Brake control method, device, apparatus, and storage medium

Abstract

The application discloses a kind of brake control method, device, equipment and storage medium, the method includes: based on the current vehicle mass determines the corresponding ideal brake force distribution curve;According to brake intensity request information and current vehicle mass determine the wheel braking force of each wheel;Wheel braking force is distributed to the corresponding bridge control module according to the ideal brake force distribution curve, and bridge control module is used to control the braking force generated by the corresponding EMB module according to the distributed wheel braking force to brake vehicle.The application is based on the current vehicle mass when carrying out vehicle braking, and matches ideal brake force distribution curve, and according to brake intensity request information and ideal brake force distribution curve, the wheel braking force of each wheel is determined, and the wheel braking force can be adjusted according to the current vehicle mass, so that the front and rear wheel braking force of vehicle is in the best state, the braking distance is shortened, and the vehicle braking stability is improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle braking technology, and in particular to a braking control method, device, equipment, and storage medium. Background Technology

[0002] The electrification, intelligentization, and connectivity of vehicles place higher demands on the safety, carbon reduction, and driving experience of vehicle braking systems. Currently, vehicle braking systems mainly consist of hydraulic braking systems and pneumatic braking systems. When a driver needs to decelerate or stop, they press the brake pedal to issue a command to the braking system, which then uses hydraulic or pneumatic pressure to brake the vehicle. However, when braking a vehicle using hydraulic or pneumatic braking systems, the braking force between the front and rear wheels cannot be distributed in the optimal ratio, resulting in low braking stability of the vehicle.

[0003] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main objective of this invention is to provide a braking control method, device, equipment, and storage medium, which aims to solve the technical problem of low vehicle braking stability in the prior art.

[0005] To achieve the above objectives, the present invention provides a braking control method, the method comprising the following steps:

[0006] Determine the ideal braking force distribution curve based on the current vehicle mass;

[0007] The braking force of each wheel is determined based on the braking intensity request information and the current vehicle mass.

[0008] The wheel braking force is distributed to the corresponding bridge control module according to the ideal braking force distribution curve. The bridge control module is used to control the corresponding EMB module to generate braking force to brake the vehicle according to the distributed wheel braking force.

[0009] Optionally, determining the wheel braking force of each wheel based on the braking intensity request information and the current vehicle mass includes:

[0010] Obtain the geometric parameters of the vehicle;

[0011] The wheel braking force of each wheel is determined based on the geometric parameters, the braking intensity request information, and the current vehicle mass.

[0012] Optionally, the wheel braking force includes front wheel braking force and rear wheel braking force, and the step of determining the wheel braking force of each wheel based on the geometric parameters, the braking intensity request information, and the current vehicle mass includes:

[0013] The front wheel normal reaction force and rear wheel normal reaction force during vehicle braking are determined based on the geometric parameters, the current vehicle mass, and the braking intensity request information.

[0014] The front wheel braking force of the vehicle is determined based on the front wheel normal reaction force, and the rear wheel braking force of the vehicle is determined based on the rear wheel normal reaction force.

[0015] Optionally, before determining the corresponding ideal braking force distribution curve based on the current vehicle mass, the method further includes:

[0016] Upon receiving a vehicle quality identification signal, vehicle parameters are acquired;

[0017] Based on the vehicle parameters, the current vehicle mass is determined using the vehicle's longitudinal dynamics equations.

[0018] Optionally, before determining the wheel braking force of each wheel based on the braking intensity request information and the current vehicle mass, the process includes:

[0019] Obtain the current opening degree of the brake pedal and the rate of change of the opening degree of the brake pedal;

[0020] The braking intensity request information is determined based on the current opening degree and the opening degree change rate.

[0021] Optionally, before acquiring vehicle parameters upon receiving the vehicle quality identification signal, the process further includes:

[0022] The switch signal output by the mass measurement switch installed on the vehicle is detected.

[0023] When the duration of the switch signal exceeds a preset duration, the switch signal is determined to be a vehicle quality identification signal.

[0024] Optionally, the axle control module includes a front axle control module and a rear axle control module, and the step of distributing the wheel braking force to the corresponding axle control module according to the ideal braking force distribution curve includes:

[0025] The wheel braking force is distributed to the front axle control module and the rear axle control module according to the ideal braking force distribution curve.

