Verification calculation method, device, system and medium for redundant braking system

Abstract

The present invention provides a verification calculation method, device, system and medium for a redundant braking system, wherein the verification calculation method includes: substituting the vehicle mass, wheel rolling radius and deceleration of the target vehicle into a first mathematical model to obtain a target braking torque; substituting the braking parameters and the target braking torque into a second mathematical model to obtain a target hydraulic pressure; substituting the first performance parameter into a third mathematical model to obtain the displacement of the plunger pump; establishing a simulation model and performing simulation based on the displacement, the second performance parameter and the required brake fluid volume to obtain a P-t relationship curve between the pressure-building hydraulic pressure and the pressure-building time; substituting the target hydraulic pressure into the P-t relationship curve to obtain a first time value corresponding to the target hydraulic pressure; when the first time value is less than the maximum time value required to reach the corresponding deceleration required by the working condition, it is determined that the plunger pump meets the working condition requirements. The present invention can perform verification calculations on the components of a redundant braking system, thereby determining whether the system meets the working condition requirements.

Description

Technical Field

[0001] The present invention relates to the technical field of redundant braking systems, and in particular to a calibration calculation method, device, system and medium for redundant braking systems. Background Art

[0002] As the automotive industry gradually enters the era of electrification and intelligence, the braking system is also constantly innovating and changing. For vehicles with L3 or higher autonomous driving levels, the braking system needs to have a redundant active braking function, which requires the braking system to be equipped with redundant braking equipment. There is currently no perfect verification calculation method for the redundant braking system (RBS). This patent proposes a forward selection calculation method for the redundant braking system. Summary of the invention

[0003] The present invention provides a verification calculation method, device, system and medium for a redundant brake system, which can verify and calculate the components of the redundant brake system, so as to determine whether they meet the performance requirements of the whole vehicle under relevant working conditions.

[0004] A redundant braking system calibration calculation method according to an embodiment of the first aspect of the present invention includes:

[0005] Obtaining the vehicle mass, wheel rolling radius and deceleration of the target vehicle in the storage;

[0006] Substituting the vehicle mass, the wheel rolling radius and the deceleration into a first mathematical model to obtain a target braking torque;

[0007] Acquiring the braking parameters of the target vehicle in the storage, the braking parameters including the piston cylinder diameter of the front brake, the effective braking radius of the front brake, the friction coefficient of the front brake, the piston cylinder diameter of the rear brake, the effective braking radius of the rear brake, and the friction coefficient of the rear brake;

[0008] Substituting the braking parameter and the target braking torque into a second mathematical model to obtain a target hydraulic pressure;

[0009] Acquiring first performance parameters of the plunger pump in the reservoir, wherein the first performance parameters include plunger diameter, eccentricity and working efficiency;

[0010] Substituting the first performance parameter into a third mathematical model to obtain the displacement of the plunger pump;

[0011] Acquiring the required brake fluid volume in the reservoir and a second performance parameter of the motor;

[0012] A simulation model is established and a simulation is performed according to the displacement of the plunger pump, the second performance parameter and the brake fluid requirement to obtain a Pt relationship curve between the pressure-building fluid pressure and the pressure-building time of the redundant brake system;

[0013] Substituting the target fluid pressure into the Pt relationship curve to obtain a first time value corresponding to the target fluid pressure;

[0014] Obtaining from the storage the maximum time value required for the working condition to reach the corresponding deceleration;

[0015] When the first time value is less than the maximum time value required to reach the corresponding deceleration required by the working condition, it is determined that the plunger pump meets the working condition requirements.

[0016] The verification calculation method of the redundant braking system according to the embodiment of the present invention has at least the following beneficial effects:

[0017] The present invention proposes a calibration calculation method for a plunger pump of a redundant brake system, which can determine whether the plunger pump meets the working condition requirements, thereby determining whether the redundant brake system meets the working condition requirements, and the judgment result is more accurate, the calculation steps are fewer, and the calculation speed is faster.

[0018] According to some embodiments of the present invention, the first mathematical model is:

[0019] ;

[0020] The second mathematical model is:

[0021] ;

[0022] The third mathematical model is:

[0023] η;

[0024] Wherein, m represents the vehicle mass, a represents the deceleration, r represents the wheel rolling radius, M represents the target braking torque, P represents the target hydraulic pressure, and D f Expressed as the piston cylinder diameter of the front brake, r f Expressed as the effective braking radius of the front brake, u f Expressed as the friction coefficient of the front brake, D r Expressed as the piston cylinder diameter of the rear brake, r r Expressed as the effective braking radius of the rear brake, u r represents the friction coefficient of the rear brake, V0 represents the displacement of the plunger pump, d represents the plunger diameter of the plunger pump, e represents the eccentricity of the plunger pump, and η represents the working efficiency of the plunger pump.

[0025] According to some embodiments of the present invention, when the first time value is less than the maximum time value required for the working condition to reach the corresponding deceleration, determining that the plunger pump meets the working condition requirement includes:

[0026] Acquire a system fault diagnosis time value from the storage;

[0027] When the sum of the first time value and the system fault diagnosis time value is less than or equal to the maximum time value required to achieve the corresponding deceleration required by the operating condition, it is determined that the plunger pump meets the operating condition requirements.

[0028] According to some embodiments of the present invention, the verification calculation method of the redundant braking system further includes:

[0029] Acquiring the rotation angle of the motor shaft of the motor in the storage;

[0030] Substituting the target hydraulic pressure, the rotation angle, the eccentricity and the plunger diameter of the plunger pump into a fourth mathematical model to obtain a first relationship function between the torque of the motor shaft of the motor acting on the plunger and the rotation angle;

[0031] Substituting the first relationship function into a fifth mathematical model to obtain an average value of the torque applied by the motor to the plunger within one rotation cycle;

[0032] Acquire the maximum torque value and the rated torque value of the motor in the storage;

[0033] When the maximum torque value is greater than the maximum function value of the first relationship function and the rated torque value is greater than the torque average value, it is determined that the motor meets the working condition requirements;

[0034] Wherein, the fourth mathematical model is:

[0035] ;

[0036] The fifth mathematical model is:

[0037] ;

[0038] d represents the plunger diameter of the plunger pump, P represents the hydraulic pressure acting on the plunger of the plunger pump, is represented by the eccentricity of the plunger pump, θ is represented by the rotation angle of the motor shaft of the motor, M(θ) is represented by the first relationship function, M 平均 It is expressed as the average value of the torque applied by the motor on the plunger during one rotation cycle.

[0039] According to some embodiments of the present invention, the verification calculation method of the redundant braking system further includes:

[0040] Obtaining a PV characteristic curve of the hydraulic pressure and required fluid volume of the brake in the reservoir, determining a Vt relationship curve of the displacement of the plunger pump and the pressure building time of the redundant brake system according to the PV characteristic curve and the Pt relationship curve, and determining a Qt relationship curve of the flow rate of the plunger pump and the pressure building time of the redundant brake system according to the Vt relationship curve;

[0041] The valve port flow parameter of the boost valve is obtained, and when the valve port flow parameter of the boost valve is greater than the maximum flow value of the Qt relationship curve, it is determined that the boost valve meets the working condition requirements.

[0042] According to some embodiments of the present invention, determining the Vt relationship curve between the displacement of the plunger pump and the pressure building time of the redundant braking system according to the PV characteristic curve and the Pt relationship curve, and determining the Qt relationship curve between the flow rate of the plunger pump and the pressure building time of the redundant braking system according to the Vt relationship curve, includes:

[0043] The PV characteristic curve is determined to be a second relationship function, the Pt relationship curve is determined to be a third relationship function, a composite function of the second relationship function and the third relationship function is determined to be a fourth relationship function, and a derivative function of the fourth relationship function is determined to be the Qt relationship curve.

