Braking force control method

Abstract

The invention belongs to the technical field of braking force control, and particularly relates to a braking force control method which comprises the following steps: S01, vehicle state and environment detection; s02, making a braking force distribution strategy; s03, brake operation is executed; and S04, evaluating and optimizing the braking effect. According to the braking force control method, through the braking effect evaluation and optimization steps, the difference between the actual braking distance and the expected braking distance is evaluated, various information in the braking process is collected and analyzed, the information provides data support for continuously optimizing the braking force control strategy, the braking distance can be further shortened, the braking efficiency is improved, and the braking force control method is suitable for being popularized and applied. Meanwhile, key factors influencing the braking effect can be identified and the influence degree of the key factors on the braking performance can be quantified through application of a data analysis and modeling technology, subsequent further optimization is facilitated, and shaking and noise in the braking process are reduced by accurately controlling braking force distribution and utilization of friction force between tires and the ground.

Description

Technical Field

[0001] The present invention relates to the technical field of braking force control, and in particular to a braking force control method. Background Art

[0002] The mainstream braking system of fuel vehicles currently adopts the traditional hydraulic braking method. When the driver brakes by stepping on the brake pedal, the brake pedal transmits force to the brake master cylinder through mechanical connections (such as push rods, connecting rods, etc.). After the piston in the brake master cylinder is under pressure, it will push the brake fluid (usually hydraulic oil) through the brake pipeline to the brake cylinder of each wheel. After the piston in the brake cylinder is under the pressure of the brake fluid, it will push the brake pad (or brake shoe) close to the brake disc (or brake drum) of the wheel, thereby generating friction to slow down or stop the wheel. Its advantages are: the hydraulic braking system has undergone a long period of development and improvement, with mature technology and high reliability. The hydraulic transmission has a fast response speed and can quickly convert the driver's braking intention into the braking force of the wheel.

[0003] However, when braking using traditional hydraulic braking methods, the braking force of the front and rear axles is distributed in a fixed ratio. Different road conditions or vehicle conditions will affect the braking distance of traditional hydraulic braking. In order to make full use of the friction between the front and rear axle tires and the ground to reduce the braking distance, we propose a braking force control method. Summary of the invention

[0004] The main purpose of the present invention is to provide a braking force control method that can solve the problems raised in the above background technology.

[0005] To achieve the above object, the braking force control method proposed by the present invention comprises the following steps:

[0006] S01, vehicle status and environment detection;

[0007] S02, formulation of braking force distribution strategy;

[0008] S03, performing a braking operation;

[0009] S04, Braking effect evaluation and optimization;

[0010] Wherein, in step S01, the detection of the vehicle state includes:

[0011] Monitor vehicle status: Check tire wear, air pressure and temperature to ensure that the tire is in good condition. Tire wear can be checked through the tire wear indicator, and air pressure can be fed back through the tire pressure sensor;

[0012] Braking system inspection: Check key components such as brake pads, brake discs, brake fluid, etc. to ensure they are performing properly without excessive wear or leakage;

[0013] Other key system monitoring: Check the level and quality of engine oil, coolant, transmission oil, etc. to ensure that the engine runs smoothly and the transmission system has no abnormal noise and vibration; check the wear and looseness of suspension springs, shock absorbers, steering rods, ball heads and other components to ensure stable vehicle control;

[0014] The environmental detection includes:

[0015] Identify road conditions: Use vehicle sensors to identify current road conditions, such as dry, wet, icy, etc., so as to subsequently adjust the braking force distribution strategy. Vehicle sensors include acceleration sensors, temperature sensors, humidity sensors, and advanced cameras and radar systems to collect road information in real time and provide accurate road condition information for the driving assistance system.

[0016] Preferably, in step S02, the braking force distribution strategy formulation includes determining the braking force distribution and dynamically adjusting the braking force distribution. The determining of the braking force distribution formulates a preliminary braking force distribution plan based on parameters such as the actual load of the vehicle, the friction coefficient between the tire and the ground, and the dynamically adjusting the braking force distribution dynamically adjusts the braking force distribution ratio of the front and rear axles according to real-time data such as the vehicle's speed, acceleration, and road conditions during the braking process to optimize the braking effect.

