter, to obtain a braking error coefficient of the target vehicle, including: acquiring an actual four-wheel braking force of a target vehicle, and constructing an estimation equation of the target vehicle based on the actual four-wheel braking force and a total braking force command; and estimating a brake error coefficient according to an estimation equation, and correcting the EMB controller by utilizing the brake error coefficient and a preset correction formula.
Further, when braking the yaw angleStabilize to the allowable yaw error +.>In the internal time, the vehicle is balanced at the left side and the right side of the four-wheel braking force due to no deviation, and the braking error coefficient can be estimated by combining the feedback of the braking deceleration and the four-wheel braking force command, and the specific process is as follows.
In the embodiments of the present application, the response of the actual braking force to the braking force command may be modeled first as:
F x,ij ＝λ ij F x,order,ij +τ ij ＝λ ij F emb,ij +τ ij
wherein lambda is ij And τ ij Respectively representing the multiplicative error coefficient and the offset error coefficient of the corresponding wheel; f (F) emb,ij Is a braking force command corresponding to the wheel EMB controller.
The estimation equation can be expressed as:
y＝φθ
y＝[F b,es 0] T
θ＝[λ fl λ fr λ rl λ rr τ fl τ fr τ rl τ rr ] T
wherein g is gravitational acceleration; f is the coefficient of friction resistance of the road; c (C) D Is the air resistance coefficient; a is the windward area of the vehicle; v is the speed of the sensing feedback; delta is the conversion coefficient of the automobile rotating mass after accounting for the inertia moment of the rotating mass; f (F) b,es Is the estimated braking force of the whole vehicle; [ g ]] T Is a transposed label of the matrix.
Yaw angle during brakingStabilize to the allowable yaw error +.>In the inner time, the embodiment of the application can collect two matrix parameters of y and phi in the equation, and recursively estimate theta in the equation by adopting a least recursion square method, and the specific formula is as follows:
wherein phi is k 、y k The kth data is collected for the phi, y matrix;and->Is the k-1 and k-th estimates for the theta matrix; p (P) k Is an intermediate process parameter.
Furthermore, the embodiment of the application can utilize the braking error coefficient and a preset correction formula to carry out the parameter correction operation of the EMB controller, so that the braking force of the wheels with insufficient braking or excessive braking can be accurately corrected, and the consistency and the performance of the whole vehicle electromechanical braking system in the braking process are improved.
Alternatively, in one embodiment of the present application, the correction formula is as follows:
wherein F is x,order,ij For a longitudinal force command for each wheel,and->Representing an estimate of each wheel multiplicative error coefficient and offset error coefficient in the target vehicle, respectively.
Specifically, after collecting sufficient brake travel data, embodiments of the present application may correct the EMB controller based on the estimated brake error coefficient:
wherein F is x,order,ij For a longitudinal force command for each wheel,and->The estimated values respectively representing the multiplicative error coefficient and the offset error coefficient of each wheel in the target vehicle, if an EMB braking system without a clamping force sensor is adopted, the braking force response error of the EMB can be related to the braking clearance and can be obtained by->And performing brake clearance correction according to the corresponding relation of the brake clearance.
In the next braking process, the correction of the EMB control system error is completed, and the phenomenon of deviation in the braking process can be avoided, so that the braking process and the correction of the EMB controller parameters are completed.
In summary, with development of vehicle intellectualization and domain control technology, the embodiment of the application enables the brake system to perform fusion control with sensing information, makes full use of the sensing information to perform brake control, and more accurately and rapidly positions and compensates occurrence of brake deviation, thereby fully playing four-wheel independent brake advantages of the electromechanical brake system, enhancing stability and safety of the whole vehicle braking process, and simultaneously meeting accurate control requirements of the intelligent vehicle on wheel force.
In addition, the application can construct an EMB brake deviation control and brake error correction system according to the EMB brake deviation control and brake error correction method, and the logic architecture of the EMB brake deviation control and brake error correction system of the application is described with reference to the accompanying drawings.
FIG. 3 is a schematic diagram of the logic architecture of the EMB brake bias control and brake error correction system of the present application. As shown in fig. 3, the EMB brake deviation control and brake error correction system of the present application mainly includes a vehicle stability control function unit for recovering stability of a braking direction, a brake coefficient estimation function unit for estimating a brake error by combining sensing information and control information, an EMB brake control function unit capable of performing brake parameter modification, and the like.
