Vehicle wheel end clamping force control method and related equipment

Abstract

The invention discloses a vehicle wheel end clamping force control method and related equipment. The method comprises the steps that temperature parameters of a braking system of a vehicle are obtained in real time; determining a wheel end clamping force state of a wheel of the vehicle based on the temperature parameter; obtaining the wheel end clamping force of the wheel of the vehicle based on the wheel end clamping force state; determining target clamping force of coaxial wheels of the vehicle based on the clamping force of each wheel end by utilizing a coaxial clamping force low selection method; and carrying out clamping control on wheels of the vehicle based on the target clamping force so as to enable the vehicle to achieve transverse stability. The problems that in the working process of an EMB system of a vehicle in the prior art, the clamping force of one or more wheels of the vehicle can be possibly reduced due to overheating protection of the EMB system, the clamping force of coaxial wheels of the vehicle is inconsistent, and the vehicle has the safety risk of yawing or out of control are solved.

Description

Background Art

[0002] The vehicle's EMB system (Electro mechanical brake) can apply braking force to the wheels or brake discs when necessary according to the vehicle's driving state, forcing the vehicle to decelerate or park, and is a guarantee of vehicle driving safety. However, the braking system applies a large braking force to the wheels or brake discs through the brake motor for a long time, and it is necessary to continuously supply a large current to the brake motor, resulting in problems of large power consumption and heat damage to the brake motor. In the prior art, the problems of large power consumption and heat damage to the brake motor are solved by controlling the four brake motors in the mechanical wire control brake EMB system to alternately energize for braking or reducing the power-on current of the four brake motors in the EMB system when it is determined that the vehicle's braking static state duration is greater than a first threshold.

[0003] However, during operation of the EMB system of the vehicle in the prior art, one or more wheels of the vehicle may reduce the clamping force due to the overheat protection of the EMB system, resulting in inconsistent clamping force of the coaxial wheels of the vehicle, and there is a safety risk of the vehicle swaying or losing control. Summary of the invention

[0004] In order to overcome the problem in the prior art that during the operation of the EMB system of the vehicle, one or more wheels of the vehicle may reduce the clamping force due to the overheat protection of the EMB system, resulting in inconsistent clamping force of the coaxial wheels of the vehicle and the safety risk of the vehicle yaw or loss of control, the present application provides a vehicle wheel-end clamping force control method and related equipment, which include a vehicle, a vehicle wheel-end clamping force control system, a computing device and a computer-readable storage medium.

[0005] In a first aspect, in order to solve the above technical problems, the present application provides a vehicle wheel end clamping force control method, comprising:

[0006] Obtain the temperature parameters of the vehicle's braking system in real time;

[0007] determining a wheel end clamping force state of a wheel of the vehicle based on the temperature parameter;

[0008] Obtaining a wheel end clamping force of a wheel of the vehicle based on a wheel end clamping force state;

[0009] Determining the target clamping force of the coaxial wheels of the vehicle based on the clamping force of each wheel end by using the coaxial clamping force low selection method;

[0010] The wheels of the vehicle are clamped and controlled based on the target clamping force to achieve lateral stability of the vehicle.

[0011] In a second aspect, the present application also provides a vehicle, which uses a vehicle wheel end clamping force control method.

[0012] In a third aspect, the present application also provides a vehicle wheel end clamping force control system, comprising:

[0013] An acquisition module, used for acquiring temperature parameters of the vehicle's braking system in real time;

[0014] A determination module, configured to determine a wheel end clamping force state of a wheel of the vehicle based on a temperature parameter;

[0015] An obtaining module, used for obtaining the wheel end clamping force of the wheel of the vehicle based on the wheel end clamping force state;

[0016] A low selection module, for determining a target clamping force of a coaxial wheel of a vehicle based on the clamping force of each wheel end by using a coaxial clamping force low selection method;

[0017] The control module is used for clamping the wheels of the vehicle based on the target clamping force so as to make the vehicle achieve lateral stability.

[0018] In a fourth aspect, the present application further provides a computing device, including a memory, a processor, and a program stored in the memory and running on the processor, and when the processor executes the program, the steps of a vehicle wheel end clamping force control method as described above are implemented.

[0019] In a fifth aspect, the present application also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes the steps of a vehicle wheel end clamping force control method.