[0044] According to some embodiments of the present invention, the verification calculation method of the redundant braking system further includes:

[0045] Obtaining the adhesion coefficient under low-adhesion road conditions and the adhesion coefficient under high-adhesion road conditions from the storage;

[0046] Substituting the adhesion coefficient under the low-adhesion road condition, the vehicle mass, the deceleration and the wheel rolling radius into a sixth mathematical model to obtain a first braking torque;

[0047] Substituting the adhesion coefficient under the high-adhesion road condition, the vehicle mass, the deceleration and the wheel rolling radius into a seventh mathematical model to obtain a second braking torque;

[0048] Substituting the first braking torque and the second braking torque into the second mathematical model respectively to obtain a first hydraulic pressure and a second hydraulic pressure respectively;

[0049] Obtaining a PV characteristic curve of the hydraulic pressure and required fluid volume of the brake in the reservoir, substituting the first hydraulic pressure and the second hydraulic pressure into the PV characteristic curve to obtain a first required fluid volume of the brake under a low-adhesion road condition and a second required fluid volume of the brake under a high-adhesion road condition, respectively;

[0050] Obtaining from the storage a maximum time value required to reach a corresponding deceleration under low-adhesion road conditions, a maximum time value required to reach a corresponding deceleration under high-adhesion road conditions, and a maximum required displacement amount of the PV characteristic curve;

[0051] Substituting the maximum required fluid displacement, the first required fluid displacement, the second required fluid displacement, the maximum time required to reach the corresponding deceleration under the low-adhesion road condition, and the maximum time required to reach the corresponding deceleration under the high-adhesion road condition into an eighth mathematical model to obtain a working condition required flow value of the loop control valve;

[0052] Acquiring a valve port flow parameter of the loop control valve, and when the valve port flow parameter of the loop control valve is greater than a flow value required by an operating condition of the loop control valve, determining that the loop control valve meets the operating condition requirement;

[0053] Wherein, the sixth mathematical model is:

[0054] ;

[0055] The seventh mathematical model is:

[0056] ;

[0057] The eighth mathematical model is:

[0058] ;

[0059] M 低附 Expressed as the first braking torque, M 高附 Expressed as the second braking torque, φ 低附 It is expressed as the adhesion coefficient under the low adhesion road condition, φ 高附 It is expressed as the adhesion coefficient under the high adhesion road condition, Expressed as the vehicle mass, is represented by the deceleration, r is represented by the wheel rolling radius, V 低附 It is expressed as the first required displacement, V 高附 The second required displacement, V max It is expressed as the maximum required discharge volume of the PV characteristic curve, T 低附 It is the maximum time required to achieve the corresponding deceleration under the low-adhesion road condition, T 高附 It represents the maximum time required to achieve the corresponding deceleration under the high-adhesion road condition.

[0060] According to some embodiments of the present invention, the 低附 is 0.1, the φ 高附 is 0.7.

[0061] According to some embodiments of the present invention, in the sixth mathematical model and the seventh mathematical model, the vehicle mass m is the unloaded vehicle mass, and the deceleration a is equal to 9.81 m / s 2 .

[0062] According to some embodiments of the present invention, in the first mathematical model, the vehicle mass m is the fully loaded vehicle mass, and the deceleration a is greater than or equal to 6.43 m / s 2 .

[0063] The verification and calculation system of the redundant braking system according to the second embodiment of the present invention comprises: a first acquisition module, a first calculation module, a second acquisition module, a second calculation module, a third acquisition module, a third calculation module, a fourth acquisition module, a simulation module, a fourth calculation module and a judgment module;

[0064] The first acquisition module is used to acquire the vehicle mass, wheel rolling radius, deceleration and maximum time required for the working condition to reach the corresponding deceleration of the target vehicle from the memory;

[0065] The first calculation module is used to substitute the vehicle mass, the wheel rolling radius and the deceleration into a first mathematical model to obtain a target braking torque;

[0066] The second acquisition module is used to acquire the braking parameters of the target vehicle, the brake fluid volume required, and the maximum time value required for the working condition to reach the corresponding deceleration from the memory, wherein the braking parameters include the piston cylinder diameter of the front brake, the effective braking radius of the front brake, the friction coefficient of the front brake, the piston cylinder diameter of the rear brake, the effective braking radius of the rear brake, and the friction coefficient of the rear brake;

[0067] The second calculation module is used for substituting the braking parameter and the target braking torque into a second mathematical model to obtain a target hydraulic pressure;

[0068] The third acquisition module is used to acquire the first performance parameter of the plunger pump from the memory, wherein the first performance parameter includes the plunger diameter, the eccentricity and the working efficiency;

[0069] The third calculation module is used to substitute the first performance parameter into a third mathematical model to obtain the displacement of the plunger pump;

[0070] The fourth acquisition module is used to acquire the brake fluid requirement and the second performance parameter of the motor of the redundant brake system from the memory;

[0071] The simulation module is used to receive the displacement of the plunger pump, the second performance parameter and the brake fluid requirement as input and perform simulation to obtain a Pt relationship curve between the pressure-building fluid pressure and the pressure-building time of the redundant brake system;

[0072] The fourth calculation module is used to substitute the target fluid pressure into the Pt relationship curve to obtain a first time value corresponding to the target fluid pressure;

[0073] The judgment module is used to determine that the plunger pump meets the working condition requirements according to the first time value being less than the maximum time value required to reach the corresponding deceleration required by the working condition;

[0074] Wherein, the first mathematical model is:

[0075] ;

[0076] The second mathematical model is:

[0077] ;

[0078] The third mathematical model is:

[0079] η;

[0080] Wherein, m represents the vehicle mass, a represents the deceleration, r represents the wheel rolling radius, M represents the target braking torque, P represents the target hydraulic pressure, and D f Expressed as the piston cylinder diameter of the front brake, r f Expressed as the effective braking radius of the front brake, u f Expressed as the friction coefficient of the front brake, D r Expressed as the piston cylinder diameter of the rear brake, r r Expressed as the effective braking radius of the rear brake, u r represents the friction coefficient of the rear brake, V0 represents the displacement of the plunger pump, d represents the plunger diameter of the plunger pump, e represents the eccentricity of the plunger pump, and η represents the working efficiency of the plunger pump.

[0081] The calibration calculation system for the redundant braking system according to the embodiment of the present invention has at least the following beneficial effects: the present invention proposes a calibration calculation system for the plunger pump of the redundant braking system, which can determine whether the plunger pump meets the operating conditions, thereby determining whether the redundant braking system meets the operating conditions, and the judgment result is more accurate, the calculation steps are fewer, and the calculation speed is faster.

[0082] According to the third aspect of the present invention, the vehicle comprises a redundant braking system, wherein the redundant braking system comprises a plunger pump, and the plunger pump is determined to meet the operating condition requirements by the verification calculation method of the redundant braking system described in the first aspect of the present invention.

[0083] An electronic device according to an embodiment of a fourth aspect of the present invention includes:

[0084] at least one processor;

[0085] at least one memory for storing at least one program;

[0086] When the at least one program is executed by the at least one processor, the at least one processor implements the calibration calculation method of the redundant braking system as described in the first aspect embodiment.

[0087] According to the computer-readable storage medium of the fifth aspect embodiment of the present invention, the computer-readable storage medium includes a stored program, wherein when the program is running, the calibration calculation method of the redundant braking system described in the first aspect embodiment is executed in the processor of the device where the program is located.

[0088] A computer program product according to an embodiment of the sixth aspect of the present invention comprises a computer program, which, when executed by a processor, implements the verification calculation method for the redundant braking system as described in the embodiment of the first aspect.