The braking function unit receives a braking intensity command provided by an automatic driving domain controller or a driver, analyzes braking intention, generates total braking force demand and transmits the total braking force demand to the four-wheel braking distribution function unit;
the braking stability control function unit obtains the running deviation amount according to the current whole vehicle dynamics state calculation function unit, triggers the whole vehicle stability control to correct the whole vehicle braking deviation, calculates the target differential braking yaw moment, and transmits the target differential braking yaw moment to the four-wheel braking distribution function unit to distribute the braking force of the electromechanical braking system, wherein the whole vehicle dynamics state of the running deviation amount can be regarded as the whole vehicle dynamics state including the deviation amount of a target path, the error of a navigation angle of the target direction and the like;
the four-wheel braking distribution functional unit is used for distributing braking force of the four-wheel electromechanical braking system according to braking force requirements and performing conventional braking distribution under the condition that no off-tracking working condition occurs; after the deviation occurs and the braking stability control function unit is triggered, the braking force of the four-wheel electromechanical braking system is distributed according to the braking force signal, the differential braking yaw moment command and the distribution requirement;
the dynamic state resolving function unit receives the original signals transmitted by the sensors such as combined inertial navigation, wheel speed sensor and the like, and performs resolving based on the whole vehicle dynamic model to obtain vehicle body dynamic state signals such as path tracking error, navigation angle error, yaw rate, lateral speed, braking deceleration and the like in the whole vehicle braking process;
the brake coefficient estimation function unit is used for estimating a brake error coefficient of four-wheel braking according to the brake deceleration feedback and the vehicle speed feedback signals transmitted by the dynamic state calculation function unit, the four-wheel braking force command transmitted by the four-wheel braking distribution function unit and the like after the whole vehicle recovers braking stability, obtaining the brake coefficient estimated by each wheel and feeding back the brake coefficient to the EMB braking controller of the corresponding wheel, wherein the brake error coefficient is used for accounting for the deviation between the braking command transmitted to the EMB controller and the actual braking force;
the electronic mechanical brake system of each wheel is provided with an independent EMB control module, receives the braking command of the four-wheel braking distribution module in the braking process, controls the electronic mechanical brake system of the corresponding wheel, simultaneously receives the braking coefficient estimation signal of the braking coefficient estimation module, corrects the controller parameters, and ensures that the electronic mechanical brake system of the corresponding wheel can accurately respond to the braking force command;
it should be noted that, the purpose of this application is to the electromechanical braking system, combines the whole car sensor to carry out the location estimation to off tracking perception information, the wheel that the braking produced great error and error degree to braking process. Therefore, the control compensation method for the braking deviation of the electromechanical braking system is provided, the method can trigger the vehicle transverse stability control according to the braking deviation information in the braking process, maintain the vehicle braking direction stability, and simultaneously combine a braking distribution algorithm and stability control information to correct braking parameters of wheels with insufficient braking or excessive braking, so that the braking consistency of the electromechanical braking system is improved.
It can be understood that the embodiment of the application can effectively identify and control the vehicle deviation occurring in the braking process by means of the triggering of the whole vehicle stability control function unit, and maintain the stability of the vehicle braking direction; in addition, through the combination of a brake distribution algorithm, sensing information and stability control information, accurate brake parameter correction is carried out on wheels which are insufficient or excessive in braking, so that consistency and performance of the whole vehicle electromechanical brake system in the braking process are improved, and application of the electromechanical brake system in an intelligent electric automobile is promoted.
According to the EMB braking deviation control and braking error correction method provided by the embodiment of the application, a total braking force command of a target vehicle is obtained, and a braking force command of each wheel of the target vehicle is generated according to the total braking force command; acquiring a deviation amount parameter of a target vehicle, and judging whether the target vehicle is braked and deviated or not based on a braking force instruction and the deviation amount parameter of each wheel; if the target vehicle is in braking deviation, calculating a target differential yaw moment of the target vehicle, and executing braking stability control and error estimation operation on the target vehicle according to the total braking force command, the target differential yaw moment and the deviation amount parameter to obtain a braking error coefficient of the target vehicle, and utilizing the braking error coefficient to correct parameters of an EMB controller of the target vehicle so as to utilize the corrected EMB controller to control the target vehicle to brake. According to the method and the device, the braking error coefficient of each wheel braking system is estimated, the controller is corrected, braking force is accurately corrected for the wheels which are not braked or are braked excessively, braking force accuracy of the vehicle in a braking process is greatly improved, and performance and consistency of the whole-vehicle EMB controller in the braking process are effectively improved.
Next, an EMB brake misalignment control and brake error correction apparatus according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 4 is a block diagram of an EMB brake misalignment control and brake error correction apparatus according to an embodiment of the present application.
As shown in fig. 4, the EMB brake misalignment control and brake error correction apparatus 10 includes: a generation module 100, a judgment module 200 and a correction module 300.
The generating module 100 is configured to obtain a total braking force command of the target vehicle, and generate a braking force command of each wheel of the target vehicle according to the total braking force command.
