Hydraulic control method, device, equipment and storage medium for multi-wheel automobile braking system

Abstract

The application discloses a kind of multi-wheel automobile brake system hydraulic control method, device, equipment and storage medium, wherein, method includes according to the tracking hydraulic target variation of each wheel brake cylinder and the tracking hydraulic theoretical variation boundary value of each wheel brake cylinder in task cycle, the tracking hydraulic execution variation of each wheel brake cylinder is determined and the transient tracking hydraulic of current time, control realizes the transient tracking hydraulic variation of each wheel brake cylinder to the required time consistent of the driving intent hydraulic of each wheel brake cylinder.The tracking hydraulic execution variation of each wheel brake cylinder in the application is less than or equal to its according to the tracking hydraulic theoretical variation boundary value of each wheel brake cylinder in task cycle, effectively avoid the hydraulic variation of each hydraulic cylinder exceeds the allowed working capacity;The application can control the time of the transient tracking hydraulic variation of each wheel brake cylinder to the driving intent hydraulic of each wheel brake cylinder is equal, avoids the transient tracking hydraulic variation of each wheel brake cylinder between each other is not coordinated.

Description

Technical Field

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

[0002] Special-purpose vehicles, including various engineering vehicles, fire trucks, road clearing vehicles, and aerial work platforms, are widely used in harsh environments and complex terrains. Due to the special nature of their operating environment and requirements, special-purpose vehicles differ from ordinary vehicles in their structure and accessories. Among their components, the numerous brake cylinders, each equipped with its own wheel, are a crucial element. These brake cylinders are interconnected through a hydraulic system, forming a complex braking system that ensures the vehicle's braking performance and stability during operation.

[0003] During the braking process of special vehicles, the coordination of hydraulic pressure changes in each brake cylinder plays a crucial role in the vehicle's stability and safety. Uncoordinated hydraulic pressure changes can lead to an imbalance in braking torque, causing the vehicle to rotate or deviate, and in severe cases, potentially resulting in rollover or overturning. Such an event not only damages the special vehicle itself but also poses a threat to the driver and other personnel, impacting operational efficiency and safety.

[0004] When braking special vehicles, the braking force is often controlled by adjusting the hydraulic pressure of each wheel's hydraulic brake cylinder, thereby achieving the effect of deceleration and stopping the vehicle. Existing technology primarily improves the coordination of the hydraulic system by adjusting the rate of hydraulic pressure change in each brake cylinder. However, this method cannot completely solve the problem of chaotic hydraulic pressure changes within the cylinders. In complex terrain and harsh environments, the hydraulic pressure changes in each cylinder may be affected by various factors, including but not limited to temperature, humidity, and pressure, which can lead to uncoordinated hydraulic pressure changes.

[0005] Therefore, in special vehicles, the changes in hydraulic pressure in the brake cylinders of each wheel must be coordinated with each other. If the braking force of each wheel of the vehicle changes chaotically during the braking process of the special vehicle, for example, if the hydraulic pressure in some hydraulic brake cylinders changes too quickly and the hydraulic pressure in some hydraulic brake cylinders changes too slowly, it will cause the special vehicle to become unstable. This will not only damage the hydraulic system, but also seriously affect driving safety. Summary of the Invention

[0006] To address the aforementioned deficiencies or improvement needs of existing technologies, the present invention aims to provide a hydraulic control method, device, equipment, and storage medium for a multi-wheel vehicle braking system. This includes: calculating the difference between the driving intention hydraulic pressure of each wheel brake cylinder and its instantaneous tracking hydraulic pressure at the previous moment, and determining the target change amount of the tracking hydraulic pressure for each wheel brake cylinder; determining a normalization coefficient for the target change amount of the tracking hydraulic pressure for each wheel brake cylinder based on the target change amount; calculating and determining an ideal change coefficient for the tracking hydraulic pressure for each wheel brake cylinder based on the theoretical change boundary value of the tracking hydraulic pressure for each wheel brake cylinder within the task cycle; determining the executed change amount of the tracking hydraulic pressure for each wheel brake cylinder based on the normalization coefficient and the ideal change coefficient of the tracking hydraulic pressure for each wheel brake cylinder, thereby determining the transient tracking hydraulic pressure of each wheel brake cylinder at the current moment, and controlling the transient tracking hydraulic pressure of each wheel brake cylinder to change within the range conforming to the theoretical change boundary value of the tracking hydraulic pressure for each wheel brake cylinder within its task cycle until the time required for the driving intention hydraulic pressure of each wheel brake cylinder is consistent.

[0007] To achieve this objective, the present invention adopts the following technical solution:

[0008] This invention provides a hydraulic control method for a multi-wheel vehicle braking system, comprising:

[0009] Calculate the difference between the driving intention hydraulic pressure of each wheel brake cylinder and its instantaneous tracking hydraulic pressure at the previous moment, and determine the target change of the tracking hydraulic pressure of each wheel brake cylinder;

[0010] Based on the change in the tracking hydraulic target of each wheel brake cylinder, determine the normalization coefficient of the change in the tracking hydraulic target of each wheel brake cylinder;

[0011] Based on the theoretical boundary value of the tracking hydraulic pressure of each wheel brake cylinder during the mission cycle, the ideal variation coefficient of the tracking hydraulic pressure of each wheel brake cylinder is calculated and determined.