[0089] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0090] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0091] Figure 1 A schematic diagram of a redundant braking system according to some embodiments of the present invention;

[0092] Figure 2 A flowchart of the steps of a calibration calculation method for a redundant braking system according to some embodiments of the present invention;

[0093] Figure 3 A flowchart of the steps of a calibration calculation method for a redundant braking system according to some embodiments of the present invention;

[0094] Figure 4 A flowchart of the steps of a calibration calculation method for a redundant braking system according to some embodiments of the present invention;

[0095] Figure 5 A flowchart of the steps of a calibration calculation method for a redundant braking system according to some embodiments of the present invention;

[0096] Figure 6 A flowchart of the steps of a calibration calculation method for a redundant braking system according to some embodiments of the present invention;

[0097] Figure 7A schematic diagram of an AMESim dynamic simulation model of a redundant braking system according to some embodiments of the present invention;

[0098] Figure 8 A Pt curve diagram of pressure-building hydraulic pressure and pressure-building time of a redundant braking system in some embodiments of the present invention;

[0099] Fig. 9 A PV curve diagram of brake caliper fluid demand and pressure of a redundant brake system according to some embodiments of the present invention;

[0100] Fig.10 A Vt curve diagram of the displacement and pressure building time of the plunger pump of the redundant braking system of some embodiments of the present invention;

[0101] Fig.11 A Qt curve diagram of flow rate and pressure building time of a plunger pump of a redundant braking system in some embodiments of the present invention;

[0102] Fig.12 A cross-sectional view of a plunger pump of a redundant braking system according to some embodiments of the present invention;

[0103] Fig.13 A cross-sectional view of a plunger pump of a redundant braking system according to some embodiments of the present invention;

[0104] Fig.14 is a structural schematic diagram of a verification and calculation system for a redundant braking system provided by an embodiment of the present invention;

[0105] Fig.15 It is a schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present invention.

[0106] Reference numerals:

[0107] Plunger pump 100, plunger 110, cylinder 120, contact point 130;

[0108] HSV solenoid valve 200;

[0109] USV solenoid valve 300;

[0110] Motor 400. DETAILED DESCRIPTION

[0111] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0112] It should be noted that, refer to Figure 1As shown, the redundant braking system provided in this embodiment, the redundant braking system (RBS) includes a plunger pump 100, a motor 400, an HSV solenoid valve 200 and a USV solenoid valve 300, the HSV solenoid valve 200 is a high-pressure normally closed valve, the HSV solenoid valve 200 can also be understood as a high-pressure switching valve, the HSV solenoid valve 200 is a two-position two-way solenoid reversing valve, the USV solenoid valve 300 is a normally open valve, the USV solenoid valve 300 can also be understood as a switching valve, and the USV solenoid valve 300 includes a one-way valve and a two-position two-way solenoid reversing valve connected in parallel. Specifically, refer to Fig.12 and Fig.13 As shown, the plunger pump 100 is a radial plunger pump 100, and the plunger pump 100 includes a cylinder 120 and a plunger 110. The cylinder 120 is eccentrically arranged with the motor shaft of the motor 400, that is, there is a distance between the rotation axis of the motor shaft and the central axis of the cylinder 120. The motor shaft drives the cylinder 120 to rotate eccentrically, and the cylinder 120 abuts against the plunger 110 to drive the plunger 110 to reciprocate along its own axis, thereby pumping out oil. The redundant braking system is connected to the integrated brake control assembly (IBC). When the IBC fails, the RBS takes over the braking. At this time, the vehicle enters the mechanical backup mode. The ECU controls the HSV solenoid valve 200 to remain in a closed state and controls the USV solenoid valve 300 to switch to a conducting state. When the driver steps on the brake pedal, the brake pedal pushes the master cylinder to move, and the master cylinder pushes the oil, so that the oil passes through the USV solenoid valve 300 and enters the brake unit. The oil pushes the caliper in the brake unit to hold the brake disc tightly to achieve braking, thereby achieving the mechanical backup braking function. Specifically, when the vehicle is in L3 autonomous driving mode, if the IBC fails, the RBS will take over the braking. At this time, the ECU controls the HSV solenoid valve 200 to switch to the on state, and controls the USV solenoid valve 300 to switch to the closed state. The ECU controls the motor 400 to drive the plunger pump 100 to rotate, thereby pushing the oil into the brake to automatically stop the vehicle and ensure the safety of the passengers.

[0113] It should also be noted that the HSV solenoid valve 200 can be understood as a boost valve of a redundant braking system, and the USV solenoid valve 300 can be understood as a circuit control valve of a redundant braking system.

[0114] It is understandable that at present, there is no good selection and verification method for components such as plunger pumps, motors, HSV solenoid valves and USV solenoid valves, which makes it difficult to accurately know whether these components meet the vehicle performance requirements of the corresponding working conditions in the early stages of the project.

[0115] Reference Figure 2As shown, a step flow of a verification calculation method for a redundant braking system provided by an embodiment of the present invention includes step S100, step S200, step S300, step S400, step S500, step S600, step S700, step S800, step S900, step S1000 and step S1100. The verification calculation method for a redundant braking system in an embodiment of the present invention can also be understood as a forward selection calculation method for a redundant braking system.

[0116] Specifically, step S100: obtaining the vehicle mass, wheel rolling radius and deceleration of the target vehicle in the storage.

[0117] It should be noted that, in this step, the vehicle mass, wheel rolling radius and deceleration of the target vehicle are all preset parameters, which are input into the storage in advance.

[0118] Step S200: Substitute the vehicle mass, wheel rolling radius and deceleration of the target vehicle into the first mathematical model to obtain the target braking torque.

[0119] It should be noted that, in this step, the data obtained in step S100 is substituted into the first mathematical model, and the target braking torque can be obtained by calculation. The target braking torque can be understood as the friction torque that the caliper needs to act on the brake disc to achieve a preset deceleration.

[0120] Step S300: Acquire the braking parameters of the target vehicle in the storage, the braking parameters including the piston cylinder diameter of the front brake, the effective braking radius of the front brake, the friction coefficient of the front brake, the piston cylinder diameter of the rear brake, the effective braking radius of the rear brake and the friction coefficient of the rear brake.

[0121] It should be noted that, in this step, the braking parameters of the target vehicle are determined according to the specific model of the brake, and the braking parameters are preset parameters that are input into the storage in advance.

[0122] Step S400: Substitute the braking parameters and the target braking torque into the second mathematical model to obtain the target hydraulic pressure.

[0123] It should be noted that in this step, the target hydraulic pressure means that if the target braking torque acting on the brake is to be generated, the hydraulic system needs to generate the target hydraulic pressure acting on the brake. The target hydraulic pressure to be generated by the hydraulic system can be calculated based on the braking parameters and the target braking torque through the second mathematical model.

[0124] Step S500: obtaining first performance parameters of the plunger pump in the reservoir, the first performance parameters including plunger diameter, eccentricity and working efficiency.

[0125] It should be noted that, in this step, the first performance parameter of the plunger pump is a preset parameter, which is pre-input into the storage device, and the plunger pump can be understood as a radial piston pump.

[0126] Step S600: Substitute the first performance parameter into the third mathematical model to obtain the displacement of the plunger pump.

[0127] It should be noted that in this step, the displacement of the plunger pump can be calculated with performance parameters such as plunger diameter, eccentricity and working efficiency.

[0128] Step S700: Obtain the required brake fluid volume in the reservoir and the second performance parameter of the motor of the redundant brake system.

[0129] It should be noted that, in this step, the second performance parameter can be understood as motor MAP data, that is, motor characteristic mapping data, and the second performance parameter includes data such as speed, load, torque, power, efficiency, current and temperature.

[0130] Step S800: establishing a simulation model and performing simulation according to the displacement of the plunger pump, the second performance parameter and the brake fluid requirement to obtain a Pt relationship curve between the pressure-building fluid pressure and the pressure-building time.

