Electric braking and mechanical braking distribution control method and device

Abstract

The invention relates to an electric braking and mechanical braking distribution control method and device, and belongs to the technical field of electric automobile braking. The method comprises the steps that basic driving data and braking data of all wheels of an automobile are obtained; according to the basic driving data, the whole vehicle braking torque variable quantity is obtained; according to the brake data of each wheel and the brake torque variation of the whole vehicle, the target brake torque of each wheel brake clamp at the current moment and the target brake torque of each hub motor at the current moment are obtained; controlling each wheel of the vehicle according to the target braking torque of each wheel braking clamp at the current moment and the target braking torque of each hub motor at the current moment; according to the method, the target braking torque of each wheel braking clamp at the current moment and the target braking torque of each hub motor at the current moment of the vehicle are determined, and the vehicle is synchronously controlled according to the target braking torque of each wheel braking clamp at the current moment and the target braking torque of each hub motor at the current moment; the problems of unsmooth braking and unstable braking running of the vehicle are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of electric vehicle braking, and in particular to a method and device for controlling the distribution of electric braking and mechanical braking. Background Art

[0002] The mechanical and electric braking of traditional electric vehicles are handled by EBS (Electronic Brake Systems). EBS is based on anti-lock braking ABS (Antilock Brake System) and anti-skid braking ASR (Acceleration Slip Regulation), which reduces the response time and pressure building time of the braking system. The mechanical and electric braking of electric vehicles work together during the braking process to improve the braking efficiency of the vehicle and increase the vehicle's cruising range. However, the braking torque of the mechanical and electric brakes needs to be distributed in real time during the braking process. If there is an uncoordinated distribution of the mechanical and electric braking torques during the distribution process, the mechanical and electric brakes will not work synchronously, resulting in uneven braking and unstable vehicle braking.

[0003] Therefore, it is urgent to propose a method and device for controlling the distribution of electric braking and mechanical braking to solve the technical problem in the prior art that if there is an uncoordinated distribution of mechanical braking torque and electric braking torque during the distribution process, the mechanical braking and electric braking will not work synchronously, resulting in uneven braking and unstable vehicle braking. Summary of the invention

[0004] In view of this, it is necessary to provide an electric brake and mechanical brake distribution control method and device to solve the technical problem in the prior art that if there is an uncoordinated distribution of mechanical brake torque and electric brake torque during the distribution process, the mechanical brake and electric brake will not work synchronously, resulting in uneven braking and unstable vehicle braking.

[0005] In order to solve the above problems, the present invention provides an electric brake and mechanical brake distribution control method, comprising: Obtain the basic driving data of the vehicle and the braking data of each wheel; According to the basic driving data, a change in the braking torque of the whole vehicle is obtained; According to the braking data of each wheel and the change in the braking torque of the whole vehicle, the target braking torque of the brake caliper of each wheel and the target braking torque of each wheel hub motor at the current moment are obtained; Each wheel of the vehicle is controlled according to the current target braking torque of the brake caliper of each wheel and the current target braking torque of each wheel hub motor.

[0006] In a possible implementation, the basic driving data includes acceleration change rate, vehicle unloaded mass, tire radius and task execution cycle; and obtaining the vehicle braking torque change amount according to the basic driving data includes: Obtaining a change in the braking force of the vehicle according to the acceleration change rate and the unloaded mass of the vehicle; The change in braking torque of the whole vehicle is obtained according to the change in braking force of the whole vehicle, the radius of each tire and the task execution cycle.

[0007] In a possible implementation, the wheel braking data includes the target braking torque of the wheel brake caliper, the target braking torque of the wheel brake caliper at the previous moment, the target braking torque of each wheel hub motor, the target braking torque of each wheel hub motor at the previous moment and the reduction ratio of the rear end of each wheel hub motor; the target braking torque of the wheel brake caliper at the current moment and the target braking torque of each wheel hub motor at the current moment are obtained according to the wheel braking data and the vehicle braking torque change, including: Obtaining a distribution coefficient of mechanical braking and electric braking according to the target braking torque of the brake calipers of each wheel, the target braking torque of the brake calipers of each wheel at the previous moment, the target braking torque of each wheel hub motor, the target braking torque of each wheel hub motor at the previous moment and the reduction ratio of the rear end of each wheel hub motor; According to the distribution coefficient and the change in the braking torque of the whole vehicle, a total torque change of mechanical braking and a total torque change of electric braking are obtained; According to the total torque change of the mechanical brake and the total torque change of the electric brake, the target braking torque of the brake caliper of each wheel and the target braking torque of each wheel hub motor at the current moment are obtained.

