A virtual software-based brake force distribution debugging method and system

Abstract

The application discloses a brake force distribution debugging method and system based on virtual software, and comprises the following steps: establishing a virtual vehicle dynamics model; distributing different proportions of motor deceleration brake force and mechanical brake force according to different conditions; testing the vehicle braking effect when different brake force distribution proportions are adopted based on the established virtual vehicle dynamics model, and obtaining the optimal brake force distribution proportion. The method can realize reasonable and safe brake force distribution, ensure that the automobile can recover and utilize more energy under the premise of safety and reliability, fully exert the vehicle capacity recovery function, and effectively reduce energy consumption.

Description

Technical Field

[0001] This invention relates to the field of braking force distribution technology, and in particular to a braking force distribution debugging method and system based on virtual software. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] With the shortage of automotive energy and environmental pollution, new energy vehicles have gradually developed, and brake force distribution is a key technology for maintaining vehicle stability and safety in new energy vehicles.

[0004] In existing technologies, the commonly used method for brake force distribution is to calculate it according to a formula, and then complete the algorithm adaptation based on statistics and calibration of actual vehicles. This results in a long completion cycle, complex on-site operation, and errors that may be caused by road friction coefficient, environmental factors, and actual driving conditions. Ultimately, achieving a good calibration result requires a long time and manpower.

[0005] It is evident that the main technical problem addressed in this application is how to achieve reasonable, safe, and rapid braking force distribution to ensure that the vehicle can recover and utilize more energy under the premise of safety and reliability, thereby fully leveraging the vehicle's energy recovery function and effectively reducing energy consumption. Summary of the Invention

[0006] To address the aforementioned issues, this invention proposes a braking force distribution debugging method and system based on virtual software. This method enables reasonable and safe braking force distribution, ensuring that the vehicle can recover and utilize more energy under safe and reliable conditions. It can fully leverage the vehicle's energy recovery function and effectively reduce energy consumption.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] In a first aspect, the present invention provides a braking force distribution debugging method based on virtual software, comprising:

[0009] Establish a virtual vehicle dynamics model;

[0010] Different proportions of motor deceleration braking force and mechanical braking force are allocated according to different conditions;

[0011] The braking effect of the vehicle under different braking force distribution ratios was tested based on the established virtual vehicle dynamics model, and the optimal braking force distribution ratio was obtained.

[0012] As an alternative implementation, the inputs to the virtual vehicle dynamics model are the motor output torque and the brake pedal opening, and the output is the vehicle speed.

[0013] As an alternative implementation method, the actual force driving the vehicle is obtained by subtracting the vehicle's rolling friction resistance, air resistance, and mechanical braking force corresponding to the brake pedal opening from the wheel-side driving force generated by the motor's output torque. Dividing this by the vehicle's mass yields the vehicle's acceleration, and integrating the vehicle's acceleration gives the vehicle's speed.

[0014] As an alternative implementation method, the process of testing the vehicle braking effect under different braking force distribution ratios includes: pre-setting the relationship between brake pedal opening and mechanical braking force, requesting positive torque output, stopping the output of positive torque when the vehicle speed output by the vehicle dynamics model reaches the test speed, setting the brake pedal opening step by step according to the set gradient, and evaluating the test deceleration effect. If the test deceleration effect is lower than the expected deceleration effect, the influence of brake pedal opening on negative torque is increased positively until the test deceleration effect is consistent with the expected deceleration effect.

[0015] As an alternative implementation method, the process of testing the vehicle braking effect under different braking force distribution ratios also includes: pre-setting different relationships between brake pedal opening and mechanical braking force according to the set reduction gradient reduction method, and optimizing under different relationships between brake pedal opening and mechanical braking force.

[0016] As an alternative implementation method, the process of testing the vehicle braking effect under different braking force distribution ratios also includes: outputting different positive torques through the current accelerator pedal and vehicle speed for vehicle acceleration; outputting different magnitudes of electric braking force negative torque demands through the current brake pedal opening and vehicle speed for vehicle deceleration and energy harvesting; and prioritizing the response of the brake pedal negative torque when the brake pedal is not zero.

[0017] As an alternative implementation method, when allocating different proportions of motor deceleration braking force and mechanical braking force, the motor deceleration braking force is allocated first.

[0018] Secondly, the present invention provides a braking force distribution and debugging system based on virtual software, comprising:

[0019] The model building module is configured to build a virtual vehicle dynamics model;

[0020] The braking force distribution module is configured to distribute different proportions of motor deceleration braking force and mechanical braking force according to different conditions;

[0021] The optimization module is configured to test the vehicle braking effect with different braking force distribution ratios based on the established virtual vehicle dynamics model, and obtain the optimal braking force distribution ratio.