[0017] Preferably, in step S03, the execution of the braking operation includes the intervention of the braking system and the auxiliary system, the braking system is used to start after the driver steps on the brake pedal, and the intervention of the auxiliary system includes driving assistance systems such as ABS and ESP to monitor the vehicle status in real time, and automatically adjust the braking force distribution and the friction between the tire and the ground when necessary to avoid tire locking and keep the vehicle stable. The ABS system monitors the rotation speed of each wheel in real time through the wheel speed sensor. When the system detects that a wheel is about to lock (i.e., the rotation speed drops sharply), it will quickly adjust the braking force of the wheel to prevent the wheel from completely locking.

[0018] Preferably, in step S04, the braking effect evaluation and optimization includes braking distance evaluation, information collection and control strategy optimization. The braking distance evaluation is used to evaluate the difference between the actual braking distance and the expected braking distance after braking is completed to judge the braking effect. The information collection is used to collect various information about the braking process through vehicle sensors and driver feedback, such as braking force distribution, changes in the friction coefficient between the tire and the ground, etc. The control strategy optimization is used to continuously optimize the braking force control strategy according to the collected feedback information to improve the braking effect and driving safety.

[0019] Preferably, the braking system is a fully decoupled braking system, which includes a brake pedal feel simulator, an electronic brake EMB ECU, and a wheel brake module. The brake pedal feel simulator and the electronic brake EMB ECU are controlled by a wire-controlled connection, and the electronic brake EMB EUC and the wheel brake module are connected by a wire-controlled connection, replacing the traditional hydraulic pipeline connection.

[0020] Preferably, the brake pedal feel simulator is a device that provides the driver with brake pedal feedback feel, and the brake pedal feel simulator internally contains necessary displacement and pressure sensors as analysis inputs for braking requirements.

[0021] Preferably, the pressure sensors are provided in multiple groups, and the pressure sensors are used to measure the axle load information of each wheel of the vehicle.

[0022] Preferably, the wheel brake module is a wheel-end brake module integrating an EMB electronically controlled brake caliper and a brake disc, and is used to generate braking force for the wheel.

[0023] Preferably, during the entire braking process, auxiliary systems such as ABS and ESP will continuously monitor the vehicle status and road conditions.

[0024] Preferably, in step S04, the braking effect evaluation and optimization also includes data analysis and modeling. Based on the collected data, statistical analysis, machine learning and other methods are used to establish a mathematical model between the braking effect and various influencing factors. Through model analysis, the key factors affecting the braking effect are identified, and their influence on performance indicators such as braking distance and vehicle stability is quantified.

[0025] The present invention provides a braking force control method, which has the following beneficial effects:

[0026] (1) The braking force control method not only evaluates the difference between the actual braking distance and the expected braking distance through the braking effect evaluation and optimization steps, but also collects and analyzes various information during the braking process. This information provides data support for the continuous optimization of the braking force control strategy, which helps to further shorten the braking distance and improve the braking efficiency. At the same time, the application of data analysis and modeling technology can identify the key factors affecting the braking effect and quantify their influence on the braking performance, which is convenient for subsequent further optimization.

[0027] (2) This braking force control method can ensure that the vehicle is in the best condition during braking by real-time monitoring of the vehicle status and environmental conditions. At the same time, it can dynamically adjust the braking force distribution strategy and optimize the front and rear axle braking force distribution ratio based on real-time data such as vehicle speed, acceleration and road conditions, thereby effectively avoiding wheel locking and improving stability and safety during braking. In particular, under complex and changeable road conditions, it can significantly reduce the risk of vehicle loss of control due to improper braking.

[0028] (3) This braking force control method adopts a fully decoupled braking system, a brake pedal feel simulator and a wire control connection with the electronic brake EMB ECU, which provides the driver with a more realistic and accurate brake pedal feedback feel, improves the driver's sense of control over the braking process, and reduces the discomfort caused by the lag of the traditional hydraulic braking system. In addition, by accurately controlling the braking force distribution and the friction between the tire and the ground, the vibration and noise during the braking process are reduced, further improving the driving comfort and riding experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0030] Figure 1 It is a flow chart of the steps of the present invention;

[0031] Figure 2 It is a schematic diagram of direct measurement of the braking system of the present invention;

[0032] Figure 3 A schematic diagram of direct measurement control logic of the braking system of the present invention;

[0033] Figure 4 It is a schematic diagram of indirect calculation of the braking system of the present invention;

[0034] Figure 5 This is a schematic diagram of the indirect calculation control logic of the braking system of the present invention.