[0020] The beneficial effects of the present application are as follows: first, the wheel-end clamping force state of the vehicle's wheels is determined based on the real-time temperature parameters of the vehicle's braking system, so that it can be understood whether the braking system has a degrading effect on the wheel-end clamping force state of the vehicle's wheels due to overheating. Then, the wheel-end clamping force of the vehicle's wheels is obtained based on the wheel-end clamping force state, and the coaxial clamping force low selection method is used to determine the target clamping force of the vehicle's coaxial wheels based on each wheel-end clamping force, and the vehicle's wheels are clamped and controlled based on the target clamping force to achieve lateral stability of the vehicle. In this way, regardless of whether the vehicle's braking system is overheated, the vehicle's coaxial wheels can be clamped based on the same clamping force, so that the braking force of the left and right wheels of the vehicle is balanced, avoiding the safety risk of the vehicle swaying or losing control, and making the vehicle safer when braking. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic flow chart of a vehicle wheel end clamping force control method according to an exemplary embodiment of the present application;

[0022] Figure 2 is a curve diagram of the wheel end clamping force before and after degradation in an exemplary embodiment of the present application;

[0023] Figure 3 A schematic diagram of a flow chart of obtaining a first target clamping force of a front axle of a vehicle by applying the provided vehicle wheel end clamping force control method in an exemplary embodiment of the present application;

[0024] Figure 4 This is a flow chart of a vehicle wheel end clamping force control method provided in an exemplary embodiment of the present application;

[0025] Figure 5 The schematic diagram of the structure of a vehicle wheel end clamping force control system is shown as an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0026] The following examples are provided to further explain and supplement the present application and do not constitute any limitation to the present application.

[0027] A vehicle wheel end clamping force control method and related equipment according to an embodiment of the present application are described below in conjunction with the accompanying drawings. The related equipment includes a vehicle, a vehicle wheel end clamping force control system, a computing device and a computer-readable storage medium.

[0028] A vehicle wheel end clamping force control method is disclosed in an embodiment of the present application. The method is applied to a terminal device. In the present application scheme, the terminal device or server is used as the execution subject to illustrate the present application scheme. The terminal device or server is used to execute the steps of a vehicle wheel end clamping force control method.

[0029] See also Figure 1 , Figure 1 A vehicle wheel end clamping force control method is shown as an exemplary embodiment of the present application, such as Figure 1 As shown, the present application provides a vehicle wheel end clamping force control method, comprising:

[0030] Step S11, obtaining temperature parameters of the vehicle's braking system in real time;

[0031] Step S12, determining a wheel end clamping force state of a wheel of the vehicle based on a temperature parameter;

[0032] Step S13, obtaining the wheel end clamping force of the wheel of the vehicle based on the wheel end clamping force state;

[0033] Step S14, using a coaxial clamping force low selection method to determine a target clamping force of the coaxial wheels of the vehicle based on the clamping forces of each wheel end;

[0034] Step S15, clamping control is performed on the wheels of the vehicle based on the target clamping force to make the vehicle lateral stable.

[0035] A vehicle wheel-end clamping force control method of this embodiment first determines the wheel-end clamping force state of the vehicle's wheels based on the real-time temperature parameters of the vehicle's brake system, so as to understand whether the brake system has a degradation effect on the wheel-end clamping force state of the vehicle's wheels due to overheating. Then, the wheel-end clamping force of the vehicle's wheels is obtained based on the wheel-end clamping force state, and the coaxial clamping force low selection method is used to determine the target clamping force of the coaxial wheels of the vehicle based on each wheel-end clamping force, and the wheels of the vehicle are clamped and controlled based on the target clamping force to achieve lateral stability of the vehicle. In this way, regardless of whether the vehicle's brake system is overheated, the coaxial wheels of the vehicle can be clamped based on the same clamping force, so that the braking force of the left and right wheels of the vehicle is balanced, avoiding the safety risk of the vehicle swaying or losing control, and making the vehicle safer when braking.