[0012] Based on the normalization coefficient of the target change in the tracking hydraulic pressure of each wheel brake cylinder and the ideal change coefficient of the tracking hydraulic pressure of each wheel brake cylinder, the execution change in the tracking hydraulic pressure of each wheel brake cylinder is determined, and then the transient tracking hydraulic pressure of each wheel brake cylinder at the current moment is determined. The transient tracking hydraulic pressure of each wheel brake cylinder is controlled to change within the range that meets the theoretical change boundary value of the tracking hydraulic pressure of each wheel brake cylinder within its task cycle until the time required for the driving intention hydraulic pressure of each wheel brake cylinder is consistent.

[0013] Further, the step of determining the normalization coefficient of the tracking hydraulic target change of each wheel brake cylinder based on the tracking hydraulic target change of each wheel brake cylinder includes:

[0014] The total upward adjustment of the tracking hydraulic target for vehicle braking is obtained by calculating the sum of the non-negative values ​​among the changes in the tracking hydraulic target, and the total downward adjustment of the tracking hydraulic target for vehicle braking is obtained by calculating the sum of the negative values ​​among the changes in the tracking hydraulic target.

[0015] Based on the ratio of the change in the tracking hydraulic target to the total upward adjustment of the tracking hydraulic target, the normalization coefficient of the upward adjustment of each wheel brake cylinder is obtained. The ratio of the change in the tracking hydraulic target to the total downward adjustment of the tracking hydraulic target is calculated to obtain the normalization coefficient of the downward adjustment of each wheel brake cylinder.

[0016] Furthermore, the step of calculating and determining the ideal variation coefficient of the tracking hydraulic pressure of each wheel brake cylinder based on the theoretical boundary value of the tracking hydraulic pressure variation of each wheel brake cylinder within the mission cycle includes:

[0017] The theoretical boundary values ​​for the tracking hydraulic pressure of each wheel brake cylinder include the theoretical upward boundary value and the theoretical downward boundary value of the tracking hydraulic pressure of each wheel brake cylinder.

[0018] For each wheel brake cylinder where the change in the tracking hydraulic target is non-negative, the minimum value of the theoretical upward boundary value of the tracking hydraulic system is taken as the theoretical upward boundary value of the tracking hydraulic system for the whole vehicle. For each wheel brake cylinder where the change in the tracking hydraulic target is negative, the minimum value of the theoretical downward boundary value of the tracking hydraulic system is taken as the theoretical downward boundary value of the tracking hydraulic system for the whole vehicle.

[0019] The boundary value coefficient of the vehicle tracking hydraulic theory is calculated by the ratio of the theoretical upward boundary value and the theoretical downward boundary value of the vehicle tracking hydraulic theory.

[0020] Furthermore, the step of calculating and determining the ideal variation coefficient of the tracking hydraulic pressure of each wheel brake cylinder based on the theoretical boundary value of the tracking hydraulic pressure variation of each wheel brake cylinder within the mission cycle also includes:

[0021] The coefficient of total change in the tracking hydraulic target of the vehicle braking system is calculated by the ratio of the total upward adjustment of the tracking hydraulic target of the vehicle braking system to the total downward adjustment of the tracking hydraulic target of the vehicle braking system.

[0022] Based on the theoretical upward boundary value of the vehicle tracking hydraulic system, the target total change coefficient of the tracking hydraulic system, and the theoretical boundary value coefficient of the vehicle tracking hydraulic system, the ideal change in the vehicle tracking hydraulic system is calculated and determined. This ideal change in the vehicle tracking hydraulic system includes both an ideal upward adjustment and an ideal downward adjustment.

[0023]

[0024] Where, ΔP(k) AllUpExp Let ΔP(k) be the ideal upward adjustment of the vehicle's tracking hydraulic system at time k.AllDownExp Let γ(k) be the ideal hydraulic downward adjustment amount for vehicle tracking at time k. AllUpDown Let γ(k) be the coefficient of the total change in the tracking hydraulic target during vehicle braking at time k. AllUpDownMax Let ΔP(k) be the boundary value coefficient of the vehicle tracking hydraulic theory at time k. AllUpMax Adjust the boundary values ​​for the vehicle tracking hydraulic theory.

[0025] Furthermore, the step of calculating and determining the ideal variation coefficient of the tracking hydraulic pressure of each wheel brake cylinder based on the theoretical boundary value of the tracking hydraulic pressure variation of each wheel brake cylinder within the mission cycle also includes:

[0026] The ideal variation coefficient of the tracking hydraulic pressure of each wheel brake cylinder includes the ideal upward adjustment coefficient of the tracking hydraulic pressure of each wheel brake cylinder and the ideal downward adjustment coefficient of the tracking hydraulic pressure of each wheel brake cylinder.

[0027] The ideal adjustment coefficient of the tracking hydraulic pressure of each wheel brake cylinder is calculated by ratio of the theoretical adjustment boundary value of the tracking hydraulic pressure of each wheel brake cylinder and the ideal adjustment amount of the tracking hydraulic pressure of the whole vehicle.

[0028] The ideal adjustment coefficient of the tracking hydraulic pressure of each wheel brake cylinder is calculated by ratio based on the theoretical adjustment boundary value of the tracking hydraulic pressure of each wheel brake cylinder and the ideal adjustment amount of the tracking hydraulic pressure of the whole vehicle.

