A dynamic updating control method and system for vehicle braking torque

Abstract

This invention provides a dynamic update control method and system for vehicle braking torque. The method includes: determining the dynamic difference between the target braking torque of each braking wheel and the braking torque at the previous moment; calculating the maximum dynamic quantity of the braking torque executed by the braking wheel per unit time; calculating the proportion of the total dynamic difference of the braking torque executed by the braking wheel to the total target braking torque of the braking wheel; calculating the actual dynamic quantity of the braking wheel executed per unit time; and finally calculating the dynamic braking torque executed at the current moment using the actual dynamic quantity, the dynamic braking torque executed by the braking wheel at the previous moment, and the dynamic difference, so that the actual dynamic quantity executed by each braking wheel per unit time is less than or equal to its maximum allowable variable of braking torque per unit time, thereby solving the problem of brake system mechanical structure damage and reduced lifespan caused by excessively rapid changes in braking torque.

Description

Technical Field

[0001] This invention relates to the field of automotive braking system technology, specifically to a method and system for dynamically updating and controlling vehicle braking torque. Background Technology

[0002] Compared to traditional vehicles, new energy vehicles add an electric motor drive system. This system typically uses a high-voltage battery to provide electrical energy, which is then converted into mechanical energy by an inverter and motor to propel the vehicle forward. In actual control, the vehicle controller or motor controller calculates the braking torque that the motor needs to output based on the driver's requirements. During vehicle operation, the braking torque dynamically changes according to the driver's intention. To ensure that the vehicle brakes and decelerates according to the driver's intention, the rotation of the brake wheels needs to respond quickly to these changes, ensuring both braking speed and vehicle safety. However, the dynamic updating and changing of braking torque can easily lead to problems such as excessively rapid changes in braking torque, resulting in damage to the mechanical structure of the braking system and a reduced lifespan.

[0003] Therefore, how to avoid rapid changes in braking torque that could damage the mechanical structure of the braking system and reduce its lifespan has become an urgent problem for researchers in the field. Summary of the Invention

[0004] In view of this, it is necessary to provide a dynamic update control method and system for vehicle braking torque, so as to solve the problem of brake system mechanical structure damage and reduced lifespan caused by excessively rapid changes in braking torque.

[0005] To achieve the above objectives, the present invention provides a method for dynamically updating and controlling vehicle braking torque, comprising:

[0006] Determine the dynamic difference between the target braking torque of each brake wheel of the vehicle and the braking torque at the previous moment;

[0007] The total number of dynamic changes in the braking torque of the brake wheel is calculated based on the threshold value of the braking torque change of the brake wheel per unit time.

[0008] Calculate the minimum total number of dynamic changes in the braking torque applied by the brake wheel based on the total number of dynamic changes;

[0009] The maximum dynamic amount of braking torque of the brake wheel per unit time is calculated based on the minimum total number of dynamic changes.

[0010] Calculate the proportion of the total dynamic difference of the braking torque performed by the brake wheel to the total target braking torque of the brake wheel;

[0011] Calculate the braking wheel driving control coefficient based on the aforementioned percentage value;

[0012] The actual dynamic quantity of the brake wheel per unit time is calculated based on the brake wheel driving control coefficient and the maximum dynamic quantity of execution.

[0013] The dynamic braking torque at the current moment is calculated based on the actual dynamic quantity, the dynamic braking torque of the brake wheel at the previous moment, and the dynamic difference.

[0014] In one possible implementation, the formula for calculating the dynamic difference between the target braking torque of each brake wheel of the vehicle and the braking torque at the previous moment is:

[0015]

[0016] Among them, T fl T represents the target braking torque of the left front brake wheel. fr T represents the target braking torque of the right front brake wheel. rl T represents the target braking torque of the left rear brake wheel. rr Indicates the target braking torque of the right rear brake wheel;

[0017] T(k-1) fl T(k-1) represents the braking torque of the left front brake wheel at the previous moment. fr T(k-1) represents the braking torque of the right front brake wheel at the previous moment. rl This indicates the dynamic braking torque applied to the left rear brake wheel; T(k-1) rr This represents the braking torque of the right rear brake wheel at the previous moment; ΔT(k) fl ΔT(k) represents the dynamic difference in braking torque applied by the left front brake wheel. fr ΔT(k) represents the dynamic difference in braking torque applied by the right front brake wheel. rl ΔT(k) represents the dynamic difference in braking torque applied by the left rear brake wheel. rr This represents the dynamic difference in braking torque applied by the right rear brake wheel.

