A wheel braking force control method, device, equipment and medium of an EMB vehicle

Abstract

The application discloses an EMB vehicle wheel braking force control method, device, equipment and medium. The method comprises the following steps: in response to a braking force request, the disc temperature of at least one wheel of a target wheel shaft is determined; the target wheel shaft is each wheel shaft of a target vehicle; the target temperature difference of the target wheel shaft is determined according to the disc temperature; the target wheel is determined according to the disc temperature and the target temperature difference, and the braking force of the target wheel is controlled according to the disc temperature; and the friction coefficient of the target wheel is the smallest when braking. Through the execution of the scheme, the collaborative control of the braking forces of the wheels in the mechanical brake-by-wire system can be realized, and the stability of the vehicle during braking can be improved.

Description

Technical Field

[0001] This invention relates to the field of automotive braking technology, and in particular to a wheel braking force control method, device, equipment, and medium for EMB vehicle models. Background Technology

[0002] Vehicle braking systems can be divided into hydraulic braking systems and electro-mechanical braking systems (EMB). Compared with the compensation characteristics of hydraulic braking systems, the advantage of electro-mechanical braking systems is independent and precise control of all four wheels. The disadvantage is that they cannot compensate for braking force using the characteristics of hydraulic systems. If there is an inconsistency in the braking force of the left and right wheels, the vehicle is prone to veering off course during braking, posing a safety hazard.

[0003] The relevant technologies do not provide a set of effective solutions for the coordinated control of braking forces of each wheel in mechanical brake-by-wire systems. As the braking torque varies, braking deviation may occur, affecting the stability of the vehicle and thus its safety. Summary of the Invention

[0004] This invention provides a wheel braking force control method, device, equipment, and medium for EMB vehicle models, which can realize coordinated control of the braking force of each wheel under a mechanical brake-by-wire system and improve the stability of the vehicle during braking.

[0005] According to one aspect of the present invention, a wheel braking force control method for an EMB vehicle model is provided, the method comprising:

[0006] In response to a braking force request, determine the brake disc temperature of at least one wheel of the target axle; the target axle is each axle of the target vehicle;

[0007] The target temperature difference of the target wheel axle is determined based on the brake disc temperature.

[0008] The target wheel is determined based on the brake disc temperature and the target temperature difference, and the braking force of the target wheel is controlled based on the brake disc temperature; the target wheel has the minimum coefficient of friction during braking.

[0009] According to another aspect of the present invention, a wheel braking force control device for an EMB vehicle model is provided, the device comprising:

[0010] A brake disc temperature determination module is used to determine the brake disc temperature of at least one wheel of a target axle in response to a braking force request; the target axle is each axle of the target vehicle;

[0011] The target temperature difference determination module is used to determine the target temperature difference of the target wheel axle based on the brake disc temperature.

[0012] The braking force control module is used to determine the target wheel based on the brake disc temperature and the target temperature difference, and to control the braking force of the target wheel based on the brake disc temperature; the target wheel has the minimum coefficient of friction during braking.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] At least one processor; and

[0015] A memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the wheel braking force control method for EMB vehicle models according to any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the wheel braking force control method for an EMB vehicle according to any embodiment of the present invention.

[0018] The technical solution of this invention, in response to a braking force request, determines the brake disc temperature of at least one wheel of a target axle; the target axle is each axle of the target vehicle; a target temperature difference of the target axle is determined based on the brake disc temperature; a target wheel is determined based on the brake disc temperature and the target temperature difference, and the braking force of the target wheel is controlled based on the brake disc temperature; the target wheel has the minimum coefficient of friction during braking. By implementing the technical solution provided by this invention, coordinated control of the braking force of each wheel under a mechanical brake-by-wire system can be achieved, thereby improving the stability of the vehicle during braking.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1This is a flowchart of a wheel braking force control method for an EMB vehicle provided in an embodiment of the present invention;

[0022] Figure 2 This is a flowchart of another wheel braking force control method for an EMB vehicle provided in an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of a wheel braking force control device for an EMB vehicle provided in an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of an electronic device that implements the wheel braking force control method for EMB vehicle models according to embodiments of the present invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] It is understood that before using the technical solutions disclosed in the various embodiments of the present invention, users should be informed of the types, scope of application, and usage scenarios of the personal information involved in the present invention and their authorization should be obtained in accordance with relevant laws and regulations through appropriate means.