[0131] It should be noted that in this step, the simulation model can simulate the working process of the brake system under different working conditions, that is, simulate the process of the redundant brake system driving the brake to brake. A simulation dynamic model can be established in the simulation software, for example, in AMESim software. Figure 7 By inputting the displacement, the second performance parameter and the brake fluid requirement into the simulation model, the Pt relationship curve between the hydraulic system pressure and the pressure building time can be obtained. Figure 8 The pressure building curve in is the Pt relationship curve, where the ordinate is the pressure building fluid pressure P, and the abscissa is the pressure building time t. The Pt relationship curve means that when the hydraulic system needs a period of time to generate a certain pressure building fluid pressure, as the pressure building time t increases, the pressure building fluid pressure P generated by the hydraulic system also gradually increases. The Pt relationship curve reflects the pressure building capacity of the hydraulic system. Since the hydraulic system pushes the oil into the brake and allows the caliper to hold the brake disc tightly, if the pressure building time t is smaller, the pressure building fluid pressure P is larger, which means that the hydraulic system has a fast pressure building response and good pressure building performance. Under some working conditions, the hydraulic system is required to reach a certain pressure building fluid pressure within a given pressure building time to meet the demand for generating sufficient braking force.

[0132] Step S900: Substitute the target fluid pressure into the Pt relationship curve to obtain a first time value corresponding to the target fluid pressure.

[0133] It should be noted that, in this step, the target hydraulic pressure obtained in step S400 is substituted into the Pt relationship curve, and the corresponding pressure building time value can be found.

[0134] Step S1000: Obtain from the storage the maximum time value required for the working condition to reach the corresponding deceleration.

[0135] It should be noted that in this step, the maximum time required to achieve the corresponding deceleration under the working condition means that the braking system is required to generate deceleration within the time range after receiving the braking request, and the deceleration is greater than or equal to the deceleration obtained in step S100. For example, the deceleration obtained in step S100 is 6.43 m / s 2 Under specific working conditions, the braking system is required to generate at least 6.43 m / s within the time range after receiving the braking request. 2 The braking deceleration is adjusted to meet the braking demand. The value of the maximum time value is preset according to specific working conditions.

[0136] Step S1100: When the first time value is less than the maximum time value required to reach the corresponding deceleration required by the working condition, it is determined that the plunger pump meets the working condition requirements.

[0137] It should be noted that, in this step, the first time value obtained in step S900 is compared with the maximum time value required to reach the corresponding deceleration required by the operating condition. When the first time value is less than the maximum time value required to reach the corresponding deceleration required by the operating condition, it means that the system can establish sufficient hydraulic pressure within a given time, so that the braking system can generate a deceleration that meets the requirements, thereby meeting the needs under specific operating conditions. Under different operating conditions, the preset vehicle mass, deceleration, and the corresponding maximum time value required to reach the corresponding deceleration required by the operating condition are different, and can be calculated and verified according to the actual operating conditions.

[0138] Specifically, the first mathematical model is:

[0139] ;

[0140] Wherein, M represents the target braking torque, m represents the vehicle mass, a represents the deceleration, and r represents the wheel rolling radius. It should be noted that in some embodiments, the vehicle mass m may be the fully loaded vehicle mass, and the corresponding braking torque is calculated under the fully loaded operating condition, and the deceleration a is greater than or equal to 6.43 m / s 2 .

[0141] The second mathematical model is:

[0142] ;

[0143] Where P is the target fluid pressure, D f Expressed as the piston cylinder diameter of the front brake, r f Expressed as the effective braking radius of the front brake, u f Expressed as the friction coefficient of the front brake, D r Expressed as the piston cylinder diameter of the rear brake, r r Expressed as the effective braking radius of the rear brake, u r It is expressed as the friction coefficient of the rear brake. The target hydraulic pressure is calculated by this model with high calculation accuracy and fast calculation speed, which is conducive to the rapid verification of the performance parameters of the plunger pump.

[0144] The third mathematical model is:

[0145] η;

[0146] In the formula, d represents the plunger diameter of the plunger pump, e represents the eccentricity of the plunger pump, η represents the working efficiency of the plunger pump, and V0 represents the displacement of the plunger pump.

[0147] In this embodiment, a calculation method and steps are mainly provided for checking whether the performance parameters of the plunger pump meet the working conditions. It can be known more accurately whether the plunger pump meets the working conditions. If the plunger pump does not meet the requirements, a plunger pump with better performance can be adaptively selected for further verification, which is conducive to the selection of the plunger pump.

[0148] Reference Figure 3 As shown, in some embodiments, step S1100 includes step S1110 and step S1120.

[0149] Specifically, step S1110: obtaining a system fault diagnosis time value from a storage device.

[0150] It should be noted that the system fault diagnosis time value refers to the time taken by the system to determine whether an electronic component is faulty. This time value will cause a certain delay in system pressure building, and the actual pressure building time required is longer than the first time value.

[0151] Step S1120: When the sum of the first time value and the system fault diagnosis time value is less than or equal to the maximum time value required to reach the corresponding deceleration required by the operating condition, it is determined that the plunger pump meets the operating condition requirements.

[0152] It should be noted that in this step, the system fault diagnosis time value is also taken into consideration. The sum of the first time value and the system fault diagnosis time value can be understood as the actual pressure building time required by the hydraulic system to establish the target hydraulic pressure. If the actual pressure building time is less than or equal to the maximum time value required to achieve the corresponding deceleration required by the operating condition, it is determined that the plunger pump meets the operating condition requirements, that is, the pressure building capacity and pressure building response speed of the plunger pump meet the requirements.

[0153] In this embodiment, the calibration result of the plunger pump can be optimized to make the result more accurate, which is conducive to the selection of the plunger pump and ensures that the redundant braking system is reliable and stable and meets the actual working conditions.

[0154] It should be noted that the method steps in the following embodiments are mainly used to check whether the performance parameters of the motor in the redundant braking system meet the working condition requirements.

[0155] Reference Figure 4 As shown, in some embodiments, the verification calculation method of the redundant braking system further includes S1200:

[0156] Step S1200: Obtain the rotation angle of the motor shaft of the motor in the storage.

[0157] It should be noted that in this step, the rotation angle of the motor shaft is obtained during the simulation process performed in step S800. During the simulation, the motor shaft drives the cylinder of the plunger pump to rotate, and the rotation angle keeps changing. The established simulation model records the real-time rotation angle of the motor shaft and stores it in the storage device.

[0158] Step S1300: Substitute the target hydraulic pressure, the rotation angle, the eccentricity and the plunger diameter of the plunger pump into the fourth mathematical model to obtain a first relationship function between the motor torque and the rotation angle.

[0159] It should be noted that in this step, the target liquid pressure is the target liquid pressure obtained in step S400. Since the rotation angle is a variable, a first relationship function can be established based on the rotation angle. The domain of the first relationship function is the rotation angle, and the range of the first relationship function is the torque of the motor shaft of the motor acting on the plunger. It can be understood that the first relationship function characterizes that the torque of the motor shaft acting on the plunger changes with the change of the rotation angle.

[0160] Step S1400: Substitute the first relationship function into the fifth mathematical model to obtain an average value of the torque applied by the motor to the plunger within one rotation cycle.

[0161] Step S1500: Acquire the maximum torque value and rated torque value of the motor in the storage.

[0162] It should be noted that in this step, the maximum torque value is the maximum torque value output by the motor shaft of the motor at maximum power, and the rated torque value is the torque value stably output by the motor shaft of the motor at standard output power. The maximum torque value and the rated torque value can be understood as part of the second performance parameter of the motor.

[0163] Step S1600: When the maximum torque value of the motor is greater than the maximum function value of the first relationship function and the rated torque value of the motor is greater than the torque average value, it is determined that the motor meets the working condition requirements.

[0164] It should be noted that in this step, when the maximum torque value of the motor is greater than the maximum function of the first relationship function, it means that the maximum torque value output by the motor at the maximum output power meets the operating requirements; when the rated torque value of the motor is greater than the average torque value, it means that the torque value stably output by the motor at the rated power meets the operating requirements, thereby ensuring that the motor meets the operating requirements.