[0008] In a possible implementation, obtaining the target braking torque of each wheel brake caliper at the current moment and the target braking torque of each wheel hub motor at the current moment according to the total torque change of the mechanical brake and the total torque change of the electric brake includes: According to the total torque variation of the mechanical brake and the total torque variation of the electric brake, a reference value of the brake caliper brake torque variation and a reference value of the brake torque variation of each wheel hub motor torque are obtained; According to the brake caliper braking torque change reference value, the brake torque change reference value of each wheel hub motor torque, the target braking torque of each wheel brake caliper, the target braking torque of each wheel brake caliper at the previous moment, the target braking torque of each wheel hub motor, and the target braking torque of each wheel hub motor at the previous moment, the brake torque change amount of each brake caliper and the kinetic torque change amount of each wheel hub motor are obtained; According to the target braking torque of each wheel brake caliper at the previous moment, the target braking torque of each wheel hub motor at the previous moment, the braking torque change of each brake caliper and the kinetic torque change of each wheel hub motor, the target braking torque of each wheel brake caliper at the current moment and the target braking torque of each wheel hub motor at the current moment are obtained.

[0009] In a possible implementation, obtaining a brake caliper braking torque variation reference value and a brake torque variation reference value of each wheel hub motor torque according to the mechanical braking total torque variation and the electric braking total torque variation includes: Obtaining a brake caliper brake torque change reference value according to the total mechanical brake change torque, the target brake torque of the brake calipers of each wheel, and the target brake torque of the brake calipers of each wheel at a previous moment; The reference value of the torque braking torque change of each hub motor is obtained according to the total electric braking torque change, the target braking torque of each hub motor, the target braking torque of each hub motor at the previous moment and the reduction ratio of the rear end of each hub motor.

[0010] In a possible implementation, the braking torque variation of each brake caliper and the kinetic torque variation of each wheel hub motor are obtained according to the braking torque variation reference value of the brake caliper, the braking torque variation reference value of each wheel hub motor torque, the target braking torque of each wheel caliper, the target braking torque of each wheel caliper at the last moment, the target braking torque of each wheel hub motor, and the target braking torque of each wheel hub motor at the last moment, including: Obtaining a change in the braking torque of each brake caliper according to the target braking torque of each wheel brake caliper, the target braking torque of each wheel brake caliper at a previous moment and a reference value of the braking torque change of the brake caliper; The kinetic torque variation of each hub motor is obtained according to the target braking torque of each hub motor, the target braking torque of each hub motor at the previous moment and the reference value of the braking torque variation of each hub motor.

[0011] In a possible implementation, the sum of the change in braking torque of each brake caliper and the change in dynamic torque of each wheel hub motor is equal to the change in braking torque of the entire vehicle.

[0012] In a possible implementation, the target braking torque of each wheel brake caliper at the last moment, the target braking torque of each wheel hub motor at the last moment, the change in braking torque of each brake caliper and the change in dynamic torque of each wheel hub motor are obtained, including: Obtaining the target braking torque of the brake calipers of each wheel at the current moment according to the target braking torque of the brake calipers of each wheel at the previous moment and the change in braking torque of each brake caliper; The target braking torque of each wheel hub motor at the current moment is obtained according to the target braking torque of each wheel hub motor at the previous moment and the change in the kinetic torque of each wheel hub motor.

[0013] In a possible implementation, the first time required for the target braking torque of each wheel brake caliper to change from the current moment to the target braking torque of each wheel brake caliper is the same; the first time required for the target braking torque of each wheel hub motor to change from the current moment to the target braking torque of each wheel hub motor is the same, and the first time is the same as the second time.

[0014] On the other hand, the present invention also provides an electric brake and mechanical brake distribution control device, comprising: A data acquisition module is used to acquire basic driving data of the vehicle and braking data of each wheel; A variation determination module, used for obtaining a variation of the braking torque of the vehicle according to the basic driving data; A torque determination module, used for obtaining the current target braking torque of each wheel brake caliper and the current target braking torque of each wheel hub motor according to the braking data of each wheel and the change in the braking torque of the whole vehicle; The vehicle control module is used to control each wheel of the vehicle according to the current target braking torque of the brake calipers of each wheel and the current target braking torque of each wheel hub motor.