[0026] Furthermore, to achieve the above objectives, the present invention also proposes a braking control device, the device comprising:

[0027] The first determining module is used to determine the corresponding ideal braking force distribution curve based on the current vehicle mass;

[0028] The second determining module is used to determine the wheel braking force of each wheel based on the braking intensity request information and the current vehicle mass.

[0029] The distribution module is used to distribute the wheel braking force to the corresponding bridge control module according to the ideal braking force distribution curve. The bridge control module is used to control the corresponding EMB module to generate braking force to brake the vehicle according to the distributed wheel braking force.

[0030] Furthermore, to achieve the above objectives, the present invention also proposes a braking control device, the device comprising: a memory, a processor, and a braking control program stored in the memory and executable on the processor, the braking control program being configured to implement the steps of the braking control method as described above.

[0031] Furthermore, to achieve the above objectives, the present invention also proposes a storage medium storing a braking control program, which, when executed by a processor, implements the steps of the braking control method described above.

[0032] This invention determines an ideal braking force distribution curve based on the current vehicle mass; it determines the wheel braking force of each wheel according to the braking intensity request information and the current vehicle mass; and it distributes the wheel braking force to the corresponding bridge control module according to the ideal braking force distribution curve. The bridge control module is used to control the corresponding EMB module to generate braking force for vehicle braking according to the distributed wheel braking force. When braking, this invention matches the ideal braking force distribution curve based on the current vehicle mass and determines the wheel braking force of each wheel according to the braking intensity request information and the ideal braking force distribution curve. It can adjust the wheel braking force according to the current vehicle mass, so that the braking force of the front and rear wheels of the vehicle is in an optimal state, shortening the braking distance and improving vehicle braking stability. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of the braking control device in the hardware operating environment involved in the embodiments of the present invention;

[0034] Figure 2 This is a flowchart illustrating the first embodiment of the braking control method of the present invention;

[0035] Figure 3 This is a flowchart illustrating the second embodiment of the braking control method of the present invention;

[0036] Figure 4 This is a schematic diagram of the switching signal output by the mass measurement switch in one embodiment of the braking control method of the present invention;

[0037] Figure 5 This is a flowchart illustrating the third embodiment of the braking control method of the present invention;

[0038] Figure 6 This is a schematic diagram of the EMB braking system in one embodiment of the braking control method of the present invention;

[0039] Figure 7 This is a schematic diagram of the ideal braking force distribution curve in one embodiment of the braking control method of the present invention;

[0040] Figure 8 This is a structural block diagram of the first embodiment of the braking control device of the present invention.

[0041] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0042] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0043] Reference Figure 1 , Figure 1 This is a schematic diagram of the braking control device structure in the hardware operating environment involved in the embodiments of the present invention.

[0044] like Figure 1 As shown, the braking control device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be high-speed random access memory (RAM) or stable non-volatile memory (NVM), such as a disk storage device. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0045] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the braking control device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0046] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and a braking control program.

[0047] exist Figure 1In the braking control device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the braking control device of the present invention can be set in the braking control device, and the braking control device calls the braking control program stored in the memory 1005 through the processor 1001 and executes the braking control method provided in the embodiment of the present invention.

[0048] This invention provides a braking control method, referring to... Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the braking control method of the present invention.

[0049] In this embodiment, the braking control method includes the following steps:

[0050] Step S10: Determine the corresponding ideal braking force distribution curve based on the current vehicle mass.

[0051] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a brake control unit, vehicle control unit, tablet computer, personal computer, mobile phone, etc., or an electronic device or brake control device capable of performing the above functions. The following description uses a brake control unit as an example to illustrate this embodiment and the subsequent embodiments.

[0052] In this embodiment, the braking control unit determines the corresponding ideal braking force distribution curve based on the current vehicle mass, determines the wheel braking force of each wheel according to the braking intensity request information and the current vehicle mass, and distributes the wheel braking force to the corresponding bridge control module according to the ideal braking force distribution curve. The bridge control module controls the corresponding EMB module to generate braking force at the wheel side to brake the vehicle according to the received wheel braking force.

[0053] It is understood that the current vehicle mass can be the vehicle mass calculated based on vehicle parameters or the vehicle mass pre-input, which can be set according to the specific scenario. This embodiment does not impose any restrictions here. The ideal braking force distribution curve can be the ideal distribution curve between the front axle braking force and the rear axle braking force when the vehicle is braking. The vehicle mass corresponds to the ideal braking force distribution curve, and different vehicle masses have different ideal braking force distribution curves.