[0165] Among them, the fourth mathematical model is:

[0166] ;

[0167] In the formula, d represents the plunger diameter of the plunger pump, P represents the hydraulic pressure acting on the plunger of the plunger pump, is represented by the eccentricity of the plunger pump, θ is represented by the rotation angle of the motor shaft, and M(θ) is represented by the first relationship function. Fig.12 and Fig.13 As shown, the distance from the contact point between the plunger and the cylinder to the rotation center of the cylinder in the vertical direction can be calculated according to the following formula: D 垂直 (θ) sinθ, where D 垂直 (θ) is a function that changes with the rotation angle θ. 垂直 (θ) also changes continuously, and the force of the liquid pressure on the plunger is calculated according to the following formula: , where P represents the hydraulic pressure acting on the plunger of the plunger pump, is the surface area of ​​the end face of the plunger. 垂直 The product of (θ) and F is equal to M(θ), D 垂直 (θ) can be understood as a force arm. Since the magnitude of the force arm changes with the rotation angle θ, the torque M(θ) also changes with the rotation angle θ. The torque M(θ) can be understood as changing in a pulsating manner.

[0168] Reference Fig.12 and Fig.13 As shown, the plunger pump 100 includes a cylinder body 120 and a plunger 110, wherein X1 is the rotation center of the wheel cylinder 120, X2 is the axis of the wheel cylinder 120, there is an eccentricity e between X1 and X2, there is a contact point 130 between the cylinder body 120 and the plunger 110, and the motor shaft of the motor drives the wheel cylinder 120 to rotate around the rotation center X1. Fig.12 In the figure, the rotation angle of the motor shaft is equal to 0, which can be understood as being in the initial position. After the motor shaft rotates θ along the rotation direction, refer to Fig.13 As shown, D 垂直is the distance from the contact point 130 to X1 in the vertical direction, D 垂直 It can be obtained from e and θ that Fig.13 It can be concluded that D 垂直 =e*sinθ, as the rotation angle θ changes, D 垂直 It is also constantly changing.

[0169] Among them, the fifth mathematical model is:

[0170] ;

[0171] Where M 平均 It is expressed as the average torque of the motor acting on the plunger in one rotation cycle. This formula can be understood as calculating the integral of M(θ) on the interval [0, π]. The integral can be understood as the area enclosed by M(θ) in the interval [0, π], and dividing the integral value by π, the result is M 平均 is the average value of the torque applied by the motor to the plunger in one rotation cycle. It should be noted that each time the motor shaft of the motor drives the cylinder to rotate one circle, it corresponds to one rotation cycle, and each plunger completes one pumping stroke and one suction stroke, that is, in one half-circle of the motor shaft, the plunger pump pumps out oil, and in this half-circle, the plunger pump has torque on the motor shaft, and in the other half-circle, the plunger pump inhales oil, and at this time the plunger has no torque on the motor shaft. Each time the motor shaft of the motor drives the cylinder to rotate one circle, it corresponds to the rotation angle θ passing through the interval [0, 2π], where the interval [0, π] corresponds to the pumping stroke of the plunger, and the interval [π, 2π] corresponds to the suction stroke of the plunger. Since the plunger has no torque on the motor shaft in the interval [π, 2π], the above formula calculates the integral of M(θ) in the interval [0, π], thereby accurately obtaining M 平均 , which can improve the accuracy of the calculation results.

[0172] It should be noted that the third mathematical model and the fourth mathematical model mentioned above can make the verification result of the motor more accurate, and the calculation steps are relatively simple, which is convenient for quick calculation.

[0173] It should be noted that the method steps in the following embodiments are mainly used to check whether the performance parameters of the HSV solenoid valve in the redundant braking system meet the working condition requirements.

[0174] Reference Figure 5 As shown, in some embodiments, the verification calculation method of the redundant braking system further includes step S1700 and step S1800.

[0175] Step S1700: Obtain the PV characteristic curve of the brake's hydraulic pressure and required fluid volume, determine the Vt relationship curve of the plunger pump's displacement and pressure building time based on the PV characteristic curve and the Pt relationship curve, and determine the Qt relationship curve of the plunger pump's flow and pressure building time based on the Vt relationship curve.

[0176] It should be noted that in this step, the PV characteristic curve can refer to Fig. 9 As shown, the ordinate is the required fluid volume of the caliper, in ml, and the abscissa is the fluid pressure acting on the caliper, in bar, which can be understood as the braking force of the caliper clamping the brake disc. The PV characteristic curve expresses that in order for the caliper to achieve a certain braking force, a certain amount of fluid needs to be provided to the caliper. Specifically, there are two curves in the figure. The solid curve at the upper position is the PV characteristic curve of a single front caliper, and the dotted curve at the lower position is the PV characteristic curve of a single rear caliper. Since the PV characteristic curves of the front caliper and the rear caliper are different, and the redundant braking system includes two plunger pumps, one plunger pump is responsible for supplying fluid to a front caliper and a rear caliper, therefore, Fig. 9 The two PV characteristic curves of the front caliper and the rear caliper are superimposed together to obtain the superimposed PV characteristic curve, and then the superimposed PV characteristic curve is combined with the Pt relationship curve to obtain the Vt relationship curve. The superposition can be understood as the addition of the functions corresponding to the two curves in the figure, and the sum of the two functions is the superimposed PV characteristic curve.

[0177] Specifically, after combining the PV characteristic curve and the Pt relationship curve obtained in step S800, the Vt relationship curve can be obtained. The Vt relationship curve is Fig.10 The displacement curve shown in the figure, where the ordinate is the displacement V of the plunger pump, in ml, and the abscissa is the pressure building time t, in s. The Vt relationship curve reflects the working performance of the plunger pump and the motor, how much oil can be pumped out within a given pressure building time. Substituting the given pressure building time into the Vt relationship curve can determine the specific displacement.

[0178] The Qt relationship curve can be obtained based on the Vt relationship curve. Fig.11 As shown, the flow curve is the Qt relationship curve, the ordinate is the flow Q of the plunger pump, the unit is ml / s, the abscissa is the pressure building time t, the unit is s, and the Qt relationship curve reflects how much flow can be generated within a given pressure building time. Substituting the given pressure building time into the Qt relationship curve can determine the specific flow.

[0179] Step S1800: Obtain the valve port flow parameter of the HSV solenoid valve. When the valve port flow parameter of the HSV solenoid valve is greater than the maximum flow value of the Qt relationship curve, it is determined that the HSV solenoid valve meets the working condition requirements.

[0180] It should be noted that, in this step, when the valve port flow parameter of the HSV solenoid valve is greater than the maximum flow value of the Qt relationship curve, it means that the HSV solenoid valve meets the flow condition requirements and ensures normal operation.

[0181] In this embodiment, after the plunger pump and the motor are selected, since the oil first passes through the HSV solenoid valve and then through the plunger pump, the maximum flow rate that can pass through the HSV solenoid valve determines the flow rate of the plunger pump and also determines the flow rate of the brake. By knowing the maximum flow rate of the plunger pump, the required flow value of the working condition of the HSV solenoid valve can be known, and the HSV solenoid valve can be directly selected according to the working condition value, which is conducive to the selection of the HSV solenoid valve.

[0182] In some embodiments, step S1700 includes step S1710.

[0183] Step S1710: determine the PV characteristic curve as the second relationship function, determine the Pt relationship curve as the third relationship function, determine the composite function of the second relationship function and the third relationship function as the fourth relationship function, and determine the derivative function of the fourth relationship function as the Qt relationship curve.

[0184] In this step, it is specifically described how to combine the PV characteristic curve and the Pt relationship curve to obtain the Vt relationship curve. The PV characteristic curve can be understood as the second relationship function, the second relationship function is F: P→V, the Pt relationship curve can be understood as the third relationship function, the third relationship function is F: t→P, the composite function of the second relationship function and the third relationship function is the fourth relationship function, the fourth relationship function is F: t→V, the fourth relationship function is the Vt relationship curve, and the Qt relationship curve can be obtained by deriving the fourth relationship function. It can be simply understood that by substituting multiple data points into the PV characteristic curve and the Pt relationship curve, the Vt relationship curve of the discharge volume and the pressure building time can be obtained. After deriving the Vt relationship curve, the Qt relationship curve can be obtained, and the Qt relationship curve can know the flow rate in the system.