[0028] For example, upon receiving a user's active request, a prompt message is sent to the user to explicitly inform them that the requested operation will require the acquisition and use of the user's personal information. This allows the user to independently choose whether to provide personal information to the software or hardware, such as the electronic device, application program, server, or storage medium executing the operation of this invention, based on the prompt message.

[0029] As an optional but non-limiting implementation, in response to a user's active request, sending a prompt message to the user can be done via a pop-up window, where the prompt message can be presented in text format. Furthermore, the pop-up window can also include a selection control allowing the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0030] It is understood that the above notification and user authorization process is merely illustrative and does not constitute a limitation on the implementation of the present invention. Other methods that comply with relevant laws and regulations may also be applied to the implementation of the present invention.

[0031] It is understood that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) shall comply with the requirements of relevant laws, regulations and related provisions.

[0032] Figure 1 This is a flowchart of a wheel braking force control method for an EMB vehicle provided in an embodiment of the present invention. This embodiment is applicable to situations where the braking force of each wheel in a mechanical brake-by-wire system is controlled in a coordinated manner. This method can be executed by a wheel braking force control device for an EMB vehicle, which can be implemented in hardware and / or software. This wheel braking force control device for an EMB vehicle can be configured in an electronic device for wheel braking force control of an EMB vehicle. Figure 1 As shown, the method includes:

[0033] S110: In response to a braking force request, determine the brake disc temperature of at least one wheel of the target axle.

[0034] Wherein, the target axle refers to each axle of the target vehicle.

[0035] The target vehicle can be a vehicle equipped with a mechanical brake-by-wire system. The user requests braking force by pressing the brake pedal of the target vehicle. This solution responds to the braking force request by designating each axle of the target vehicle as the target axle and determining the brake disc temperature of the corresponding left and right wheels. The process for determining the brake disc temperature can refer to relevant technologies.

[0036] S120: Determine the target temperature difference of the target wheel axle based on the brake disc temperature.

[0037] In this scheme, the absolute value of the difference between the brake disc temperature of the left wheel and the brake disc temperature of the right wheel of the target axle can be used as the target temperature difference of the target axle.

[0038] S130: Determine the target wheel based on the brake disc temperature and the target temperature difference, and control the braking force of the target wheel based on the brake disc temperature.

[0039] Among them, the target wheel has the lowest coefficient of friction during braking.

[0040] Specifically, this solution can determine the wheel with the lower coefficient of friction between the left and right wheels based on the temperature range of the brake disc and the target temperature difference, and use it as the target wheel. The braking force of the target wheel can be adjusted according to the brake disc temperature to make the braking force of the left wheel of the target axle consistent with that of the right wheel, thereby improving the stability of the target vehicle during braking.

[0041] The technical solution of this invention, in response to a braking force request, determines the brake disc temperature of at least one wheel of a target axle; the target axle is each axle of the target vehicle; a target temperature difference of the target axle is determined based on the brake disc temperature; a target wheel is determined based on the brake disc temperature and the target temperature difference, and the braking force of the target wheel is controlled based on the brake disc temperature; the target wheel has the minimum coefficient of friction during braking. By implementing the technical solution provided by this invention, coordinated control of the braking force of each wheel under a mechanical brake-by-wire system can be achieved, thereby improving the stability of the vehicle during braking.

[0042] Figure 2 This is a flowchart of a wheel braking force control method for an EMB vehicle model provided in an embodiment of the present invention. This embodiment is an optimization based on the above embodiment. Figure 2 As shown, the wheel braking force control method for EMB vehicle models in this embodiment of the invention may include:

[0043] S210: In response to a braking force request, determine the brake disc temperature of at least one wheel of the target axle.

[0044] S220: Determine the target temperature difference of the target wheel axle based on the brake disc temperature.

[0045] S230: Determine the target wheel based on the brake disc temperature and the target temperature difference, and determine the friction coefficient of the wheel based on the brake disc temperature.

[0046] In this scheme, the target wheel can be determined from the left wheel and the right wheel based on the temperature range of the brake disc and the target temperature difference, and then the friction coefficient of the left wheel and the friction coefficient of the right wheel can be determined respectively.

