Vehicle braking torque coordinated control method, device, equipment and medium

Abstract

A method, device, equipment, and medium for coordinated vehicle braking torque control, belonging to the field of automotive technology. The method includes: when the number of activated control modules capable of outputting braking torque is greater than one, sorting the activated control modules to obtain a sorted sequence; determining a first control module and a first braking torque based on the control modules corresponding to the i-th element and the i+1-th element in the sorted sequence, where the initial value of i is 1; comparing the first braking torque with a previously determined target braking torque; and determining a new target braking torque based on the comparison result and combining the first control module and the previously determined target control module; if i+1 is less than m, setting i+1 and returning to the step of determining the first control module and the first braking torque based on the control modules corresponding to the i-th element and the i+1-th element in the sorted sequence, where m is the number of elements contained in the sorted sequence, thereby reducing the probability of a single wheel braking torque jump.

Description

Technical Field

[0001] The present application relates to the field of automotive technology, and in particular to a vehicle braking torque coordinated control method, device, equipment, and computer-readable storage medium. Background Art

[0002] As vehicles evolve toward drive-by-wire and intelligent systems, more and more automakers are installing Electronic Stability Control (ESC) systems to reduce the incidence of traffic accidents during emergency obstacle avoidance and improve vehicle safety. With ESC installed, the vehicle's braking torque is determined by comparing the priority of the current decision-making control module with the priority of the previous decision-making control module, and the braking torque output by the higher-priority decision-making control module is executed. However, a failure in a single ESC subsystem can cause the entire system to fail. Furthermore, a decision-making control module is one of the control modules in the ESC subsystem. If the braking torque output by the current decision-making control module differs significantly from the braking torque output by the previous decision-making control module, the braking torque of the higher-priority decision-making control module will be directly executed. This can cause the braking torque to freeze with light braking, or become unstable with strong braking, resulting in a poor driving experience. Summary of the Invention

[0003] The present application provides a vehicle braking torque coordinated control method, device, equipment and computer-readable storage medium, which can solve the technical problems existing in the prior art, such as that a failure in a subsystem of the ESC may cause the entire system to fail; and that due to the presence of steps and large jumps in the braking torque value, the wheels will be fixed if the brakes are lightly applied, and the brakes will be unstable if the brakes are applied hard, resulting in a poor driving experience.

[0004] In a first aspect, an embodiment of the present application provides a vehicle braking torque coordinated control method, the vehicle braking torque coordinated control method comprising:

[0005] When the number of activated control modules is greater than 1, the activated control modules are sorted to obtain a sorted sequence, where the control modules are modules capable of outputting braking torque, and each activated control module has a unique number;

[0006] Determine a first control module and a first braking torque based on the control modules corresponding to the i-th element and the i+1-th element in the sorted sequence, where the initial value of i is 1;

[0007] comparing the first braking torque with a last determined target braking torque;

[0008] According to the comparison result, combining the first control module and the target control module determined last time, determining a new target braking torque, and performing braking control based on the new target braking torque;

[0009] If i+1 is less than m, set i+1 and return to the step of determining the first control module and the first braking torque based on the control modules corresponding to the i-th element and the i+1-th element in the sorted sequence, where m is the number of elements contained in the sorted sequence.

[0010] In combination with the first aspect, in one embodiment, determining the first control module and the first braking torque based on the control modules corresponding to the i-th element and the i+1-th element in the sorted sequence includes:

[0011] Determine a first control mode based on the control modules corresponding to the i-th element and the i+1-th element in the sorted sequence, where the first control mode is any one of Min control, PriorSecond control, and VDC / TCS control;

[0012] The first control module is determined according to a control module determination method corresponding to the first control method, and the first braking torque is determined according to a braking torque calculation method corresponding to the first control method.

[0013] In conjunction with the first aspect, in one embodiment, determining a new target braking torque based on the comparison result in combination with the first control module and the target control module determined last time includes:

[0014] If the comparison result shows that the first braking torque is not equal to the target braking torque determined last time,

[0015] Combine the first control module and the target control module determined last time to determine the second control mode, which is Min control, MAX control and Mb control. VDC Any one of the controls;

[0016] A new target control module is determined according to the control module determination method corresponding to the second control method, and the braking torque output by the new target control module is used as the new target braking torque.

[0017] In conjunction with the first aspect, in one embodiment, determining a new target braking torque based on the comparison result in combination with the first control module and the target control module determined last time includes:

[0018] If the comparison result shows that the first braking torque is equal to the target braking torque determined last time, combining the first control module and the target control module determined last time, determining a control module with a higher priority between the two;

[0019] The control module with a higher priority is used as a new target control module, and the braking torque output by the new target control module is used as a new target braking torque.

[0020] In combination with the first aspect, in one implementation, the control module includes an anti-lock braking system, a traction control system, a vehicle dynamics control system, and a brake pedal control system.

[0021] In combination with the first aspect, in one embodiment, the method further includes:

[0022] When the number of activated control modules is equal to 1, the brake pedal control system is used as a new target control module, and the braking torque output by the new target control module is used as a new target braking torque.