[0029] Further, the step of determining the tracking hydraulic pressure change of each wheel brake cylinder based on the normalized coefficient of the target change in the tracking hydraulic pressure of each wheel brake cylinder and the ideal change coefficient of the tracking hydraulic pressure of each wheel brake cylinder, and then determining the transient tracking hydraulic pressure of each wheel brake cylinder at the current moment, includes:

[0030] The tracking hydraulic actuation coefficient of each wheel brake cylinder is determined based on the normalized coefficient of the target change in the tracking hydraulic pressure of each wheel brake cylinder and the ideal change coefficient of the tracking hydraulic pressure of each wheel brake cylinder.

[0031] Furthermore, the step of determining the tracking hydraulic pressure change of each wheel brake cylinder based on the normalized coefficient of the target change in the tracking hydraulic pressure of each wheel brake cylinder and the ideal change coefficient of the tracking hydraulic pressure of each wheel brake cylinder, and then determining the transient tracking hydraulic pressure of each wheel brake cylinder at the current moment, further includes:

[0032] The tracking hydraulic actuation change of each wheel brake cylinder is calculated and determined based on the tracking hydraulic actuation coefficient of each wheel brake cylinder and the ideal tracking hydraulic actuation change of the whole vehicle.

[0033] Based on the change in the tracking hydraulic pressure and the transient tracking hydraulic pressure at the previous moment, the transient tracking hydraulic pressure of each wheel brake cylinder at the previous moment is calculated and determined.

[0034] The present invention also provides a hydraulic control device for a multi-wheel vehicle braking system, comprising:

[0035] The first module is used to calculate the difference between the driving intention hydraulic pressure of each wheel brake cylinder and its instantaneous tracking hydraulic pressure at the previous moment, and to determine the target change of the tracking hydraulic pressure of each wheel brake cylinder.

[0036] The second module is used to determine the normalization coefficient of the tracking hydraulic target change of each wheel brake cylinder based on the tracking hydraulic target change of each wheel brake cylinder;

[0037] The third module is used to calculate and determine the ideal variation coefficient of the tracking hydraulic pressure for each wheel brake cylinder based on the theoretical boundary value of the tracking hydraulic pressure variation for each wheel brake cylinder during the task cycle; and

[0038] The fourth module is used to determine the tracking hydraulic pressure execution change of each wheel brake cylinder based on the normalization coefficient of the target change of the tracking hydraulic pressure of each wheel brake cylinder and the ideal change coefficient of the tracking hydraulic pressure of each wheel brake cylinder, and then determine the transient tracking hydraulic pressure of each wheel brake cylinder at the current moment, and control the transient tracking hydraulic pressure of each wheel brake cylinder to change within the range that meets the theoretical change boundary value of the tracking hydraulic pressure of each wheel brake cylinder within its task cycle until the time required for the driving intention hydraulic pressure of each wheel brake cylinder is consistent.

[0039] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the hydraulic control method for the multi-wheel vehicle braking system.

[0040] The present invention also provides a computer-readable storage medium storing computer instructions that cause the computer to execute the hydraulic control method for the multi-wheel vehicle braking system.

[0041] The beneficial effects of this invention are:

[0042] This invention provides a hydraulic control method, device, equipment, and storage medium for a multi-wheel vehicle braking system. The method includes: calculating the difference between the driving intention hydraulic pressure of each wheel brake cylinder and its instantaneous tracking hydraulic pressure at the previous moment, determining the target change amount of the tracking hydraulic pressure for each wheel brake cylinder; determining the normalization coefficient of the target change amount of the tracking hydraulic pressure for each wheel brake cylinder based on the target change amount; calculating and determining the ideal change coefficient of the tracking hydraulic pressure for each wheel brake cylinder based on the theoretical change boundary value of the tracking hydraulic pressure for each wheel brake cylinder within the task cycle; determining the executed change amount of the tracking hydraulic pressure for each wheel brake cylinder based on the normalization coefficient of the target change amount of the tracking hydraulic pressure for each wheel brake cylinder and the ideal change coefficient of the tracking hydraulic pressure for each wheel brake cylinder, thereby determining the transient tracking hydraulic pressure of each wheel brake cylinder at the current moment, and controlling the transient tracking hydraulic pressure of each wheel brake cylinder to change within the range that meets the theoretical change boundary value of the tracking hydraulic pressure for each wheel brake cylinder within its task cycle until the time required for the driving intention hydraulic pressure of each wheel brake cylinder is consistent.

[0043] In this invention, the calculated change in the tracking hydraulic pressure of each wheel brake cylinder is less than or equal to the theoretical change boundary value of the tracking hydraulic pressure of each wheel brake cylinder within the task cycle. This effectively avoids the hydraulic pressure change of each hydraulic cylinder exceeding the allowable working capacity, thereby avoiding the risk of damage to the hydraulic system and improving the reliability of the system.

[0044] According to the present invention, the transient tracking hydraulic pressure of each wheel brake cylinder is controlled so that the time taken for the hydraulic pressure of each wheel brake cylinder to change is equal. This avoids the problem of inconsistent instantaneous tracking hydraulic pressure changes among the wheel brake cylinders, which leads to some hydraulic cylinders changing hydraulic pressure quickly while others change hydraulic pressure slowly. This avoids the dynamic chaos of the vehicle's braking torque and the safety problem of vehicle yaw instability, and improves the stability of the vehicle during braking.

[0045] Additional aspects and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of this application. Attached Figure Description

[0046] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0047] Figure 1 This is a flowchart of the hydraulic control method for a multi-wheel vehicle braking system in an embodiment of the present invention;

[0048] Figure 2 This is a schematic diagram of the hydraulic control device for a multi-wheel vehicle braking system in an embodiment of the present invention. Detailed Implementation

[0049] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0050] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0051] Those skilled in the art will understand that, unless otherwise stated, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the word “comprising” as used in the specification of this application means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof.