[0015] The beneficial effects of the present invention are: obtaining the basic driving data and braking data of each wheel of the vehicle; obtaining the change in braking torque of the whole vehicle according to the basic driving data; obtaining the current target braking torque of the brake caliper of each wheel and the current target braking torque of each hub motor according to the braking data of each wheel and the change in braking torque of the whole vehicle; controlling each wheel of the vehicle according to the current target braking torque of the brake caliper of each wheel and the current target braking torque of each hub motor; the present invention determines the current target braking torque of the brake caliper of each wheel of the vehicle and the current target braking torque of each hub motor, and synchronously controls the vehicle according to the current target braking torque of the brake caliper of each wheel and the current target braking torque of each hub motor, thereby solving the problems of uneven braking of the vehicle and unstable braking driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic flow chart of an embodiment of the electric brake and mechanical brake distribution control method provided by the present invention; Figure 2 For the present invention Figure 1A schematic flow chart of an embodiment of step S103; Figure 3 For the present invention Figure 2 A schematic flow chart of an embodiment of step S203; Figure 4 A schematic diagram of the structure of an embodiment of the electric brake and mechanical brake distribution control device provided by the present invention; Figure 5 A schematic structural diagram of an embodiment of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0017] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0018] like Figure 1 As shown, a specific embodiment of the present invention discloses a method for controlling the distribution of electric braking and mechanical braking, comprising: S101, obtaining basic driving data of the vehicle and braking data of each wheel; S102, obtaining a change in the braking torque of the vehicle according to basic driving data; S103, obtaining the current target braking torque of each wheel brake caliper and the current target braking torque of each wheel hub motor according to the braking data of each wheel and the change in the braking torque of the whole vehicle; S104, controlling each wheel of the vehicle according to the current target braking torque of each wheel caliper and the current target braking torque of each wheel hub motor.

[0019] It should be understood that it can be applied to any electric vehicle, and the basic driving data and the braking data of each wheel obtained in step S101 can be obtained by using the vehicle's sensor equipment, or by calling the historically stored basic driving data and the braking data of each wheel from a storage medium. The specific basic driving data and the braking data of each wheel can be set according to actual conditions, and the embodiments of the present invention are not limited thereto.

[0020] In a specific embodiment of the present invention, after the basic driving data of the vehicle and the braking data of each wheel are obtained, the basic driving data can be calculated to obtain the change in the braking torque of the whole vehicle, and then the target braking torque of the brake caliper of each wheel and the target braking torque of each wheel hub motor at the current moment can be calculated according to the change in the braking torque of the whole vehicle and the braking data of each wheel, and then the brake caliper of each wheel and the wheel hub motor of each wheel of the vehicle can be synchronously controlled according to the target braking torque of the brake caliper of each wheel and the target braking torque of each wheel hub motor at the current moment, thereby solving the problems of uneven braking of the vehicle and unstable braking driving; wherein, the basic driving data may include data such as the unloaded mass of the whole vehicle, the acceleration change rate and the tire radius, and the braking data of each wheel may include data such as the target braking torque of the brake caliper of each wheel, the target braking torque of each wheel hub motor, the target braking torque of the brake caliper of each wheel at the previous moment, the target braking torque of each wheel hub motor at the previous moment and the reduction ratio of the rear end of each wheel hub motor.

[0021] Compared with the prior art, the present embodiment provides methods for obtaining basic driving data and braking data of each wheel of the vehicle; obtaining the change in braking torque of the whole vehicle based on the basic driving data; obtaining the target braking torque of the brake caliper of each wheel and the target braking torque of each hub motor at the current moment based on the braking data of each wheel and the change in braking torque of the whole vehicle; controlling each wheel of the vehicle based on the target braking torque of the brake caliper of each wheel and the target braking torque of each hub motor at the current moment; the present invention determines the target braking torque of the brake caliper of each wheel of the vehicle and the target braking torque of each hub motor at the current moment, and synchronously controls the vehicle based on the target braking torque of the brake caliper of each wheel and the target braking torque of each hub motor at the current moment, thereby solving the problems of uneven braking of the vehicle and unstable braking driving.