[0054] Step S20: Determine the wheel braking force of each wheel based on the braking intensity request information and the current vehicle mass.

[0055] It is understandable that the braking intensity request information can be the intensity information of the driver's request for vehicle braking, determined based on the current opening degree of the brake pedal and the rate of change of opening degree; based on the braking intensity request information and the current vehicle mass, the front axle braking force and rear axle braking force of the vehicle can be determined, the front wheel braking force can be determined based on the front axle braking force, and the rear wheel braking force can be determined based on the rear axle braking force.

[0056] Step S30: Distribute the wheel braking force to the corresponding bridge control module according to the ideal braking force distribution curve. The bridge control module is used to control the corresponding EMB module to generate braking force to brake the vehicle according to the distributed wheel braking force.

[0057] In this embodiment, the brake control unit distributes the wheel braking force to the front axle control module and the rear axle control module according to the ideal braking force distribution curve that matches the current vehicle mass. The front axle control module controls the EMB module of the front axle of the vehicle to generate braking force on the front wheel side according to the received wheel braking force, and the rear axle control module controls the EMB module of the rear axle of the vehicle to generate braking force on the rear wheel side according to the received wheel braking force.

[0058] In practical implementation, the brake control unit determines the current vehicle mass based on vehicle parameters, and based on the current vehicle mass, determines the corresponding ideal braking force distribution curve according to the ideal braking force distribution function. It determines the braking intensity request information based on the obtained brake pedal opening information. Based on the braking intensity request information and the current vehicle mass, the front wheel braking force and rear wheel braking force can be calculated. The front wheel braking force is distributed to the front axle control module and the rear wheel braking force is distributed to the rear axle control module according to the ideal braking force distribution curve represented by Formula 1. The front axle control module controls the EMB module of the vehicle's front axle to generate braking force on the front wheel side based on the received wheel braking force. The rear axle control module controls the EMB module of the vehicle's rear axle to generate braking force on the rear wheel side based on the received wheel braking force. The ideal braking force distribution function can be represented by Formula 1.

[0059] (Formula 1)

[0060] In the formula, For front wheel braking force; The force is the braking force on the rear wheels; m is the current mass of the vehicle; g is the acceleration due to gravity. ρ is the center of gravity height; b is the distance from the vehicle's geometric center to the rear axle; L is the front and rear track width.

[0061] Furthermore, in order to shorten the braking distance and improve the braking safety of the vehicle, step S20 includes: acquiring the geometric parameters of the vehicle; and determining the wheel braking force of each wheel based on the geometric parameters, the braking intensity request information, and the current vehicle mass.

[0062] Understandably, a vehicle's geometric parameters include the distance from the vehicle's geometric center to the front axle, the distance from the vehicle's geometric center to the rear axle, the front and rear track width, and the center of gravity height; wheel braking forces include front wheel braking forces and rear wheel braking forces; front wheel braking forces include left front wheel braking forces and right front wheel braking forces, and rear wheel braking forces include left rear wheel braking forces and right rear wheel braking forces.

[0063] In practice, the brake control unit obtains the distance from the vehicle's geometric center to the front axle, the distance from the vehicle's geometric center to the rear axle, the front and rear track width, and the center of gravity height. Based on the above geometric parameters, the current vehicle mass, and the braking intensity request information, it determines the front and rear wheel braking forces of the vehicle.

[0064] Furthermore, in order to determine the front wheel braking force and rear wheel braking force of the vehicle, the wheel braking force includes the front wheel braking force and the rear wheel braking force. The step of determining the wheel braking force of each wheel based on the geometric parameters, the braking intensity request information, and the current vehicle mass includes: determining the front wheel normal reaction force and the rear wheel normal reaction force when the vehicle brakes based on the geometric parameters, the current vehicle mass, and the braking intensity request information; determining the front wheel braking force of the vehicle based on the front wheel normal reaction force; and determining the rear wheel braking force of the vehicle based on the rear wheel normal reaction force.