[0018] In one possible implementation, the formula for calculating the total number of dynamic changes in the braking torque in the brake wheel is:

[0019]

[0020] Where, X(k) fl X(k) represents the total number of dynamic changes in the braking torque applied by the left front brake wheel. fr X(k) represents the total number of dynamic changes in the braking torque applied by the right front brake wheel. rl X(k) represents the total number of dynamic changes in the braking torque applied by the left rear brake wheel. rr ΔT(k) represents the total number of dynamic changes in the braking torque applied by the right rear brake wheel. flmaxΔT(k) represents the maximum permissible variable of braking torque on the left front brake wheel per unit time. frmax This represents the maximum permissible variable ΔT(k) of the braking torque of the right front brake wheel per unit time. rlmax ΔT(k) represents the maximum permissible variable of braking torque on the left rear brake wheel per unit time. rrmax Δtime represents the maximum permissible variable of braking torque of the right rear brake wheel per unit time, and Δtime represents the task time period.

[0021] In one possible implementation, the formula for calculating the minimum total number of dynamic changes in the braking torque performed by the brake wheel is:

[0022] X(k) min =max(X(k)) fl ,X(k) fr ,X(k) rl ,X(k) rr );

[0023] Where, X(k) min This represents the minimum total number of dynamic changes in the braking torque applied by the brake wheel.

[0024] In one possible implementation, the formula for calculating the maximum dynamic amount of the braking torque of the brake wheel per unit time is:

[0025]

[0026] Where, ΔT1(k) flmax This represents the maximum dynamic range of the left front brake wheel per unit time; ΔT1(k) frmax ΔT1(k) represents the maximum dynamic range of the right front brake wheel per unit time. rlmax ΔT1(k) represents the maximum dynamic range of the left rear brake wheel per unit time. rrmax This indicates the maximum dynamic quantity executed by the right rear brake wheel per unit time.

[0027] In one possible implementation, the formula for calculating the proportion of the total dynamic difference of the braking torque performed by the brake wheel to the target total braking torque of the brake wheel is as follows:

[0028]

[0029] Wherein, ρ(k) represents the proportion of the total dynamic difference of the braking torque performed by the brake wheel to the total target braking torque of the brake wheel.

[0030] In one possible implementation, the formula for calculating the wheel driving control coefficient is:

[0031]

[0032] 0 <r0≤r(k)≤r1<1;

[0033] Where r(k) represents the driving control coefficient, r0 represents the driving control coefficient value parameter when ρ(k)=ρ0, r1 represents the driving control coefficient value parameter when ρ(k)=ρ1, ρ0 represents the first value of the total dynamic difference of the braking torque executed by the braking wheels in the total braking torque expected to be executed by the four braking wheels; ρ1 represents the second value of the total dynamic difference of the braking torque executed by the braking wheels in the total braking torque expected to be executed by the braking wheels.

[0034] In one possible implementation, the formula for calculating the actual dynamic amount performed by the brake wheel per unit time is:

[0035]

[0036] Where, ΔT1(k) fl ΔT1(k) represents the actual dynamic quantity executed by the left front brake wheel per unit time. fr ΔT1(k) represents the actual dynamic quantity executed by the right front brake wheel per unit time. rl ΔT1(k) represents the actual dynamic quantity executed by the left rear brake wheel per unit time. rr This indicates the actual dynamic quantity executed per unit time by the right rear brake wheel.

[0037] In one possible implementation, the formula for calculating the dynamically applied braking torque at the current moment is:

[0038]

[0039] T(k) fl T(k) represents the dynamic braking torque applied to the left front brake wheel at the current moment. fr T(k) represents the dynamic braking torque applied to the right front brake wheel at the current moment. rl T(k) represents the dynamic braking torque applied to the left rear brake wheel at the current moment. rr This indicates the dynamic braking torque being applied to the right rear brake wheel at the current moment.

[0040] To achieve the above objectives, the present invention also provides a dynamic update control system for vehicle braking torque, comprising:

[0041] The dynamic difference calculation module is used to determine the dynamic difference between the target braking torque of each braking wheel of the vehicle and the braking torque at the previous moment.

