Vehicle braking force distribution method, device, electronic equipment and storage medium

Abstract

Embodiments of the present invention provide a vehicle braking force distribution method, device, electronic device and storage medium, which relate to the field of new energy vehicle technology. The method comprises: respectively obtaining the front brake disc temperature of each front brake disc of the vehicle and the rear brake disc temperature of each rear brake disc. The absolute value of the temperature difference is obtained according to the first temperature average value of each front brake disc temperature and the second temperature average value of each rear brake disc temperature. When the target braking force is received, the target braking force is distributed to the vehicle according to the relationship between the absolute value of the temperature difference and the preset temperature difference threshold. The present invention can effectively avoid the problem of the reduction of braking force due to the excessive temperature of the front brake disc of the vehicle and the low utilization rate of the braking performance of the rear brake disc, and can balance the temperature difference of the vehicle brake disc and improve the braking stability.

Description

Technical Field

[0001] The present invention relates to the technical field of new energy vehicles, and in particular to a vehicle braking force distribution method, device, electronic equipment and storage medium. Background Art

[0002] When the vehicle is running, due to the transfer of braking load, the front wheels generally require greater braking force, so the temperature of the front brake disc usually rises faster, resulting in a decrease in braking ability. Since the rear wheels bear a relatively small braking force, the temperature of the rear brake disc usually rises faster and slower, resulting in insufficient utilization of the rear brake system performance. Summary of the invention

[0003] The objectives of the present invention include, for example, providing a vehicle braking force distribution method, device, electronic device and storage medium, which can at least partially solve the above-mentioned technical problems.

[0004] The embodiments of the present invention can be implemented as follows:

[0005] In a first aspect, an embodiment of the present invention provides a vehicle braking force distribution method, the method comprising:

[0006] Respectively obtain the front brake disc temperature of each front brake disc of the vehicle and the rear brake disc temperature of each rear brake disc;

[0007] Obtaining an absolute value of a temperature difference according to a first average temperature of each of the front brake disc temperatures and a second average temperature of each of the rear brake disc temperatures;

[0008] When the target braking force is received, the target braking force is distributed to the vehicle according to the magnitude relationship between the absolute value of the temperature difference and a preset temperature difference threshold.

[0009] Optionally, the allocating the target braking force to the vehicle according to the magnitude relationship between the absolute value of the temperature difference and a preset temperature difference threshold value includes:

[0010] If the absolute value of the temperature difference is less than or equal to the preset temperature difference threshold, dividing the target braking force into a target hydraulic braking force and a target electric braking force according to a first preset allocation ratio;

[0011] allocating the target electric braking force to the motor of the vehicle for execution;

[0012] The target hydraulic braking force is equally divided into two first sub-target hydraulic braking forces, the two first sub-target hydraulic braking forces are equal in magnitude;

[0013] The two portions of the first sub-target hydraulic braking force are respectively distributed to the front and rear brake cylinders of the vehicle for execution.

[0014] Optionally, the method further comprises:

[0015] When the absolute value of the temperature difference is less than or equal to the preset temperature difference threshold, if the first temperature average value / the second temperature average value is greater than the preset temperature threshold, the front brake disc / the rear brake disc is determined as the target brake disc;

[0016] Determining whether the target braking force is less than a preset electric braking force threshold;

[0017] If yes, all the target electric braking force and the target hydraulic braking force allocated to the target brake disc are reallocated to the motor for execution, and the target brake disc is controlled to stop braking;

[0018] If not, the portion of the target electric braking force allocated to the target brake disc is reallocated to brake discs other than the target brake disc.

[0019] Optionally, the method further comprises:

[0020] If the first temperature average value and the second temperature average value are both greater than the preset temperature threshold, calculating a proportional relationship between the first temperature average value and the second temperature average value;

[0021] The target electric braking force is redistributed according to the proportional relationship.

[0022] Optionally, the method further comprises:

[0023] When the magnitude relationship between the absolute value of the temperature difference and the preset temperature difference threshold changes, determining whether the temperature difference between the absolute value of the temperature difference and the preset temperature difference threshold is less than the set temperature difference;

[0024] If so, the target braking force is not redistributed.