[0036] Optionally, the braking system includes a wheel-end controller and a corresponding brushless motor, and the temperature parameter includes a plurality of power device temperatures of the wheel-end controller and a motor temperature of the brushless motor;

[0037] Determining a wheel end clamping force state of a wheel of a vehicle based on a temperature parameter includes:

[0038] When one of the multiple power device temperatures is greater than or equal to the corresponding first overheat protection temperature, and / or the motor temperature is greater than or equal to the second overheat protection temperature, determining that the wheel end clamping force state of the corresponding wheel of the vehicle is a clamping force degradation;

[0039] When the temperatures of the plurality of power devices are all lower than the corresponding first overheat protection temperature, and the motor temperature is lower than the second overheat protection temperature, it is determined that the wheel end clamping force state of the corresponding wheel of the vehicle is that the clamping force is not degraded.

[0040] In this embodiment, when there is a power device temperature greater than or equal to the corresponding first overheat protection temperature among the multiple power device temperatures of the wheel-end controller, and / or the motor temperature corresponding to the wheel-end controller is greater than or equal to the second overheat protection temperature, it indicates that there is overheating in the braking system, and at this time, the wheel-end clamping force state of the corresponding wheel of the vehicle is determined to be a clamping force degradation. When the multiple power device temperatures are all lower than the corresponding first overheat protection temperature, and the motor temperature is lower than the second overheat protection temperature, it indicates that there is no overheating in the braking system, and at this time, the wheel-end clamping force state of the corresponding wheel of the vehicle is determined to be a clamping force that is not degraded. In this way, it is convenient to subsequently determine the target clamping force of each wheel of the vehicle based on the wheel-end clamping force state of the wheel, so as to ensure that the vehicle achieves lateral stability and avoid the safety risk of the vehicle swaying or losing control.

[0041] In this embodiment, the wheel-end controller includes an ECU (Electric control unit), and a plurality of power devices are arranged on the ECU. These power devices may be overheated during the operation of the braking system, so it is necessary to detect the real-time temperature of each power device to obtain the temperatures of the plurality of power devices. The brushless motor of the braking system is part of the wheel-end actuator. When the vehicle is continuously braked at high speed or the vehicle is going downhill for a long time, the internal winding and armature of the brushless motor will also generate heat like the various power devices, resulting in degradation of the braking system. At this time, the control current of the brushless motor will be reduced, so that the corresponding wheel-end clamping force will be degraded, so as to protect the brushless motor of the braking system, the transmission mechanism such as the reducer ball screw, and the various power devices on the ECU.

[0042] Among them, multiple power device temperatures include MOSFET (Metal-Oxide-Semiconductor Field-Effect Transistor) temperature, IGBT (Insulated Gate Bipolar Transistor) temperature, etc.; the motor temperature includes internal winding temperature and armature temperature. If any of the internal winding temperature and the armature temperature is greater than or equal to the second overheat protection temperature, then the motor temperature is greater than or equal to the second overheat protection temperature.

[0043] Optionally, obtaining the wheel end clamping force of the wheel of the vehicle based on the wheel end clamping force state includes:

[0044] When the wheel end clamping force state is a degraded clamping force, the wheel end clamping force of the wheel corresponding to the vehicle is a degraded clamping force;

[0045] When the wheel end clamping force state is that the clamping force is not degraded, the wheel end clamping force of the corresponding wheel of the vehicle is a normal clamping force.

[0046] In this embodiment, the linear relationship between the wheel end clamping force and time before and after degradation is as follows: Figure 2 As shown. Figure 2 It can be seen that the downgraded clamping force is less than the normal clamping force. In this way, when overheating occurs during the operation of the brake system, the corresponding wheel end clamping force is reduced to protect the various hardware of the brake system from being damaged due to overheating.

[0047] Optionally, each wheel end clamping force includes a front axle left wheel clamping force, a front axle right wheel clamping force, a rear axle left wheel clamping force, and a rear axle right wheel clamping force; using a coaxial clamping force low selection method, determining a target clamping force of the coaxial wheels of the vehicle based on each wheel end clamping force includes:

[0048] Using the coaxial clamping force low selection method, based on the front axle left wheel clamping force and the front axle right wheel clamping force, the first target clamping force of the front axle left wheel and the front axle right wheel of the vehicle is obtained;

[0049] Using the coaxial clamping force low selection method, based on the rear axle left wheel clamping force and the rear axle right wheel clamping force, a second target clamping force of the rear axle left wheel and the rear axle right wheel of the vehicle is obtained;

[0050] A target clamping force for the coaxial wheels of the vehicle is formed based on the first target clamping force and the second target clamping force.