[0022] In some embodiments of the present invention, the basic driving data includes acceleration change rate, vehicle unloaded mass, tire radius and task execution cycle; step S102 includes: According to the acceleration change rate and the unloaded mass of the vehicle, the change in the braking force of the vehicle is obtained; According to the change of the braking force of the whole vehicle, the radius of each tire and the task execution cycle, the change of the braking torque of the whole vehicle is obtained.

[0023] In a specific embodiment of the present invention, the basic driving data may include data such as the acceleration change rate, the vehicle unloaded mass, the tire radius and the task execution cycle. The acceleration change rate and the vehicle unloaded mass may be calculated to obtain the vehicle braking force change per unit time, wherein the vehicle braking force change per unit time is equal to the product of the acceleration change rate and the vehicle unloaded mass, and the calculation is shown in formula (1): (1) In the formula, is the change in vehicle braking force per unit time; is the unloaded mass of the vehicle; is the rate of change of acceleration, where The value can be obtained through calibration or experience.

[0024] Then, the product of the vehicle braking force change per unit time, the tire radius and the task execution cycle can be calculated to obtain the vehicle braking torque change, as shown in formula (2): (2) In the formula, is the change of the vehicle braking torque; is the task execution cycle, is the radius of each tire.

[0025] In some embodiments of the present invention, the braking data of each wheel includes the target braking torque of the brake caliper of each wheel, the target braking torque of the brake caliper of each wheel at the previous moment, the target braking torque of each wheel hub motor, the target braking torque of each wheel hub motor at the previous moment and the reduction ratio of the rear end of each wheel hub motor; Figure 2 As shown, step S103 includes: S201, obtaining a distribution coefficient of mechanical braking and electric braking according to the target braking torque of each wheel brake caliper, the target braking torque of each wheel brake caliper at the previous moment, the target braking torque of each wheel hub motor, the target braking torque of each wheel hub motor at the previous moment, and the reduction ratio of the rear end of each wheel hub motor; S202, obtaining a total torque change of mechanical braking and a total torque change of electric braking according to the distribution coefficient and the change of the braking torque of the whole vehicle; S203, obtaining the current target braking torque of each wheel brake caliper and the current target braking torque of each wheel hub motor according to the total torque change of the mechanical brake and the total torque change of the electric brake.

[0026] In a specific embodiment of the present invention, the braking data of each wheel may include the target braking torque of each wheel brake caliper, the target braking torque of each wheel brake caliper at the previous moment, the target braking torque of each wheel hub motor, the target braking torque of each wheel hub motor at the previous moment and the reduction ratio of the rear end of each wheel hub motor. The distribution coefficient of mechanical braking and electric braking is equal to the sum of the absolute value of the difference between the target braking torque of each wheel brake caliper and the target braking torque of its wheel brake caliper at the previous moment divided by the sum of the product of the absolute value of the difference between the target braking torque of each wheel hub motor and the target braking torque of the wheel hub motor at the previous moment and the reduction ratio of the rear end of the wheel hub motor, and the calculation is shown in formula (3): (3) In the formula, is the distribution coefficient between mechanical brake and electric brake; For the Wheel brake caliper target braking torque, , is the total number of brake calipers; For the The target braking torque of the wheel brake caliper at the previous moment; For the The target braking torque of each wheel hub motor is ; For the The target braking torque of each wheel hub motor at the last moment; For the The reduction ratio at the rear end of the wheel hub motor.

[0027] The total torque change of mechanical brake is equal to the reciprocal of the sum of the distribution coefficient of mechanical brake and electric brake and 1 multiplied by the distribution coefficient of mechanical brake and electric brake, and then multiplied by the change of vehicle braking torque. The total torque change of electric brake is equal to the difference between the change of vehicle braking torque and the total torque change of mechanical brake, as shown in formula (4): (4) In the formula, is the total torque of mechanical brake change; is the total torque of electric braking; where, .