[0025] Optionally, the allocating the target braking force to the vehicle according to the magnitude relationship between the absolute value of the temperature difference and a preset temperature difference threshold value further includes:

[0026] If the absolute value of the temperature difference is greater than the preset temperature difference threshold, the target hydraulic braking force is divided into a second sub-target hydraulic braking force and a third sub-target hydraulic braking force according to a second preset allocation ratio, and the second sub-target hydraulic braking force is greater than the third sub-target hydraulic braking force;

[0027] Comparing the first temperature average value with the second temperature average value;

[0028] If the first temperature average value is greater than the second temperature average value, the third sub-target hydraulic braking force is allocated to the front brake cylinder of the vehicle for execution, and the second sub-target hydraulic braking force is allocated to the rear brake cylinder of the vehicle for execution;

[0029] If the first temperature average value is less than the second temperature average value, the second sub-target hydraulic braking force is allocated to the front brake cylinder of the vehicle for execution, and the third sub-target hydraulic braking force is allocated to the rear brake cylinder of the vehicle for execution.

[0030] Optionally, respectively acquiring the front brake disc temperature of each front brake disc of the vehicle and the rear brake disc temperature of each rear brake disc includes:

[0031] Obtaining the current speed of the vehicle and the mechanical braking force of each wheel;

[0032] Inputting the current vehicle speed and each of the mechanical braking forces into a preset brake disc temperature estimation model to obtain a plurality of model output temperatures;

[0033] The model output temperatures are respectively corresponded as the front brake disc temperature and the rear brake disc temperature.

[0034] In a second aspect, an embodiment of the present invention provides a vehicle braking force distribution device, the vehicle braking force distribution device comprising:

[0035] A brake disc temperature acquisition unit, used to respectively acquire the front brake disc temperature of each front brake disc of the vehicle and the rear brake disc temperature of each rear brake disc;

[0036] a temperature difference absolute value calculation unit, configured to obtain a temperature difference absolute value according to a first temperature average value of each of the front brake disc temperatures and a second temperature average value of each of the rear brake disc temperatures;

[0037] The target braking force distribution unit is used to distribute the target braking force to the vehicle according to the magnitude relationship between the absolute value of the temperature difference and a preset temperature difference threshold value when receiving the target braking force.

[0038] In a third aspect, an embodiment of the present invention provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the above methods when executing the program.

[0039] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a computer program, and when the computer program is executed, the server where the computer-readable storage medium is located is controlled to implement the steps of any one of the above methods.

[0040] The beneficial effects of the embodiments of the present invention include, for example:

[0041] By obtaining the first temperature average value of each front brake disc of the vehicle and the second temperature average value of each rear brake disc, the absolute value of the temperature difference between the first temperature average value and the second temperature average value is calculated, and according to the relationship between the absolute value of the temperature difference and the preset temperature difference threshold, different distribution methods are determined to distribute the target braking force to the front and rear brake discs of the vehicle.

[0042] Since the target braking force is distributed according to the absolute value of the temperature difference, the problem of reduced braking force of the vehicle's front brake disc due to excessively high temperature and low braking performance utilization of the rear brake disc is avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 A block diagram of an electronic device provided by an embodiment of the present invention;

[0045] Figure 2 A flow chart of the steps of a vehicle braking force distribution method provided by an embodiment of the present invention;

[0046] Figure 3 A flow chart of a vehicle braking force distribution method provided by an embodiment of the present invention;

[0047] Figure 4 A schematic diagram of a vehicle braking force distribution device provided in an embodiment of the present invention.

[0048] Icons: 100 - electronic device; 110 - memory; 120 - processor; 130 - communication module; 300 - vehicle braking force distribution device; 301 - brake disc temperature acquisition unit; 302 - temperature difference absolute value calculation unit; 303 - target braking force distribution unit. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0050] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0051] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0052] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0053] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0054] Currently, the braking force distribution between the front and rear wheels is mainly based on stability control, such as:

[0055] EBD (Electronic Brake-force Distribution) reduces the braking force of the rear wheels when they are about to slip to prevent the vehicle from skidding; ABS (Anti-lock Braking System) brake force distribution adjusts the hydraulic pressure of the locked wheels to obtain better adhesion coefficient utilization when the vehicle has a tendency to lock during braking.