[0023] In a second aspect, an embodiment of the present application provides a vehicle braking torque coordination control device comprising:

[0024] a sorting module, configured to sort the activated control modules to obtain a sorting sequence when the number of activated control modules is greater than 1, wherein the control modules are modules capable of outputting braking torque, and each activated control module has a unique number;

[0025] A first determining module, configured to determine a first control module and a first braking torque based on the control modules corresponding to the i-th element and the i+1-th element in the sorted sequence, where an initial value of i is 1;

[0026] a comparison module, configured to compare the first braking torque with a target braking torque determined last time;

[0027] a second determining module, configured to determine a new target braking torque according to the comparison result, in combination with the first control module and the target control module determined last time, and perform braking control based on the new target braking torque;

[0028] A return module is used to set i+1 if i+1 is less than m, and return to the step of determining the first control module and the first braking torque based on the control modules corresponding to the i-th element and the i+1-th element in the sorted sequence, where m is the number of elements contained in the sorted sequence.

[0029] In conjunction with the second aspect, in one embodiment, the vehicle braking torque coordinated control device further includes a third determination module, and the third determination module is specifically configured to:

[0030] When the number of activated control modules is equal to 1, the brake pedal control system is used as a new target control module, and the braking torque output by the new target control module is used as a new target braking torque.

[0031] In a third aspect, an embodiment of the present application provides a vehicle braking torque coordination control device comprising a processor, a memory, and a vehicle braking torque coordination control program stored on the memory and executable by the processor, wherein when the vehicle braking torque coordination control program is executed by the processor, the steps of the vehicle braking torque coordination control method as described in any one of the first aspects are implemented.

[0032] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a vehicle braking torque coordination control program is stored, wherein when the vehicle braking torque coordination control program is executed by a processor, the steps of the vehicle braking torque coordination control method as described in any one of the first aspects are implemented.

[0033] The beneficial effects of the technical solutions provided in the embodiments of the present application include:

[0034] When the number of activated control modules is greater than 1, a sorting sequence is obtained by sorting the activated control modules, where the control module is a module that can output a braking torque, and each activated control module has a unique number; based on the control modules corresponding to the i-th element and the i+1-th element in the sorting sequence, the first control module and the first braking torque are determined, and the initial value of i is 1; the first braking torque is compared with the target braking torque determined last time; based on the comparison result, a new target braking torque is determined in combination with the first control module and the target control module determined last time, and braking control is performed based on the new target braking torque; if i+1 is less than m, i+1 is set, and the control module based on the i-th element and the i+1-th element in the sorting sequence is returned. +1 element corresponding to the control module, determine the steps of the first control module and the first braking torque, where m is the number of elements contained in the sorting sequence, and implement the use of a dual-loop rule strategy to establish a coordination controller to maintain the independence of each functional structure design and the system structure design. The dual-loop rule strategy includes two parts: primary stability coordination rules and advanced stability coordination rules. The use of a dual-loop rule strategy to establish a coordination module effectively reduces the difficulty of functional expansion. Through the dual-loop rule strategy, more functions in chassis control can be superimposed on ESC, and help eliminate or reduce interference between functions, reduce the risk of failure of the entire system due to a failure of a subsystem in ESC, reduce the probability of single wheel braking torque jump, and improve the driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A diagram of a brake coordination control framework provided for one embodiment of the present application;

[0036] Figure 2 This is a flow chart of the first embodiment of the vehicle braking torque coordinated control method of the present application;

[0037] Figure 3 A schematic diagram of a first control method provided in one embodiment of the present application;

[0038] Figure 4 A diagram of a coordinated control double loop structure provided for one embodiment of the present application;

[0039] Figure 5 This is a functional module diagram of an embodiment of a vehicle braking torque coordination control device of the present application;

[0040] Figure 6 This is a schematic diagram of the hardware structure of the vehicle braking torque coordination control device involved in the embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0042] Generally speaking, ESC consists of three subsystems, each of which has a corresponding controller and can output braking torque. The three subsystems are the Anti-lock Braking System (ABS), the Traction Control System (TCS) and the Vehicle Dynamic Control (VDC).

[0043] It should be noted that the control modules capable of outputting braking torque involved in the vehicle braking torque coordinated control method in this application include but are not limited to ABS, TCS, VDC and brake pedal control system.

[0044] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0045] Figure 1 A brake coordination control framework diagram is provided for an embodiment of the present application, such as Figure 1As shown in Figure 1, the coordinated control system includes a brake pedal control module, an ABS control module, a TCS control module, a VDC control module, a wheel braking torque coordination module, and a brake hydraulic control model. The ABS control module outputs the ABS control flag and antilock braking target torque, the TCS control module outputs the TCS control flag and acceleration stability target braking torque, and the VDC control module outputs the VDC control flag and lateral stability target braking torque. The wheel braking torque coordination module calculates and outputs the target braking torque to the hydraulic control model to execute hydraulic braking.

[0046] In a first aspect, an embodiment of the present application provides a method for coordinated control of vehicle braking torque.

[0047] In one embodiment, referring to Figure 2 , Figure 2 This is a flow chart of the first embodiment of the vehicle braking torque coordinated control method of this application. Figure 2 As shown, the vehicle braking torque coordinated control method includes:

[0048] Step 210: When the number of activated control modules is greater than 1, the activated control modules are sorted to obtain a sorted sequence, wherein the control modules are modules capable of outputting braking torque, and each activated control module has a unique number.

[0049] Because the driver's braking intention is achieved through the brake pedal control system outputting the corresponding braking torque, for the sake of convenience, the term "Driver" will be used below instead of the brake pedal control system.