[0065] In some implementations, the brake control unit determines the front wheel normal reaction force during braking using a second preset formula, and the rear wheel normal reaction force using a third preset formula, based on the vehicle's geometric parameters, current vehicle mass, and braking intensity request information. Based on the front wheel normal reaction force and the synchronous adhesion coefficient, it determines the front wheel braking force using a fourth preset formula, and the rear wheel braking force using a fifth preset formula, based on the rear wheel normal reaction force and the synchronous adhesion coefficient. The second preset formula can be represented by Formula 2, the third preset formula by Formula 3, the fourth preset formula by Formula 4, and the fifth preset formula by Formula 5.

[0066] (Formula 2)

[0067] (Formula 3)

[0068] (Formula 4)

[0069] (Formula 5)

[0070] In the above formula, This is the normal reaction force of the front wheel; ρ is the normal reaction force of the rear wheel; m is the current mass of the vehicle; g is the acceleration due to gravity; b is the distance from the geometric center of the vehicle to the front axle; L is the track width between the front and rear wheels. is the center of gravity height; z is the braking intensity request information; a is the distance from the vehicle's geometric center to the rear axle. For front wheel braking force; For rear wheel braking force; This is the synchronous adhesion coefficient.

[0071] This embodiment determines the corresponding ideal braking force distribution curve based on the current vehicle mass; determines the wheel braking force of each wheel according to the braking intensity request information and the current vehicle mass; and distributes the wheel braking force to the corresponding bridge control module according to the ideal braking force distribution curve. The bridge control module is used to control the corresponding EMB module to generate braking force for vehicle braking according to the allocated wheel braking force. When braking, this invention matches the ideal braking force distribution curve based on the current vehicle mass and determines the wheel braking force of each wheel according to the braking intensity request information and the ideal braking force distribution curve. It can adjust the wheel braking force according to the current vehicle mass, so that the braking force of the front and rear wheels of the vehicle is in the optimal state, shortening the braking distance and improving vehicle braking stability.

[0072] refer to Figure 3 , Figure 3 This is a flowchart illustrating the second embodiment of the braking control method of the present invention.

[0073] Based on the first embodiment described above, in this embodiment, before step S10, the method further includes:

[0074] Step S01: Upon receiving the vehicle quality identification signal, acquire the vehicle parameters.

[0075] In this embodiment, when the braking control unit receives the vehicle mass identification signal, it acquires the vehicle's driving torque, transmission efficiency, main drive ratio, transmission ratio, wheel radius, rolling resistance coefficient, wind resistance coefficient, frontal area, vehicle speed, and mass increase coefficient. The acquired parameters are then substituted into the vehicle's longitudinal dynamics equation to obtain the current vehicle mass.

[0076] It is understood that the vehicle quality identification signal can be a signal that triggers the brake control unit to perform vehicle quality assessment. The vehicle quality identification signal can be generated by the driver when the vehicle is traveling on a flat road, or it can be generated by the vehicle controller when it obtains the vehicle's driving conditions and determines that the vehicle is traveling on a flat road, or it can be triggered by other similar means. This embodiment does not impose any limitations on this.

[0077] Step S02: Determine the current vehicle mass based on the vehicle parameters using the vehicle longitudinal dynamics equation.

[0078] In practical implementation, for example, when the vehicle travels on a flat road, the driver triggers the generation of a vehicle mass identification signal. Upon receiving the vehicle mass identification signal, the brake control unit obtains the following vehicle parameters: drive torque, transmission efficiency, main drive ratio, transmission ratio, wheel radius, rolling resistance coefficient, drag coefficient, frontal area, vehicle speed, and mass increase coefficient. Based on the above parameters, the current vehicle mass is calculated using the vehicle longitudinal dynamics equation, which can be represented by Formula 6:

[0079] (Formula 6)

[0080] In the formula, For driving torque; For transmission efficiency; Main transmission ratio; This refers to the gear ratio of the transmission. The radius of the wheel; For the current vehicle quality; Where is the acceleration due to gravity; f is the rolling resistance coefficient; A is the drag coefficient; A is the frontal area; v is the vehicle speed. The mass increase factor is used; the driving torque, vehicle speed and transmission ratio in Formula 6 can be obtained through the bus, and the rest except for the current vehicle mass are known parameters. Therefore, the current vehicle mass can be calculated by Formula 6. When calculating the current vehicle mass, n vehicle masses can be calculated according to Formula 6. Vehicle masses that are greater than the preset maximum vehicle mass and less than the preset minimum vehicle mass are removed from the n vehicle masses, and the average mass of the remaining vehicle masses is calculated. This average mass is used as the current vehicle mass.