The judging module 200 is configured to obtain a deviation amount parameter of the target vehicle, and judge whether the target vehicle is subjected to braking deviation based on the braking force instruction and the deviation amount parameter of each wheel.
The correction module 300 is configured to calculate a target differential yaw moment of the target vehicle if the target vehicle is subject to braking deviation, perform braking stability control and error estimation operation on the target vehicle according to the total braking force command, the target differential yaw moment and the deviation parameter, obtain a braking error coefficient of the target vehicle, and correct parameters of an EMB controller of the target vehicle by using the braking error coefficient so as to control the target vehicle to brake by using the corrected EMB controller.
Optionally, in one embodiment of the present application, the correction module 300 includes: the device comprises a first computing unit, a second computing unit, a distributing unit and a control unit.
The first calculation unit is used for calculating the yaw disturbance of the target vehicle, controlling the sliding mode surface and completing the observation of the yaw disturbance within a preset time to obtain a yaw disturbance convergence value.
And a second calculation unit for calculating a target differential yaw moment based on the yaw disturbance convergence value and the control slip plane.
And the distribution unit is used for distributing the total braking force command and the target differential yaw moment according to a preset distribution strategy to obtain a longitudinal force command of each wheel.
And a control unit for performing brake stability control on the target vehicle using the longitudinal force command.
Optionally, in one embodiment of the present application, the correction module 300 further includes: an acquisition unit and an estimation unit.
The acquisition unit is used for acquiring the actual four-wheel braking force of the target vehicle and constructing an estimation equation of the target vehicle based on the actual four-wheel braking force and the total braking force command.
And the estimation unit is used for estimating the braking error coefficient according to an estimation equation and correcting the EMB controller by utilizing the braking error coefficient and a preset correction formula.
Alternatively, in one embodiment of the present application, the correction formula is as follows:
wherein F is x,order,ij For a longitudinal force command for each wheel,and->Representing an estimate of each wheel multiplicative error coefficient and offset error coefficient in the target vehicle, respectively.
It should be noted that the foregoing explanation of the embodiment of the EMB brake deviation control and brake error correction method is also applicable to the EMB brake deviation control and brake error correction device of this embodiment, and will not be repeated here.
The EMB braking deviation control and braking error correction device provided by the embodiment of the application comprises a generation module, a control module and a control module, wherein the generation module is used for acquiring a total braking force command of a target vehicle and generating a braking force command of each wheel of the target vehicle according to the total braking force command; the judging module is used for acquiring the deviation amount parameters of the target vehicle and judging whether the target vehicle is braked and deviated or not based on the braking force instruction and the deviation amount parameters of each wheel; and the correction module is used for calculating a target differential yaw moment of the target vehicle if the target vehicle is braked and deviated, executing braking stability control and error estimation operation on the target vehicle according to the total braking force command, the target differential yaw moment and the deviation parameter to obtain a braking error coefficient of the target vehicle, and correcting the parameter of an EMB controller of the target vehicle by utilizing the braking error coefficient so as to control the target vehicle to brake by utilizing the corrected EMB controller. According to the method and the device, the braking error coefficient of each wheel braking system is estimated, the controller is corrected, braking force is accurately corrected for the wheels which are not braked or are braked excessively, braking force accuracy of the vehicle in a braking process is greatly improved, and performance and consistency of the whole-vehicle EMB controller in the braking process are effectively improved.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device may include:
memory 501, processor 502, and a computer program stored on memory 501 and executable on processor 502.
The processor 502 implements the EMB brake misalignment control and brake error correction method provided in the above embodiment when executing the program.
Further, the electronic device further includes:
a communication interface 503 for communication between the memory 501 and the processor 502.
Memory 501 for storing a computer program executable on processor 502.
The memory 501 may include high-speed RAM memory and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 501, the processor 502, and the communication interface 503 are implemented independently, the communication interface 503, the memory 501, and the processor 502 may be connected to each other via a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (Peripheral Component, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 5, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 501, the processor 502, and the communication interface 503 are integrated on a chip, the memory 501, the processor 502, and the communication interface 503 may perform communication with each other through internal interfaces.
The processor 502 may be a central processing unit (Central Processing Unit, abbreviated as CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC), or one or more integrated circuits configured to implement embodiments of the present application.
The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the EMB brake deviation control and brake error correction method as above.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer cartridge (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims (10)

1. The EMB braking deviation control and braking error correction method is characterized by comprising the following steps of:
acquiring a total braking force command of a target vehicle, and generating a braking force command of each wheel of the target vehicle according to the total braking force command;
acquiring a deviation amount parameter of the target vehicle, and judging whether the target vehicle is subjected to braking deviation or not based on the braking force instruction of each wheel and the deviation amount parameter;
and if the braking deviation occurs to the target vehicle, calculating a target differential yaw moment of the target vehicle, and executing braking stability control and error estimation operation to the target vehicle according to the total braking force command, the target differential yaw moment and the deviation parameter to obtain a braking error coefficient of the target vehicle, and correcting the parameter of an EMB controller of the target vehicle by utilizing the braking error coefficient so as to control the target vehicle to brake by utilizing the corrected EMB controller.