[0050] Optionally, the Active indicator bit is used to determine whether control modules such as ABS, TCS, VDC, and Driver are activated. In the coordinated control system, all activated control modules are collected and the number of activations is counted. When the number of activated control modules is greater than 1, the activated control modules are sorted to obtain a sorted sequence. The sorting method can be random, and each activated control module has a unique number. For example, when the activated control modules are Driver, VDC, TCS, and ABS, the four are randomly sorted to form a sorted sequence, with 0 corresponding to Driver, 1 corresponding to VDC, 2 corresponding to TCS, and 3 corresponding to ABS.

[0051] It should be noted that, because the Driver control is always in an activated state, the number of activated control modules is always ≥1.

[0052] Step 220: Determine a first control module and a first braking torque based on the control modules corresponding to the i-th element and the i+1-th element in the sorted sequence, where the initial value of i is 1.

[0053] During specific implementation, execution starts when i=1. First, based on the control modules corresponding to the first element and the second element in the sorting sequence, combined with the influence of the controllers corresponding to the two on the braking torque in the braking link, the first control mode is determined according to the primary stability coordination rule. The first control mode is any one of Min control, PriorSecond control and VDC / TCS control; further, the first control module is determined according to the control module determination method corresponding to the first control mode, and the first braking torque is determined according to the braking torque calculation method corresponding to the first control mode. All currently activated control modules can be set according to the sequence number of the sorting sequence, and the first braking torque can be determined based on the primary stability coordination rule.

[0054] Figure 3 This is a schematic diagram of a first control method provided in one embodiment of the present application. Figure 3 (a) in the figure represents Prior-Second control, (b) represents Min control, and (c) represents VDC / TCS control. For Prior-Second control, the control module is determined by using the second control module as the first control module, and the braking torque is calculated by using the braking torque output by the second control module as the first braking torque. For Min control, the control module with the smallest braking torque of the two control modules is determined by using the smallest braking torque as the first control module, and the braking torque is calculated by using the smallest braking torque as the first braking torque. For VDC / TCS control, the control module is determined by using the VDC as the first control module, and the braking torque is calculated by using the sum of the VDC and TCS braking torques as the first braking torque.

[0055] Among them, the driver, TCS, VDC, and ABS controllers are divided into their respective working states according to their impact on braking torque during the braking process. Table 1 shows the controller characteristics. Among them, the driver's stepping on the brake pedal acts to increase the braking torque; the VDC controller acts to prevent lateral instability of the vehicle and increases the braking torque through differential braking; the TCS controller is used to suppress excessive wheel slip and increase the braking torque; the ABS controller is used to prevent wheel locking and reduce the braking torque. Therefore, driver control, VDC control, and TCS control all increase the braking torque, expressed as Mb up , and its target braking torque is recorded as Mb Driver 、Mb VDC 、Mb TCS ; When ABS is in control, it is used to reduce the braking torque, expressed as Mb Down , and its target braking torque is recorded as Mb ABS .

[0056] Table 1 is the controller characteristics table

[0057] serial number Controller Type The function of the braking system Target braking torque 0 Driver <![CDATA[Mb up ]]> <![CDATA[Mb Driver ]]> 1 VDC <![CDATA[Mb up ]]> <![CDATA[Mb VDC ]]> 2 TCS <![CDATA[Mb up ]]> <![CDATA[Mb TCS ]]> 3 ABS <![CDATA[Mb Down ]]> <![CDATA[Mb ABS ]]>

[0058] Step 230: Compare the first braking torque with the target braking torque determined last time;

[0059] The first braking torque is compared with the target braking torque determined last time.

[0060] Step 240: Determine a new target braking torque based on the comparison result, in combination with the first control module and the target control module determined last time, and perform braking control based on the new target braking torque;

[0061] When the comparison result is that the first braking torque is equal to the target braking torque determined last time, and when the comparison result is that the first braking torque is not equal to the target braking torque determined last time, the first control module and the target control module determined last time are combined to determine a new target braking torque according to the advanced stability coordination rule, and braking control is performed based on the new target braking torque.

[0062] Step 250: If i+1 is less than m, set i+1 and return to the step of determining the first control module and the first braking torque based on the control modules corresponding to the i-th element and the i+1-th element in the sorted sequence, where m is the number of elements contained in the sorted sequence.

[0063] In a specific implementation, each time when i+1 is less than m, i+1 is set, and the control modules corresponding to the i-th element and the i+1-th element in the sorting sequence are returned to determine the first control module and the first braking torque, so that all currently activated control modules can be set according to the sequence number of the sorting sequence.

[0064] When it is necessary to expand other ESC-related functions in the future, such as adding HHC, it is necessary to make judgments and settings on the working conditions of HHC requesting braking torque. For example, if HHC is an uphill start assist, then at this time the driver must be in the stage of fully pressing the brake pedal to releasing it, and the driver's braking torque decreases from the maximum to 0. At this time, the braking torque requested by HHC may be activated at the same time as the TCS drive anti-skid. At this time, the corresponding rules are formulated according to whether they increase or decrease the braking torque. For the algorithm, it is only necessary to increase the activation bit of HHC and the requested torque input, and then add a corresponding control, such as Add or Min. If there is no coordination rule between functions, when multiple functions request the same wheel, the braking torque of a single wheel may jump or the low-priority function may fail.