[0028] In some embodiments of the present invention, Figure 3 As shown, step S203 includes: S301, obtaining a brake caliper brake torque variation reference value and a brake torque variation reference value of each wheel hub motor torque according to a mechanical brake variation total torque and an electric brake variation total torque; S302, obtaining a change in the braking torque of each brake caliper and a change in the kinetic torque of each wheel hub motor according to a reference value for a change in the braking torque of the brake caliper, a reference value for a change in the braking torque of each wheel hub motor, a target braking torque of each wheel caliper at a previous moment, a target braking torque of each wheel hub motor, and a target braking torque of each wheel hub motor at a previous moment; S303, obtaining the current target braking torque of each wheel brake caliper and the current target braking torque of each wheel hub motor according to the previous target braking torque of each wheel brake caliper, the previous target braking torque of each wheel hub motor, the braking torque change of each brake caliper and the dynamic torque change of each wheel hub motor.

[0029] In a specific embodiment of the present invention, a reference value of brake caliper brake torque change and a reference value of brake torque change of each wheel hub motor torque are calculated based on the total torque change of mechanical brake and the total torque change of electric brake. A change in brake torque of each brake caliper and a change in kinetic torque of each wheel hub motor are calculated based on the reference value of brake torque change of the brake caliper, the reference value of brake torque change of each wheel hub motor torque, the target braking torque of each wheel brake caliper, the target braking torque of each wheel brake caliper at the previous moment, the target braking torque of each wheel hub motor, and the target braking torque of each wheel hub motor at the previous moment. A target braking torque of each wheel brake caliper at the current moment and a target braking torque of each wheel hub motor at the current moment are calculated based on the target braking torque of each wheel brake caliper at the previous moment, the target braking torque of each wheel hub motor at the previous moment, the change in brake torque of each brake caliper and the kinetic torque of each wheel hub motor.

[0030] In some embodiments of the present invention, step S301 includes: According to the total torque change of mechanical brake, the target braking torque of each wheel brake caliper and the target braking torque of each wheel brake caliper at the previous moment, a reference value of the brake caliper brake torque change is obtained; According to the total torque change of electric braking, the target braking torque of each hub motor, the target braking torque of each hub motor at the previous moment and the reduction ratio of the rear end of each hub motor, the reference value of the torque braking torque change of each hub motor is obtained.

[0031] In a specific embodiment of the present invention, the reference value of the brake caliper braking torque change is equal to the total torque of the mechanical brake change divided by the sum of the absolute value of the difference between the target braking torque of each wheel brake caliper and the target braking torque of each wheel brake caliper at the previous moment; the reference value of the brake torque change of each wheel hub motor torque is equal to the total torque of the electric brake change divided by the sum of the product of the absolute value of the difference between the target braking torque of each wheel hub motor and the target braking torque of the wheel hub motor at the previous moment and the reduction ratio of the rear end of the wheel hub motor, as shown in formula (5): (5) In the formula, is the reference value of brake caliper brake torque change; is the reference value of the hub motor torque braking torque change; For the The reduction ratio at the rear end of the wheel hub motor.

[0032] In some embodiments of the present invention, step S302 includes: The change amount of the brake torque of each brake caliper is obtained according to the target brake torque of each wheel brake caliper, the target brake torque of each wheel brake caliper at the previous moment and the reference value of the brake torque change of the brake caliper; The kinetic torque variation of each hub motor is obtained according to the target braking torque of each hub motor, the target braking torque of each hub motor at the previous moment and the reference value of the torque braking torque variation of each hub motor.

[0033] In a specific embodiment of the present invention, the change in braking torque of each brake caliper is equal to the absolute value of the difference between the target braking torque of each wheel brake caliper and the target braking torque of the wheel brake caliper at the previous moment multiplied by the reference value of the braking torque change of the brake caliper; the change in braking torque of each wheel hub motor is equal to the absolute value of the difference between the target braking torque of each wheel hub motor and the target braking torque of the wheel hub motor at the previous moment multiplied by the reference value of the braking torque change of the wheel hub motor, and the calculation is shown in formula (6): (6) In the formula, For the Wheel brake caliper dynamic torque change; For the The change in the kinetic torque of the wheel hub motor.

[0034] Furthermore, as shown in formula (7): (7) It can be simplified as shown in formula (8): (8) According to formula (8) and formula (5), we can get formula (9): (9) Thus we can get formula (10): (10) Among them, the sum of the change in braking torque of each brake caliper and the change in dynamic torque of each hub motor is equal to the change in braking torque of the whole vehicle, which not only ensures the comfort requirements during braking, but also ensures the rapid response change of braking torque.