[0056] However, the current braking force distribution method does not take into account the difference in braking force and temperature between the front and rear brake discs when the vehicle is running.

[0057] Based on the above situation, an embodiment of the present invention provides a vehicle braking force distribution method, device, electronic device and storage medium, which can effectively alleviate the above technical problems.

[0058] Please refer to Figure 1 , is a block diagram of an electronic device 100 provided by the present application. The electronic device 100 may be a device capable of performing data processing, which is not limited in this embodiment. The electronic device 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, the processor 120, and the communication module 130. Each component is electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other via one or more communication buses or signal lines.

[0059] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0060] The processor 120 is used to read / write data or programs stored in the memory and execute corresponding functions.

[0061] The communication module 130 is used to establish a communication connection between the server and other communication terminals through the network, and to send and receive data through the network.

[0062] It should be understood that Figure 1 The structure shown is only a schematic diagram of the structure of the electronic device 100. The electronic device 100 may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown. Figure 1 The components shown in the figure can be implemented by hardware, software or a combination thereof. The electronic device 100 can be arranged in other devices or as an independent device.

[0063] Corresponding to the electronic device 100, the embodiment of the present invention provides a vehicle braking force distribution method, including: Figure 2 The following steps are shown:

[0064] Step S110: respectively obtaining the front brake disc temperature of each front brake disc of the vehicle and the rear brake disc temperature of each rear brake disc of the vehicle.

[0065] Step S120: Obtaining an absolute value of a temperature difference according to a first average temperature of each of the front brake disc temperatures and a second average temperature of each of the rear brake disc temperatures.

[0066] Step S130: when the target braking force is received, the target braking force is distributed to the vehicle according to the magnitude relationship between the absolute value of the temperature difference and a preset temperature difference threshold.

[0067] In step S110, the front brake disc temperature of each front brake disc of the vehicle and the rear brake disc temperature of each rear brake disc of the vehicle are respectively acquired.

[0068] When the vehicle is running, the front brake disc temperature of each front brake disc of the vehicle and the rear brake disc temperature of each rear brake disc can be obtained in real time. For example, when the vehicle is a four-wheel vehicle, the vehicle includes two front brake discs and two rear brake discs, and a high-temperature resistant temperature sensor (such as an infrared temperature sensor) is installed at each brake disc, and each temperature sensor is connected to the controller for communication. Then, the controller can obtain the front brake disc temperature of the two front brake discs and the rear brake disc temperature of the two rear brake discs in real time through each temperature sensor when the vehicle is running.

[0069] Optionally, respectively acquiring the front brake disc temperature of each front brake disc of the vehicle and the rear brake disc temperature of each rear brake disc includes:

[0070] The current vehicle speed and the mechanical braking force of each wheel of the vehicle are obtained.

[0071] The current vehicle speed and each of the mechanical braking forces are input into a preset brake disc temperature estimation model to obtain a plurality of model output temperatures.

[0072] The model output temperatures are respectively corresponded as the front brake disc temperature and the rear brake disc temperature.

[0073] In an optional implementation, the real-time vehicle speed and the mechanical braking force of each wheel during driving of the vehicle can be obtained by establishing a preset brake disc temperature estimation model without installing a temperature sensor. The real-time vehicle speed and each mechanical braking force are input into the preset brake disc temperature estimation model established to obtain the model output temperature corresponding to each mechanical braking force output by the preset brake disc temperature estimation model. Each model output temperature is used as the temperature of each brake disc, that is, the front brake disc temperature of each front brake disc and the rear brake disc temperature of each rear brake disc can be obtained.

[0074] In step S120, the absolute value of the temperature difference is obtained according to the first temperature average value of the temperatures of the front brake discs and the second temperature average value of the temperatures of the rear brake discs.

[0075] For example, if the vehicle includes two front brake discs and two rear brake discs, the front brake disc temperatures of the two front brake discs are 90°C and 80°C respectively, and the rear brake disc temperatures of the two rear brake discs are 60°C and 70°C respectively. Then the first temperature average value is 85°C, the second temperature average value is 65°C, and the absolute value of the temperature difference is 20°C.

[0076] In step S130, when the target braking force is received, the target braking force is distributed to the vehicle according to the magnitude relationship between the absolute value of the temperature difference and a preset temperature difference threshold.