[0065] In this embodiment, when the number of activated control modules is greater than 1, a sorted sequence is obtained by sorting the activated control modules, where the control modules are modules that can output braking torque, and each activated control module has a unique number; based on the control modules corresponding to the i-th element and the i+1-th element in the sorted sequence, a first control module and a first braking torque are determined, where the initial value of i is 1; the first braking torque is compared with the target braking torque determined last time; based on the comparison result, a new target braking torque is determined in combination with the first control module and the target control module determined last time, and braking control is performed based on the new target braking torque; if i+1 is less than m, i+1 is set, and the step of determining the first control module and the first braking torque based on the control modules corresponding to the i-th element and the i+1-th element in the sorted sequence is returned, where m is the number of elements contained in the sorted sequence, thereby realizing the use of a dual-loop rule strategy to establish a coordinated controller to maintain the independence of each functional structure design and the system structure design, and the dual-loop rule strategy includes two parts: a primary stable coordination rule and an advanced stable coordination rule. The use of a dual-loop rule strategy to establish a coordination module effectively reduces the difficulty of functional expansion. Through the dual-loop rule strategy, more functions in chassis control can be superimposed on ESC, and the interference between functions can be eliminated or reduced. The risk of failure of the entire system due to a failure in a subsystem in the ESC is reduced, the probability of a single wheel braking torque jump is reduced, and the driving experience is improved.

[0066] Furthermore, in one embodiment, determining the first control module and the first braking torque based on the control modules corresponding to the i-th element and the i+1-th element in the sorted sequence includes:

[0067] Step 410: Determine a first control mode based on the control modules corresponding to the i-th element and the i+1-th element in the sorted sequence, where the first control mode is any one of Min control, Prior-Second control, and VDC / TCS control.

[0068] Step 420: Determine the first control module according to the control module determination method corresponding to the first control method, and determine the first braking torque according to the braking torque calculation method corresponding to the first control method.

[0069] In the specific implementation, the two control modules are combined together in a sequential order. Based on the different implementation methods of each function, a primary stability coordination rule is established to clearly coordinate the control braking torque. The primary stability coordination rule is shown in Table 2, which is the first braking torque combination table of the control module.

[0070] Table 2 Control module first braking torque combination table

[0071] Control Module Drive(0) VDC(1) TCS(2) ABS(3) Driver(0) <![CDATA[Mb Driver ]]> PriorSecond PriorSecond Min VDC(1) —— <![CDATA[Mb VDC ]]> VDC / TCS Min TCS(2) —— —— <![CDATA[Mb TCS ]]> Min

[0072] When the control module corresponding to the i-th arrangement number is Driver, and the control module corresponding to the i+1-th arrangement number is TCS, since both are Mb up , at this time, the sum of the target braking torques should be taken, but at this time, it is generally lateral instability or acceleration difficulty, and the driver's braking torque is 0, so the first control mode is determined to be PriorSecond, and Mb is determined TCS As the first braking torque, determining the TCS as the first control module;

[0073] When the control module corresponding to the i-th arrangement number is Driver, and the control module corresponding to the i+1-th arrangement number is VDC, since both are Mb up , at this time, the sum of the target braking torques should be taken, but at this time, it is generally lateral instability or acceleration difficulty, and the driver's braking torque is 0, so the first control mode is determined to be PriorSecond, and Mb is determined VDC As the first braking torque, determining VDC as the first control module;

[0074] When the control module corresponding to the i-th arrangement number is Driver, and the control module corresponding to the (i+1)-th arrangement number is ABS, the wheel may have locked, and the minimum braking torque should be used to quickly reduce the wheel braking torque. Therefore, the first control mode is determined to be Min control, the first minimum value between the braking torque output by the Driver and the braking torque output by the ABS is determined, the first control module is determined to be the control module corresponding to the first minimum value, and the first braking torque is the first minimum value;

[0075] When the control module corresponding to the i-th arrangement number is a VDC, and the control module corresponding to the (i+1)-th arrangement number is a TCS, the maximum braking torque output demand is the sum of the braking torques of the two, and the first control mode is determined to be VDC / TCS control. The sum of the braking torque output by the VDC and the braking torque output by the TCS is calculated, and the first control module is determined to be VDC, and the first braking torque is the sum;

[0076] When the control module corresponding to the i-th arrangement number is the VDC, and the control module corresponding to the (i+1)-th arrangement number is the ABS, the wheel has a large slip rate at this time, and the VDC requires the ABS to intervene to reduce pressure. Therefore, the first control mode is determined to be Min control, the second minimum value between the braking torque output by the VDC and the braking torque output by the ABS is determined, the first control module is determined to be the control module corresponding to the second minimum value, and the first braking torque is the second minimum value;

[0077] When the control module corresponding to the i-th arrangement number is TCS, and the control module corresponding to the i+1-th arrangement number is ABS, it means that ABS is needed to help quickly reduce pressure when TCS intervenes. Therefore, the first control mode is determined to be Min control, the third minimum value of the braking torque output by TCS and the braking torque output by ABS is determined, the first control module is determined to be the control module corresponding to the third minimum value, and the first braking torque is the third minimum value.

[0078] In this embodiment, a first control mode is determined based on the control modules corresponding to the i-th element and the i+1-th element in the sorting sequence, where the first control mode is any one of Min control, PriorSecond control, and VDC / TCS control. The first control module is determined according to the control module determination method corresponding to the first control mode, and the first braking torque is determined according to the braking torque calculation method corresponding to the first control mode, thereby collecting all currently activated control modules according to the sequence numbers of the sorting sequence and determining the first braking torque based on the primary stability coordination rule.

