Wire control braking method, device, electronic device and vehicle

Abstract

The present invention discloses a wire control braking method, device, electronic device, and vehicle. The method is used for a vehicle, which includes a plurality of wheels and a plurality of brake calipers, and the plurality of wheels correspond to the plurality of brake calipers one by one. The method includes: receiving a braking demand signal, and determining the braking force of each brake caliper according to the braking demand signal; performing braking control on the vehicle through the corresponding brake calipers according to the braking force; during the braking control process, obtaining the slip ratio of each wheel; determining a target wheel and a target adjustment method according to the slip ratio, and adjusting the braking force of the brake caliper corresponding to the target wheel according to the target adjustment method until the vehicle stops. This method maximizes the adhesion between the wheels and the ground while making each wheel reach the state of about to lock simultaneously, thereby providing the maximum ground braking force and improving the braking efficiency of the vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of brake control, and particularly to a wire-controlled braking method, device, electronic device, and vehicle. Background Art

[0002] The braking system of the related technology is hydraulic braking. When the driver steps on the brake pedal, the hydraulic pipeline builds pressure, and the front and rear brake calipers push out the pistons under the action of the hydraulic pressure to clamp the brake disc to achieve braking. Since the hydraulic pipelines of the front and rear brake calipers are the same, the front and rear braking clamping forces and the pipeline hydraulic pressure are basically linearly related, and the front and rear wheel braking force distribution cannot be adjusted in real time. Moreover, due to the limitations of the hydraulic system and the vehicle structure parameters, during emergency braking, the braking system has the problem of low braking efficiency. Summary of the Invention

[0003] The purpose of the present invention is to propose a wire-controlled braking method, control device, electronic device, and vehicle, which can maximize the adhesion between the wheels and the ground while making each wheel reach the state of about to lock at the same time, so as to provide the maximum ground braking force and improve the braking efficiency of the vehicle.

[0004] To achieve the above object, the first aspect embodiment of the present invention proposes a wire-controlled braking method for a vehicle. The vehicle includes a plurality of wheels and a plurality of brake calipers, and the plurality of wheels correspond to the plurality of brake calipers one by one. The method includes: receiving a braking demand signal, and determining the braking force of each brake caliper according to the braking demand signal; performing braking control on the vehicle through the corresponding brake caliper according to the braking force; during the braking control process, obtaining the slip rate of each wheel; determining a target wheel and a target adjustment method according to the slip rate, and adjusting the braking force of the brake caliper corresponding to the target wheel according to the target adjustment method until the vehicle stops.

[0005] In addition, the wire-controlled braking method of the above embodiment of the present disclosure may also have the following additional technical features:

[0006] According to an embodiment of the present invention, the target wheel includes a first target wheel, and the target adjustment method includes a first target adjustment method. The determining the target wheel and the target adjustment method according to the wheel slip rate, and adjusting the braking force of the brake caliper corresponding to the target wheel according to the target adjustment method includes: determining whether each slip rate reaches a first limit value; when at least one slip rate does not reach the first limit value, determining the first target wheel as the wheel corresponding to the slip rate that does not reach the first limit value, and determining the first target adjustment method as increasing the braking force of the brake caliper corresponding to the first target wheel; adjusting the braking force of the brake caliper corresponding to the first target wheel according to the first target adjustment method.

[0007] According to an embodiment of the present invention, the target wheel includes a second target wheel, and the target adjustment method includes a second target adjustment method. The method of determining the target wheel and the target adjustment method according to the wheel slip ratio and adjusting the braking force of the brake caliper corresponding to the target wheel according to the target adjustment method includes: calculating the difference between the maximum value of the slip ratios and the other slip ratios respectively; determining whether each of the differences reaches a second limit value; when there is a difference that reaches the second limit value, determining the second target wheel as the wheel corresponding to the smaller slip ratio used for calculating this difference, and determining the second target adjustment method as increasing the braking force of the brake caliper corresponding to the second target wheel; adjusting the braking force of the brake caliper corresponding to the second target wheel according to the second target adjustment method.

[0008] According to an embodiment of the present invention, after adjusting the braking force of the brake caliper corresponding to the first target wheel according to the first target adjustment method, the step of calculating the difference between the maximum value of the slip ratios and the other slip ratios respectively is executed.

[0009] According to an embodiment of the present invention, the method further includes: when there is no difference that reaches the second limit value, or after adjusting the braking force of the brake caliper corresponding to the second target wheel according to the second target adjustment method, executing the step of determining whether each of the slip ratios reaches a first limit value.