[0052] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as in the embodiments of this application.

[0053] This embodiment provides a hydraulic control method, device, equipment, and storage medium for a multi-wheeled vehicle braking system, which is applied to hydraulic adjustment and control in the braking system of a multi-wheeled vehicle.

[0054] The flowchart of the hydraulic control method for a multi-wheel vehicle braking system provided in this embodiment is as follows: Figure 1 As shown, it includes steps S10-S40.

[0055] S10. Calculate the difference between the driving intention hydraulic pressure of each wheel brake cylinder and its instantaneous tracking hydraulic pressure at the previous moment, and determine the target change in tracking hydraulic pressure of each wheel brake cylinder:

[0056] ΔP(k) i =P i -P(k-1) i ;

[0057] Where, ΔP(k) i Let P be the change in the tracking hydraulic target of the i-th wheel brake cylinder at time k. i Let P(k-1) be the hydraulic pressure for the driving intention of the i-th brake cylinder. i Let be the instantaneous tracking hydraulic pressure of the i-th brake cylinder at time k-1.

[0058] In this embodiment, based on the sign of the change in the tracking hydraulic target, it can be determined whether the transient tracking hydraulic pressure of the wheel brake cylinder needs to be adjusted upwards or downwards. Further, the normalization coefficients for the changes in the tracking hydraulic target of the wheel brake cylinder that need to be adjusted upwards and downwards are calculated respectively.

[0059] S20. Based on the change in the tracking hydraulic target of each wheel brake cylinder, determine the normalization coefficient of the change in the tracking hydraulic target of each wheel brake cylinder.

[0060] S201. Calculate the sum of non-negative values ​​in the change of the tracking hydraulic target to obtain the total upward adjustment of the tracking hydraulic target for the whole vehicle braking; calculate the sum of negative values ​​in the change of the tracking hydraulic target to obtain the total downward adjustment of the tracking hydraulic target for the whole vehicle braking.

[0061] In this embodiment, if the target change in the tracking hydraulic pressure of a certain wheel brake cylinder is non-negative, it indicates that the tracking hydraulic pressure of that brake cylinder needs to be increased; if the target change in the tracking hydraulic pressure of a certain wheel brake cylinder is negative, it indicates that the tracking hydraulic pressure of that brake cylinder needs to be decreased.

[0062] S202. Based on the ratio of the change in the tracking hydraulic target to the total upward adjustment of the tracking hydraulic target, the normalization coefficient of the upward adjustment of each wheel brake cylinder is obtained. The ratio of the change in the tracking hydraulic target to the total downward adjustment of the tracking hydraulic target is calculated to obtain the normalization coefficient of the downward adjustment of each wheel brake cylinder.

[0063]

[0064] Where, b(k) Upi Let b(k) be the normalized coefficient of the upward adjustment of the i-th wheel brake cylinder at time k. Downi Let be the normalized coefficient of the downward adjustment of the i-th brake cylinder at time k.

[0065] S30. Based on the theoretical boundary value of the tracking hydraulic pressure change of each wheel brake cylinder within the mission cycle, calculate and determine the ideal variation coefficient of the tracking hydraulic pressure of each wheel brake cylinder.

[0066] In this embodiment, the theoretical change boundary value of the tracking hydraulic pressure of each wheel brake cylinder during the task cycle reflects the theoretical change capability of the tracking hydraulic pressure of each wheel brake cylinder. Furthermore, the theoretical change boundary value of the tracking hydraulic pressure of each wheel brake cylinder includes the theoretical upward boundary value and the theoretical downward boundary value.

[0067] S301. For each wheel brake cylinder with a non-negative change in the tracking hydraulic target, the minimum value of the theoretical upward boundary value of the tracking hydraulic system is taken as the theoretical upward boundary value of the vehicle's tracking hydraulic system. For each wheel brake cylinder with a negative change in the tracking hydraulic target, the minimum value of the theoretical downward boundary value of the tracking hydraulic system is taken as the theoretical downward boundary value of the vehicle's tracking hydraulic system.

[0068]

[0069] Where, ΔP(k) AllUpMax Let ΔP(k) be the theoretically adjusted boundary value for vehicle tracking hydraulics at time k. AllDownMax The boundary value for adjusting the hydraulic system for vehicle tracking at time k is ΔP. UpMaxi The theoretical boundary value of the tracking hydraulic system for the i-th brake cylinder is adjusted to ΔP. DownMaxi Adjust the boundary value of the tracking hydraulic theory for the i-th brake cylinder.

[0070] Furthermore, the theoretical boundary value coefficient for vehicle tracking hydraulics is calculated by ratioing the theoretical upward boundary value and the theoretical downward boundary value. In this embodiment, the theoretical boundary value coefficient for vehicle tracking hydraulics is the ratio of the theoretical upward boundary value to the theoretical downward boundary value.

[0071]

[0072] Where, γ(k) AllUpDownMax Let be the boundary value coefficient of the vehicle tracking hydraulic theory at time k.

[0073] Furthermore, based on the ratio of the total upward adjustment to the total downward adjustment of the vehicle braking tracking hydraulic target, the coefficient of the total change in the vehicle braking tracking hydraulic target is calculated. In this embodiment, the coefficient of the total change in the vehicle braking tracking hydraulic target is the ratio of the total upward adjustment to the total downward adjustment of the vehicle braking tracking hydraulic target:

[0074]

[0075] Where, γ(k) AllUpDown Let be the coefficient of the total change in the tracking hydraulic target during vehicle braking at time k.