[0081] Furthermore, if a separate trigger switch is set up when the driver needs to trigger vehicle quality identification, it will increase the hardware cost. In order to enable the driver to trigger vehicle quality assessment without increasing the hardware cost, before step S01, the method further includes: detecting the switch signal output by the quality measurement switch set on the vehicle; and determining that the switch signal is a vehicle quality identification signal when the duration of the switch signal is greater than a preset duration.

[0082] Understandably, the quality measurement switch can be a switch capable of outputting a vehicle quality identification signal. To reduce costs, the quality measurement switch can be reused with other switches. The duration of the switch signal output by the quality measurement switch is calibrated to determine whether the switch signal is a regular vehicle signal or a vehicle quality identification signal. When the duration of the switch signal output by the quality measurement switch is greater than a preset duration, the switch signal is determined to be a vehicle quality identification signal. When the duration of the switch signal is less than the preset duration and the duration is within a preset range, the switch signal is determined to be a regular vehicle signal.

[0083] In some implementations, refer to Figure 4 , Figure 4 This diagram illustrates the switching signal output by the mass measurement switch. The mass measurement switch identifies different signals through short triggering (i.e., the duration of the switching signal is between A and B) and long triggering (i.e., the duration of the switching signal is greater than AC). Short triggering is defined as a regular vehicle signal, and long triggering is defined as a vehicle mass identification signal. When the vehicle is traveling on a flat road, the driver operates the mass measurement switch. When the duration of the switching signal output by the mass measurement switch is greater than AC, the received switching signal is determined to be a vehicle mass identification signal. The brake control unit calculates the current vehicle mass based on the vehicle parameters and the vehicle's longitudinal dynamics equation.

[0084] In this embodiment, upon receiving a vehicle mass identification signal, vehicle parameters are acquired; based on the vehicle parameters, the current vehicle mass is determined using the vehicle longitudinal dynamics equation.

[0085] refer to Figure 5 , Figure 5 This is a flowchart illustrating the third embodiment of the braking control method of the present invention.

[0086] Based on the above embodiments, in this embodiment, before step S20, the method further includes:

[0087] Step S03: Obtain the current opening degree of the brake pedal and the rate of change of the opening degree of the brake pedal.

[0088] Understandably, the brake pedal integrates a pedal position sensor, which can be used to obtain the current opening degree of the brake pedal and the rate of change of the brake pedal opening degree.

[0089] Step S04: Determine the braking intensity request information based on the current opening degree and the opening degree change rate.

[0090] In this embodiment, the brake control unit calculates the brake intensity request information based on the current opening degree and the rate of change of the brake pedal using a preset brake intensity formula.

[0091] In practical implementation, in order to accurately reflect the driver's braking intention, the braking intensity request information is calculated based on the current opening degree of the brake pedal and the rate of change of opening degree through a preset braking intensity formula. The preset braking intensity formula can be represented by Formula 7:

[0092] (Formula 7)

[0093] In the formula, Z represents the braking intensity, and the maximum value of the braking intensity is 1. This represents the current opening of the brake pedal; the maximum opening of the brake pedal is 100%. The weighted value of the opening change rate. .

[0094] Furthermore, in order to improve the braking safety of the vehicle, step S30 includes: distributing the wheel braking force to the front axle control module and the rear axle control module according to the ideal braking force distribution curve.