[0079] Furthermore, in one embodiment, determining a new target braking torque based on the comparison result in combination with the first control module and the target control module determined last time includes:

[0080] Step 510: If the comparison result shows that the first braking torque is not equal to the target braking torque determined last time, the second control mode is determined by combining the first control module and the target control module determined last time. The second control mode is Min control, MAX control and Mb control. VDC Any one of the controls;

[0081] Step 520: Determine a new target control module according to the control module determination method corresponding to the second control method, and use the braking torque output by the new target control module as the new target braking torque.

[0082] In specific implementations, if the comparison result shows that the first braking torque is not equal to the previously determined target braking torque, the target braking torque is optimized according to the following advanced stability coordination rule. The advanced stability coordination rule corresponds to Table 3, which is a control module target braking torque optimization table.

[0083] Table 3 Control module target braking torque optimization table

[0084]

[0085]

[0086] When the last determined target control module is Driver and the first control module is VDC, it indicates that the current vehicle is laterally unstable. Since the driver's braking torque is generally 0 at this time, the second control mode is determined to be Mb. VDC Control, determine the new target control module as VDC, determine the new target braking torque as Mb VDC ;

[0087] When the previously determined target control module is Driver and the first control module is TCS, it indicates that the vehicle is having difficulty accelerating, or the driver has stepped on the brake pedal to suppress wheel slip. Therefore, the second control mode is determined to be MAX control, the maximum value of the braking torque output by the Driver and the braking torque output by the ABS is determined, the new target control module is determined to be the control module corresponding to the maximum value, and the new target braking torque is determined to be the maximum value.

[0088] When the previously determined target control module is Driver and the first control module is ABS, it indicates that the wheel is locked and the braking torque needs to be quickly reduced. Therefore, the second control mode is determined to be Min control, a fourth minimum value between the braking torque output by Driver and the braking torque output by ABS is determined, the new target control module is determined to be the control module corresponding to the fourth minimum value, and the new target braking torque is determined to be the fourth minimum value.

[0089] When the last target control module is VDC and the first control module is TCS, it means that the longitudinal acceleration is difficult due to lateral instability of the wheel. At this time, to prevent the vehicle from skidding, VDC control should be maintained. Therefore, the second control mode is determined to be VDC control, the new target control module is determined to be VDC, and the new target braking torque is determined to be Mb. VDC ;

[0090] When the previously determined target control module is VDC and the first control module is ABS, it indicates that the wheel has experienced significant slippage when VDC intervenes, and ABS intervention is required for rapid decompression. Therefore, the second control mode is determined to be Min control, a fifth minimum value between the braking torque output by the VDC and the braking torque output by the ABS is determined, the new target control module is determined to be the control module corresponding to the fifth minimum value, and the new target braking torque is determined to be the fifth minimum value.

[0091] When the last determined target control module is TCS and the first control module is ABS, it means that a large slip occurs when TCS intervenes, and ABS needs to quickly complete decompression. Therefore, the second control mode is determined to be Min control, and the sixth minimum value of the braking torque output by TCS and the braking torque output by ABS is determined. The new target control module is determined to be the control module corresponding to the sixth minimum value, and the new target braking torque is determined to be the sixth minimum value.

[0092] In this embodiment, when the comparison result shows that the first braking torque is not equal to the target braking torque determined last time, the second control mode is determined by combining the first control module and the target control module determined last time. The second control mode is Min control, MAX control and Mb control. VDC Any one of the controls; determining a new target control module according to the control module determination method corresponding to the second control method, and using the braking torque output by the new target control module as the new target braking torque, the target braking torque can be optimized according to the advanced stability coordination rule.

[0093] Furthermore, in one embodiment, determining a new target braking torque based on the comparison result in combination with the first control module and the target control module determined last time includes:

[0094] Step 610: If the comparison result shows that the first braking torque is equal to the previously determined target braking torque, the control module with a higher priority is determined by combining the first control module and the previously determined target control module.

[0095] Step 620: Use the control module with a higher priority as the new target control module, and use the braking torque output by the new target control module as the new target braking torque.

[0096] In specific implementation, when the comparison result shows that the first braking torque is equal to the target braking torque determined last time, the first control module and the target control module determined last time are combined, that is, when the two are combined together, the one with higher priority is determined as the new target control module.

[0097] Table 4 shows the combined priorities of each control module. The values ​​in Table 4 are calibrated by the OEM based on the importance of maintaining the function and can be adjusted based on actual conditions. A value of 1 represents the selection of the first control module, and 0 represents the selection of the previously determined target control module.

[0098] Table 4 Combination priority of each control module

[0099] Control Module Drive(0) VDC(1) TCS(2) ABS(3) Driver(0) 1 0 0 0 VDC(1) —— 1 1 1 TCS(2) —— —— 1 1 ABS(3) —— —— —— 1

[0100] For example, when the first control module is Driver and the last determined target control module is VDC, it corresponds to 0 in Table 4, so the new target control module is determined to be VDC, and the new target braking torque is determined to be Mb VDC .

[0101] In this embodiment, when the comparison result is that the first braking torque and the target braking torque determined last time are equal, the first control module and the target control module determined last time are combined to determine the control module with a higher priority between the two; the control module with a higher priority is used as the new target control module, and the braking torque output by the new target control module is used as the new target braking torque, so that the target braking torque can be optimized according to the advanced stability coordination rule.