[0022] Thirdly, the present invention provides a braking force distribution debugging device based on virtual software, comprising: an electronic computer and a vehicle controller;

[0023] The computer is configured to: establish and store the torque control model in the vehicle controller; establish and store the virtual vehicle dynamics model; test the vehicle braking effect with different braking force distribution ratios based on the established virtual vehicle dynamics model; and obtain the optimal braking force distribution ratio.

[0024] The vehicle controller generates motor power based on the optimal braking force distribution ratio, thereby realizing the recovery and utilization of vehicle kinetic energy.

[0025] Fourthly, the present invention provides an electronic device including a memory and a processor, and computer instructions stored in the memory and running on the processor, wherein the computer instructions, when executed by the processor, perform the method described in the first aspect.

[0026] Fifthly, the present invention provides a computer-readable storage medium for storing computer instructions, which, when executed by a processor, perform the method described in the first aspect.

[0027] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0028] The technical solution of this invention realizes the adjustment of braking force distribution through virtual software, which can greatly reduce the workload of actual vehicle debugging, optimize the workflow, and shorten the test calibration cycle.

[0029] Based on the vehicle dynamics characteristics, the present invention addresses the issue that the total braking force is fixed under specific expected deceleration requirements. By optimizing the ratio of electric braking to mechanical braking, the energy recovery of electric braking can be increased and the loss of mechanical braking can be reduced.

[0030] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0031] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0032] Figure 1 This is a flowchart of the braking force distribution debugging process based on virtual software provided in Embodiment 1 of the present invention;

[0033] Figure 2 The braking force setting software model and its interface diagram provided in Embodiment 1 of the present invention;

[0034] Figure 3 The original braking force distribution diagram;

[0035] Figure 4 This is the optimized braking force distribution diagram provided in Embodiment 1 of the present invention;

[0036] Figure 5 This is a connection diagram of the virtual vehicle dynamics model, braking force setting software model, and vehicle controller torque control model provided in Embodiment 1 of the present invention;

[0037] Figure 6 This is a schematic model of torque control for a vehicle controller provided in Embodiment 1 of the present invention. Detailed Implementation

[0038] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0039] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0040] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form as well. Furthermore, it should be understood that the terms “comprising” and “including”, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or apparatus.

[0041] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0042] Example 1

[0043] This embodiment discloses a braking force distribution debugging method based on virtual software, such as... Figure 1 As shown, it includes:

[0044] Establish a virtual vehicle dynamics model;

[0045] Different proportions of motor deceleration braking force and mechanical braking force are allocated according to different conditions;

[0046] Based on the established virtual vehicle dynamics model, the vehicle braking effect and energy recovery state under different braking force distribution ratios were tested to obtain the optimal braking force distribution ratio.

[0047] The above-described solution in this embodiment sets mechanical braking force curves according to different situations using virtual braking force setting software, and effectively tests the vehicle braking effect and energy recovery status under different distribution ratios using virtual vehicle dynamics model software. As a reliable and simple method for braking force distribution debugging, it helps to achieve rapid system debugging and implementation.

[0048] In this embodiment, the established virtual vehicle dynamics model is based on the dynamic composition of the vehicle, with the input signals being the motor output torque and brake pedal opening, and the output signal being the vehicle speed.

[0049] Specifically, this includes: subtracting the vehicle's rolling friction resistance, air resistance, and the mechanical braking force corresponding to the brake pedal opening from the wheel-side driving force generated by the motor's output torque to obtain the actual force driving the vehicle; dividing this by the vehicle's mass to obtain the vehicle's acceleration; and then integrating the vehicle's acceleration to obtain the vehicle's speed.

[0050] It can modify key parameters of vehicle dynamics and provide feedback on vehicle acceleration and deceleration characteristics. Specifically, it can set the simulated vehicle's mass, wind resistance, rolling resistance, sliding damping, tire radius, transmission ratio, and transmission efficiency.

[0051] In this embodiment, based on the vehicle's dynamic characteristics, the total braking force is fixed under specific expected deceleration requirements. By optimizing the ratio of electric braking to mechanical braking, the energy recovery of electric braking is increased, and the mechanical braking loss is reduced, thus avoiding the problem of needing actual vehicle calibration in general.