2. The method according to claim 1, characterized in that the calculating a target differential yaw moment of the target vehicle and performing a brake stability control and error estimation operation on the target vehicle according to the total braking force command, the target differential yaw moment and the off-tracking amount parameter, includes:
calculating the yaw disturbance of the target vehicle and controlling a sliding mode surface, and completing the observation of the yaw disturbance within a preset time to obtain a yaw disturbance convergence value;
calculating the target differential yaw moment based on the yaw disturbance convergence value and the control slip plane;
distributing the total braking force command and the target differential yaw moment according to a preset distribution strategy to obtain a longitudinal force command of each wheel;
and performing braking stability control on the target vehicle by utilizing the longitudinal force command.
3. The method according to claim 2, wherein said performing a brake stability control and error estimation operation on said target vehicle in accordance with said total braking force command, said target differential yaw moment and said off-tracking amount parameter, to obtain a brake error coefficient of said target vehicle, comprises:
acquiring an actual four-wheel braking force of the target vehicle, and constructing an estimation equation of the target vehicle based on the actual four-wheel braking force and the total braking force command;
and estimating the braking error coefficient according to the estimation equation, and correcting the EMB controller by utilizing the braking error coefficient and a preset correction formula.
4. A method according to claim 3, wherein the correction formula is as follows:
wherein F is x,order,ij For the longitudinal force command of each wheel,and->Representing an estimate of each wheel multiplicative error coefficient and offset error coefficient in the target vehicle, respectively.
5. An EMB brake misalignment control and brake error correction apparatus comprising:
the generating module is used for acquiring a total braking force command of a target vehicle and generating a braking force command of each wheel of the target vehicle according to the total braking force command;
the judging module is used for acquiring the deviation amount parameter of the target vehicle and judging whether the target vehicle is braked and deviated or not based on the braking force instruction of each wheel and the deviation amount parameter;
and the correction module is used for calculating a target differential yaw moment of the target vehicle if the target vehicle generates the braking deviation, executing braking stability control and error estimation operation on the target vehicle according to the total braking force command, the target differential yaw moment and the deviation parameter to obtain a braking error coefficient of the target vehicle, and correcting the parameter of an EMB controller of the target vehicle by utilizing the braking error coefficient so as to control the target vehicle to brake by utilizing the corrected EMB controller.
6. The apparatus of claim 5, wherein the correction module comprises:
the first calculation unit is used for calculating the yaw disturbance of the target vehicle and controlling the sliding mode surface, and completing the observation of the yaw disturbance within a preset time to obtain a yaw disturbance convergence value;
a second calculation unit configured to calculate the target differential yaw moment based on the yaw disturbance convergence value and the control slip plane;
the distribution unit is used for distributing the total braking force command and the target differential yaw moment according to a preset distribution strategy to obtain a longitudinal force command of each wheel;
and the control unit is used for controlling the braking stability of the target vehicle by utilizing the longitudinal force command.
7. The apparatus of claim 6, wherein the correction module further comprises:
an acquisition unit configured to acquire an actual four-wheel braking force of the target vehicle, and construct an estimation equation of the target vehicle based on the actual four-wheel braking force and the total braking force command;
and the estimation unit is used for estimating the braking error coefficient according to the estimation equation and correcting the EMB controller by utilizing the braking error coefficient and a preset correction formula.
8. The apparatus of claim 7, wherein the correction formula is as follows:
wherein F is x,order,ij For the longitudinal force command of each wheel,and->Representing an estimate of each wheel multiplicative error coefficient and offset error coefficient in the target vehicle, respectively.
9. An electronic device, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the EMB brake misalignment control and brake error correction method of any one of claims 1-4.
10. A computer readable storage medium having stored thereon a computer program, wherein the program is executed by a processor for implementing the EMB brake misalignment control and brake error correction method of any one of claims 1-4.
CN202410064537.8A 2024-01-16 2024-01-16 EMB braking deviation control and braking error correction method, device, equipment and medium Pending CN117885702A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202410064537.8A CN117885702A (en) 2024-01-16 2024-01-16 EMB braking deviation control and braking error correction method, device, equipment and medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202410064537.8A CN117885702A (en) 2024-01-16 2024-01-16 EMB braking deviation control and braking error correction method, device, equipment and medium

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Publication Number Publication Date
CN117885702A true CN117885702A (en) 2024-04-16

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