[0185] It should be noted that the method steps in the following embodiments are mainly used to check whether the performance parameters of the USV solenoid valve in the redundant braking system meet the working condition requirements.

[0186] Reference Figure 6As shown, in some embodiments, the verification calculation method of the redundant braking system further includes step S1900, step S2000, step S2100, step S2200, step S2300, step S2400 and step S2500.

[0187] Step S1900: Obtain the adhesion coefficient under low-adhesion road conditions and the adhesion coefficient under high-adhesion road conditions from the storage.

[0188] It should be noted that in this step, the adhesion coefficient under low adhesion road conditions and the adhesion coefficient under high adhesion road conditions are both preset road condition parameters, and the adhesion coefficient can be understood as the friction coefficient between the wheel and the road surface. Low adhesion road conditions refer to the vehicle driving on a low adhesion road surface, such as a slippery road surface or an icy road surface. High adhesion road conditions refer to the vehicle driving on a high adhesion road surface, such as a dry asphalt road surface. The braking force required under low adhesion road conditions and high adhesion road conditions is different.

[0189] Step S2000: Substitute the adhesion coefficient under low-adhesion road conditions, the vehicle mass, deceleration and wheel rolling radius of the target vehicle into the sixth mathematical model to obtain a first braking torque.

[0190] It should be noted that, in this step, the first braking torque corresponds to the target braking torque of the vehicle running under low-adhesion road conditions.

[0191] Step S2100: Substitute the adhesion coefficient under high-adhesion road conditions, the vehicle mass, deceleration and wheel rolling radius of the target vehicle into the seventh mathematical model to obtain the second braking torque.

[0192] It should be noted that, in this step, the second braking torque corresponds to the target braking torque of the vehicle running under high-adhesion road conditions.

[0193] Step S2200: Substitute the first braking torque and the second braking torque into the second mathematical model respectively to obtain the first hydraulic pressure and the second hydraulic pressure respectively.

[0194] It should be noted that, in this step, the first hydraulic pressure corresponds to the brake fluid pressure under low-adhesion road conditions, and the second hydraulic pressure corresponds to the brake fluid pressure under high-adhesion road conditions.

[0195] Step S2300: Obtain a PV characteristic curve of the brake hydraulic pressure and required fluid volume in the reservoir, substitute the first hydraulic pressure and the second hydraulic pressure into the PV characteristic curve to obtain a first required fluid displacement of the brake under low-adhesion road conditions and a second required fluid displacement of the brake under high-adhesion road conditions, respectively.

[0196] Step S2400: Obtain from the storage the maximum time value required to reach the corresponding deceleration under low-adhesion road conditions, the maximum time value required to reach the corresponding deceleration under high-adhesion road conditions, and the maximum required displacement of the PV characteristic curve.

[0197] It should be noted that in this step, the maximum time required to reach the corresponding deceleration under low-adhesion road conditions and high-adhesion road conditions is the working condition requirement parameter, requiring the braking system to generate at least greater than or equal to 6.43m / s within this time range after receiving the braking request. 2 braking deceleration to meet the braking demand.

[0198] Step S2500: Substitute the maximum required displacement volume, the first required displacement volume, the second required displacement volume, the maximum time value required to achieve the corresponding deceleration under low-adhesion road conditions, and the maximum time value required to achieve the corresponding deceleration under high-adhesion road conditions into the eighth mathematical model to obtain the operating condition required flow value of the USV solenoid valve.

[0199] Step S2600: obtaining a valve port flow parameter of the USV solenoid valve, and when the valve port flow parameter of the USV solenoid valve is greater than the flow value required by the working condition, determining that the USV solenoid valve meets the working condition requirements.

[0200] In this embodiment, after the plunger pump and the motor are selected, the flow value required by the operating condition of the USV solenoid valve can be known. The flow value required by the operating condition can be understood as the maximum simulated flow value through the USV solenoid valve under various operating conditions obtained by simulation calculation. The valve port flow value of the USV solenoid valve can be determined by the maximum simulated flow value. Specifically, the vehicle will travel on a high-attachment road or a low-attachment road, and the vehicle may be empty or fully loaded. This embodiment calculates various operating conditions to obtain the flow value required by the operating condition. The USV solenoid valve can be selected directly according to the flow value required by the operating condition, which is conducive to selecting a USV solenoid valve that meets the operating condition requirements.

[0201] Among them, the sixth mathematical model is:

[0202] ;

[0203] Where M 低附 It is expressed as the first braking torque under low-adhesion road conditions, φ 低附 Expressed as the adhesion coefficient under low adhesion conditions, It is represented as the vehicle mass of the target vehicle, It is expressed as deceleration and r is the rolling radius of the wheel.

[0204] The seventh mathematical model is:

[0205] ;

[0206] Where M 高附 Expressed as the second braking torque under high-adhesion road conditions, φ 高附 Expressed as the adhesion coefficient under high adhesion conditions, It is represented as the vehicle mass of the target vehicle, It is expressed as deceleration and r is the rolling radius of the wheel.

[0207] The eighth mathematical model is:

[0208] ;

[0209] Where V 低附 It is expressed as the first required displacement of the brake under low-adhesion road conditions, V 高附 It is expressed as the second required fluid displacement of the brake under high-adhesion road conditions, V max It is expressed as the maximum required discharge volume of the PV characteristic curve, and the maximum system pressure P max Substituting into the PV characteristic curve, we can get V max , T 低附 It is the maximum time required to reach the corresponding deceleration under low-adhesion road conditions, T 高附 It is expressed as the maximum time required to achieve the corresponding deceleration under high-adhesion road conditions. max -V 低附 ) / 2, Figure 1 In the redundant braking system, two HSV solenoid valves are included. Figure 7 In the process, a plunger pump is responsible for feeding a front caliper and a rear caliper. According to the PV characteristic curve, V max and V 低附 is the total required fluid volume for the front and rear calipers, V max With V 低附 The difference divided by 2 can be obtained under low-attachment road conditions under the requirements of the single HSV solenoid valve flow value. Similarly, the same is true for the requirements under high-attachment road conditions.

[0210] In some embodiments, φ 低附 0.1 means that the wheel has poor ability to adhere to the road surface, φ 高附 =0.7, indicating that the wheel has a good ability to adhere to the road surface. In some embodiments, for the sixth mathematical model and the seventh mathematical model, the vehicle mass m is the vehicle mass when the vehicle is in an unloaded state, and the deceleration a is equal to 9.81 m / s 2 , the first braking torque and the second braking torque of the vehicle in the no-load state can be calculated more accurately.

[0211] It should be noted that under some special working conditions, there are requirements for the redundant braking performance of the vehicle, for example, the wheel locking time on high-adhesion roads is less than 100ms, the wheel locking time on low-adhesion roads is less than 500ms, the redundant braking system pressure building capacity is greater than or equal to 100bar, and the redundant braking system reaches 6.43m / s 2The braking deceleration time requirement is less than or equal to 500ms. Based on the above redundant braking performance requirements, the structure or performance parameters of the motor, solenoid valve and plunger pump can be determined through the above verification calculation method to ensure that the redundant braking system meets the above working conditions.

[0212] Reference Fig.14 As shown, an embodiment of the present invention also provides a verification and calculation system for a redundant braking system, including a first acquisition module, a first calculation module, a second acquisition module, a second calculation module, a third acquisition module, a third calculation module, a fourth acquisition module, a simulation module, a fourth calculation module and a judgment module.

[0213] Specifically, the first acquisition module is used to obtain the vehicle mass, wheel rolling radius, deceleration and maximum time value required for the working condition to reach the corresponding deceleration of the target vehicle from the memory.

[0214] The first calculation module is used to substitute the vehicle mass, wheel rolling radius and deceleration of the target vehicle into the first mathematical model to obtain the target braking torque.

[0215] The second acquisition module is used to obtain the braking parameters of the target vehicle, the required brake fluid volume and the maximum time value required to achieve the corresponding deceleration under the working conditions from the memory. The braking parameters include the piston cylinder diameter of the front brake, the effective braking radius of the front brake, the friction coefficient of the front brake, the piston cylinder diameter of the rear brake, the effective braking radius of the rear brake and the friction coefficient of the rear brake.