[0052] In this embodiment, when optimizing the vehicle braking effect and regenerative energy state under different braking force distribution ratios, the following steps are included:

[0053] (1) By using the vehicle dynamics model, relevant vehicle parameters are set according to the characteristics of the real vehicle, such as vehicle drag, speed ratio, conversion efficiency, etc., to realize the virtualization of vehicle driving characteristics without the need for real vehicle calibration test.

[0054] (2) Based on the characteristics of real vehicles, the relationship between pedal opening and mechanical braking force is set to virtualize the mechanical braking characteristics; among which, for example... Figure 2 As shown, the corresponding parameters between the brake pedal opening and the mechanical braking force can be simulated and set. It is mainly a one-dimensional table that represents the corresponding parameters between the brake pedal opening and the mechanical braking force obtained by testing or other methods.

[0055] (3) Connect the torque request, vehicle dynamics model, and mechanical braking force in the vehicle controller, as shown in the connection relationship. Figure 5 ;

[0056] (3-1) Set the relationship between brake pedal opening and mechanical braking force to state a, and then optimize it.

[0057] (3-2) Set the accelerator pedal opening to 100% and the torque request to positive torque. When the output speed of the vehicle dynamics model reaches the test speed of 100km / h, stop outputting positive torque.

[0058] (3-3) When the vehicle speed is 100km / h, the brake pedal opening is set in 10% increments, and the deceleration effect is tested multiple times. If the tested deceleration effect is lower than the expected deceleration effect, the negative torque algorithm in the torque request part of the vehicle controller software is modified to positively increase the influence of the brake pedal opening on the negative torque until the deceleration effect is consistent with the expectation.

[0059] (3-4) Set the relationship between brake pedal opening and mechanical braking force to state b; compared with state a, the mechanical braking force is appropriately reduced in state b. Different reduction gradients can be set according to experience, and then the optimization actions in steps (3-2) and (3-3) are performed.

[0060] (4) When allocating different proportions of motor deceleration braking force and mechanical braking force, the motor deceleration braking force is allocated first. Therefore, according to the principle of electric braking priority, after optimization, under the same 50% opening degree, the optimized result is obtained. Figure 4 The braking force curve in the diagram, and Figure 3 The comparison clearly shows that, after optimization, under the same conditions, the total braking force remains unchanged, the mechanical braking force decreases, and the electric braking force increases, thus recovering more energy.

[0061] In practice, the new energy vehicle controller, the virtual vehicle dynamics model, and the virtual braking force distribution software are all installed in the electronic computer and connected to the new energy vehicle controller via the CAN bus to exchange control data.

[0062] In this embodiment, the vehicle controller of the new energy vehicle plays many roles, with torque request being relevant to this embodiment. Because the vehicle controller software algorithm is quite complex and involves numerous elements, it is abstracted and represented using a lookup table. The internal software implementation is illustrated below. Figure 6 Specifically, it can be simplified into: 1. Calculate the current received acceleration pedal position and current speed to output different positive torques for vehicle acceleration; 2. Calculate the current received brake pedal opening and vehicle speed to output different magnitudes of electric braking force negative torque requirements for vehicle deceleration and energy harvesting; 3. When the brake pedal position is not zero, prioritize responding to the brake pedal negative torque.

[0063] Example 2

[0064] This embodiment provides a braking force distribution and debugging system based on virtual software, including:

[0065] The model building module is configured to build a virtual vehicle dynamics model;

[0066] The braking force distribution module is configured to distribute different proportions of motor deceleration braking force and mechanical braking force according to different conditions;

[0067] The optimization module is configured to test the vehicle braking effect and energy recovery state under different braking force distribution ratios based on the established virtual vehicle dynamics model, and obtain the optimal braking force distribution ratio.

[0068] Example 2

[0069] This embodiment provides a braking force distribution debugging device based on virtual software, including: an electronic computer and a vehicle controller;

[0070] The computer is configured to: establish and store the torque control model in the vehicle controller; establish and store the virtual vehicle dynamics model; test the vehicle braking effect with different braking force distribution ratios based on the established virtual vehicle dynamics model; and obtain the optimal braking force distribution ratio.

[0071] The vehicle controller generates motor power based on the optimal braking force distribution ratio, thereby realizing the recovery and utilization of vehicle kinetic energy.

[0072] It should be noted that the above modules correspond to the steps described in Embodiment 1, and the examples and application scenarios implemented by the above modules and the corresponding steps are the same, but are not limited to the content disclosed in Embodiment 1. It should also be noted that the above modules, as part of the system, can be executed in a computer system such as a set of computer-executable instructions.

[0073] In further embodiments, the following is also provided:

[0074] An electronic device includes a memory and a processor, as well as computer instructions stored in the memory and running on the processor, wherein the computer instructions, when executed by the processor, perform the method described in Embodiment 1. For brevity, further details are omitted here.