[0077] The preset temperature difference threshold can be a value set by the developer to measure whether the braking force of the front and rear brake discs differs too much due to the temperature difference. The target braking force can be the braking demand sent to the controller when the user steps on the brake pedal, that is, the braking system needs to generate a braking force of the target braking force to achieve the braking effect.

[0078] When the controller receives the target braking force sent by the user through the brake pedal, the target braking force can be allocated to the front brake disc and the rear brake disc according to the relationship between the absolute value of the temperature difference at this time and the preset temperature difference threshold. For example, if the absolute value of the temperature difference does not reach the preset temperature difference threshold, 45% of the target braking force is allocated to the front brake disc and 55% of the target braking force is allocated to the rear brake disc.

[0079] The distributing the target braking force to the vehicle according to the magnitude relationship between the absolute value of the temperature difference and a preset temperature difference threshold value includes:

[0080] If the absolute value of the temperature difference is less than or equal to the preset temperature difference threshold, the target braking force is divided into a target hydraulic braking force and a target electric braking force according to a first preset allocation ratio.

[0081] The target electric braking force is distributed to the electric motor of the vehicle.

[0082] The target hydraulic braking force is equally divided into two first sub-target hydraulic braking forces, and the two first sub-target hydraulic braking forces are equal in magnitude.

[0083] The two portions of the first sub-target hydraulic braking force are respectively distributed to the front and rear brake cylinders of the vehicle for execution.

[0084] The braking methods of new energy vehicles are generally electric braking and hydraulic braking. Electric braking is achieved by controlling the motor to brake the vehicle, while hydraulic braking is generally achieved by controlling the hydraulic pressure generated by the brake cylinder to brake the vehicle.

[0085] As an optional implementation, when the absolute value of the temperature difference is less than or equal to the preset temperature difference threshold, the target braking force can be divided into the target hydraulic braking force and the target electric braking force according to a preset ratio (i.e., a first preset allocation ratio). The target electric braking force is allocated to the motor for execution, and the specific allocation of the target electric braking force to the front and rear brake discs can be determined by the default allocation method of the vehicle, which is not specifically limited here.

[0086] The target hydraulic braking force may be evenly divided into two first sub-target hydraulic braking forces, and the two first sub-target hydraulic braking forces are respectively allocated to the front and rear brake cylinders of the vehicle for execution.

[0087] Optionally, the method further comprises:

[0088] When the absolute value of the temperature difference is less than or equal to the preset temperature difference threshold, if the first temperature average value / the second temperature average value is greater than the preset temperature threshold, the front brake disc / the rear brake disc is determined as the target brake disc.

[0089] It is determined whether the target braking force is less than a preset electric braking force threshold.

[0090] If so, the target electric braking force and the target hydraulic braking force that are allocated to the target brake disc are all reallocated to the motor for execution, and the target brake disc is controlled to stop braking.

[0091] If not, the portion of the target electric braking force allocated to the target brake disc is reallocated to brake discs other than the target brake disc.

[0092] If the absolute value of the temperature difference is less than or equal to the preset temperature difference threshold, but the average temperature of the front brake disc (the first temperature average value) or the average temperature of the rear brake disc (the second temperature average value) is greater than the preset temperature threshold, the brake disc corresponding to the average temperature greater than the preset temperature threshold is determined as the target brake disc.

[0093] It is further determined whether the target braking force is less than a preset electric braking force threshold. If so, the target brake disc is not braked, and all the electric braking force and hydraulic braking force allocated to the target brake disc are redistributed to the motor for execution. Since the target brake disc is not braked, the braking force redistributed to the motor for execution will not be allocated to the target brake disc.

[0094] If the target braking force is greater than or equal to the preset electric braking force threshold, only the electric braking force allocated to the target brake disc is redistributed to other brake discs, so that the target brake disc only executes the allocated hydraulic braking force portion.

[0095] For example, the preset temperature threshold is 100°C, the first temperature average is 110°C, and the second temperature average is 20°C. At this time, the temperature of the front brake disc is too high, but the temperature difference does not meet the braking force distribution conditions. The braking force is distributed according to 1. If the target braking force is less than the preset electric braking force threshold at this time, the front brake disc is controlled not to brake, and the rear brake disc continues to execute according to the current braking force, and the difference is provided by the electric brake. Thereby reducing the temperature difference between the front and rear brake discs and improving the braking stability of the vehicle.