[0216] The second calculation module is used to substitute the braking parameters and the target braking torque into the second mathematical model to obtain the target hydraulic pressure; the third acquisition module is used to obtain the first performance parameter of the plunger pump from the memory, and the first performance parameter includes the plunger diameter, eccentricity and working efficiency.

[0217] The third calculation module is used to substitute the first performance parameter into the third mathematical model to obtain the displacement of the plunger pump; the fourth acquisition module is used to obtain the brake fluid requirement and the second performance parameter of the motor of the redundant brake system from the memory.

[0218] The simulation module is used to receive the displacement of the plunger pump, the second performance parameter and the brake fluid requirement as input and perform simulation to obtain a Pt relationship curve between the pressure-building fluid pressure and the pressure-building time of the redundant brake system.

[0219] The fourth calculation module is used to substitute the target fluid pressure into the Pt relationship curve to obtain a first time value corresponding to the target fluid pressure.

[0220] The judgment module is used to judge that the plunger pump meets the working condition requirements according to the first time value being less than the maximum time value required to reach the corresponding deceleration required by the working condition.

[0221] The mathematical model described above may specifically refer to the mathematical model described in the calibration calculation method of the redundant braking system in the above embodiment, and will not be described in detail here.

[0222] An embodiment of the present invention further provides a vehicle, comprising a redundant braking system, which is determined to meet the working condition requirements by the verification calculation method of the redundant braking system of the above embodiment.

[0223] Specifically, the vehicle of the embodiment of the present invention may be a private car, such as a sedan, SUV, MPV or pickup truck. The vehicle may also be an operating vehicle, such as a van, bus, small truck or large trailer. The vehicle may be a gasoline vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it may be a hybrid vehicle or a pure electric vehicle.

[0224] The embodiment of the present invention further provides an electronic device, comprising at least one processor and at least one memory, wherein the memory is used to store at least one program. When the at least one program is executed by the at least one processor, the at least one processor implements the calibration calculation method of the residual brake system as described in the above embodiment.

[0225] Reference Fig.15 As shown, Fig.15 The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes: a processor, which can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solution provided in the embodiment of the present application; a memory, which can be implemented in the form of a read-only memory (Read Only Memory, ROM), a static storage device, a dynamic storage device or a random access memory (Random Access Memory, RAM), etc. The memory can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program codes are stored in the memory and called by the processor to execute the verification calculation method of the embodiments of this application; an input / output interface for realizing information input and output; a communication interface for realizing communication interaction between this device and other devices, which can be realized through wired methods (such as USB, network cables, etc.) or wireless methods (such as mobile networks, WIFI, Bluetooth, etc.); a bus for transmitting information between various components of the device (such as processors, memory, input / output interfaces and communication interfaces); wherein the processor, memory, input / output interface and communication interface realize communication connection with each other within the device through the bus.

[0226] An embodiment of the present invention further provides a computer-readable storage medium, which includes a stored program, wherein when the program is run, the processor of the device where the program is located is controlled to execute the calibration calculation method of the residual brake system of the above embodiment.

[0227] An embodiment of the present invention further provides a computer program product, including a computer program, which implements the verification calculation method of the redundant braking system of the above embodiment when the computer program is executed by a processor.

[0228] In the description of the present invention, it should be understood that descriptions involving orientation, such as orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0229] In the description of the present invention, "a plurality" means more than two. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0230] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0231] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations 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 necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0232] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0233] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0234] In the embodiments of the present application, the term "module" or "unit" refers to a computer program or a part of a computer program that has a predetermined function and works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as processing circuits or memories), or a combination thereof. Similarly, a processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be part of an overall module or unit that includes the function of the module or unit.

[0235] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0236] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0237] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Acce Memory, referred to as RAM), disk or optical disk and other media that can store program codes.

[0238] The step numbers in the above method embodiment are only provided for the convenience of explanation and description, and no limitation is imposed on the order of the steps. The execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

Claims

1. A verification calculation method for a redundant braking system, characterized in that: include: Obtaining the vehicle mass, wheel rolling radius and deceleration of the target vehicle in the storage; Substituting the vehicle mass, the wheel rolling radius and the deceleration into a first mathematical model to obtain a target braking torque; Acquiring the braking parameters of the target vehicle in the storage, the braking parameters including the piston cylinder diameter of the front brake, the effective braking radius of the front brake, the friction coefficient of the front brake, the piston cylinder diameter of the rear brake, the effective braking radius of the rear brake, and the friction coefficient of the rear brake; Substituting the braking parameter and the target braking torque into a second mathematical model to obtain a target hydraulic pressure; Acquiring first performance parameters of the plunger pump in the reservoir, wherein the first performance parameters include plunger diameter, eccentricity and working efficiency; Substituting the first performance parameter into a third mathematical model to obtain the displacement of the plunger pump; Acquiring the required brake fluid volume in the reservoir and a second performance parameter of the motor; A simulation model is established and a simulation is performed according to the displacement of the plunger pump, the second performance parameter and the brake fluid requirement to obtain a Pt relationship curve between the pressure-building fluid pressure and the pressure-building time of the redundant brake system; Substituting the target fluid pressure into the Pt relationship curve to obtain a first time value corresponding to the target fluid pressure; Obtaining from the storage the maximum time value required for the working condition to reach the corresponding deceleration; When the first time value is less than the maximum time value required to reach the corresponding deceleration required by the working condition, it is determined that the plunger pump meets the working condition requirements; Wherein, the first mathematical model is: ； The second mathematical model is: ； The third mathematical model is: or; Wherein, m represents the vehicle mass, a represents the deceleration, r represents the wheel rolling radius, M represents the target braking torque, P represents the target hydraulic pressure, and D f Expressed as the piston cylinder diameter of the front brake, r f Expressed as the effective braking radius of the front brake, u f Expressed as the friction coefficient of the front brake, D r Expressed as the piston cylinder diameter of the rear brake, r r Expressed as the effective braking radius of the rear brake, u r represents the friction coefficient of the rear brake, V0 represents the displacement of the plunger pump, d represents the plunger diameter of the plunger pump, e represents the eccentricity of the plunger pump, and η represents the working efficiency of the plunger pump.

2. The verification calculation method of the redundant braking system according to claim 1 is characterized in that: When the first time value is less than the maximum time value required for the working condition to reach the corresponding deceleration, determining that the plunger pump meets the working condition requirements includes: Acquire a system fault diagnosis time value from the storage; When the sum of the first time value and the system fault diagnosis time value is less than or equal to the maximum time value required to achieve the corresponding deceleration required by the operating condition, it is determined that the plunger pump meets the operating condition requirements.

3. The verification calculation method of the redundant braking system according to claim 1 is characterized in that: The verification calculation method of the redundant braking system also includes: Acquiring the rotation angle of the motor shaft of the motor in the storage; Substituting the target hydraulic pressure, the rotation angle, the eccentricity and the plunger diameter of the plunger pump into a fourth mathematical model to obtain a first relationship function between the torque of the motor shaft of the motor acting on the plunger and the rotation angle; Substituting the first relationship function into a fifth mathematical model to obtain an average value of the torque applied by the motor to the plunger within one rotation cycle; Acquire the maximum torque value and the rated torque value of the motor in the storage; When the maximum torque value is greater than the maximum function value of the first relationship function and the rated torque value is greater than the torque average value, it is determined that the motor meets the working condition requirements; Wherein, the fourth mathematical model is: ； The fifth mathematical model is: ； d represents the plunger diameter of the plunger pump, P represents the hydraulic pressure acting on the plunger of the plunger pump, is represented by the eccentricity of the plunger pump, θ is represented by the rotation angle of the motor shaft of the motor, M(θ) is represented by the first relationship function, M 平均 It is expressed as the average value of the torque applied by the motor on the plunger during one rotation cycle.