[0010] According to an embodiment of the present invention, the method further includes: when each of the slip ratios reaches the first limit value, keeping the braking force of each brake caliper unchanged until the vehicle stops.

[0011] According to an embodiment of the present invention, the brake caliper is a wire-controlled brake caliper, and a wheel speed sensor is provided for each of the wheels respectively. By means of the wheel speed sensor, wherein the step of obtaining the slip ratio of each wheel includes: obtaining the wheel speed of each wheel through the wheel speed sensor, and obtaining the slip ratio of each wheel according to the wheel speed.

[0012] To achieve the above object, an embodiment of the second aspect of the present invention provides a wire-controlled braking device for a vehicle. The vehicle includes a plurality of wheels and a plurality of brake calipers, and the plurality of wheels correspond to the plurality of brake calipers one by one. The device includes: a determination module, configured to receive a braking demand signal and determine the braking force of each brake caliper according to the braking demand signal; a control module, configured to perform braking control on the vehicle through the corresponding brake caliper according to the braking force; an acquisition module, configured to obtain the slip ratio of each wheel during the braking control process; an adjustment module, configured to determine a target wheel and a target adjustment method according to the slip ratio, and adjust the braking force of the brake caliper corresponding to the target wheel according to the target adjustment method until the vehicle stops.

[0013] To achieve the above object, an embodiment of the third aspect of the present invention provides an electronic device, including a memory and a processor. A computer program is stored on the memory. When the computer program is executed by the processor, it implements the wire control braking method proposed in the embodiment of the first aspect of the present invention.

[0014] To achieve the above object, an embodiment of the fourth aspect of the present invention provides a vehicle, including the electronic device proposed in the embodiment of the third aspect of the present invention.

[0015] In the wire control braking method, device, electronic device, and vehicle according to the embodiments of the present invention, the braking force of each brake caliper is determined according to the braking demand signal. During the process of controlling each brake caliper to clamp the wheel with the corresponding braking force, the slip ratio of each wheel is further obtained, and the braking force of each brake caliper is adjusted according to the slip ratio of each wheel, so that while the adhesion degree between the wheel and the ground is maximized, each wheel reaches the state of impending lock-up simultaneously, thereby providing the maximum ground braking force and improving the braking efficiency of the vehicle. Description of the Drawings

[0016] Figure 1 is a flowchart of the wire control braking method according to an embodiment of the present invention;

[0017] Figure 2 is a flowchart of the wire control braking method according to another embodiment of the present invention;

[0018] Figure 3 is a flowchart of the wire control braking method according to still another embodiment of the present invention;

[0019] Figure 4 is a schematic diagram of an electronic device according to an embodiment of the present invention;

[0020] Figure 5 is a schematic diagram of a vehicle according to an embodiment of the present invention;

[0021] Figure 6 is a schematic diagram of a wire control braking device according to an embodiment of the present invention. Detailed Description of the Embodiments

[0022] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention, but should not be construed as limiting the present invention.

[0023] The wire control braking method, device, electronic device, and vehicle proposed in the embodiments of the present invention will be described below with reference to the drawings.

[0024] The electro-hydraulic braking method proposed in the embodiment of the present invention is used for a vehicle, which may include a plurality of wheels and a plurality of brake calipers, and the plurality of wheels correspond to the plurality of brake calipers one by one.

[0025] Specifically, each wheel on the vehicle is correspondingly equipped with a brake caliper. Among them, the brake caliper correspondingly configured for each wheel is an electro-mechanical brake (EMB).

[0026] Figure 1 It is a flowchart of the electro-hydraulic braking method according to an embodiment of the present invention. As Figure 1 shown, the electro-hydraulic braking method may include:

[0027] S11, receiving a braking demand signal and determining the braking force of each brake caliper according to the braking demand signal.

[0028] Specifically, when the driver steps on the electronic pedal, a braking demand signal can be issued. When the ECU module (Electronic Control Unit) receives the braking demand signal, it determines the braking force of each brake caliper according to the braking demand signal and distributes each braking force to the corresponding brake caliper.

[0029] S12, performing braking control on the vehicle through the corresponding brake caliper according to the braking force.

[0030] Specifically, each brake caliper clamps the wheel with the corresponding braking force so that the vehicle responds to the braking demand.

[0031] S13, obtaining the slip ratio of each wheel during the braking control process.