[0096] Optionally, the method further comprises:

[0097] If the first temperature average value and the second temperature average value are both greater than the preset temperature threshold, a proportional relationship between the first temperature average value and the second temperature average value is calculated, and the target electric braking force is redistributed according to the proportional relationship.

[0098] If the average temperatures of the front and rear brake discs exceed the preset temperature threshold, the temperature difference can be balanced by redistributing the target electric braking force portion according to the ratio of the first temperature average value to the second temperature average value.

[0099] Optionally, the method further comprises:

[0100] When the magnitude relationship between the absolute value of the temperature difference and the preset temperature difference threshold value changes, it is determined whether the temperature difference between the absolute value of the temperature difference and the preset temperature difference threshold value is less than the set temperature difference. If so, the target braking force is not redistributed.

[0101] After the target braking force is distributed, the absolute value of the temperature difference between the front and rear brake discs will gradually decrease. At this time, the absolute value of the temperature difference and the preset temperature difference threshold value may change frequently. When the absolute value of the temperature difference fluctuates within the preset temperature difference threshold value, in order to avoid frequent changes in the distribution of the target braking force, a set temperature difference can be set. When the temperature difference between the absolute value of the temperature difference and the preset temperature difference threshold value is less than the set temperature difference, even if the absolute value of the temperature difference and the preset temperature difference threshold value change, the distribution method of the target braking force is not adjusted, thereby reducing the operating frequency of equipment such as solenoid valves.

[0102] Optionally, the allocating the target braking force to the vehicle according to the magnitude relationship between the absolute value of the temperature difference and a preset temperature difference threshold value further includes:

[0103] If the absolute value of the temperature difference is greater than the preset temperature difference threshold, the target hydraulic braking force is divided into a second sub-target hydraulic braking force and a third sub-target hydraulic braking force according to a second preset allocation ratio, and the second sub-target hydraulic braking force is greater than the third sub-target hydraulic braking force.

[0104] The first temperature average value is compared with the second temperature average value.

[0105] If the first temperature average value is greater than the second temperature average value, the third sub-target hydraulic braking force is allocated to the front brake cylinder of the vehicle for execution, and the second sub-target hydraulic braking force is allocated to the rear brake cylinder of the vehicle for execution.

[0106] If the first temperature average value is less than the second temperature average value, the second sub-target hydraulic braking force is allocated to the front brake cylinder of the vehicle for execution, and the third sub-target hydraulic braking force is allocated to the rear brake cylinder of the vehicle for execution.

[0107] If the absolute value of the temperature difference is greater than the preset temperature difference threshold, the target hydraulic braking force is divided into the second sub-target hydraulic braking force and the third sub-target hydraulic braking force according to the second preset distribution ratio, and the second sub-target hydraulic braking force is greater than the third sub-target hydraulic braking force. The second sub-target hydraulic braking force with a larger braking force is allocated to the brake disc with a lower average temperature, and the third sub-target hydraulic braking force with a smaller braking force is allocated to the brake disc with a higher average temperature, so as to balance the temperatures of the front and rear brake discs.

[0108] In order to better illustrate the present invention, the embodiments of the present invention further provide Figure 3 The flow chart shown explains the present invention.

[0109] like Figure 3 As shown, when the vehicle is driving, the first average temperature (T1) of the front brake disc temperature and the second average temperature (T2) of the rear brake disc temperature can be obtained, and the absolute value of the temperature difference between the first average temperature and the second average temperature can be calculated. 目标 ) is determined whether the absolute value of the temperature difference is less than or equal to the preset temperature difference threshold value. If not, the target braking force is divided into the target hydraulic braking force (F 液 ) and the target electric braking force (F 电 ), the target hydraulic braking force is divided into the second sub-target hydraulic braking force (F 1液 ) and the third sub-target hydraulic braking force (F 2液 ), where the second sub-target hydraulic braking force is greater than the third sub-target hydraulic braking force. The second sub-target hydraulic braking force is allocated to the brake disc corresponding to the smaller value between the first temperature average value and the second temperature average value, and the third sub-target hydraulic braking force is allocated to the brake disc corresponding to the larger value between the first temperature average value and the second temperature average value.