[0102] Furthermore, in one embodiment, the method further includes:

[0103] When the number of activated control modules is equal to 1, the brake pedal control system is used as a new target control module, and the braking torque output by the new target control module is used as a new target braking torque.

[0104] Because Driver control is always in the active state, when the number of activated control modules is equal to 1, it means that the activated control module is Driver. At this time, Driver is directly used as the new target control module, and the braking torque Mb output by Driver is set to Driver as the new target braking torque.

[0105] In this embodiment, it is described how to determine a new target control module and a new target braking torque when the number of activated control modules is equal to 1.

[0106] Figure 4 This is a diagram of a coordinated control dual-loop structure provided for one embodiment of the present application. Assuming the first activated control module is denoted as control module A and the second activated control module is denoted as B, the first-level loop structure begins with the driver control module as the starting value and continues until the total number of activated control modules minus one is reached, exiting the entire loop and outputting the first braking torque. The second-level loop structure is a sub-loop of the first-level loop, with the initial value being the second activated control module. Based on the primary stability coordination rule, the current control module C is obtained. The obtained first braking torque is then compared with the target braking torque obtained by the previously determined control module D using the high-level stability coordination rule. After looping through all activated control modules, the loop exits and the target braking torque is output.

[0107] The following two examples are used to Figure 4 To explain, for example, within one step cycle, it is assumed that the four control modules of Driver, VDC, ABS and TCS are all triggered, where the braking torque output by Driver is 110Nm, the braking torque output by ABS is 20Nm, the braking torque output by TCS is 70Nm, and the braking torque output by VDC is 110Nm. The target control module determined in the previous step cycle is Driver, and the corresponding braking torque is 60Nm.

[0108] Because Driver is the first activated control module, A=0, the second activated control module is TCS, so B=1, the third is VDC, and the fourth is ABS, and the serial numbers are assigned 0123 respectively.

[0109] comparison Figure 4 Follow these steps in order:

[0110] 1. The number of activated control modules is X = 4;

[0111] 2. X>1, enter the next loop;

[0112] 3. The first activated control module A=0<3, enter the next level;

[0113] 4. B=1<4, enter the primary rule;

[0114] 5. At this time, A is the driver, B is the TCS, according to the primary rules, the first control module C is the TCS, and the first braking torque is Mb TCS =70Nm;

[0115] 6. Entering the advanced rules, the first control module C is TCS, and the previously determined target control module D is Driver. According to the advanced rules, the maximum braking torque is taken at this time. Therefore, the new target control module D is updated to TCS, and the new target braking torque is 70Nm.

[0116] 7. B number + 1 = 2, 2 < 4, A number + 1 = 1 < 3, continue to the primary rules;

[0117] 8. At this time, B=2, corresponding to VDC, A=1, corresponding to TCS. According to the primary rule, the first control module C is determined to be VDC, and the first torque is the sum of the two, that is, Mb VDC +Mb TCS =90+70=160Nm;

[0118] 9. Enter the advanced rule. The first control module C is VDC. The target control module D determined last time is TCS. According to the advanced rule, VDC control is maintained at this time. The new target control module D is determined to be VDC. The new target braking torque is the braking torque Mb output by VDC. VDC =160Nm;

[0119] 10. A number + 1 = 2 < 3, established. B number + 1 = 3 < 4, proceed to the primary rules.

[0120] 11. At this time, A is VDC, B is ABS, and according to the primary rule, Min control is triggered, and the first control module C is determined to be ABS, and the first braking torque is Mb ABS=20Nm;

[0121] 12. Enter the advanced rule. The first control module C is ABS. The target control module D determined last time is VDC. According to the advanced rule, the control module corresponding to the minimum braking torque is taken as the new target control module. Therefore, the new target control module is determined to be ABS, and the new target braking torque is Mb. ABS =20Nm;

[0122] 13. B number + 1 = 4, 4 < 4 does not hold, exit the second loop;

[0123] 14. A sequence number + 1 = 3, 3 < 3 does not hold, exit the first loop, determine the target control module corresponding to this step cycle is ABS, the target braking torque is Mb ABS =20Nm, the current step cycle ends and enters the next step cycle.

[0124] In the next step cycle, assume that the three control modules, Driver, TCS, and VDC, are triggered, numbered 012 in sequence. The braking torque output by Driver is 0 Nm, the braking torque output by TCS is 10 Nm, and the braking torque output by VDC is 40 Nm. The target control module determined in the previous step cycle is ABS, and the corresponding braking torque is 20 Nm.

[0125] Because Driver is the first activated control module, A=0, the second activated control module is TCS, so B=1, the third is VDC, and the fourth is ABS, and the serial numbers are assigned 0123 in sequence.

[0126] comparison Figure 4 Follow these steps in order:

[0127] 1. X=3, A=0, established;

[0128] 2. B=1,1<3, established, enter the primary rule;

[0129] 3. A is Driver, B is TCS. According to the primary rules, the first control module is determined to be TCS, and the first braking torque is Mb. TCS =10Nm;

[0130] 4. The target control module determined last time was ABS, and the target braking torque was 20Nm. According to the advanced rule, the control module corresponding to the minimum braking torque is taken as the new target control module. Therefore, the new target control module is determined to be TCS, and the new target braking torque is Mb. TCS =10Nm;

[0131] 5. B number + 1 = 2 < 3, established, A number + 1 = 1 < 2, established, enter the primary rule;

[0132] 6. B = 2 corresponds to VDC, A = 1 corresponds to TCS. According to the primary rule, the first control module C is determined to be VDC, and the first braking torque is the sum of the two, that is, Mb VDC +Mb TCS =40+10=50Nm;

[0133] 7. Enter the advanced rules. The last target control module D is TCS, Mb TCS =10Nm;

[0134] 8. According to the advanced rules, the first control module C is VDC, the last determined target control module D is TCS, the new target control module is VDC, and the new target braking torque is Mb VDC =50Nm;

[0135] 9. B number + 1 = 3, 3 < 3 does not hold, jump out of the second loop, A number + 1 = 2, 2 < 2 does not hold, jump out of the first loop, and finally determine that the target control module corresponding to this step cycle is VDC, and the target braking torque is Mb VDC =50Nm, the current step cycle ends and continues to the next step cycle.