[0032] It should be noted that the braking process of an automobile from pure rolling to locked dragging is a gradual process, which experiences three stages: pure rolling, rolling and sliding, and pure sliding. The size of the slip ratio can reflect the proportion of the sliding component in the wheel movement, and has a great influence on the braking adhesion coefficient and lateral adhesion coefficient of the automobile wheel, affecting the braking performance of the automobile. At the same time, the size of the slip ratio can also reflect the longitudinal and lateral adhesion forces between the wheel and the road surface, that is, it can reflect the stability of the vehicle.

[0033] In the embodiment of the present invention, during the braking control process, the slip ratio of the wheel can be detected by using the wheel speed sensor correspondingly installed on each wheel, and the braking force of each brake caliper can be further adjusted according to the slip ratio of each wheel, so that the vehicle quickly reaches the target braking effect.

[0034] S14, determining the target wheel and the target adjustment method according to the slip ratio, and adjusting the braking force of the brake caliper corresponding to the target wheel according to the target adjustment method until the vehicle stops.

[0035] In the embodiment of the present invention, the slip ratio of each wheel is obtained during the braking control process. According to the slip ratio corresponding to each wheel, the target wheel and its corresponding target adjustment method are determined, and the braking force of the brake caliper corresponding to the target wheel is adjusted in the target adjustment method to provide the maximum ground braking force, so that each wheel reaches the state of about to lock simultaneously, improving the braking efficiency of the vehicle. At the same time, it can also effectively prevent phenomena such as vehicle side slip, tail swing, and loss of steering during braking, and improve the directional stability of the vehicle during braking.

[0036] In an embodiment of the present invention, as Figure 2 shown, the target wheel may include a first target wheel, and the target adjustment method may include a first target adjustment method. The target wheel and the target adjustment method are determined according to the wheel slip ratio, and the braking force of the brake caliper corresponding to the target wheel is adjusted in the target adjustment method. The electronic brake control method may further include:

[0037] S21, determine whether each slip ratio reaches a first limit value.

[0038] S22, when at least one slip ratio does not reach the first limit value, determine the first target wheel as the wheel corresponding to the slip ratio that does not reach the first limit value, and determine the first target adjustment method as increasing the braking force of the brake caliper corresponding to the first target wheel.

[0039] S23, adjust the braking force of the brake caliper corresponding to the first target wheel in the first target adjustment method.

[0040] Specifically, according to the obtained slip ratio of each wheel, the slip ratio of each wheel is compared with the first limit value to determine whether each slip ratio reaches the first limit value, that is, to determine whether the adhesion degree between each wheel and the ground reaches the maximum value when the brake caliper of each wheel is at the current braking force.

[0041] When there is a wheel that does not reach the first limit value, that is, there is a wheel with the adhesion degree between the wheel and the ground not being the maximum value, the wheel that does not reach the first limit value is recorded as the first target wheel, and the braking force of the brake caliper corresponding to the first target wheel (the wheel that does not reach the first limit value) is increased, that is, the clamping degree of the brake caliper of the first target wheel is increased, and the adhesion degree between the first target wheel and the ground is increased to improve the braking efficiency of the vehicle.

[0042] In an embodiment of the present invention, as Figure 3 shown, the target wheel may include a second target wheel, and the target adjustment method may include a second target adjustment method. The target wheel and the target adjustment method are determined according to the wheel slip ratio, and the braking force of the brake caliper corresponding to the target wheel is adjusted in the target adjustment method. The electronic brake control method may further include:

[0043] S31, calculate the difference between the maximum value in the slip ratios and the other slip ratios respectively.

[0044] S32. Determine whether each difference reaches a second limit value.

[0045] S33. When there is a difference that reaches the second limit value, determine that the second target wheel is the wheel corresponding to the smaller slip ratio used to calculate this difference, and determine that the second target adjustment method is to increase the braking force of the brake caliper corresponding to the second target wheel.

[0046] S34. Adjust the braking force of the brake caliper corresponding to the second target wheel according to the second target adjustment method.

[0047] Specifically, according to the slip ratios of the obtained wheels, obtain the maximum value among the slip ratios of the wheels, and compare the maximum value among the slip ratios with the other slip ratios to obtain the differences between the maximum value among the slip ratios and the other slip ratios. Compare each difference with the second limit value to determine whether each difference reaches the second limit value.