[0110] If the absolute value of the temperature difference is determined to be less than the preset temperature difference threshold when the target braking force is received, the target electric braking force is evenly distributed to the front and rear brake cylinders of the vehicle. It is also determined in real time whether the first temperature average value and the second temperature average value are both greater than the preset temperature threshold. If so, the target electric braking force is redistributed according to the ratio of the first temperature average value and the second temperature average value. If not, it is further determined whether one of the first temperature average value and the second temperature average value is greater than the preset temperature threshold.

[0111] If one of the first temperature average value and the second temperature average value is greater than the preset temperature threshold, the brake disc corresponding to the temperature average value greater than the preset temperature threshold is used as the target brake disc, and the target braking force is determined to be equal to the preset electric braking force threshold (F 电阈 )’s size relationship.

[0112] If the target braking force is less than the preset electric braking force threshold, the target brake disc will not brake, and the braking force it needs to execute will be distributed to the motor and redistributed to other brake discs except the target brake disc; if the target braking force is greater than or equal to the preset electric braking force threshold, the target brake disc will be controlled to only execute the part of the target hydraulic braking force allocated to the target brake disc.

[0113] Based on the same inventive concept, Figure 4 As shown, the embodiment of the present invention provides a vehicle braking force distribution device 300, including:

[0114] The brake disc temperature acquisition unit 301 is used to respectively acquire the front brake disc temperature of each front brake disc of the vehicle and the rear brake disc temperature of each rear brake disc.

[0115] The temperature difference absolute value calculation unit 302 is used to obtain the temperature difference absolute value according to the first temperature average value of each of the front brake disc temperatures and the second temperature average value of each of the rear brake disc temperatures.

[0116] The target braking force distribution unit 303 is used to distribute the target braking force to the vehicle according to the magnitude relationship between the absolute value of the temperature difference and a preset temperature difference threshold value when receiving the target braking force.

[0117] Regarding the above-mentioned vehicle braking force distribution device 300, the specific functions of each unit therein have been described in detail in the embodiment of the vehicle braking force distribution method provided in this specification, and will not be elaborated here.

[0118] Based on the same inventive concept, an embodiment of the present invention specification provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above-mentioned vehicle braking force distribution methods.

[0119] The present invention has at least the following beneficial effects:

[0120] By obtaining the first temperature average value of each front brake disc of the vehicle and the second temperature average value of each rear brake disc, the absolute value of the temperature difference between the first temperature average value and the second temperature average value is calculated, and according to the relationship between the absolute value of the temperature difference and the preset temperature difference threshold, different distribution methods are determined to distribute the target braking force to the front and rear brake discs of the vehicle.

[0121] Since the target braking force is distributed according to the absolute value of the temperature difference, the problem of reduced braking force of the vehicle's front brake disc due to excessively high temperature and low braking performance utilization of the rear brake disc is avoided.

[0122] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0123] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0124] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes.

[0125] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A vehicle braking force distribution method, characterized in that: The method comprises: Respectively obtaining the front brake disc temperature of each front brake disc of the vehicle and the rear brake disc temperature of each rear brake disc, including: obtaining the current vehicle speed of the vehicle and the mechanical braking force of each wheel; inputting the current vehicle speed and each mechanical braking force into a preset brake disc temperature estimation model to obtain a plurality of model output temperatures; and correspondingly using each model output temperature as the front brake disc temperature and the rear brake disc temperature; Obtaining an absolute value of a temperature difference according to a first average temperature of each of the front brake disc temperatures and a second average temperature of each of the rear brake disc temperatures; When the target braking force is received, the target braking force is distributed to the vehicle according to the magnitude relationship between the absolute value of the temperature difference and the preset temperature difference threshold, including: if the absolute value of the temperature difference is less than or equal to the preset temperature difference threshold, the target braking force is divided into a target hydraulic braking force and a target electric braking force according to a first preset distribution ratio; the target electric braking force is distributed to the motor of the vehicle for execution; the target hydraulic braking force is evenly divided into two first sub-target hydraulic braking forces, the two first sub-target hydraulic braking forces are equal in magnitude; the two first sub-target hydraulic braking forces are respectively distributed to the front and rear brake cylinders of the vehicle for execution; If the first temperature average value / the second temperature average value is greater than the preset temperature threshold, the front brake disc / the rear brake disc is determined as the target brake disc; determine whether the target braking force is less than the preset electric braking force threshold; if so, reallocate the target electric braking force and the portion of the target hydraulic braking force allocated to the target brake disc to the motor for execution, and control the target brake disc to stop braking; if not, reallocate the portion of the target electric braking force allocated to the target brake disc to brake discs other than the target brake disc.