[0095] In practical implementation, the braking control method proposed in this embodiment can be applied to the EMB braking system. A structural schematic diagram of the EMB braking system can be found in [reference needed]. Figure 6 The EMB braking system includes a brake pedal, a front axle control module, a rear axle control module, four EMB modules, four wheel speed sensors, four friction pad position sensors, a brake control unit, a vehicle control unit, a mass measurement switch, and a power supply. The brake pedal integrates a pedal position sensor, which acquires the pedal opening degree and its rate of change. Based on these parameters, the system determines the braking intensity request. When the vehicle is on a flat road, the driver can send a vehicle mass identification signal to the brake control unit via the mass measurement switch. The brake control unit calculates the current vehicle mass based on vehicle parameters and the vehicle's longitudinal dynamics equations. A schematic diagram of the ideal braking force distribution curve can be found in [reference needed]. Figure 7 The brake control unit generates the corresponding ideal braking force distribution curve based on the current vehicle mass using formula (1). Assuming the current vehicle mass is 6, the generated ideal braking force distribution curve is: Figure 7 The uppermost curve shows the braking force of the front and rear wheels calculated by the brake control unit based on the braking intensity request information, the current vehicle mass, and the synchronous adhesion coefficient. The corresponding point for the front and rear wheel braking forces is E(x3, y3). The brake control unit distributes the front wheel braking force to the front axle control module according to the ideal braking force distribution curve, and distributes the rear wheel braking force to the rear axle control module according to the ideal braking force distribution curve. The front and rear axle control modules control the corresponding EMB modules to generate corresponding braking forces at the wheel sides according to the received braking forces, thereby controlling the vehicle's braking and deceleration. The friction pad position sensor is used to identify the wear condition of each wheel friction pad to ensure that each wheel friction pad is in the optimal position when the braking force is released. The wheel speed sensor is used to identify vehicle speed and acceleration, as well as vehicle deceleration and ABS control.

[0096] This embodiment acquires the current opening degree of the brake pedal and the rate of change of the brake pedal opening degree; it then determines braking intensity request information based on the current opening degree and the rate of change of the opening degree. This embodiment determines the braking intensity request information based on the current opening degree of the brake pedal and the rate of change of the opening degree, which can more accurately reflect the driver's braking intention and improve the stability of vehicle braking.

[0097] Furthermore, embodiments of the present invention also propose a storage medium storing a braking control program, which, when executed by a processor, implements the steps of the braking control method described above.

[0098] Reference Figure 8 , Figure 8 This is a structural block diagram of the first embodiment of the braking control device of the present invention.

[0099] like Figure 8 As shown, the braking control device proposed in this embodiment of the invention includes:

[0100] The first determining module 10 is used to determine the corresponding ideal braking force distribution curve based on the current vehicle mass;

[0101] The second determining module 20 is used to determine the wheel braking force of each wheel based on the braking intensity request information and the current vehicle mass.

[0102] The distribution module 30 is used to distribute the wheel braking force to the corresponding bridge control module according to the ideal braking force distribution curve. The bridge control module is used to control the corresponding EMB module to generate braking force to brake the vehicle according to the distributed wheel braking force.

[0103] This embodiment determines the ideal braking force distribution curve based on the current vehicle mass; it determines the wheel braking force of each wheel according to the braking intensity request information and the current vehicle mass; and it distributes the wheel braking force to the corresponding bridge control module according to the ideal braking force distribution curve. The bridge control module is used to control the corresponding EMB module to generate braking force for vehicle braking according to the distributed wheel braking force. In this embodiment, when braking the vehicle, the ideal braking force distribution curve is matched based on the current vehicle mass, and the wheel braking force of each wheel is determined according to the braking intensity request information and the ideal braking force distribution curve. The wheel braking force can be adjusted according to the current vehicle mass to ensure that the braking force of the front and rear wheels is in an optimal state, shortening the braking distance and improving vehicle braking stability.

[0104] Based on the first embodiment of the braking control device of the present invention described above, a second embodiment of the braking control device of the present invention is proposed.

[0105] In this embodiment, the second determining module 20 is further configured to acquire the geometric parameters of the vehicle;

[0106] The wheel braking force of each wheel is determined based on the geometric parameters, the braking intensity request information, and the current vehicle mass.

[0107] The second determining module 20 is further configured to determine the front wheel normal reaction force and the rear wheel normal reaction force when the vehicle brakes based on the geometric parameters, the current vehicle mass and the braking intensity request information; determine the front wheel braking force of the vehicle based on the front wheel normal reaction force, and determine the rear wheel braking force of the vehicle based on the rear wheel normal reaction force.

[0108] The first determining module 10 is further configured to acquire vehicle parameters upon receiving a vehicle mass identification signal; and determine the current vehicle mass based on the vehicle parameters using the vehicle longitudinal dynamics equation.

[0109] The second determining module 20 is further configured to acquire the current opening degree of the brake pedal and the opening degree change rate of the brake pedal; and determine the braking intensity request information based on the current opening degree and the opening degree change rate.

[0110] The first determining module 10 is further configured to detect the switching signal output by the quality measurement switch installed on the vehicle; when the duration of the switching signal is longer than a preset duration, the switching signal is determined to be a vehicle quality identification signal.