[0048] When there is a difference that reaches the second limit value, to further improve the braking efficiency of the vehicle and make each wheel reach the state of being about to lock simultaneously, determine the smaller slip ratio used to calculate the difference among the differences that reach the second limit value, and determine that the wheel corresponding to this smaller slip ratio is the second target wheel, and increase the braking force of the brake caliper corresponding to the second target wheel.

[0049] It should be noted that if there is a difference between the maximum value among the slip ratios and the other slip ratios that reaches the second limit value, it means that there is a wheel that does not lock simultaneously with the other wheels. At this time, determine that the wheel corresponding to the smaller slip ratio used to calculate this difference is the second target wheel, increase the adhesion between the second target wheel and the ground, reduce the gap between the adhesion between the second target wheel and the ground and the adhesion between the wheel corresponding to the maximum value among the slip ratios and the ground, so that the adhesion between each wheel of the vehicle and the ground is the same or differs within a preset certain range, that is, make each wheel reach the state of being about to lock simultaneously, and improve the braking efficiency of the vehicle.

[0050] It should be noted that the embodiments of the present invention do not limit the sequence between determining the first target wheel and the first target adjustment method and adjusting the braking force of the brake caliper corresponding to the first target wheel according to the first target adjustment method, and determining the second target wheel and the second target adjustment method and adjusting the braking force of the brake caliper corresponding to the second target wheel according to the second target adjustment method. That is, the determination of the first target wheel and the first target adjustment method and the adjustment of the braking force of the brake caliper corresponding to the first target wheel according to the first target adjustment method can be executed first, and then the determination of the second target wheel and the second target adjustment method and the adjustment of the braking force of the brake caliper corresponding to the second target wheel according to the second target adjustment method can be executed. Or the determination of the second target wheel and the second target adjustment method and the adjustment of the braking force of the brake caliper corresponding to the second target wheel according to the second target adjustment method can be determined first, and then the determination of the first target wheel and the first target adjustment method and the adjustment of the braking force of the brake caliper corresponding to the first target wheel according to the first target adjustment method can be executed.

[0051] It should be noted that in the embodiments of the present invention, after adjusting the braking force of the brake caliper corresponding to the first target wheel according to the first target adjustment method, the step of respectively calculating the difference between the maximum value of the slip ratios and other slip ratios is executed.

[0052] Specifically, when there is a wheel with an attachment degree between the wheel and the ground that is not the maximum value, the clamping degree of the brake caliper of the first target wheel is increased. After increasing the attachment degree between the first target wheel and the ground, the step of respectively calculating the difference between the maximum value of the slip ratios and other slip ratios needs to be executed to determine whether the slip ratios of each wheel differ greatly and whether there is a difference reaching the second limit value. When there is a difference reaching the second limit value, the braking force of the brake caliper corresponding to the second target wheel (the wheel corresponding to the smaller slip ratio used to calculate the difference) is increased, and the gap between the attachment degree between the second target wheel and the ground and the attachment degree between the wheel corresponding to the maximum value of the slip ratios and the ground is reduced, so that the attachment degree between the second target wheel and the wheel corresponding to the maximum value of the slip ratios and the ground is kept consistent or within a certain preset range.

[0053] In an embodiment of the present invention, as Figure 3 shown, the wire control braking method may further include: when there is no difference reaching the second limit value, or after adjusting the braking force of the brake caliper corresponding to the second target wheel according to the second target adjustment method, execute the step of determining whether each slip ratio reaches the first limit value.

[0054] Specifically, when the differences between the maximum value of the slip ratios and other slip ratios do not reach the second limit value, execute the step of determining whether each slip ratio reaches the first limit value. Or after adjusting the braking force of the brake caliper corresponding to the second target wheel according to the second target adjustment method, execute the step of determining whether each slip ratio reaches the first limit value.

[0055] In an embodiment of the present invention, the electronic braking method may further include: when each slip ratio reaches a first limit value, keeping the braking force of each brake caliper unchanged until the vehicle stops.

[0056] Specifically, during emergency braking, when each slip ratio reaches the first limit value during the braking process, keep the braking force of each brake caliper unchanged until the vehicle stops.

[0057] In an embodiment of the present invention, the brake caliper may be an electronic brake caliper, and a wheel speed sensor is respectively provided for each wheel. Through the wheel speed sensor, wherein the method for obtaining the slip ratio of each wheel may include: obtaining the wheel speed of each wheel through the wheel speed sensor, and obtaining the slip ratio of each wheel according to the wheel speed.