[0038] In some embodiments of the present invention, step S303 includes: According to the target braking torque of the brake calipers of each wheel at the previous moment and the braking torque change of each brake caliper, the target braking torque of the brake calipers of each wheel at the current moment is obtained; According to the target braking torque of each wheel hub motor at the previous moment and the change in the kinetic torque of each wheel hub motor, the target braking torque of each wheel hub motor at the current moment is obtained.

[0039] In a specific embodiment of the present invention, the target braking torque of each wheel brake caliper at the current moment is equal to the target braking torque of each wheel brake caliper at the previous moment plus the change in braking torque of the brake caliper; the target braking torque of each wheel hub motor at the current moment is equal to the target braking torque of each wheel hub motor at the previous moment plus the change in the wheel hub motor torque, as shown in formula (11): (11) In the formula, For the The target braking torque of the wheel brake caliper at the current moment; For the The target braking torque of each wheel hub motor at the current moment.

[0040] Further ， and The relationship is The target braking torque of the wheel brake caliper at adjacent moments, The initial value of is 0; and The relationship is The target braking torque of each wheel hub motor at adjacent moments is: The initial value of is 0. The time required for the current target braking torque of each wheel brake caliper to change to the target braking torque of each wheel brake caliper and the current target braking torque of each wheel hub motor to change to the target braking torque of each wheel hub motor is calculated as shown in formula (12): (12) In the formula, For the The time required for the target braking torque before the wheel brake is engaged to change to the target braking torque of the wheel brake caliper; For the The time required for the target braking torque of each wheel hub motor to change to the target braking torque of each wheel hub motor at the current moment.

[0041] According to formula (12) and formula (6), we can get formula (13): (13) It can be simplified to formula (14): (14) Combining formula (14) and formula (5), we can get formula (15): (15) Combining formula (15) with formula (4), we can get formula (16): (16) It can be simplified to formula (17): (17) Combining formula (17) and formula (3), we can get formula (18): (18) You can know: That is, the first time required for the target braking torque of each wheel brake caliper to change to the target braking torque of each wheel brake caliper at the current moment is the same; the first time required for the target braking torque of each wheel hub motor to change to the target braking torque of each wheel hub motor at the current moment is the same, and the first time is the same as the second time, which ensures that the mechanical braking and electric braking reach their target braking torques at the same time, thereby improving the stability and smoothness of the vehicle during braking.

[0042] In order to better implement the electric brake and mechanical brake allocation control method in the embodiment of the present invention, based on the electric brake and mechanical brake allocation control method, the embodiment of the present invention also provides an electric brake and mechanical brake allocation control device, such as Figure 4 As shown, the electric brake and mechanical brake distribution control device 400 includes: The data acquisition module 401 is used to acquire basic driving data of the vehicle and braking data of each wheel; The variation determination module 402 is used to obtain the variation of the braking torque of the vehicle according to the basic driving data; The torque determination module 403 is used to obtain the current target braking torque of each wheel brake caliper and the current target braking torque of each wheel hub motor according to the braking data of each wheel and the change of the braking torque of the whole vehicle; The vehicle control module 404 is used to control each wheel of the vehicle according to the current target braking torque of each wheel caliper and the current target braking torque of each wheel hub motor.

[0043] The electric brake and mechanical brake allocation control device 400 provided in the above embodiment can implement the technical solution described in the above electric brake and mechanical brake allocation control method embodiment. The specific implementation principles of the above modules or units can refer to the corresponding contents in the above electric brake and mechanical brake allocation control method embodiment, which will not be repeated here.

[0044] like Figure 5 As shown, the present invention also provides an electronic device 500. The electronic device 500 includes a processor 501, a memory 502 and a display 503. Figure 5 Only some components of the electronic device 500 are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0045] In some embodiments, the memory 502 may be an internal storage unit of the electronic device 500, such as a hard disk or memory of the electronic device 500. In other embodiments, the memory 502 may also be an external storage device of the electronic device 500, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 500.

[0046] Furthermore, the memory 502 may include both an internal storage unit of the electronic device 500 and an external storage device. The memory 502 is used to store application software installed in the electronic device 500 and various data.

[0047] In some embodiments, the processor 501 may be a central processing unit (CPU), a microprocessor or other data processing chip, used to run program codes or process data stored in the memory 502, such as the electric brake and mechanical brake distribution control method of the present invention.

[0048] In some embodiments, the display 503 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 503 is used to display information of the electronic device 500 and to display a visual user interface. The components 501-503 of the electronic device 500 communicate with each other through a system bus.