[0076] S302. Based on the theoretical upper limit value of the vehicle tracking hydraulic system, the target total change coefficient of the tracking hydraulic system, and the theoretical limit value coefficient of the vehicle tracking hydraulic system, calculate and determine the ideal change in the vehicle tracking hydraulic system. The ideal change in the vehicle tracking hydraulic system includes the ideal upward adjustment and the ideal downward adjustment of the vehicle tracking hydraulic system.

[0077]

[0078] Where, ΔP(k) AllUpExp Let ΔP(k) be the ideal upward adjustment of the vehicle's tracking hydraulic system at time k. AllDownExp Let γ(k) be the ideal hydraulic downward adjustment amount for vehicle tracking at time k. AllUpDown Let γ(k) be the coefficient of the total change in the tracking hydraulic target during vehicle braking at time k. AllUpDownMax Let ΔP(k) be the boundary value coefficient of the vehicle tracking hydraulic theory at time k. AllUpMax Adjust the boundary values ​​for the vehicle tracking hydraulic theory.

[0079] Furthermore, in this embodiment, the ideal variation coefficient of the tracking hydraulic pressure of each wheel brake cylinder includes the ideal upward adjustment coefficient of the tracking hydraulic pressure of each wheel brake cylinder and the ideal downward adjustment coefficient of the tracking hydraulic pressure of each wheel brake cylinder.

[0080] S303. Based on the theoretical upward boundary value of the tracking hydraulic pressure of each wheel brake cylinder and the ideal upward adjustment amount of the vehicle's tracking hydraulic pressure, the ideal upward adjustment coefficient of the tracking hydraulic pressure of each wheel brake cylinder is calculated by ratio; based on the theoretical downward boundary value of the tracking hydraulic pressure of each wheel brake cylinder and the ideal downward adjustment amount of the vehicle's tracking hydraulic pressure, the ideal downward adjustment coefficient of the tracking hydraulic pressure of each wheel brake cylinder is calculated by ratio.

[0081]

[0082] Where, x(k) UpMaxi Let x(k) be the ideal adjustment coefficient for the tracking hydraulic pressure of the i-th brake cylinder. DownMaxi This is the ideal adjustment coefficient for the tracking hydraulic pressure of the i-th brake cylinder.

[0083] In this embodiment, the tracking hydraulic pressure change of each wheel brake cylinder is calculated based on the normalization coefficient of the target change of the tracking hydraulic pressure of each wheel brake cylinder and the ideal change coefficient of the tracking hydraulic pressure of each wheel brake cylinder, so as to ensure that the tracking hydraulic pressure change of each wheel brake cylinder does not exceed its respective theoretical change capability of tracking hydraulic pressure.

[0084] S40. Based on the normalization coefficient of the target change of the tracking hydraulic pressure of each wheel brake cylinder and the ideal change coefficient of the tracking hydraulic pressure of each wheel brake cylinder, determine the execution change of the tracking hydraulic pressure of each wheel brake cylinder, and then determine the transient tracking hydraulic pressure of each wheel brake cylinder at the current moment. Control the transient tracking hydraulic pressure of each wheel brake cylinder to change within the range that meets the theoretical change boundary value of the tracking hydraulic pressure of each wheel brake cylinder within its task cycle until the time required for the driving intention hydraulic pressure of each wheel brake cylinder is consistent.

[0085] S401. Determine the tracking hydraulic execution coefficient of each wheel brake cylinder based on the normalization coefficient of the target change in tracking hydraulic pressure of each wheel brake cylinder and the ideal change coefficient of tracking hydraulic pressure of each wheel brake cylinder.

[0086] Specifically, the tracking hydraulic pressure actuation coefficient for each wheel brake cylinder includes both the tracking hydraulic pressure upward adjustment actuation coefficient and the tracking hydraulic pressure downward adjustment actuation coefficient. In this embodiment, according to the adjustment requirements of the tracking hydraulic pressure of each wheel brake cylinder, one of the above-mentioned tracking hydraulic pressure upward adjustment actuation coefficient and tracking hydraulic pressure downward adjustment actuation coefficient is selected to calculate the change in the tracking hydraulic pressure actuation of each wheel brake cylinder.

[0087] Furthermore, note:

[0088]

[0089] Furthermore, the formula for calculating the tracking hydraulic actuation coefficient of each wheel brake cylinder is as follows:

[0090]

[0091] Where, ε(k) Upi Let ε(k) be the tracking hydraulic adjustment actuation coefficient for the i-th brake cylinder at time k. Downi Let be the tracking hydraulic adjustment coefficient of the i-th brake cylinder at time k.

[0092] S402. Based on the tracking hydraulic actuation coefficient of each wheel brake cylinder and the ideal change in tracking hydraulic pressure of the whole vehicle, calculate and determine the change in tracking hydraulic pressure of each wheel brake cylinder.

[0093] Furthermore, the formula for calculating the change in the tracking hydraulic actuation of each wheel brake cylinder is as follows:

[0094]

[0095] Where, ΔP(k) Acti Let be the change in the tracking hydraulic actuation of the i-th brake cylinder at time k.

[0096] Furthermore, in this embodiment, the change in the tracking hydraulic pressure of each wheel brake cylinder will not exceed its own theoretical limit value for tracking hydraulic pressure change, that is, it will not exceed its theoretical tracking hydraulic pressure change capability. This can avoid the risk of damage to the hydraulic system and improve the reliability of the system.