[0111] The distribution module 30 is also used to distribute the wheel braking force to the front axle control module and the rear axle control module according to the ideal braking force distribution curve.

[0112] Other embodiments or specific implementations of the braking control device of the present invention can be referred to the above-described method embodiments, and will not be repeated here.

[0113] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0114] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0115] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory / random access memory, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0116] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A braking control method, characterized in that, The method includes: Determine the ideal braking force distribution curve based on the current vehicle mass; The braking force of each wheel is determined based on the vehicle's geometric parameters, braking intensity request information, and the current vehicle mass. The geometric parameters include the distance from the vehicle's geometric center to the front axle, the distance from the vehicle's geometric center to the rear axle, the front and rear track width, and the center of gravity height. The wheel braking force is distributed to the corresponding bridge control module according to the ideal braking force distribution curve. The bridge control module is used to control the corresponding EMB module to generate braking force to brake the vehicle according to the distributed wheel braking force. Before determining the ideal braking force distribution curve based on the current vehicle mass, the process also includes: When the vehicle is traveling on a flat road and receives a vehicle quality identification signal, the vehicle parameters are acquired. These vehicle parameters include drive torque, transmission efficiency, main drive ratio, transmission ratio, wheel radius, rolling resistance coefficient, wind resistance coefficient, frontal area, vehicle speed, and mass increase coefficient. Based on the vehicle parameters, the current vehicle mass is determined using the vehicle longitudinal dynamics equations. The braking intensity request information is determined by the current opening degree of the brake pedal and the rate of change of the opening degree.

2. The method as described in claim 1, characterized in that, The wheel braking force includes front wheel braking force and rear wheel braking force. Determining the wheel braking force of each wheel based on the geometric parameters, the braking intensity request information, and the current vehicle mass includes: The front wheel normal reaction force and rear wheel normal reaction force during vehicle braking are determined based on the geometric parameters, the current vehicle mass, and the braking intensity request information. The front wheel braking force of the vehicle is determined based on the front wheel normal reaction force, and the rear wheel braking force of the vehicle is determined based on the rear wheel normal reaction force.

3. The method as described in claim 1, characterized in that, Before acquiring vehicle parameters upon receiving the vehicle quality identification signal, the process further includes: The switch signal output by the mass measurement switch installed on the vehicle is detected. When the duration of the switch signal exceeds a preset duration, the switch signal is determined to be a vehicle quality identification signal.

4. The method as described in any one of claims 1 or 2, characterized in that, The axle control module includes a front axle control module and a rear axle control module. Distributing the wheel braking force to the corresponding axle control module according to the ideal braking force distribution curve includes: The wheel braking force is distributed to the front axle control module and the rear axle control module according to the ideal braking force distribution curve.

5. A braking control device, characterized in that, The device includes: The first determining module is used to determine the corresponding ideal braking force distribution curve based on the current vehicle mass; The second determining module is used to determine the wheel braking force of each wheel based on the vehicle's geometric parameters, braking intensity request information and the current vehicle mass. The geometric parameters include the distance from the vehicle's geometric center to the front axle, the distance from the vehicle's geometric center to the rear axle, the front and rear track width, and the center of gravity height. The distribution module is used to distribute the wheel braking force to the corresponding bridge control module according to the ideal braking force distribution curve. The bridge control module is used to control the corresponding EMB module to generate braking force to brake the vehicle according to the distributed wheel braking force. The first determining module is further configured to acquire vehicle parameters when the current vehicle travels to a flat road section and receives a vehicle mass identification signal; and determine the current vehicle mass based on the vehicle parameters through the vehicle longitudinal dynamics equation, wherein the vehicle parameters include driving torque, transmission efficiency, main drive ratio, transmission ratio, wheel radius, rolling resistance coefficient, wind resistance coefficient, frontal area, vehicle speed, and mass increase coefficient. The braking intensity request information is determined by the current opening degree of the brake pedal and the rate of change of the opening degree.

6. A braking control device, characterized in that, The device includes: a memory, a processor, and a braking control program stored in the memory and executable on the processor, the braking control program being configured to implement the steps of the braking control method as described in any one of claims 1 to 4.

7. A storage medium, characterized in that, The storage medium stores a braking control program, which, when executed by a processor, implements the steps of the braking control method as described in any one of claims 1 to 4.

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