[0035] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] See also Figure 1-Figure 5 The present invention proposes a braking force control method, comprising the following steps:

[0038] S01, vehicle status and environment detection;

[0039] Among them, the detection of the vehicle status includes: monitoring the vehicle status: checking the wear, air pressure and temperature of the tires to ensure that the tires are in good use condition. The wear of the tires can be checked through the tire wear indicator, and the air pressure is fed back through the tire pressure sensor; braking system detection: checking key components such as brake pads, brake discs, and brake fluid to ensure their normal performance without excessive wear or leakage; other key system monitoring: checking the level and quality of engine oil, coolant, transmission oil, etc. to ensure that the engine runs smoothly and the transmission system has no abnormal noise and vibration, and checking the wear and looseness of components such as suspension springs, shock absorbers, steering rods and ball heads to ensure stable vehicle handling; environmental detection includes: identifying road conditions: using vehicle sensors to identify current road conditions, such as dry, wet, icy, etc., so as to adjust the braking force distribution strategy later.

[0040] S02, formulation of braking force distribution strategy;

[0041] Among them, the braking force distribution strategy formulation includes determining the braking force distribution and dynamically adjusting the braking force distribution. The determination of the braking force distribution formulates a preliminary braking force distribution plan based on parameters such as the actual load of the vehicle, the friction coefficient between the tire and the ground, and the dynamic adjustment of the braking force distribution dynamically adjusts the braking force distribution ratio of the front and rear axles according to real-time data such as the vehicle's speed, acceleration and road conditions during the braking process to optimize the braking effect.

[0042] Furthermore, when conducting load analysis, it is necessary to accurately measure and calculate the actual load distribution of the vehicle, including static loads (such as the vehicle's own weight, the weight of passengers and cargo) and dynamic loads (such as additional forces generated during acceleration, braking or turning). Based on the load distribution, the weight ratio borne by the front and rear axles is determined, which is the basis for formulating a braking force distribution plan.

[0043] S03, performing a braking operation;

[0044] Among them, the execution of braking operation includes the intervention of braking system and auxiliary system. The braking system is used to start after the driver steps on the brake pedal. When the wheel decelerates, the sensor inside the braking system starts to work, monitoring key parameters such as brake pressure and wheel speed, and providing data support for subsequent auxiliary system intervention. The auxiliary system intervention includes driving assistance systems such as ABS and ESP to monitor the vehicle status in real time, and automatically adjust the braking force distribution and the friction between the tire and the ground when necessary to avoid tire locking and keep the vehicle stable. During the entire braking process of the braking system, auxiliary systems such as ABS and ESP will continuously monitor the vehicle status and road conditions. The ESP system not only pays attention to the braking condition of the wheels, but also comprehensively considers the vehicle's yaw angular velocity, lateral acceleration, etc. ESP can also work with the vehicle's traction control system (TCS) and active suspension system to further enhance the vehicle's handling and safety. During the entire braking process, auxiliary systems such as ABS and ESP will continuously monitor the vehicle status and road conditions, and adjust the braking force distribution and the friction between the tire and the ground in real time as needed. This dynamic adjustment can ensure that the vehicle can maintain stable braking performance under various complex road conditions.

[0045] Furthermore, the braking system is a fully decoupled braking system, which includes a brake pedal feel simulator, an electronic brake EMB ECU, and a wheel brake module. The brake pedal feel simulator and the electronic brake EMB ECU are controlled by a wire-controlled connection. The electronic brake EMB EUC and the wheel brake module are linked by a wire-controlled connection, replacing the traditional hydraulic pipeline connection. The brake pedal feel simulator is a device that provides the driver with brake pedal feedback feel. The brake pedal feel simulator contains necessary displacement and pressure sensors as analysis inputs for braking requirements. There are multiple groups of pressure sensors. The pressure sensors are used to measure the axle load information of the vehicle's wheels. The wheel brake module is a wheel-end brake module that integrates EMB electronic wire-controlled brake calipers and brake discs, and is used to generate braking force on the wheels.