[0097] If the hydraulic pressure of a certain brake cylinder is greater than or equal to the instantaneous tracking hydraulic pressure of its previous moment:

[0098]

[0099] Furthermore:

[0100]

[0101] Furthermore:

[0102]

[0103] Furthermore:

[0104]

[0105] That is, when the driving intention hydraulic pressure of a certain brake cylinder is greater than or equal to the instantaneous tracking hydraulic pressure of its previous moment, the change in its tracking hydraulic pressure is less than or equal to the theoretical over-limit value of its tracking hydraulic pressure.

[0106] Similarly, if the hydraulic pressure of a certain brake cylinder in response to driving intention is less than the instantaneous tracking hydraulic pressure at the previous moment, it can be deduced that:

[0107] ΔP(k) Acti ≤ΔP DownMaxi ;

[0108] That is, when the driving intention hydraulic pressure of a certain brake cylinder is less than the instantaneous tracking hydraulic pressure at the previous moment, the change in its tracking hydraulic pressure is less than or equal to the theoretical downward adjustment boundary value of its tracking hydraulic pressure.

[0109] In summary, in this embodiment, the change in the tracking hydraulic pressure of any brake cylinder is less than or equal to its theoretical limit value for tracking hydraulic pressure change. In this embodiment, the calculated change in the tracking hydraulic pressure of each wheel brake cylinder is less than or equal to its theoretical limit value for tracking hydraulic pressure change within the task cycle, effectively preventing the hydraulic pressure change of each cylinder from exceeding its allowable working capacity, thereby avoiding the risk of damage to the hydraulic system and improving the system's reliability.

[0110] Furthermore, in this embodiment, the transient tracking hydraulic pressure of each wheel brake cylinder reaches its respective driving intention hydraulic pressure at the same time. That is, in the same task cycle, the cumulative tracking hydraulic pressure execution change of each wheel brake cylinder is equal to the value of its tracking hydraulic pressure target change.

[0111] Calculate the ratio of the change in the tracking hydraulic target of each wheel brake cylinder to the change in its tracking hydraulic actuation in this embodiment:

[0112]

[0113] Substituting the formula for calculating the tracking hydraulic actuation coefficient of each wheel brake cylinder into the above equation, we get:

[0114]

[0115] Furthermore, by substituting the normalized coefficients of the hydraulic target changes tracked by each wheel brake cylinder, we obtain:

[0116]

[0117] Furthermore, for cases where the hydraulic pressure at the driving intention is greater than or equal to the instantaneous tracking hydraulic pressure at the previous moment:

[0118]

[0119] Then we have:

[0120]

[0121] It can be seen that the ratio of the target change in the tracking hydraulic pressure of all brake cylinders to the change in the execution of the tracking hydraulic pressure is the same. Therefore, in this embodiment, the time required for all brake cylinders to change the instantaneous tracking hydraulic pressure (increase or decrease) to the hydraulic pressure of their driving intention is equal. This avoids the problem of chaotic braking force changes and yaw instability caused by the incoordination of the instantaneous tracking hydraulic pressure changes of each wheel brake cylinder, and improves the stability of the vehicle during braking.

[0122] S403. Based on the change in the tracking hydraulic pressure and the transient tracking hydraulic pressure at the previous moment, calculate and determine the transient tracking hydraulic pressure of each wheel brake cylinder at the previous moment.

[0123]

[0124] Where, P(k) i Let be the transient tracking hydraulic pressure of the i-th brake cylinder at time k.

[0125] Furthermore, by controlling the transient tracking hydraulic pressure of each wheel brake cylinder according to the hydraulic control method of the multi-wheel vehicle braking system in this embodiment, the time taken for the hydraulic pressure of each wheel brake cylinder to change to be equal is controlled. This avoids the problem of inconsistent instantaneous tracking hydraulic pressure changes among the wheel brake cylinders, which leads to some hydraulic cylinders changing hydraulic pressure quickly while others change hydraulic pressure slowly. This avoids dynamic chaos in the braking torque of the whole vehicle and safety issues such as vehicle yaw instability, and improves the stability of the vehicle during braking.

[0126] This embodiment also provides a hydraulic control device for a multi-wheel vehicle braking system, the schematic diagram of which is shown below. Figure 2 As shown, it includes a first module 21, a second module 22, a third module 23, and a fourth module 24.

[0127] The first module 21 is used to calculate the difference between the driving intention hydraulic pressure of each wheel brake cylinder and the instantaneous tracking hydraulic pressure of the previous moment, and to determine the target change of the tracking hydraulic pressure of each wheel brake cylinder.

[0128] The second module 22 is used to determine the normalization coefficient of the tracking hydraulic target change of each wheel brake cylinder based on the tracking hydraulic target change of each wheel brake cylinder.

[0129] The third module 23 is used to calculate and determine the ideal variation coefficient of the tracking hydraulic pressure of each wheel brake cylinder based on the theoretical change boundary value of the tracking hydraulic pressure of each wheel brake cylinder during the task cycle.

[0130] The fourth module 24 is used to determine the tracking hydraulic pressure execution change of each wheel brake cylinder based on the normalization coefficient of the target change of the tracking hydraulic pressure of each wheel brake cylinder and the ideal change coefficient of the tracking hydraulic pressure of each wheel brake cylinder. Then, it determines the transient tracking hydraulic pressure of each wheel brake cylinder at the current moment and controls the transient tracking hydraulic pressure of each wheel brake cylinder to change within the range that meets the theoretical change boundary value of the tracking hydraulic pressure of each wheel brake cylinder within its task cycle until the time required for the driving intention hydraulic pressure of each wheel brake cylinder is consistent.