[0047] In this embodiment, optionally, determining the target wheel based on the brake disc temperature and the target temperature difference includes: if it is determined that the brake disc temperature is within a first preset temperature range and the target temperature difference is greater than a preset temperature threshold, then the wheel with the higher brake disc temperature is determined as the target wheel.

[0048] For example, the first preset temperature range can be [100℃, 200℃], and the preset temperature threshold can be 50℃. Within the temperature range [100℃, 200℃], the friction coefficient of the wheel decreases as the brake disc temperature increases. If this solution determines that the brake disc temperatures of each wheel on the target axle are between [100℃, 200℃], and the target temperature difference is greater than 50℃, the wheel with the higher brake disc temperature among the left and right wheels can be designated as the target wheel. This allows for the determination of the target wheel when the brake disc temperature is within the first preset temperature range, providing a reliable data basis for subsequent control of the braking force on the target wheel.

[0049] In this embodiment, optionally, determining the target wheel based on the brake disc temperature and the target temperature difference includes: if it is determined that the brake disc temperature is within a second preset temperature range and the target temperature difference is greater than the preset temperature threshold, then the wheel with the lower brake disc temperature is determined as the target wheel; the left endpoint value of the second preset temperature range is greater than or equal to the right endpoint value of the first preset temperature range.

[0050] For example, the left endpoint of the second preset temperature range should be greater than or equal to the right endpoint of the first preset temperature range. The second preset temperature range can be [200℃, 500℃]. Within the temperature range [200℃, 500℃], the coefficient of friction increases with the increase of the brake disc temperature. If this solution determines that the brake disc temperatures of each wheel on the target axle are between [200℃, 500℃] and the target temperature difference is greater than 50℃, the wheel with the lower brake disc temperature among the left and right wheels can be used as the target wheel. This allows for the determination of the target wheel when the brake disc temperature is within the second preset temperature range, providing a reliable data basis for subsequent control of the braking force of the target wheel.

[0051] In addition, if this solution determines that the brake disc temperature of each wheel on the target axle is below 100℃ and the target temperature difference is less than 50℃, or if this solution determines that the brake disc temperature of each wheel on the target axle is between [100℃, 500℃] and the target temperature difference is less than 50℃, there is no need to intervene in the braking force of the wheel.

[0052] In this embodiment, optionally, determining the friction coefficient of the wheel based on the brake disc temperature includes: determining the friction coefficient of the wheel based on the brake disc temperature and the correlation between the brake disc temperature and the friction coefficient.

[0053] Specifically, this solution can determine and save the curve of friction coefficient changing with brake disc temperature, that is, the correlation between brake disc temperature and friction coefficient, and determine the friction coefficient of each wheel of the target axle based on the brake disc temperature of each wheel and the correlation.

[0054] S240: Control the braking force of the target wheel according to the respective friction coefficients.

[0055] In this scheme, the braking force of each wheel can be determined based on the friction coefficient of each wheel. In order to make the braking force of each wheel of the target axle consistent, the braking force of the target wheel can be controlled based on the braking force of the wheel with the larger friction coefficient.

[0056] In this embodiment, optionally, controlling the braking force of the target wheel according to each of the friction coefficients includes: determining the clamping force of the target wheel according to each of the friction coefficients; and applying the clamping force to the target wheel.

[0057] This scheme, after determining the friction coefficients of the target wheel and non-target wheels, can determine the clamping force of the target wheel based on the friction coefficient of the non-target wheel. For example, assuming the friction coefficient of the non-target wheel is A, the friction coefficient of the target wheel is B, and the clamping force of the non-target wheel is C, this scheme, in order to maintain consistent braking force across all wheels on the same axle, can determine the clamping force of the target wheel to be AC / B, and then send a clamping force control request to the brake caliper to set the clamping force to AC / B. This allows for control of the braking force of the target wheel by controlling the clamping force.

[0058] In one feasible implementation, optionally, determining the clamping force of the target wheel based on each of the friction coefficients includes: determining the target braking force of the other wheels based on the friction coefficients of the other wheels; the other wheels being non-target wheels; and determining the clamping force of the target wheel based on the target braking force and the friction coefficient of the target wheel.