[0042] The dynamic total number calculation module is used to calculate the total number of dynamic changes in braking torque in the brake wheel based on the braking torque change threshold of the brake wheel within a unit time.

[0043] The dynamic change minimum total number calculation module is used to calculate the minimum total number of dynamic changes in the braking torque executed by the brake wheel based on the dynamic change total number;

[0044] The maximum execution dynamic variable calculation module is used to calculate the maximum execution dynamic quantity of the braking torque of the brake wheel per unit time based on the minimum total number of dynamic changes.

[0045] The percentage calculation module is used to calculate the percentage of the total dynamic difference of the braking torque performed by the brake wheel in the total target braking torque of the brake wheel;

[0046] A driving control coefficient determination module is used to calculate the driving control coefficient of the brake wheel based on the percentage value;

[0047] The actual execution dynamic quantity calculation module is used to calculate the actual execution dynamic quantity of the brake wheel per unit time based on the brake wheel driving control coefficient and the maximum execution dynamic quantity;

[0048] The dynamic execution braking torque calculation module is used to calculate the dynamic execution braking torque at the current moment based on the actual execution dynamic quantity, the dynamic execution braking torque of the brake wheel at the previous moment, and the dynamic difference.

[0049] The beneficial effects of the above embodiments are as follows: After determining the dynamic difference between the target braking torque of each brake wheel of the vehicle and the braking torque at the previous moment, the maximum dynamic amount of braking torque executed by the brake wheel per unit time is calculated, and then the actual dynamic amount of braking torque executed by the brake wheel per unit time is calculated. Finally, the dynamic amount of braking torque executed at the current moment is calculated using the actual dynamic amount of braking torque executed by the brake wheel at the previous moment and the dynamic difference. This ensures that the actual dynamic amount of braking torque executed by each brake wheel per unit time is less than or equal to the maximum allowable variable of braking torque executed by each brake wheel per unit time, thereby solving the problem of damage to the mechanical structure of the braking system and reduced lifespan caused by excessively rapid changes in braking torque. Attached Figure Description

[0050] 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.

[0051] Figure 1 A schematic flowchart of an embodiment of a dynamic update control method for vehicle braking torque provided by the present invention;

[0052] Figure 2 This is a schematic diagram of an embodiment of a vehicle braking torque dynamic update control system provided by the present invention. Detailed Implementation

[0053] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0054] Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor systems and / or microcontroller systems.

[0055] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0056] Figure 1 This is a flowchart illustrating an embodiment of a dynamic update control method for vehicle braking torque provided by the present invention.

[0057] Reference Figure 1 This invention provides a method for dynamically updating and controlling vehicle braking torque, comprising:

[0058] S101. Determine the dynamic difference between the target braking torque of each brake wheel of the vehicle and the braking torque at the previous moment.

[0059] S102. Calculate the total number of dynamic changes in the braking torque of the brake wheel based on the threshold value of the braking torque change of the brake wheel per unit time;

[0060] S103. Calculate the minimum total number of dynamic changes in the braking torque of the brake wheel based on the total number of dynamic changes;

[0061] S104. Calculate the maximum dynamic amount of braking torque of the brake wheel per unit time based on the minimum total number of dynamic changes;

[0062] S105. Calculate the proportion of the total dynamic difference of the braking torque of the brake wheel to the total target braking torque of the brake wheel;

[0063] S106. Calculate the braking wheel driving control coefficient based on the stated percentage value;

[0064] S107. Calculate the actual dynamic quantity of the brake wheel per unit time based on the brake wheel driving control coefficient and the maximum dynamic quantity of execution;

[0065] S108. Calculate the dynamic braking torque at the current moment based on the actual dynamic quantity, the dynamic braking torque of the brake wheel at the previous moment, and the dynamic difference.