[0131] It should be noted that the hydraulic control device for the multi-wheel vehicle braking system provided in this embodiment can be a computer program (including program code) running on a computer device. For example, the hydraulic control device for the multi-wheel vehicle braking system is an application program that can be used to execute the corresponding steps in the method provided in the embodiments of this application.

[0132] In some feasible implementations, the hydraulic control device for the multi-wheel vehicle braking system provided in this embodiment can be implemented using a combination of hardware and software. As an example, the hydraulic control device for the multi-wheel vehicle braking system in this embodiment can be a processor in the form of a hardware decoding processor, which is programmed to execute the hydraulic control method for the multi-wheel vehicle braking system provided in this embodiment. For example, the processor in the form of a hardware decoding processor can be one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0133] In some feasible implementations, the hydraulic control device for the multi-wheel vehicle braking system provided in this embodiment can be implemented in software. It can be software in the form of programs and plug-ins, and includes a series of modules to implement the hydraulic control method for the multi-wheel vehicle braking system provided in this embodiment of the invention.

[0134] This embodiment also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the hydraulic control method for the multi-wheel vehicle braking system in this embodiment. For details, please refer to the implementation methods provided in the above steps, which will not be repeated here.

[0135] This embodiment also provides a computer-readable storage medium that stores computer instructions. The computer instructions cause the computer to execute the hydraulic control method for the multi-wheel vehicle braking system in this embodiment. For details, please refer to the implementation methods provided in the above steps, which will not be repeated here.

[0136] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0137] The above description is only a partial embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A hydraulic control method for a multi-wheel vehicle braking system, characterized in that, include: Calculate the difference between the driving intention hydraulic pressure of each wheel brake cylinder and its instantaneous tracking hydraulic pressure at the previous moment, and determine the target change of the tracking hydraulic pressure of each wheel brake cylinder; Based on the change in the tracking hydraulic target of each wheel brake cylinder, determine the normalization coefficient of the change in the tracking hydraulic target of each wheel brake cylinder; Based on the theoretical boundary value of the tracking hydraulic pressure of each wheel brake cylinder during the mission cycle, the ideal variation coefficient of the tracking hydraulic pressure of each wheel brake cylinder is calculated and determined. Based on the normalization coefficient of the target change in the tracking hydraulic pressure of each wheel brake cylinder and the ideal change coefficient of the tracking hydraulic pressure of each wheel brake cylinder, the execution change in the tracking hydraulic pressure of each wheel brake cylinder is determined, and then the transient tracking hydraulic pressure of each wheel brake cylinder at the current moment is determined. The transient tracking hydraulic pressure of each wheel brake cylinder is controlled to change within the range that meets the theoretical change boundary value of the tracking hydraulic pressure of each wheel brake cylinder within its task cycle until the time required for the driving intention hydraulic pressure of each wheel brake cylinder is consistent.

2. The hydraulic control method for a multi-wheel vehicle braking system according to claim 1, characterized in that, The step of determining the normalization coefficient of the tracking hydraulic target change of each wheel brake cylinder based on the tracking hydraulic target change of each wheel brake cylinder includes: The total upward adjustment of the tracking hydraulic target for vehicle braking is obtained by calculating the sum of the non-negative values ​​among the changes in the tracking hydraulic target, and the total downward adjustment of the tracking hydraulic target for vehicle braking is obtained by calculating the sum of the negative values ​​among the changes in the tracking hydraulic target. Based on the ratio of the change in the tracking hydraulic target to the total upward adjustment of the tracking hydraulic target, the normalization coefficient of the upward adjustment of each wheel brake cylinder is obtained. The ratio of the change in the tracking hydraulic target to the total downward adjustment of the tracking hydraulic target is calculated to obtain the normalization coefficient of the downward adjustment of each wheel brake cylinder.

3. The hydraulic control method for a multi-wheel vehicle braking system according to claim 2, characterized in that, The step of calculating and determining the ideal variation coefficient of the tracking hydraulic pressure of each wheel brake cylinder based on the theoretical boundary value of the tracking hydraulic pressure variation of each wheel brake cylinder within the task cycle includes: The theoretical boundary values ​​for the tracking hydraulic pressure of each wheel brake cylinder include the theoretical upward boundary value and the theoretical downward boundary value of the tracking hydraulic pressure of each wheel brake cylinder. For each wheel brake cylinder where the change in the tracking hydraulic target is non-negative, the minimum value of the theoretical upward boundary value of the tracking hydraulic system is taken as the theoretical upward boundary value of the tracking hydraulic system for the whole vehicle. For each wheel brake cylinder where the change in the tracking hydraulic target is negative, the minimum value of the theoretical downward boundary value of the tracking hydraulic system is taken as the theoretical downward boundary value of the tracking hydraulic system for the whole vehicle. The boundary value coefficient of the vehicle tracking hydraulic theory is calculated by the ratio of the theoretical upward boundary value and the theoretical downward boundary value of the vehicle tracking hydraulic theory.