[0059] In this scheme, the braking torque output at the wheel end is equal to the brake caliper clamping force × braking radius × coefficient of friction. Based on the determined friction coefficients of other wheels, the braking force of the other wheels can be determined according to the braking radius and the brake caliper clamping force of the other wheels, serving as the target braking force. Then, based on the target braking force, braking radius, and the friction coefficient of the target wheel, the clamping force of the target wheel under the target braking force is determined. Since an initial clamping force already exists on the target wheel during braking, after determining the clamping force of the target wheel under the target braking force, this scheme needs to subtract this clamping force from the initial clamping force on the target wheel and apply the difference to the target wheel. This allows for coordinated control of the braking forces of all wheels on the same axle.

[0060] The technical solution provided in this invention, in response to a braking force request, determines the brake disc temperature of at least one wheel of a target axle; the target axle is each axle of the target vehicle; a target temperature difference of the target axle is determined based on the brake disc temperature; a target wheel is determined based on the brake disc temperature and the target temperature difference, and the friction coefficient of the wheel is determined based on the brake disc temperature; the braking force of the target wheel is controlled based on each friction coefficient. By implementing the technical solution provided in this invention, coordinated control of the braking force of each wheel under a mechanical brake-by-wire system can be achieved, thereby improving the stability of the vehicle during braking.

[0061] Figure 3 This is a schematic diagram of the wheel braking force control device for an EMB vehicle provided in an embodiment of the present invention. Figure 3 As shown, the device includes:

[0062] Brake disc temperature determination module 310 is used to determine the brake disc temperature of at least one wheel of a target axle in response to a braking force request; the target axle is each axle of the target vehicle;

[0063] The target temperature difference determination module 320 is used to determine the target temperature difference of the target wheel axle based on the brake disc temperature.

[0064] The braking force control module 330 is used to determine the target wheel based on the brake disc temperature and the target temperature difference, and to control the braking force of the target wheel based on the brake disc temperature; the target wheel has the minimum coefficient of friction during braking.

[0065] Optionally, the braking force control module 330 is specifically used to determine the wheel with a high brake disc temperature as the target wheel if it is determined that the brake disc temperature is within a first preset temperature range and the target temperature difference is greater than a preset temperature threshold.

[0066] Optionally, the braking force control module 330 is specifically used to determine the wheel with the lower brake disc temperature as the target wheel if it is determined that the brake disc temperature is within the second preset temperature range and the target temperature difference is greater than the preset temperature threshold; the left endpoint value of the second preset temperature range is greater than or equal to the right endpoint value of the first preset temperature range.

[0067] Optionally, the braking force control module 330 includes a friction coefficient determination unit for determining the friction coefficient of the wheel based on the brake disc temperature; and a control unit for controlling the braking force of the target wheel based on each friction coefficient.

[0068] Optionally, the friction coefficient determination unit is specifically used to determine the friction coefficient of the wheel based on the brake disc temperature and the correlation between the brake disc temperature and the friction coefficient.

[0069] Optionally, the control unit includes a clamping force determining subunit for determining the clamping force of the target wheel based on each of the friction coefficients; and a clamping force applying subunit for applying the clamping force to the target wheel.

[0070] Optionally, the clamping force determining subunit is specifically used to determine the target braking force of the other wheels based on the friction coefficient of the other wheels; the other wheels are non-target wheels; and to determine the clamping force of the target wheel based on the target braking force and the friction coefficient of the target wheel.

[0071] The wheel braking force control device for EMB vehicles provided in this embodiment of the invention can execute the wheel braking force control method for EMB vehicles provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0072] Figure 4 A schematic diagram of an electronic device 40 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0073] like Figure 4 As shown, the electronic device 40 includes at least one processor 41 and a memory, such as a read-only memory (ROM) 42 or a random access memory (RAM) 43, communicatively connected to the at least one processor 41. The memory stores computer programs executable by the at least one processor. The processor 41 can perform various appropriate actions and processes based on the computer program stored in the ROM 42 or loaded into the RAM 43 from storage unit 48. The RAM 43 may also store various programs and data required for the operation of the electronic device 40. The processor 41, ROM 42, and RAM 43 are interconnected via a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.