[0051] In this embodiment, the front axle left wheel and the front axle right wheel both belong to the front axle of the vehicle, therefore, the coaxial clamping force low selection method is used to obtain the first target clamping force of the front axle left wheel and the front axle right wheel based on the front axle left wheel clamping force and the front axle right wheel clamping force, so as to control the front axle left wheel and the front axle right wheel based on the first target clamping force in the future, so as to avoid the safety risk of swaying or losing control of the front axle. At the same time, the rear axle left wheel and the rear axle right wheel both belong to the axle of the vehicle, therefore, the coaxial clamping force low selection method is used to obtain the second target clamping force of the rear axle left wheel and the rear axle right wheel based on the rear axle left wheel clamping force and the rear axle right wheel clamping force, so as to control the rear axle left wheel and the rear axle right wheel based on the second target clamping force in the future, so as to avoid the safety risk of swaying or losing control of the rear axle, thereby avoiding the safety risk of swaying or losing control of the vehicle, and further improving the safety of the vehicle during braking.

[0052] Optionally, using a coaxial clamping force low selection method, based on the front axle left wheel clamping force and the front axle right wheel clamping force, obtaining the first target clamping force of the front axle left wheel and the front axle right wheel of the vehicle comprises:

[0053] When the front axle left wheel clamping force is less than or equal to the front axle right wheel clamping force, the front axle left wheel clamping force is used as the first target clamping force for the front axle left wheel and the front axle right wheel of the vehicle;

[0054] When the front axle left wheel clamping force is greater than the front axle right wheel clamping force, the front axle right wheel clamping force is used as the first target clamping force of the front axle left wheel and the front axle right wheel of the vehicle.

[0055] In the present embodiment, through the coaxial clamping force low selection method, the smaller value of the front axle left wheel clamping force and the front axle right wheel clamping force is selected as the first target clamping force of the front axle left wheel and the front axle right wheel of the vehicle, which can not only protect the vehicle's braking system from overheating, but also enable the clamping force of the front axle left wheel and the front axle right wheel of the vehicle to always maintain braking balance, thereby avoiding the safety risk of swaying or loss of control of the front axle of the vehicle, and improving the safety of vehicle braking control.

[0056] In this embodiment, when the wheel end clamping force state of the left wheel of the front axle of the vehicle is the clamping force degradation, and the wheel end clamping force state of the right wheel of the front axle of the vehicle is the clamping force not degradation, the clamping force of the left wheel of the front axle is less than the clamping force of the right wheel of the front axle. At this time, the clamping force of the left wheel of the front axle F_FL=F_FL_Degrade. In order to maintain the lateral stability of the front axle of the vehicle and the horizontal braking force, the clamping force of the right wheel of the front axle is used as the first target clamping force of the left wheel and the right wheel of the front axle of the vehicle. The first target clamping force=F_FL=F_FR=F_FL_Degrade, wherein F_FL represents the clamping force of the left wheel of the front axle, F_FR represents the clamping force of the right wheel of the front axle, and F_FL_Degrade represents the degraded clamping force of the left wheel of the front axle.

[0057] See also Figure 3 , Figure 3 FIG. 1 is a flow chart of obtaining a first target clamping force of a front axle of a vehicle by applying the provided vehicle wheel end clamping force control method in an exemplary embodiment of the present application, as shown in FIG. Figure 3 As shown, the temperature parameter status of the braking system (EMB wheel-end system) is monitored to determine whether the wheel-end clamping force status of the left front wheel (front axle left wheel) and the right front wheel (front axle right wheel) of the vehicle's front axle is degraded.

[0058] If one of the wheel-end clamping force states of the left and right wheels of the front axle is a clamping force degradation, the wheel-end clamping force of the front wheel corresponding to the clamping force degradation is used as the first target clamping force of the left and right wheels of the front axle, that is, the first target clamping force = F_FL = F_FR = F_F 较小值 _Degrade, where F_F 较小值 _Degrade indicates the wheel end clamping force of the front wheel corresponding to the clamping force degradation.

[0059] If the wheel end clamping force status of the left wheel and the right wheel of the front axle is not degraded, continue to monitor the temperature parameter status of the braking system (EMB wheel end system), and continue to determine whether the wheel end clamping force status of the left front wheel (left front wheel) and the right front wheel (right front wheel) of the front axle of the vehicle is degraded.