[0066] The beneficial effects of the above embodiments are as follows: After determining the dynamic difference between the target braking torque of each brake wheel of the vehicle and the braking torque at the previous moment, the maximum dynamic amount of braking torque executed by the brake wheel per unit time is calculated, and then the actual dynamic amount of braking torque executed by the brake wheel per unit time is calculated. Finally, the dynamic amount of braking torque executed at the current moment is calculated using the actual dynamic amount of braking torque executed by the brake wheel at the previous moment and the dynamic difference. This ensures that the actual dynamic amount of braking torque executed by each brake wheel per unit time is less than or equal to the maximum allowable variable of braking torque executed by each brake wheel per unit time, thereby solving the problem of damage to the mechanical structure of the braking system and reduced lifespan caused by excessively rapid changes in braking torque.

[0067] Furthermore, the formula for calculating the dynamic difference between the target braking torque of each brake wheel of the vehicle and the braking torque at the previous moment is as follows:

[0068]

[0069] Among them, T fl T represents the target braking torque of the left front brake wheel. fr T represents the target braking torque of the right front brake wheel. rl T represents the target braking torque of the left rear brake wheel. rr Indicates the target braking torque of the right rear brake wheel;

[0070] T(k-1) fl T(k-1) represents the braking torque of the left front brake wheel at the previous moment. fr T(k-1) represents the braking torque of the right front brake wheel at the previous moment. rl This indicates the dynamic braking torque applied to the left rear brake wheel; T(k-1) rr The value ΔT(k) represents the braking torque of the right rear brake wheel at the previous moment. fl ΔT(k) represents the dynamic difference in braking torque applied by the left front brake wheel. fr ΔT(k) represents the dynamic difference in braking torque applied by the right front brake wheel. rl ΔT(k) represents the dynamic difference in braking torque applied by the left rear brake wheel. rr This represents the dynamic difference in braking torque applied by the right rear brake wheel.

[0071] Specifically, T fl T fr T rl T rr T is determined by the opening value of the brake pedal pressed by the driver. fl T fr T rl T rr All are greater than or equal to 0.

[0072] In one embodiment, the formula for calculating the total number of dynamic changes in the braking torque in the brake wheel is:

[0073]

[0074] Where, X(k) fl X(k) represents the total number of dynamic changes in the braking torque applied by the left front brake wheel. fr X(k) represents the total number of dynamic changes in the braking torque applied by the right front brake wheel. rl X(k) represents the total number of dynamic changes in the braking torque applied by the left rear brake wheel. rr ΔT(k) represents the total number of dynamic changes in the braking torque applied by the right rear brake wheel. flmax ΔT(k) represents the maximum permissible variable of braking torque on the left front brake wheel per unit time. frmax This represents the maximum permissible variable ΔT(k) of the braking torque of the right front brake wheel per unit time. rlmax ΔT(k) represents the maximum permissible variable of braking torque on the left rear brake wheel per unit time. rrmax Δtime represents the maximum permissible variable of braking torque of the right rear brake wheel per unit time, and Δtime represents the task time period.

[0075] It needs to be explained that ΔT(k) flmax ΔT(k) frmax ΔT(k) rlmax ΔT(k) rrmax This represents the maximum capacity of the four braking wheels to change braking torque per unit time. Exceeding this value may lead to damage to the braking mechanical structure and a reduction in the service life of the braking system.

[0076] Furthermore,

[0077] The formula for calculating the minimum total number of dynamic changes in the braking torque performed by the brake wheel is as follows:

[0078] X(k) min =max(X(k)) fl ,X(k) fr ,X(k) rl ,X(k) rr), X(k) min This represents the minimum total number of dynamic changes in the braking torque applied by the brake wheel;

[0079] in,

[0080] The formula for calculating the maximum dynamic value of the braking torque of the brake wheel per unit time is:

[0081]

[0082] Where, ΔT1(k) flmax This represents the maximum dynamic range of the left front brake wheel per unit time; ΔT1(k) frmax ΔT1(k) represents the maximum dynamic range of the right front brake wheel per unit time. rlmax ΔT1(k) represents the maximum dynamic range of the left rear brake wheel per unit time. rrmax This indicates the maximum dynamic quantity executed by the right rear brake wheel per unit time.

[0083] Furthermore, by combining the formulas, we can obtain:

[0084]

[0085]

[0086] The formula for calculating the proportion of the total dynamic difference of the braking torque performed by the brake wheel to the total target braking torque of the brake wheel is as follows:

[0087]

[0088] Wherein, ρ(k) represents the proportion of the total dynamic difference of the braking torque performed by the brake wheel to the total target braking torque of the brake wheel.