[0058] Specifically, the wheel speed sensor can be used to obtain the wheel speed of each wheel, and the slip ratio of each wheel is calculated according to the wheel speed of each wheel.

[0059] The electronic braking method according to the embodiment of the present invention determines the braking force of each brake caliper according to the braking demand signal. During the process of controlling each brake caliper to clamp the wheel with the corresponding braking force, the slip ratio of each wheel is further obtained, and the braking force of each brake caliper is adjusted according to the slip ratio of each wheel, so that the adhesion degree between the wheel and the ground is maximized, and at the same time, each wheel reaches the state of being about to lock, thereby providing the maximum ground braking force and improving the braking efficiency of the vehicle.

[0060] Figure 4 It is a schematic diagram of the electronic device according to the embodiment of the present invention.

[0061] As Figure 4 shown, the electronic device 400 includes: a processor 401 and a memory 403. Among them, the processor 401 and the memory 403 are connected, such as connected through a bus 402. Optionally, the controller 400 may further include a transceiver 404. It should be noted that in practical applications, the transceiver 504 is not limited to one, and the structure of the controller 400 does not constitute a limitation to the embodiment of the present invention.

[0062] The processor 401 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logical blocks, modules, and circuits described in connection with the disclosure of the present invention. The processor 401 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0063] The bus 402 may include a path for transmitting information between the above components. The bus 402 may be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus 402 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 only a thick line is shown in the figure, but it does not mean that there is only one bus or one type of bus.

[0064] The memory 403 is used to store a computer program corresponding to the electronic braking method of the above embodiment of the present invention, and the computer program is controlled and executed by the processor 401. The processor 401 is used to execute the computer program stored in the memory 403 to implement the content shown in the foregoing method embodiments. Figure 4 The illustrated electronic device 400 is merely an example and should not impose any limitation on the functions and usage scope of the embodiments of the present invention.

[0065] The electronic device implemented by the present invention uses the above electronic braking method to maximize the adhesion between the wheels and the ground while making each wheel reach the state of impending lock-up simultaneously, thereby providing the maximum ground braking force and improving the braking efficiency of the vehicle.

[0066] Figure 5 is a schematic diagram of a vehicle according to an embodiment of the present invention.

[0067] As Figure 5 shown, the vehicle 500 includes the electronic device 400.

[0068] The vehicle according to the embodiment of the present invention uses the above-mentioned electronic device 400 to maximize the adhesion between the wheels and the ground while making each wheel reach the state of being about to lock simultaneously, thereby providing the maximum ground braking force and improving the braking efficiency of the vehicle.

[0069] Figure 6 It is a schematic diagram of a wire-controlled braking device according to an embodiment of the present invention.

[0070] The wire-controlled braking device 600 in the embodiment of the present invention is used for the vehicle 500. The vehicle 500 may include a plurality of wheels and a plurality of brake calipers, and the plurality of wheels correspond to the plurality of brake calipers one by one. As Figure 6 shown, the wire-controlled braking device 600 may include a determination module 601, a control module 602, an acquisition module 603, and an adjustment module 604.

[0071] Among them, the determination module 601 is configured to receive a braking demand signal and determine the braking force of each brake caliper according to the braking demand signal; the control module 602 is configured to perform braking control on the vehicle through the corresponding brake calipers according to the braking force; the acquisition module 603 is configured to acquire the slip ratio of each wheel during the braking control process; the adjustment module 604 is configured to determine the target wheel and the target adjustment method according to the slip ratio, and adjust the braking force of the brake caliper corresponding to the target wheel according to the target adjustment method until the vehicle stops.

[0072] It should be noted that for other specific implementation manners of the wire-controlled braking device provided in the embodiment of the present invention, reference may be made to other specific implementation manners of the wire-controlled braking method in the above embodiment of the present invention.

[0073] The wire-controlled braking device according to the embodiment of the present invention determines the braking force of each brake caliper according to the braking demand signal. During the process of controlling each brake caliper to clamp the wheel with the corresponding braking force, it further acquires the slip ratio of each wheel, and adjusts the braking force of each brake caliper according to the slip ratio of each wheel, so as to maximize the adhesion between the wheels and the ground while making each wheel reach the state of being about to lock simultaneously, thereby providing the maximum ground braking force and improving the braking efficiency of the vehicle.