[0060] If the control current limiting protection is triggered by overheating of the left and right wheels of the front axle at the same time, it means that the wheel end clamping force states of the left and right wheels of the front axle are both in the clamping force degradation state, then it is determined whether the front axle left wheel clamping force F_FL=F_FL_Degrade of the left wheel of the front axle is greater than the front axle right wheel clamping force F_FR=F_FR_Degrade of the right wheel of the front axle, if it is greater, the first target clamping force of the left and right wheels of the front axle=F_FL=F_FR=F_FR_Degrade, if it is less than or equal to, the first target clamping force of the left and right wheels of the front axle=F_FL=F_FR=F_FL_Degrade. Among them, F_FR_Degrade represents the degraded front axle right wheel clamping force.

[0061] Optionally, using a coaxial clamping force low selection method, based on the rear axle left wheel clamping force and the rear axle right wheel clamping force, a second target clamping force of the rear axle left wheel and the rear axle right wheel of the vehicle is obtained, including:

[0062] When the clamping force of the rear axle left wheel is less than or equal to the clamping force of the rear axle right wheel, the clamping force of the rear axle left wheel is used as the second target clamping force of the rear axle left wheel and the rear axle right wheel of the vehicle;

[0063] When the clamping force of the rear axle left wheel is greater than the clamping force of the rear axle right wheel, the clamping force of the rear axle right wheel is used as the second target clamping force of the rear axle left wheel and the rear axle right wheel of the vehicle.

[0064] In the present embodiment, through the coaxial clamping force low selection method, the smaller value of the rear axle left wheel clamping force and the rear axle right wheel clamping force is selected as the first target clamping force of the rear axle left wheel and the rear axle right wheel of the vehicle. This can not only protect the vehicle's braking system from overheating, but also enable the clamping force of the rear axle left wheel and the rear axle right wheel of the vehicle to always maintain braking balance, thereby avoiding the safety risk of swaying or loss of control of the vehicle's rear axle, and improving the safety of the vehicle's braking control.

[0065] Optionally, clamping the wheels of the vehicle is controlled based on the target clamping force so that the vehicle achieves lateral stability, including:

[0066] Obtaining the target clamping force includes a first target clamping force of a front axle left wheel and a front axle right wheel of the vehicle, and a second target clamping force of a rear axle left wheel and a rear axle right wheel of the vehicle;

[0067] clamping and braking the left wheel and the right wheel of the front axle according to the first target clamping force;

[0068] The left wheel and the right wheel of the rear axle are clamped and braked according to the second target clamping force to make the vehicle lateral stable.

[0069] In this embodiment, the front left wheel and the front right wheel are clamped and braked according to the first target clamping force included in the target clamping force, and the rear left wheel and the rear right wheel are clamped and braked according to the second target clamping force included in the target clamping force. This can ensure that the front left wheel and the front right wheel of the vehicle always maintain balanced braking, and at the same time ensure that the rear left wheel and the rear right wheel of the vehicle always maintain balanced braking, thereby avoiding the safety risks of the vehicle swaying or losing control and making the vehicle safer when braking.

[0070] See also Figure 4 , Figure 4 This is a flow chart of a vehicle wheel end clamping force control method provided by the present application in an exemplary embodiment, such as Figure 4 As shown, the temperature parameter state of the braking system (EMB wheel-end system) is monitored to determine whether the wheel-end clamping force state of the vehicle is degraded.

[0071] If the wheel end clamping force status of the vehicle is that the clamping force is not degraded, the temperature parameter status of the brake system (EMB wheel end system) continues to be monitored, and it is continued to be determined whether the wheel end clamping force status of the vehicle is degraded.

[0072] If there is only one wheel-end clamping force state of the vehicle in which the clamping force is downgraded, the wheel-end clamping force of the coaxial wheel end of the single wheel end is downgraded, so that the target clamping force of the single wheel end and the coaxial wheel end are equal to the wheel-end clamping force of the downgraded single wheel end, so as to achieve the low selection of the coaxial clamping force; if the wheel-end clamping force states of the left wheel and the rear wheel of the single axle (including the front axle and the rear axle) in the vehicle's wheel-end clamping force state are both downgraded, the wheel-end clamping force of the left wheel and the rear wheel of the single axle is downgraded synchronously, and the target clamping force corresponding to the left wheel and the rear wheel of the single axle is the smaller value of the wheel-end clamping force of the left wheel and the wheel-end clamping force of the rear wheel, so as to achieve the low selection of the coaxial clamping force. In this way, it is convenient to subsequently clamp the wheels of the vehicle based on the target clamping force, so that the coaxial wheels of the vehicle always maintain braking balance, so that the vehicle can achieve lateral stability.