[0136] In a second aspect, an embodiment of the present application also provides a vehicle braking torque coordination control device.

[0137] In one embodiment, referring to Figure 5 , Figure 5 This is a functional module diagram of an embodiment of the vehicle braking torque coordination control device of the present application. Figure 5 As shown, the vehicle braking torque coordination control device 500 includes:

[0138] a sorting module 510 for sorting the activated control modules to obtain a sorting sequence when the number of activated control modules is greater than 1, wherein the control modules are modules capable of outputting braking torque, and each activated control module has a unique number;

[0139] A first determining module 520 is configured to determine a first control module and a first braking torque based on the control modules corresponding to the i-th element and the i+1-th element in the sorted sequence, where the initial value of i is 1;

[0140] a comparison module 530, configured to compare the first braking torque with the last determined target braking torque;

[0141] A second determination module 540 is configured to determine a new target braking torque based on the comparison result, in combination with the first control module and the target control module determined last time, and perform braking control based on the new target braking torque;

[0142] Return module 550 is used to set i+1 if i+1 is less than m, and return to the step of determining the first control module and the first braking torque based on the control modules corresponding to the i-th element and the i+1-th element in the sorted sequence, where m is the number of elements contained in the sorted sequence.

[0143] Furthermore, in one embodiment, the first determining module is specifically configured to:

[0144] Determine a first control mode based on the control modules corresponding to the i-th element and the i+1-th element in the sorted sequence, where the first control mode is any one of Min control, PriorSecond control, and VDC / TCS control;

[0145] The first control module is determined according to a control module determination method corresponding to the first control method, and the first braking torque is determined according to a braking torque calculation method corresponding to the first control method.

[0146] Furthermore, in one embodiment, the second determining module is specifically configured to:

[0147] When the comparison result shows that the first braking torque is not equal to the target braking torque determined last time, the second control mode is determined by combining the first control module and the target control module determined last time. The second control mode is Min control, MAX control and Mb control. VDC Any one of the controls;

[0148] A new target control module is determined according to the control module determination method corresponding to the second control method, and the braking torque output by the new target control module is used as the new target braking torque.

[0149] Furthermore, in one embodiment, the second determining module is specifically configured to:

[0150] If the comparison result shows that the first braking torque is equal to the target braking torque determined last time, combining the first control module and the target control module determined last time, determining a control module with a higher priority between the two;

[0151] The control module with a higher priority is used as a new target control module, and the braking torque output by the new target control module is used as a new target braking torque.

[0152] Furthermore, in one embodiment, the control module includes an anti-lock braking system, a traction control system, a vehicle dynamics control system, and a brake pedal control system.

[0153] Furthermore, in one embodiment, the vehicle braking torque coordinated control device further includes a third determination module, and the third determination module is specifically configured to:

[0154] When the number of activated control modules is equal to 1, the brake pedal control system is used as a new target control module, and the braking torque output by the new target control module is used as a new target braking torque.

[0155] Among them, the functional implementation of each module in the above-mentioned vehicle braking torque coordinated control device corresponds to the various steps in the above-mentioned vehicle braking torque coordinated control method embodiment, and their functions and implementation processes are no longer repeated here.

[0156] In a third aspect, an embodiment of the present application provides a vehicle braking torque coordination control device, which may be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0157] Reference Figure 6 , Figure 6 FIG2 is a hardware structure diagram of a vehicle braking torque coordination control device involved in an embodiment of the present application. In the embodiment of the present application, the vehicle braking torque coordination control device may include a processor, a memory, a communication interface, and a communication bus.

[0158] The communication bus may be of any type and is used to interconnect the processor, memory, and communication interface.

[0159] Communication interfaces include input / output (I / O) interfaces, physical interfaces, and logical interfaces, used to interconnect components within the vehicle braking torque coordinated control device, as well as interfaces used to interconnect the vehicle braking torque coordinated control device with other devices (such as other computing devices or user devices). Physical interfaces can include Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc. User devices can include displays, keyboards, etc.

[0160] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0161] The processor may be a general-purpose processor that can call a vehicle braking torque coordination control program stored in a memory and execute the vehicle braking torque coordination control method provided in the embodiments of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the vehicle braking torque coordination control program is called can be referred to in the various embodiments of the vehicle braking torque coordination control method of the present application and will not be further described here.

[0162] Those skilled in the art will understand that Figure 6 The hardware structure shown in the figure does not constitute a limitation to the present application and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0163] In a fourth aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0164] The computer-readable storage medium of the present application stores a vehicle braking torque coordination control program, wherein when the vehicle braking torque coordination control program is executed by a processor, the steps of the vehicle braking torque coordination control method as described above are implemented.