[0049] In some embodiments of the present invention, when the processor 501 executes the electric brake and mechanical brake allocation control program in the memory 502, the following steps may be implemented: Obtain the basic driving data of the vehicle and the braking data of each wheel; According to the basic driving data, the change of the vehicle braking torque is obtained; According to the braking data of each wheel and the change of the braking torque of the whole vehicle, the current target braking torque of the brake caliper of each wheel and the current target braking torque of each wheel hub motor are obtained; Each wheel of the vehicle is controlled according to the current target braking torque of each wheel caliper and the current target braking torque of each wheel hub motor.

[0050] It should be understood that: when the processor 501 executes the electric brake and mechanical brake allocation control program in the memory 502, in addition to the above functions, other functions can also be implemented. For details, please refer to the description of the corresponding method embodiment above.

[0051] Furthermore, the embodiment of the present invention does not specifically limit the type of the electronic device 500 mentioned, and the electronic device 500 may be a portable electronic device such as a mobile phone, a tablet computer, a personal digital assistant (PDA), a wearable device, a laptop computer, etc. Exemplary embodiments of portable electronic devices include but are not limited to portable electronic devices equipped with IOS, Android, Microsoft or other operating systems. The above-mentioned portable electronic devices may also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, the electronic device 500 may not be a portable electronic device, but a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0052] Accordingly, an embodiment of the present application also provides a computer-readable storage medium, which is used to store computer-readable programs or instructions. When the program or instructions are executed by a processor, the steps or functions of the electric braking and mechanical braking distribution control method provided in the above-mentioned method embodiments can be implemented.

[0053] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware (such as a processor, a controller, etc.) through a computer program, and the computer program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0054] The electric brake and mechanical brake distribution control method and device provided by the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for controlling the distribution of electric braking and mechanical braking, characterized in that: include: Obtain the basic driving data of the vehicle and the braking data of each wheel; According to the basic driving data, a change in the braking torque of the whole vehicle is obtained; According to the braking data of each wheel and the change in the braking torque of the whole vehicle, the target braking torque of the brake caliper of each wheel and the target braking torque of each wheel hub motor at the current moment are obtained; Each wheel of the vehicle is controlled according to the current target braking torque of the brake caliper of each wheel and the current target braking torque of each wheel hub motor.

2. The electric brake and mechanical brake distribution control method according to claim 1, characterized in that: The basic driving data includes acceleration change rate, vehicle unloaded mass, tire radius and task execution cycle; the vehicle braking torque change amount obtained according to the basic driving data includes: Obtaining a change in the braking force of the vehicle according to the acceleration change rate and the unloaded mass of the vehicle; The change in braking torque of the whole vehicle is obtained according to the change in braking force of the whole vehicle, the radius of each tire and the task execution cycle.

3. The electric brake and mechanical brake distribution control method according to claim 1, characterized in that: The wheel braking data includes the target braking torque of the wheel brake caliper, the target braking torque of the wheel brake caliper at the previous moment, the target braking torque of each wheel hub motor, the target braking torque of each wheel hub motor at the previous moment and the reduction ratio of the rear end of each wheel hub motor; the target braking torque of the wheel brake caliper at the current moment and the target braking torque of each wheel hub motor at the current moment are obtained according to the wheel braking data and the vehicle braking torque change, including: Obtaining a distribution coefficient of mechanical braking and electric braking according to the target braking torque of the brake calipers of each wheel, the target braking torque of the brake calipers of each wheel at the previous moment, the target braking torque of each wheel hub motor, the target braking torque of each wheel hub motor at the previous moment and the reduction ratio of the rear end of each wheel hub motor; According to the distribution coefficient and the change in the braking torque of the whole vehicle, a total torque change of mechanical braking and a total torque change of electric braking are obtained; According to the total torque change of the mechanical brake and the total torque change of the electric brake, the target braking torque of the brake caliper of each wheel and the target braking torque of each wheel hub motor at the current moment are obtained.