[0074] It should be noted that the logic and / or steps represented in the flowchart or described in other ways herein, for example, can be considered as a definite sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch instructions from the instruction execution system, apparatus, or device and execute the instructions), or in combination with these instruction execution systems, apparatuses, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in combination with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or other appropriate processing as necessary, and then stored in a computer memory.

[0075] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0076] In the description of this specification, the description referring to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0077] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0078] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0079] In the present invention, unless otherwise clearly defined and limited, the terms "mounted", "connected", "connected to", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0080] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0081] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as a limitation to the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A wire control braking method, characterized in that, The method is used for a vehicle, which includes a plurality of wheels and a plurality of brake calipers. The plurality of wheels correspond to the plurality of brake calipers one by one. The method includes: Receiving a braking demand signal and determining the braking force of each brake caliper according to the braking demand signal; Performing braking control on the vehicle by corresponding brake calipers according to the braking force; During the braking control process, obtaining the slip ratio of each wheel; Determining a target wheel and a target adjustment method according to the slip ratio, and adjusting the braking force of the brake caliper corresponding to the target wheel according to the target adjustment method until the vehicle stops; The target wheel includes a first target wheel, and the target adjustment method includes a first target adjustment method. The determining the target wheel and the target adjustment method according to the wheel slip ratio, and adjusting the braking force of the brake caliper corresponding to the target wheel according to the target adjustment method includes: Judging whether each slip ratio reaches a first limit value; When at least one of the slip ratios does not reach the first limit value, determining the first target wheel as the wheel corresponding to the slip ratio that does not reach the first limit value, and determining the first target adjustment method as increasing the braking force of the brake caliper corresponding to the first target wheel; Adjusting the braking force of the brake caliper corresponding to the first target wheel according to the first target adjustment method; The target wheel includes a second target wheel, and the target adjustment method includes a second target adjustment method. The determining the target wheel and the target adjustment method according to the wheel slip ratio, and adjusting the braking force of the brake caliper corresponding to the target wheel according to the target adjustment method includes: Calculating the difference between the maximum value of the slip ratios and the other slip ratios respectively; Judging whether each difference reaches a second limit value; When there is a difference that reaches the second limit value, determining the second target wheel as the wheel corresponding to the smaller slip ratio used for calculating the difference, and determining the second target adjustment method as increasing the braking force of the brake caliper corresponding to the second target wheel; Adjusting the braking force of the brake caliper corresponding to the second target wheel according to the second target adjustment method.

2. The wire braking method according to claim 1, wherein After adjusting the braking force of the brake caliper corresponding to the first target wheel according to the first target adjustment method, performing the step of calculating the difference between the maximum value of the slip ratios and the other slip ratios respectively.

3. The wire braking method according to claim 2, wherein The method further includes: When there is no difference that reaches the second limit value, or after adjusting the braking force of the brake caliper corresponding to the second target wheel according to the second target adjustment method, performing the step of judging whether each slip ratio reaches the first limit value.

4. The wire braking method according to claim 1, wherein The method further includes: When each slip ratio reaches the first limit value, keeping the braking force of each brake caliper unchanged until the vehicle stops.

5. The wire braking method according to any one of claims 1-4, characterized in that The brake caliper is a by-wire brake caliper, and a wheel speed sensor is provided for each wheel respectively. Through the wheel speed sensor, wherein, the obtaining the slip ratio of each wheel includes: Obtaining the wheel speed of each wheel through the wheel speed sensor, and obtaining the slip ratio of each wheel according to the wheel speed.

6. A wire control braking device is applicable to the wire control braking method described in any one of the above-mentioned claims 1-5, and is characterized in that The device is used for a vehicle, the vehicle includes a plurality of wheels and a plurality of brake calipers, the plurality of wheels correspond to the plurality of brake calipers one by one, and the device includes: A determination module, configured to receive a braking demand signal and determine the braking force of each brake caliper according to the braking demand signal; A control module, configured to perform braking control on the vehicle through the corresponding brake calipers according to the braking force; An acquisition module, configured to acquire the slip ratio of each of the wheels during the braking control process; An adjustment module, configured to determine a target wheel and a target adjustment method according to the slip ratio, and adjust the braking force of the brake caliper corresponding to the target wheel according to the target adjustment method until the vehicle stops.

7. An electronic device, comprising a memory and a processor, wherein a computer program is stored on the memory, characterized in that When the computer program is executed by the processor, it implements the electronic braking method according to any one of claims 1-4.

8. A vehicle, characterized in that, It includes the electronic device according to claim 7.

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