[0089] Furthermore, we know that 0 ≤ ρ(k) ≤ 1.

[0090] The formula for calculating the wheel driving control coefficient is as follows:

[0091]

[0092] 0 <r0≤r(k)≤r1<1;

[0093] Where r(k) represents the driving control coefficient, r0 represents the driving control coefficient value parameter when ρ(k)=ρ0, r1 represents the driving control coefficient value parameter when ρ(k)=ρ1, ρ0 represents the first value of the total dynamic difference of the braking torque executed by the braking wheels in the total braking torque expected to be executed by the four braking wheels; ρ1 represents the second value of the total dynamic difference of the braking torque executed by the braking wheels in the total braking torque expected to be executed by the braking wheels.

[0094] In one embodiment, the formula for calculating the actual dynamic amount performed by the brake wheel per unit time is:

[0095]

[0096] Where, ΔT1(k) fl ΔT1(k) represents the actual dynamic quantity executed by the left front brake wheel per unit time. fr ΔT1(k) represents the actual dynamic quantity executed by the right front brake wheel per unit time. rl ΔT1(k) represents the actual dynamic quantity executed by the left rear brake wheel per unit time. rr This indicates the actual dynamic quantity executed per unit time by the right rear brake wheel.

[0097] Furthermore,

[0098]

[0099] That is, the actual dynamic quantities of the four braking wheels per unit time are all less than or equal to their maximum allowable braking torque per unit time, which avoids the braking torque change from exceeding its maximum braking torque change capability, solves the problems of damage to the braking mechanical structure and reduction of the service life of the braking system, and improves the reliability of the system.

[0100] The formula for calculating the dynamic braking torque at the current moment is:

[0101]

[0102] T(k) fl T(k) represents the dynamic braking torque applied to the left front brake wheel at the current moment. fr T(k) represents the dynamic braking torque applied to the right front brake wheel at the current moment. rl T(k) represents the dynamic braking torque applied to the left rear brake wheel at the current moment. rr This indicates the dynamic braking torque being applied to the right rear brake wheel at the current moment.

[0103] Furthermore, the braking wheel dynamically applies braking torque at the previous moment.

[0104] After multiple task cycles, the dynamic braking torque of the four braking wheels at the current moment is equal to the expected braking torque of the four braking wheels, that is:

[0105] Figure 2 This is a schematic diagram of an embodiment of a vehicle braking torque dynamic update control system provided by the present invention.

[0106] Reference Figure 2 The present invention also provides a dynamic update control system for vehicle braking torque, comprising:

[0107] The dynamic difference calculation module 21 is used to determine the dynamic difference between the target braking torque of each braking wheel of the vehicle and the braking torque at the previous moment.

[0108] The dynamic total number calculation module 22 is used to calculate the total number of dynamic changes in the braking torque of the brake wheel based on the braking torque change threshold of the brake wheel within a unit time.

[0109] The dynamic change minimum total number calculation module 23 is used to calculate the minimum total number of dynamic changes in the braking torque executed by the brake wheel based on the dynamic change total number;

[0110] The maximum execution dynamic variable calculation module 24 is used to calculate the maximum execution dynamic quantity of the braking torque of the brake wheel per unit time based on the minimum total number of dynamic changes.

[0111] The proportion calculation module 25 is used to calculate the proportion of the total dynamic difference of the braking torque performed by the brake wheel to the target total braking torque of the brake wheel;

[0112] The driving control coefficient determination module 26 is used to calculate the driving control coefficient of the brake wheel based on the percentage value;

[0113] The actual execution dynamic quantity calculation module 27 is used to calculate the actual execution dynamic quantity of the brake wheel per unit time based on the brake wheel driving control coefficient and the maximum execution dynamic quantity;

[0114] The dynamic execution braking torque calculation module 28 is used to calculate the dynamic execution braking torque at the current moment based on the actual execution dynamic quantity, the dynamic execution braking torque of the brake wheel at the previous moment, and the dynamic difference.