[0073] See also Figure 5 , Figure 5 A vehicle wheel end clamping force control system is shown as an exemplary embodiment of the present application, such as Figure 5 As shown, the present application provides a vehicle wheel end clamping force control system 500, comprising:

[0074] An acquisition module 501 is used to acquire temperature parameters of a vehicle's braking system in real time;

[0075] A determination module 502, configured to determine a wheel end clamping force state of a wheel of a vehicle based on a temperature parameter;

[0076] An obtaining module 503 is used to obtain the wheel end clamping force of the wheel of the vehicle based on the wheel end clamping force state;

[0077] A low selection module 504 is used to determine the target clamping force of the coaxial wheels of the vehicle based on the clamping forces of each wheel end by using the coaxial clamping force low selection method;

[0078] The control module 505 is used to perform clamping control on the wheels of the vehicle based on the target clamping force so as to make the vehicle achieve lateral stability.

[0079] In the present embodiment, a vehicle wheel-end clamping force control system is firstly used to determine the wheel-end clamping force state of the vehicle wheel according to the temperature parameters of the vehicle's brake system obtained in real time by the acquisition module 501 using the determination module 502, so as to understand whether the brake system has a degradation effect on the wheel-end clamping force state of the vehicle wheel due to overheating. Then, the wheel-end clamping force of the vehicle wheel is obtained based on the wheel-end clamping force state by the acquisition module 503, and the target clamping force of the coaxial wheel of the vehicle is determined based on each wheel-end clamping force in the low selection module 504 by using the coaxial clamping force low selection method, and the wheel of the vehicle is clamped and controlled based on the target clamping force by using the control module 505, so as to achieve lateral stability of the vehicle. In this way, regardless of whether the brake system of the vehicle is overheated, the coaxial wheels of the vehicle can be clamped based on the same clamping force, so that the braking force of the left and right wheels of the vehicle is balanced, and the safety risk of the vehicle swaying or losing control is avoided, so that the vehicle is safer when braking.

[0080] Optionally, the braking system includes a wheel-end controller and a corresponding brushless motor, and the temperature parameter includes a plurality of power device temperatures of the wheel-end controller and a motor temperature of the brushless motor;

[0081] Identify modules, specifically for:

[0082] When one of the multiple power device temperatures is greater than or equal to the corresponding first overheat protection temperature, and / or the motor temperature is greater than or equal to the second overheat protection temperature, determining that the wheel end clamping force state of the corresponding wheel of the vehicle is a clamping force degradation;

[0083] When the temperatures of the plurality of power devices are all lower than the corresponding first overheat protection temperature, and the motor temperature is lower than the second overheat protection temperature, it is determined that the wheel end clamping force state of the corresponding wheel of the vehicle is that the clamping force is not degraded.

[0084] Optionally, each wheel end clamping force includes a front axle left wheel clamping force, a front axle right wheel clamping force, a rear axle left wheel clamping force and a rear axle right wheel clamping force; the low selection module is specifically used for:

[0085] Using the coaxial clamping force low selection method, based on the front axle left wheel clamping force and the front axle right wheel clamping force, the first target clamping force of the front axle left wheel and the front axle right wheel of the vehicle is obtained;

[0086] Using the coaxial clamping force low selection method, based on the rear axle left wheel clamping force and the rear axle right wheel clamping force, a second target clamping force of the rear axle left wheel and the rear axle right wheel of the vehicle is obtained;

[0087] A target clamping force for the coaxial wheels of the vehicle is formed based on the first target clamping force and the second target clamping force.

[0088] Optionally, the low selection module is specifically used for:

[0089] When the front axle left wheel clamping force is less than or equal to the front axle right wheel clamping force, the front axle left wheel clamping force is used as the first target clamping force for the front axle left wheel and the front axle right wheel of the vehicle;

[0090] When the front axle left wheel clamping force is greater than the front axle right wheel clamping force, the front axle right wheel clamping force is used as the first target clamping force of the front axle left wheel and the front axle right wheel of the vehicle.