4. The electric brake and mechanical brake distribution control method according to claim 3, characterized in that: The method of obtaining the target braking torque of each wheel brake caliper at the current moment and the target braking torque of each wheel hub motor at the current moment according to the total torque change of the mechanical brake and the total torque change of the electric brake comprises: According to the total torque variation of the mechanical brake and the total torque variation of the electric brake, a reference value of the brake caliper brake torque variation and a reference value of the brake torque variation of each wheel hub motor torque are obtained; According to the brake caliper braking torque change reference value, the brake torque change reference value of each wheel hub motor torque, the target braking torque of each wheel brake caliper, the target braking torque of each wheel brake caliper at the previous moment, the target braking torque of each wheel hub motor, and the target braking torque of each wheel hub motor at the previous moment, the brake torque change amount of each brake caliper and the kinetic torque change amount of each wheel hub motor are obtained; According to the target braking torque of each wheel brake caliper at the previous moment, the target braking torque of each wheel hub motor at the previous moment, the braking torque change of each brake caliper and the kinetic torque change of each wheel hub motor, the target braking torque of each wheel brake caliper at the current moment and the target braking torque of each wheel hub motor at the current moment are obtained.

5. The electric brake and mechanical brake distribution control method according to claim 4, characterized in that: The step of obtaining a brake caliper braking torque variation reference value and a brake torque variation reference value of each wheel hub motor torque according to the mechanical braking total torque variation and the electric braking total torque variation includes: Obtaining a brake caliper brake torque change reference value according to the total mechanical brake change torque, the target brake torque of the brake calipers of each wheel, and the target brake torque of the brake calipers of each wheel at a previous moment; The reference value of the torque braking torque change of each hub motor is obtained according to the total electric braking torque change, the target braking torque of each hub motor, the target braking torque of each hub motor at the previous moment and the reduction ratio of the rear end of each hub motor.

6. The electric brake and mechanical brake distribution control method according to claim 4, characterized in that: The method of obtaining the braking torque variation of each brake caliper and the kinetic torque variation of each wheel hub motor according to the braking torque variation reference value of the brake caliper, the braking torque variation reference value of each wheel hub motor torque, the target braking torque of each wheel caliper, the target braking torque of each wheel caliper at the last moment, the target braking torque of each wheel hub motor, and the target braking torque of each wheel hub motor at the last moment includes: Obtaining a change in the braking torque of each brake caliper according to the target braking torque of each wheel brake caliper, the target braking torque of each wheel brake caliper at a previous moment and a reference value of the braking torque change of the brake caliper; The kinetic torque variation of each hub motor is obtained according to the target braking torque of each hub motor, the target braking torque of each hub motor at the previous moment and the reference value of the braking torque variation of each hub motor.

7. The electric brake and mechanical brake distribution control method according to claim 6, characterized in that: The sum of the change in braking torque of each brake caliper and the change in dynamic torque of each wheel hub motor is equal to the change in braking torque of the entire vehicle.

8. The electric brake and mechanical brake distribution control method according to claim 4, characterized in that: The method of obtaining the target braking torque of each wheel brake caliper at the current moment and the target braking torque of each wheel hub motor at the current moment according to the target braking torque of each wheel brake caliper at the previous moment, the target braking torque of each wheel hub motor at the previous moment, the braking torque change of each brake caliper and the dynamic torque change of each wheel hub motor includes: Obtaining the target braking torque of the brake calipers of each wheel at the current moment according to the target braking torque of the brake calipers of each wheel at the previous moment and the change in braking torque of each brake caliper; The target braking torque of each wheel hub motor at the current moment is obtained according to the target braking torque of each wheel hub motor at the previous moment and the change in the kinetic torque of each wheel hub motor.

9. The electric brake and mechanical brake distribution control method according to claim 3, characterized in that: The first time required for the target braking torque of each wheel brake caliper to change from the current moment to the target braking torque of each wheel brake caliper is the same; the first time required for the target braking torque of each wheel hub motor to change from the current moment to the target braking torque of each wheel hub motor is the same, and the first time is the same as the second time.

10. An electric brake and mechanical brake distribution control device, characterized in that: include: A data acquisition module is used to acquire basic driving data of the vehicle and braking data of each wheel; A variation determination module, used for obtaining a variation of the braking torque of the vehicle according to the basic driving data; A torque determination module, used for obtaining the current target braking torque of each wheel brake caliper and the current target braking torque of each wheel hub motor according to the braking data of each wheel and the change in the braking torque of the whole vehicle; The vehicle control module is used to control each wheel of the vehicle according to the current target braking torque of the brake calipers of each wheel and the current target braking torque of each wheel hub motor.

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