[0115] The beneficial effects of the above embodiments are as follows: After determining the dynamic difference between the target braking torque of each brake wheel of the vehicle and the braking torque at the previous moment, the dynamic difference calculation module 21 calculates the maximum dynamic quantity of the braking torque of the brake wheel per unit time by the maximum dynamic variable calculation module 24, the actual dynamic quantity calculation module 27 calculates the actual dynamic quantity of the brake wheel per unit time, and the dynamic braking torque calculation module 28 calculates the dynamic braking torque at the current moment by using the actual dynamic quantity, the dynamic braking torque of the brake wheel at the previous moment, and the dynamic difference, so that the actual dynamic quantity of each brake wheel per unit time is less than or equal to its maximum allowable variable of braking torque per unit time, thereby solving the problem of brake torque changing too quickly, which leads to damage to the mechanical structure of the braking system and reduced lifespan.

[0116] The above embodiments provide a dynamic update control system for vehicle braking torque that can realize the technical solutions described in the embodiments of the dynamic update control method for vehicle braking torque. The specific implementation principles of each module or unit can be based on the corresponding content in the embodiments of the dynamic update control method for vehicle braking torque, which will not be repeated here.

[0117] The foregoing has provided a detailed description of a method and system for manipulating the exoskeleton of a flexible object based on deep learning, as provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, those skilled in the art will recognize that there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for dynamically updating and controlling vehicle braking torque, characterized in that, include: Determine the dynamic difference between the target braking torque of each brake wheel of the vehicle and the braking torque at the previous moment; The total number of dynamic changes in the braking torque of the brake wheel is calculated based on the threshold value of the braking torque change of the brake wheel per unit time. Calculate the minimum total number of dynamic changes in the braking torque applied by the brake wheel based on the total number of dynamic changes; The maximum dynamic amount of braking torque of the brake wheel per unit time is calculated based on the minimum total number of dynamic changes. Calculate the proportion of the total dynamic difference of the braking torque performed by the brake wheel to the total target braking torque of the brake wheel; Calculate the braking wheel driving control coefficient based on the aforementioned percentage value; The actual dynamic quantity of the brake wheel per unit time is calculated based on the brake wheel driving control coefficient and the maximum dynamic quantity of execution. The dynamic braking torque at the current moment is calculated based on the actual dynamic quantity, the dynamic braking torque of the brake wheel at the previous moment, and the dynamic difference.

2. The dynamic update control method for vehicle braking torque according to claim 1, characterized in that, The formula for calculating the dynamic difference between the target braking torque of each brake wheel of the vehicle and the braking torque at the previous moment is as follows: Among them, T fl T represents the target braking torque of the left front brake wheel. fr T represents the target braking torque of the right front brake wheel. rl T represents the target braking torque of the left rear brake wheel. rr This indicates the target braking torque of the right rear brake wheel. T(k-1) fl T(k-1) represents the braking torque of the left front brake wheel at the previous moment. fr T(k-1) represents the braking torque of the right front brake wheel at the previous moment. rl This represents the dynamic braking torque applied to the left rear brake wheel, T(k-1). rr ΔT() represents the braking torque of the right rear brake wheel at the previous moment. fl ΔT() represents the dynamic difference in braking torque applied by the left front brake wheel. fr ΔT() represents the dynamic difference in braking torque applied by the right front brake wheel. rl ΔT() represents the dynamic difference in braking torque applied by the left rear brake wheel. rr This represents the dynamic difference in braking torque applied by the right rear brake wheel.

3. The dynamic update control method for vehicle braking torque according to claim 2, characterized in that, The formula for calculating the total number of dynamic changes in the braking torque in the brake wheel is: Where, X(k) fl X(k) represents the total number of dynamic changes in the braking torque applied by the left front brake wheel. fr X(k) represents the total number of dynamic changes in the braking torque applied by the right front brake wheel. rl X(k) represents the total number of dynamic changes in the braking torque applied by the left rear brake wheel. rr ΔT(k) represents the total number of dynamic changes in the braking torque applied by the right rear brake wheel. flmax ΔT(k) represents the maximum permissible variable of braking torque on the left front brake wheel per unit time. frmax This represents the maximum permissible variable ΔT(k) of the braking torque of the right front brake wheel per unit time. rlmax ΔT(k) represents the maximum permissible variable of braking torque on the left rear brake wheel per unit time. rrmax Δtime represents the maximum permissible variable of braking torque of the right rear brake wheel per unit time, and Δtime represents the task time period.