[0046] S04. Braking effect evaluation and optimization.

[0047] Among them, braking effect evaluation and optimization include braking distance evaluation, information collection and control strategy optimization. The braking distance evaluation is used to evaluate the gap between the actual braking distance and the expected braking distance after braking is completed to judge the braking effect. The information collection is used to collect various information about the braking process through vehicle sensors and driver feedback, such as braking force distribution, changes in the friction coefficient between tires and the ground, etc. The control strategy optimization is used to continuously optimize the braking force control strategy according to the collected feedback information, so as to improve the braking effect and driving safety. Braking effect evaluation and optimization also includes data analysis and modeling. Based on the collected data, statistical analysis and machine learning methods are used to establish a mathematical model between the braking effect and various influencing factors. Through model analysis, the key factors affecting the braking effect are identified, and their influence on performance indicators such as braking distance and vehicle stability is quantified.

[0048] Furthermore, after the braking operation is completed, the system should automatically record key data such as the vehicle speed at the beginning of braking, the vehicle speed at the end of braking (if it stops completely, it will be 0), the braking time, and the actual braking distance, and compare these data with the expected braking distance (the theoretical calculation value based on factors such as vehicle performance and road conditions) to evaluate whether the actual braking effect meets expectations, analyze the gap between the actual braking distance and the expected braking distance, identify possible causes, such as insufficient performance of the braking system, changes in road conditions, uneven distribution of vehicle load, etc., and evaluate whether the error is within an acceptable range. If the error is too large, further investigation and measures are required. Various sensors installed on the vehicle (such as wheel speed sensors, acceleration sensors, pressure sensors, etc.) are used to collect detailed data during the braking process, including but not limited to the braking force distribution ratio, changes in friction between the tire and the ground, changes in the braking system pressure, etc. Based on these collected data, statistical analysis and machine learning methods are used to establish a mathematical model between the braking effect and various influencing factors. Through model analysis, the key factors affecting the braking effect are identified, and their influence on performance indicators such as braking distance and vehicle stability is quantified. According to the data analysis results, the braking force control strategy is adjusted and optimized. This may include adjusting the braking force distribution ratio, optimizing the timing and intensity of intervention of auxiliary systems such as ABS and ESP, and improving the response speed of the braking system.

[0049] In addition, a preliminary braking force distribution plan is formulated in combination with load analysis and friction coefficient considerations. Generally speaking, on dry roads, the braking force distribution ratio of the front and rear axles may be relatively balanced; on slippery or icy roads, the braking force ratio of the front wheels (usually the driving wheels or load-bearing wheels) may need to be increased to improve braking stability and shorten braking distance. At the same time, the stability and safety of the vehicle are considered to ensure that the vehicle will not skid or drift due to improper braking force distribution during braking.

[0050] It should be noted that this method not only evaluates the gap between the actual braking distance and the expected braking distance through the braking effect evaluation and optimization steps, but also collects and analyzes various information during the braking process. This information provides data support for the continuous optimization of the braking force control strategy, which helps to further shorten the braking distance and improve the braking efficiency. At the same time, the application of data analysis and modeling technology can identify the key factors affecting the braking effect and quantify their influence on the braking performance, which is convenient for subsequent further optimization.

[0051] At the same time, by real-time monitoring of vehicle status and environmental conditions, it can ensure that the vehicle is in the best condition during braking. At the same time, it dynamically adjusts the braking force distribution strategy and optimizes the front and rear axle braking force distribution ratio according to real-time data such as vehicle speed, acceleration and road conditions, effectively avoiding wheel locking and improving stability and safety during braking.

[0052] At the same time, by adopting a fully decoupled braking system, the wire-controlled connection between the brake pedal feel simulator and the electronic brake EMB ECU provides the driver with a more realistic and accurate brake pedal feedback feel, improves the driver's sense of control over the braking process, and reduces the discomfort caused by the lag of the traditional hydraulic braking system. In addition, by precisely controlling the distribution of braking force and the use of friction between the tire and the ground, the jitter and noise during braking are reduced, thereby improving driving comfort and riding experience.