4. The hydraulic control method for a multi-wheel vehicle braking system according to claim 3, characterized in that, The step of calculating and determining the ideal variation coefficient of the tracking hydraulic pressure of each wheel brake cylinder based on the theoretical boundary value of the tracking hydraulic pressure variation of each wheel brake cylinder within the task cycle further includes: The coefficient of total change in the tracking hydraulic target of the vehicle braking system is calculated by the ratio of the total upward adjustment of the tracking hydraulic target of the vehicle braking system to the total downward adjustment of the tracking hydraulic target of the vehicle braking system. Based on the theoretical upward boundary value of the vehicle tracking hydraulic system, the target total change coefficient of the tracking hydraulic system, and the theoretical boundary value coefficient of the vehicle tracking hydraulic system, the ideal change in the vehicle tracking hydraulic system is calculated and determined. This ideal change in the vehicle tracking hydraulic system includes both an ideal upward adjustment and an ideal downward adjustment. Where, ΔP(k) AllUpExp Let ΔP(k) be the ideal upward adjustment of the vehicle's tracking hydraulic system at time k. AllDownExp Let γ(k) be the ideal hydraulic downward adjustment amount for vehicle tracking at time k. AllUpDown Let γ(k) be the coefficient of the total change in the tracking hydraulic target during vehicle braking at time k. AllUpDownMax Let ΔP(k) be the boundary value coefficient of the vehicle tracking hydraulic theory at time k. AllUpMax Adjust the boundary values ​​for the vehicle tracking hydraulic theory.

5. The hydraulic control method for a multi-wheel vehicle braking system according to claim 4, characterized in that, The step of calculating and determining the ideal variation coefficient of the tracking hydraulic pressure of each wheel brake cylinder based on the theoretical boundary value of the tracking hydraulic pressure variation of each wheel brake cylinder within the task cycle further includes: The ideal variation coefficient of the tracking hydraulic pressure of each wheel brake cylinder includes the ideal upward adjustment coefficient of the tracking hydraulic pressure of each wheel brake cylinder and the ideal downward adjustment coefficient of the tracking hydraulic pressure of each wheel brake cylinder. The ideal adjustment coefficient of the tracking hydraulic pressure of each wheel brake cylinder is calculated by ratio of the theoretical adjustment boundary value of the tracking hydraulic pressure of each wheel brake cylinder and the ideal adjustment amount of the tracking hydraulic pressure of the whole vehicle. The ideal adjustment coefficient of the tracking hydraulic pressure of each wheel brake cylinder is calculated by ratio based on the theoretical adjustment boundary value of the tracking hydraulic pressure of each wheel brake cylinder and the ideal adjustment amount of the tracking hydraulic pressure of the whole vehicle.

6. The hydraulic control method for a multi-wheel vehicle braking system according to claim 5, characterized in that, The step of determining the tracking hydraulic pressure change of each wheel brake cylinder based on the normalized coefficient of the tracking hydraulic pressure target change and the ideal tracking hydraulic pressure change coefficient of each wheel brake cylinder, and then determining the transient tracking hydraulic pressure of each wheel brake cylinder at the current moment, includes: The tracking hydraulic actuation coefficient of each wheel brake cylinder is determined based on the normalized coefficient of the target change in the tracking hydraulic pressure of each wheel brake cylinder and the ideal change coefficient of the tracking hydraulic pressure of each wheel brake cylinder.

7. The hydraulic control method for a multi-wheel vehicle braking system according to claim 6, characterized in that, The step of determining the tracking hydraulic pressure change of each wheel brake cylinder based on the normalized coefficient of the tracking hydraulic pressure target change of each wheel brake cylinder and the ideal tracking hydraulic pressure change coefficient of each wheel brake cylinder, and then determining the transient tracking hydraulic pressure of each wheel brake cylinder at the current moment, further includes: The tracking hydraulic actuation change of each wheel brake cylinder is calculated and determined based on the tracking hydraulic actuation coefficient of each wheel brake cylinder and the ideal tracking hydraulic actuation change of the whole vehicle. Based on the change in the tracking hydraulic pressure and the transient tracking hydraulic pressure at the previous moment, the transient tracking hydraulic pressure of each wheel brake cylinder at the previous moment is calculated and determined.

8. A hydraulic control device for a multi-wheel vehicle braking system, characterized in that, include: The first module is used to calculate the difference between the driving intention hydraulic pressure of each wheel brake cylinder and its instantaneous tracking hydraulic pressure at the previous moment, and to determine the target change of the tracking hydraulic pressure of each wheel brake cylinder. The second module is used to determine the normalization coefficient of the tracking hydraulic target change of each wheel brake cylinder based on the tracking hydraulic target change of each wheel brake cylinder; The third module is used to calculate and determine the ideal variation coefficient of the tracking hydraulic pressure of each wheel brake cylinder based on the theoretical change boundary value of the tracking hydraulic pressure of each wheel brake cylinder during the task cycle. as well as The fourth module is used to determine the tracking hydraulic pressure execution change of each wheel brake cylinder based on the normalization coefficient of the target change of the tracking hydraulic pressure of each wheel brake cylinder and the ideal change coefficient of the tracking hydraulic pressure of each wheel brake cylinder, and then determine the transient tracking hydraulic pressure of each wheel brake cylinder at the current moment, and control the transient tracking hydraulic pressure of each wheel brake cylinder to change within the range that meets the theoretical change boundary value of the tracking hydraulic pressure of each wheel brake cylinder within its task cycle until the time required for the driving intention hydraulic pressure of each wheel brake cylinder is consistent.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the hydraulic control method for a multi-wheel vehicle braking system as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause the computer to perform the hydraulic control method for a multi-wheeled vehicle braking system as described in any one of claims 1 to 7.

Images