[0075] It should be understood that in this embodiment, the processor can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc.

[0076] Memory may include read-only memory and random access memory, and provides instructions and data to the processor. A portion of memory may also include non-volatile random access memory. For example, memory may also store information about the device type.

[0077] A computer-readable storage medium for storing computer instructions, which, when executed by a processor, perform the method described in Embodiment 1.

[0078] The method in Example 1 can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor. The software modules can reside in readily available storage media in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, a detailed description is not provided here.

[0079] Those skilled in the art will recognize that the units and algorithm steps described in conjunction with the embodiments herein can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0080] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A method for adjusting braking force distribution based on virtual software, characterized in that, include: Establish a virtual vehicle dynamics model; Different proportions of motor deceleration braking force and mechanical braking force are allocated according to different conditions; Based on the established virtual vehicle dynamics model, the vehicle braking effect and energy recovery state under different braking force distribution ratios were tested to obtain the optimal braking force distribution ratio. The process of testing the vehicle braking effect under different braking force distribution ratios includes: pre-setting different relationships between brake pedal opening and mechanical braking force according to the set reduction gradient to reduce mechanical braking force, and optimizing the relationship between brake pedal opening and mechanical braking force under different relationships. The process of testing the vehicle braking effect under different braking force distribution ratios also includes: outputting different positive torques through the current accelerator pedal and vehicle speed for vehicle acceleration; outputting different magnitudes of electric braking force negative torque demand through the current brake pedal opening and vehicle speed for vehicle deceleration and energy harvesting; and prioritizing the response of the brake pedal negative torque when the brake pedal is not zero.

2. The braking force distribution debugging method based on virtual software as described in claim 1, characterized in that, The inputs to the virtual vehicle dynamics model are the motor output torque and the brake pedal opening, and the output is the vehicle speed.

3. The braking force distribution debugging method based on virtual software as described in claim 2, characterized in that, The actual force driving the vehicle is obtained by subtracting the vehicle's rolling friction resistance, air resistance, and the mechanical braking force corresponding to the brake pedal opening from the wheel-side driving force generated by the motor's output torque. Dividing this by the vehicle's mass yields the vehicle's acceleration, and integrating the vehicle's acceleration gives the vehicle's speed.

4. The braking force distribution debugging method based on virtual software as described in claim 1, characterized in that, The process of testing the vehicle braking effect under different braking force distribution ratios also includes: pre-setting the relationship between brake pedal opening and mechanical braking force, with the output torque requested to be positive torque. When the vehicle speed output by the vehicle dynamics model reaches the test speed, the output of positive torque is stopped. The brake pedal opening is set step by step according to the set gradient, and the test deceleration effect is evaluated. If the test deceleration effect is lower than the expected deceleration effect, the influence of the brake pedal opening on the negative torque is increased positively until the test deceleration effect is consistent with the expected deceleration effect.

5. The braking force distribution debugging method based on virtual software as described in claim 1, characterized in that, When allocating different proportions of motor deceleration braking force and mechanical braking force, the motor deceleration braking force is allocated first.

6. A braking force distribution debugging system based on virtual software, employing the braking force distribution debugging method based on virtual software as described in any one of claims 1-5, characterized in that, include: The model building module is configured to build a virtual vehicle dynamics model; The braking force distribution module is configured to distribute different proportions of motor deceleration braking force and mechanical braking force according to different conditions; The optimization module is configured to test the vehicle braking effect and energy recovery state under different braking force distribution ratios based on the established virtual vehicle dynamics model, and obtain the optimal braking force distribution ratio.

7. A braking force distribution debugging device based on virtual software, employing the braking force distribution debugging method based on virtual software as described in any one of claims 1-5, characterized in that, include: Electronic computers and vehicle controllers; The computer is configured to: establish and store the torque control model in the vehicle controller; establish and store the virtual vehicle dynamics model; test the vehicle braking effect and energy recovery state under different braking force distribution ratios based on the established virtual vehicle dynamics model; and obtain the optimal braking force distribution ratio. The vehicle controller generates motor power based on the optimal braking force distribution ratio, thereby realizing the recovery and utilization of vehicle kinetic energy.

8. An electronic device, characterized in that, It includes a memory and a processor, as well as computer instructions stored in the memory and running on the processor, which, when executed by the processor, perform the method according to any one of claims 1-5.

9. A computer-readable storage medium, characterized in that, Used to store computer instructions, which, when executed by a processor, perform the method described in any one of claims 1-5.

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