2. The vehicle braking force distribution method according to claim 1, characterized in that: The method further comprises: If the first temperature average value and the second temperature average value are both greater than the preset temperature threshold, calculating a proportional relationship between the first temperature average value and the second temperature average value; The target electric braking force is redistributed according to the proportional relationship.

3. The vehicle braking force distribution method according to any one of claims 1 to 2, characterized in that: The method further comprises: When the magnitude relationship between the absolute value of the temperature difference and the preset temperature difference threshold changes, determining whether the temperature difference between the absolute value of the temperature difference and the preset temperature difference threshold is less than the set temperature difference; If so, the target braking force is not redistributed.

4. The vehicle braking force distribution method according to claim 1, characterized in that: The distributing the target braking force to the vehicle according to the magnitude relationship between the absolute value of the temperature difference and the preset temperature difference threshold value also includes: If the absolute value of the temperature difference is greater than the preset temperature difference threshold, the target hydraulic braking force is divided into a second sub-target hydraulic braking force and a third sub-target hydraulic braking force according to a second preset allocation ratio, and the second sub-target hydraulic braking force is greater than the third sub-target hydraulic braking force; Comparing the first temperature average value with the second temperature average value; If the first temperature average value is greater than the second temperature average value, the third sub-target hydraulic braking force is allocated to the front brake cylinder of the vehicle for execution, and the second sub-target hydraulic braking force is allocated to the rear brake cylinder of the vehicle for execution; If the first temperature average value is less than the second temperature average value, the second sub-target hydraulic braking force is allocated to the front brake cylinder of the vehicle for execution, and the third sub-target hydraulic braking force is allocated to the rear brake cylinder of the vehicle for execution.

5. A vehicle braking force distribution device, characterized in that: The vehicle braking force distribution device comprises: The brake disc temperature acquisition unit is used to respectively acquire the front brake disc temperature of each front brake disc of the vehicle and the rear brake disc temperature of each rear brake disc, including: acquiring the current vehicle speed and the mechanical braking force of each wheel; inputting the current vehicle speed and each mechanical braking force into a preset brake disc temperature estimation model to obtain a plurality of model output temperatures; and correspondingly using each model output temperature as the front brake disc temperature and the rear brake disc temperature; a temperature difference absolute value calculation unit, configured to obtain a temperature difference absolute value according to a first temperature average value of each of the front brake disc temperatures and a second temperature average value of each of the rear brake disc temperatures; A target braking force distribution unit is used to distribute the target braking force to the vehicle according to the magnitude relationship between the absolute value of the temperature difference and a preset temperature difference threshold value when receiving the target braking force, including: if the absolute value of the temperature difference is less than or equal to the preset temperature difference threshold value, dividing the target braking force into a target hydraulic braking force and a target electric braking force according to a first preset distribution ratio; distributing the target electric braking force to the motor of the vehicle for execution; dividing the target hydraulic braking force into two first sub-target hydraulic braking forces, the two first sub-target hydraulic braking forces are equal in magnitude; and respectively distributing the two first sub-target hydraulic braking forces to the front and rear brake cylinders of the vehicle for execution; If the first temperature average value / the second temperature average value is greater than the preset temperature threshold, the front brake disc / the rear brake disc is determined as the target brake disc; determine whether the target braking force is less than the preset electric braking force threshold; if so, reallocate the target electric braking force and the portion of the target hydraulic braking force allocated to the target brake disc to the motor for execution, and control the target brake disc to stop braking; if not, reallocate the portion of the target electric braking force allocated to the target brake disc to brake discs other than the target brake disc.

6. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 4 when executing the program.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a computer program, and when the computer program is executed, the server where the computer-readable storage medium is located is controlled to implement the steps of the method according to any one of claims 1 to 4.

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