4. The verification calculation method of the redundant braking system according to claim 1, characterized in that: The verification calculation method of the redundant braking system also includes: Obtaining a PV characteristic curve of the hydraulic pressure and required fluid volume of the brake in the reservoir, determining a Vt relationship curve of the displacement of the plunger pump and the pressure building time of the redundant brake system according to the PV characteristic curve and the Pt relationship curve, and determining a Qt relationship curve of the flow rate of the plunger pump and the pressure building time of the redundant brake system according to the Vt relationship curve; The valve port flow parameter of the boost valve is obtained, and when the valve port flow parameter of the boost valve is greater than the maximum flow value of the Qt relationship curve, it is determined that the boost valve meets the working condition requirements.

5. The verification calculation method of the redundant braking system according to claim 4 is characterized in that: The method of determining the Vt relationship curve between the displacement of the plunger pump and the pressure building time of the redundant brake system according to the PV characteristic curve and the Pt relationship curve, and determining the Qt relationship curve between the flow rate of the plunger pump and the pressure building time of the redundant brake system according to the Vt relationship curve, comprises: The PV characteristic curve is determined to be a second relationship function, the Pt relationship curve is determined to be a third relationship function, a composite function of the second relationship function and the third relationship function is determined to be a fourth relationship function, and a derivative function of the fourth relationship function is determined to be the Qt relationship curve.

6. The verification calculation method of the redundant braking system according to claim 1, characterized in that: The verification calculation method of the redundant braking system also includes: Obtaining the adhesion coefficient under low-adhesion road conditions and the adhesion coefficient under high-adhesion road conditions from the storage; Substituting the adhesion coefficient under the low-adhesion road condition, the vehicle mass, the deceleration and the wheel rolling radius into a sixth mathematical model to obtain a first braking torque; Substituting the adhesion coefficient under the high-adhesion road condition, the vehicle mass, the deceleration and the wheel rolling radius into a seventh mathematical model to obtain a second braking torque; Substituting the first braking torque and the second braking torque into the second mathematical model respectively to obtain a first hydraulic pressure and a second hydraulic pressure respectively; Obtaining a PV characteristic curve of the hydraulic pressure and required fluid volume of the brake in the reservoir, substituting the first hydraulic pressure and the second hydraulic pressure into the PV characteristic curve to obtain a first required fluid volume of the brake under a low-adhesion road condition and a second required fluid volume of the brake under a high-adhesion road condition, respectively; Obtaining from the storage a maximum time value required to reach a corresponding deceleration under low-adhesion road conditions, a maximum time value required to reach a corresponding deceleration under high-adhesion road conditions, and a maximum required displacement amount of the PV characteristic curve; Substituting the maximum required fluid displacement, the first required fluid displacement, the second required fluid displacement, the maximum time required to reach the corresponding deceleration under the low-adhesion road condition, and the maximum time required to reach the corresponding deceleration under the high-adhesion road condition into an eighth mathematical model to obtain a working condition required flow value of the loop control valve; Acquiring a valve port flow parameter of the loop control valve, and when the valve port flow parameter of the loop control valve is greater than a flow value required by an operating condition of the loop control valve, determining that the loop control valve meets the operating condition requirement; Wherein, the sixth mathematical model is: ； The seventh mathematical model is: ； The eighth mathematical model is: ； M 低附 Expressed as the first braking torque, M 高附 Expressed as the second braking torque, φ 低附 It is expressed as the adhesion coefficient under the low adhesion road condition, φ 高附 It is expressed as the adhesion coefficient under the high adhesion road condition, Expressed as the vehicle mass, is represented by the deceleration, r is represented by the wheel rolling radius, V 低附 It is expressed as the first required displacement, V 高附 The second required displacement, V max It is expressed as the maximum required discharge volume of the PV characteristic curve, T 低附 It is the maximum time required to achieve the corresponding deceleration under the low-adhesion road condition, T 高附 It represents the maximum time required to achieve the corresponding deceleration under the high-adhesion road condition.

7. The verification calculation method of the redundant braking system according to claim 6, characterized in that: The φ 低附 is 0.1, the φ 高附 is 0.

7.

8. The verification calculation method of the redundant braking system according to claim 6, characterized in that: In the sixth mathematical model and the seventh mathematical model, the vehicle mass m is the unloaded vehicle mass, and the deceleration a is equal to 9.81 m / s 2 .

9. The verification calculation method of the redundant braking system according to claim 1, characterized in that: In the first mathematical model, the vehicle mass m is the fully loaded vehicle mass, and the deceleration a is greater than or equal to 6.43 m / s 2 .

10. A calibration calculation system for a redundant braking system, characterized in that: include: A first acquisition module, a first calculation module, a second acquisition module, a second calculation module, a third acquisition module, a third calculation module, a fourth acquisition module, a simulation module, a fourth calculation module and a judgment module; The first acquisition module is used to acquire the vehicle mass, wheel rolling radius, deceleration and maximum time required for the working condition to reach the corresponding deceleration of the target vehicle from the memory; The first calculation module is used to substitute the vehicle mass, the wheel rolling radius and the deceleration into a first mathematical model to obtain a target braking torque; The second acquisition module is used to acquire the braking parameters of the target vehicle, the brake fluid volume required, and the maximum time value required for the working condition to reach the corresponding deceleration from the memory, wherein the braking parameters include the piston cylinder diameter of the front brake, the effective braking radius of the front brake, the friction coefficient of the front brake, the piston cylinder diameter of the rear brake, the effective braking radius of the rear brake, and the friction coefficient of the rear brake; The second calculation module is used for substituting the braking parameter and the target braking torque into a second mathematical model to obtain a target hydraulic pressure; The third acquisition module is used to acquire the first performance parameter of the plunger pump from the memory, wherein the first performance parameter includes the plunger diameter, the eccentricity and the working efficiency; The third calculation module is used to substitute the first performance parameter into a third mathematical model to obtain the displacement of the plunger pump; The fourth acquisition module is used to acquire the brake fluid requirement and the second performance parameter of the motor of the redundant brake system from the memory; The simulation module is used to receive the displacement of the plunger pump, the second performance parameter and the brake fluid requirement as input and perform simulation to obtain a Pt relationship curve between the pressure-building fluid pressure and the pressure-building time of the redundant brake system; The fourth calculation module is used to substitute the target fluid pressure into the Pt relationship curve to obtain a first time value corresponding to the target fluid pressure; The judgment module is used to determine that the plunger pump meets the working condition requirements according to the first time value being less than the maximum time value required to reach the corresponding deceleration required by the working condition; Wherein, the first mathematical model is: ； The second mathematical model is: ； The third mathematical model is: or; Wherein, m represents the vehicle mass, a represents the deceleration, r represents the wheel rolling radius, M represents the target braking torque, P represents the target hydraulic pressure, and D f Expressed as the piston cylinder diameter of the front brake, r f Expressed as the effective braking radius of the front brake, u f Expressed as the friction coefficient of the front brake, D r Expressed as the piston cylinder diameter of the rear brake, r r Expressed as the effective braking radius of the rear brake, u r represents the friction coefficient of the rear brake, V0 represents the displacement of the plunger pump, d represents the plunger diameter of the plunger pump, e represents the eccentricity of the plunger pump, and η represents the working efficiency of the plunger pump.

11. A vehicle, characterized in that: It comprises a redundant braking system, wherein the redundant braking system comprises a plunger pump, and the plunger pump is determined to meet the working condition requirements by the verification calculation method of the redundant braking system according to any one of claims 1 to 9.

12. An electronic device, characterized in that: include: processor; A memory for storing a computer readable program; When the computer-readable program is executed by the processor, the processor implements the calibration calculation method for the redundant braking system according to any one of claims 1 to 9.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the calibration calculation method for the redundant braking system according to any one of claims 1 to 9 is executed in a processor of the device where the program is controlled.

14. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the calibration calculation method for the redundant braking system as claimed in any one of claims 1 to 9 is implemented.

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