[0053] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A braking force control method, characterized in that: The following steps are involved: S01, vehicle status and environment detection; S02, formulation of braking force distribution strategy; S03, performing a braking operation; S04, Braking effect evaluation and optimization; Wherein, in step S01, the detection of the vehicle state includes: Monitor vehicle status: Check tire wear, air pressure and temperature to ensure that the tires are in good condition; Braking system inspection: Check key components such as brake pads, brake discs, brake fluid, etc. to ensure they are performing properly without excessive wear or leakage; Other key system monitoring: Check the level and quality of engine oil, coolant, transmission oil, etc. to ensure that the engine runs smoothly and the transmission system has no abnormal noise and vibration; check the wear and looseness of suspension springs, shock absorbers, steering rods, ball heads and other components to ensure stable vehicle control; The environmental detection includes: Identify road conditions: Use vehicle sensors to identify current road conditions, such as dry, wet, icy, etc., so as to subsequently adjust the braking force distribution strategy.

2. A braking force control method according to claim 1, characterized in that: In step S02, the braking force distribution strategy formulation includes determining the braking force distribution and dynamically adjusting the braking force distribution. The determination of the braking force distribution formulates a preliminary braking force distribution plan based on parameters such as the actual load of the vehicle, the friction coefficient between the tire and the ground, and the dynamic adjustment of the braking force distribution dynamically adjusts the braking force distribution ratio of the front and rear axles according to real-time data such as the vehicle's speed, acceleration, and road conditions during the braking process to optimize the braking effect.

3. A braking force control method according to claim 1, characterized in that: In step S03, the execution of the braking operation includes the intervention of the braking system and the auxiliary system. The braking system is activated after the driver steps on the brake pedal. The intervention of the auxiliary system includes driving assistance systems such as ABS and ESP to monitor the vehicle status in real time and automatically adjust the braking force distribution and the friction between the tire and the ground when necessary to avoid tire locking and keep the vehicle stable.

4. A braking force control method according to claim 1, characterized in that: In step S04, the braking effect evaluation and optimization includes braking distance evaluation, information collection and control strategy optimization. The braking distance evaluation is used to evaluate the difference between the actual braking distance and the expected braking distance after braking is completed to judge the braking effect. The information collection is used to collect various information about the braking process through vehicle sensors and driver feedback, such as braking force distribution, changes in the friction coefficient between the tire and the ground, etc. The control strategy optimization is used to continuously optimize the braking force control strategy according to the collected feedback information to improve the braking effect and driving safety.

5. A braking force control method according to claim 3, characterized in that: The braking system is a fully decoupled braking system, which includes a brake pedal feel simulator, an electronic brake EMB ECU, and a wheel brake module. The brake pedal feel simulator and the electronic brake EMB ECU are controlled by wire connection, and the electronic brake EMB EUC and the wheel brake module are connected by wire control, replacing the traditional hydraulic pipeline connection.

6. A braking force control method according to claim 5, characterized in that: The brake pedal feel simulator is a device that provides the driver with brake pedal feedback. The brake pedal feel simulator contains necessary displacement and pressure sensors as analysis inputs for braking requirements.

7. A braking force control method according to claim 6, characterized in that: The pressure sensors are provided in multiple groups, and the pressure sensors are used to measure the axle load information of each wheel of the vehicle.

8. A braking force control method according to claim 5, characterized in that: The wheel brake module is a wheel-end brake module that integrates EMB electronic wire-controlled brake calipers and brake discs and is used to generate braking force for the wheels.

9. A braking force control method according to claim 3, characterized in that: During the entire braking process, auxiliary systems such as ABS and ESP will continuously monitor the vehicle status and road conditions.

10. The braking force control method according to claim 1, characterized in that: In step S04, the braking effect evaluation and optimization also includes data analysis and modeling. Based on the collected data, statistical analysis, machine learning and other methods are used to establish a mathematical model between the braking effect and various influencing factors. Through model analysis, the key factors affecting the braking effect are identified, and their influence on performance indicators such as braking distance and vehicle stability is quantified.

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