[0165] Among them, the method implemented when the vehicle braking torque coordination control program is executed can refer to the various embodiments of the vehicle braking torque coordination control method of the present application, and will not be repeated here.

[0166] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0167] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit the "first", "second" and "third" to different types.

[0168] In the description of the embodiments of this application, the words "exemplary," "for example," or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary," "for example," or "for example" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "for example," or "for example" is intended to present the relevant concepts in a concrete manner.

[0169] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0170] In some processes described in the embodiments of the present application, multiple operations or steps are included that appear in a specific order. However, it should be understood that these operations or steps may not be performed in the order in which they appear in the embodiments of the present application or may be performed in parallel. The sequence numbers of the operations are only used to distinguish between different operations, and the sequence numbers themselves do not represent any order of execution. In addition, these processes may include more or fewer operations, and these operations or steps may be performed in sequence or in parallel, and these operations or steps may be combined.

[0171] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device to execute the methods described in each embodiment of the present application.

[0172] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A vehicle braking torque coordinated control method, characterized in that: The vehicle braking torque coordinated control method includes: When the number of activated control modules is greater than 1, the activated control modules are sorted to obtain a sorted sequence, where the control modules are modules capable of outputting braking torque, and each activated control module has a unique number; Determine a first control module and a first braking torque based on the control modules corresponding to the i-th element and the i+1-th element in the sorted sequence, where the initial value of i is 1; comparing the first braking torque with a last determined target braking torque; According to the comparison result, combining the first control module and the target control module determined last time, determining a new target braking torque, and performing braking control based on the new target braking torque; If i+1 is less than m, set i+1 and return to the step of determining the first control module and the first braking torque based on the control modules corresponding to the i-th element and the i+1-th element in the sorted sequence, where m is the number of elements contained in the sorted sequence.

2. The vehicle braking torque coordinated control method according to claim 1, characterized in that: The determining of the first control module and the first braking torque based on the control modules corresponding to the i-th element and the i+1-th element in the sorted sequence includes: Determine a first control mode based on the control modules corresponding to the i-th element and the i+1-th element in the sorted sequence, where the first control mode is any one of Min control, PriorSecond control, and VDC / TCS control; The first control module is determined according to a control module determination method corresponding to the first control method, and the first braking torque is determined according to a braking torque calculation method corresponding to the first control method.

3. The vehicle braking torque coordinated control method according to claim 1, characterized in that: Determining a new target braking torque based on the comparison result and combining the first control module and the target control module determined last time includes: If the comparison result shows that the first braking torque is not equal to the target braking torque determined last time, Combine the first control module and the target control module determined last time to determine the second control mode, which is Min control, MAX control and Mb control. VDC Any one of the controls; A new target control module is determined according to the control module determination method corresponding to the second control method, and the braking torque output by the new target control module is used as the new target braking torque.

4. The vehicle braking torque coordinated control method according to claim 1, characterized in that: Determining a new target braking torque based on the comparison result in combination with the first control module and the target control module determined last time includes: If the comparison result shows that the first braking torque is equal to the target braking torque determined last time, combining the first control module and the target control module determined last time, determining a control module with a higher priority between the two; The control module with a higher priority is used as a new target control module, and the braking torque output by the new target control module is used as a new target braking torque.

5. The vehicle braking torque coordinated control method according to any one of claims 1 to 4, characterized in that: The control module includes an anti-lock braking system, a traction control system, a vehicle dynamics control system and a brake pedal control system.

6. The vehicle braking torque coordinated control method according to claim 5, characterized in that: The method further comprises: When the number of activated control modules is equal to 1, the brake pedal control system is used as a new target control module, and the braking torque output by the new target control module is used as a new target braking torque.

7. A vehicle braking torque coordination control device, characterized in that: The vehicle braking torque coordination control device includes: a sorting module, configured to sort the activated control modules to obtain a sorting sequence when the number of activated control modules is greater than 1, wherein the control modules are modules capable of outputting braking torque, and each activated control module has a unique number; A first determining module, configured to determine a first control module and a first braking torque based on the control modules corresponding to the i-th element and the i+1-th element in the sorted sequence, where an initial value of i is 1; a comparison module, configured to compare the first braking torque with a target braking torque determined last time; a second determining module, configured to determine a new target braking torque according to the comparison result, in combination with the first control module and the target control module determined last time, and perform braking control based on the new target braking torque; A return module is used to set i+1 if i+1 is less than m, and return to the step of determining the first control module and the first braking torque based on the control modules corresponding to the i-th element and the i+1-th element in the sorted sequence, where m is the number of elements contained in the sorted sequence.

8. The vehicle braking torque coordination control device according to claim 7, characterized in that: The vehicle braking torque coordination control device further includes a third determination module, which is specifically configured to: When the number of activated control modules is equal to 1, the brake pedal control system is used as a new target control module, and the braking torque output by the new target control module is used as a new target braking torque.

9. A vehicle braking torque coordination control device, characterized in that: The vehicle braking torque coordination control device includes a processor, a memory, and a vehicle braking torque coordination control program stored on the memory and executable by the processor, wherein when the vehicle braking torque coordination control program is executed by the processor, the steps of the vehicle braking torque coordination control method as described in any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a vehicle braking torque coordination control program, wherein when the vehicle braking torque coordination control program is executed by the processor, the steps of the vehicle braking torque coordination control method according to any one of claims 1 to 6 are implemented.

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