[0074] Multiple components in electronic device 40 are connected to I / O interface 45, including: input unit 46, such as keyboard, mouse, etc.; output unit 47, such as various types of monitors, speakers, etc.; storage unit 48, such as disk, optical disk, etc.; and communication unit 49, such as network card, modem, wireless transceiver, etc. Communication unit 49 allows electronic device 40 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0075] Processor 41 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 41 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 41 performs the various methods and processes described above, such as the wheel braking force control method of an EMB vehicle model.

[0076] In some embodiments, the wheel braking force control method for EMB vehicle models can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 48. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 40 via ROM 42 and / or communication unit 49. When the computer program is loaded into RAM 43 and executed by processor 41, one or more steps of the wheel braking force control method for EMB vehicle models described above can be performed. Alternatively, in other embodiments, processor 41 can be configured to perform the wheel braking force control method for EMB vehicle models by any other suitable means (e.g., by means of firmware).

[0077] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0078] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0079] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0080] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0081] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0082] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0083] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0084] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for controlling wheel braking force in an EMB vehicle, characterized in that, include: In response to a braking force request, determine the brake disc temperature of at least one wheel of the target axle; The target axle is each axle of the target vehicle; The target temperature difference of the target wheel axle is determined based on the brake disc temperature. The target wheel is determined based on the brake disc temperature and the target temperature difference, and the braking force of the target wheel is controlled based on the brake disc temperature. The target wheel has the lowest coefficient of friction during braking; Determining the target wheel based on the brake disc temperature and the target temperature difference includes: If it is determined that the brake disc temperature is within the first preset temperature range and the target temperature difference is greater than the preset temperature threshold, then the wheel with the high brake disc temperature is determined as the target wheel. Determining the target wheel based on the brake disc temperature and the target temperature difference includes: If it is determined that the brake disc temperature is within the second preset temperature range and the target temperature difference is greater than the preset temperature threshold, then the wheel with the lower brake disc temperature is identified as the target wheel; the left endpoint value of the second preset temperature range is greater than or equal to the right endpoint value of the first preset temperature range.

2. The method according to claim 1, characterized in that, Controlling the braking force of the target wheel based on the brake disc temperature includes: The coefficient of friction of the wheel is determined based on the brake disc temperature; The braking force of the target wheel is controlled according to the respective friction coefficients.

3. The method according to claim 2, characterized in that, Determining the coefficient of friction of the wheel based on the brake disc temperature includes: The friction coefficient of the wheel is determined based on the relationship between the brake disc temperature and the friction coefficient.

4. The method according to claim 2, characterized in that, Controlling the braking force of the target wheel based on the respective friction coefficients includes: The clamping force of the target wheel is determined based on the respective friction coefficients. The clamping force is applied to the target wheel.

5. The method according to claim 4, characterized in that, Determining the clamping force of the target wheel based on the respective friction coefficients includes: The target braking force of the other wheels is determined based on the friction coefficient of the other wheels; the other wheels are non-target wheels. The clamping force of the target wheel is determined based on the target braking force and the friction coefficient of the target wheel.

6. A wheel braking force control device for an EMB vehicle, characterized in that, include: Brake disc temperature determination module, used to determine the brake disc temperature of at least one wheel of the target axle in response to a braking force request; The target axle is each axle of the target vehicle; The target temperature difference determination module is used to determine the target temperature difference of the target wheel axle based on the brake disc temperature. The braking force control module is used to determine the target wheel based on the brake disc temperature and the target temperature difference, and to control the braking force of the target wheel based on the brake disc temperature; the target wheel has the minimum coefficient of friction during braking; The braking force control module is specifically used to determine the wheel with a high brake disc temperature as the target wheel if it is determined that the brake disc temperature is within a first preset temperature range and the target temperature difference is greater than a preset temperature threshold; and to determine the wheel with a low brake disc temperature as the target wheel if it is determined that the brake disc temperature is within a second preset temperature range and the target temperature difference is greater than the preset temperature threshold. The left endpoint of the second preset temperature range is greater than or equal to the right endpoint of the first preset temperature range.

7. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the wheel braking force control method of the EMB vehicle model according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the wheel braking force control method for the EMB vehicle model as described in any one of claims 1-5.

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