4. The dynamic update control method for vehicle braking torque according to claim 3, characterized in that, The formula for calculating the minimum total number of dynamic changes in the braking torque performed by the brake wheel is as follows: X(k) min =max(X(k) fl ,(k) fr ,X(k) rl ,(k) rr ); Where, X(k) min This represents the minimum total number of dynamic changes in the braking torque applied by the brake wheel.

5. The dynamic update control method for vehicle braking torque according to claim 4, characterized in that, The formula for calculating the maximum dynamic value of the braking torque of the brake wheel per unit time is: Where, ΔT1(k) flmax This indicates the maximum dynamic quantity executed by the left front brake wheel per unit time. ΔT1(k) frmax ΔT1(k) represents the maximum dynamic range of the right front brake wheel per unit time. rlmax ΔT1(k) represents the maximum dynamic range of the left rear brake wheel per unit time. rrmax This indicates the maximum dynamic quantity executed by the right rear brake wheel per unit time.

6. The dynamic update control method for vehicle braking torque according to claim 5, characterized in that, The formula for calculating the proportion of the total dynamic difference of the braking torque performed by the brake wheel to the total target braking torque of the brake wheel is as follows: Wherein, ρ(k) represents the proportion of the total dynamic difference of the braking torque performed by the brake wheel to the total target braking torque of the brake wheel.

7. The dynamic update control method for vehicle braking torque according to claim 6, characterized in that, The formula for calculating the driving control coefficient of the brake wheel is: 0<0≤r(k)≤r1<1； Where r(k) represents the driving control coefficient, r0 represents the driving control coefficient value parameter when ρ(k)=0, r1 represents the driving control coefficient value parameter when ρ(k)=1, ρ0 represents the first value of the total dynamic difference of the braking torque executed by the braking wheels in the total braking torque expected to be executed by the four braking wheels; ρ1 represents the second value of the total dynamic difference of the braking torque executed by the braking wheels in the total braking torque expected to be executed by the braking wheels.

8. The dynamic update control method for vehicle braking torque according to claim 7, characterized in that, The formula for calculating the actual dynamic amount executed by the brake wheel per unit time is: Wherein, ΔT1() fl ΔT1() represents the actual dynamic quantity executed per unit time by the left front brake wheel. fr ΔT1() represents the actual dynamic quantity executed per unit time by the right front brake wheel. rl ΔT1() represents the actual dynamic quantity executed per unit time by the left rear brake wheel. rr This indicates the actual dynamic quantity executed per unit time by the right rear brake wheel.

9. The dynamic update control method for vehicle braking torque according to claim 8, characterized in that, The formula for calculating the dynamic braking torque at the current moment is: T(k) fl T(k) represents the dynamic braking torque applied to the left front brake wheel at the current moment. fr T(k) represents the dynamic braking torque applied to the right front brake wheel at the current moment. rl T(k) represents the dynamic braking torque applied to the left rear brake wheel at the current moment. rr This indicates the dynamic braking torque being applied to the right rear brake wheel at the current moment.

10. A dynamic update control system for vehicle braking torque, characterized in that, include: The dynamic difference calculation module is used to determine the dynamic difference between the target braking torque of each braking wheel of the vehicle and the braking torque at the previous moment. The dynamic total number calculation module is used to calculate the total number of dynamic changes in braking torque in the brake wheel based on the braking torque change threshold of the brake wheel within a unit time. The dynamic change minimum total number calculation module is used to calculate the minimum total number of dynamic changes in the braking torque executed by the brake wheel based on the dynamic change total number; The maximum execution dynamic variable calculation module is used to calculate the maximum execution dynamic quantity of the braking torque of the brake wheel per unit time based on the minimum total number of dynamic changes. The percentage calculation module is used to calculate the percentage of the total dynamic difference of the braking torque performed by the brake wheel in the total target braking torque of the brake wheel; A driving control coefficient determination module is used to calculate the driving control coefficient of the brake wheel based on the percentage value; The actual execution dynamic quantity calculation module is used to calculate the actual execution dynamic quantity of the brake wheel per unit time based on the brake wheel driving control coefficient and the maximum execution dynamic quantity; The dynamic execution braking torque calculation module is used to calculate the dynamic execution braking torque at the current moment based on the actual execution dynamic quantity, the dynamic execution braking torque of the brake wheel at the previous moment, and the dynamic difference.

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