[0091] Optionally, the low selection module is specifically used for:

[0092] When the clamping force of the rear axle left wheel is less than or equal to the clamping force of the rear axle right wheel, the clamping force of the rear axle left wheel is used as the second target clamping force of the rear axle left wheel and the rear axle right wheel of the vehicle;

[0093] When the clamping force of the rear axle left wheel is greater than the clamping force of the rear axle right wheel, the clamping force of the rear axle right wheel is used as the second target clamping force of the rear axle left wheel and the rear axle right wheel of the vehicle.

[0094] Optionally, the control module is specifically configured to:

[0095] Obtaining the target clamping force includes a first target clamping force of a front axle left wheel and a front axle right wheel of the vehicle, and a second target clamping force of a rear axle left wheel and a rear axle right wheel of the vehicle;

[0096] clamping and braking the left wheel and the right wheel of the front axle according to the first target clamping force;

[0097] The left wheel and the right wheel of the rear axle are clamped and braked according to the second target clamping force to make the vehicle lateral stable.

[0098] It should be noted that the vehicle wheel end clamping force control system provided in the above embodiment and the vehicle wheel end clamping force control method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment, and will not be repeated here. In practical applications, the vehicle wheel end clamping force control system provided in the above embodiment can distribute the above functions to different functional modules as needed, that is, divide the internal structure of the system into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0099] A computing device according to an embodiment of the present application includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, some or all steps of the above-mentioned vehicle wheel end clamping force control method are implemented.

[0100] Among them, the computing device can be a computer, and correspondingly, its program is computer software. The above-mentioned parameters and steps in a computing device of the present application can refer to the parameters and steps in the embodiment of the vehicle wheel end clamping force control method above, and will not be repeated here.

[0101] In an embodiment of the present application, a computer-readable storage medium is provided, in which instructions are stored. When the instructions are executed, the steps of the above-mentioned vehicle wheel end clamping force control method are executed.

[0102] The computer-readable storage medium may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0103] The technical solution of the embodiment of the present disclosure can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method of the embodiment of the present disclosure. The aforementioned computer-readable storage medium may be a non-transitory computer-readable storage medium, including: a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk, and other media that can store program codes, or a transient computer-readable storage medium.

[0104] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. 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 boxes represented in succession 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 or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0105] Those skilled in the art know that the present application can be implemented as a system, method or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, generally referred to as "module" or "system" herein. In addition, in some embodiments, the present application can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code. Computer-readable storage media can be, for example, but not limited to - electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above.

[0106] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0107] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for controlling the clamping force of a vehicle wheel end, characterized in that: include: Obtain the temperature parameters of the vehicle's braking system in real time; determining a wheel end clamping force state of a wheel of the vehicle based on the temperature parameter; Obtaining a wheel end clamping force of a wheel of the vehicle based on the wheel end clamping force state; Determining the target clamping force of the coaxial wheels of the vehicle based on the clamping forces of each wheel end by using a coaxial clamping force low selection method; The wheels of the vehicle are clamped and controlled based on the target clamping force so that the vehicle can be laterally stabilized.

2. The method according to claim 1, characterized in that The braking system includes a wheel-end controller and a corresponding brushless motor, and the temperature parameters include a plurality of power device temperatures of the wheel-end controller and a motor temperature of the brushless motor; The determining of the wheel end clamping force state of the wheel of the vehicle based on the temperature parameter comprises: When one of the multiple power device temperatures is greater than or equal to the corresponding first overheat protection temperature, and / or the motor temperature is greater than or equal to the second overheat protection temperature, determining that the wheel end clamping force state of the corresponding wheel of the vehicle is a clamping force degradation; When the temperatures of the plurality of power devices are all lower than the corresponding first overheat protection temperature, and the motor temperature is lower than the second overheat protection temperature, it is determined that the wheel end clamping force state of the corresponding wheel of the vehicle is that the clamping force is not degraded.

3. The method according to claim 1, characterized in that Each of the wheel end clamping forces includes a front axle left wheel clamping force, a front axle right wheel clamping force, a rear axle left wheel clamping force, and a rear axle right wheel clamping force; the method of using the coaxial clamping force low selection method to determine the target clamping force of the coaxial wheels of the vehicle based on each of the wheel end clamping forces includes: Using a coaxial clamping force low selection method, based on the front axle left wheel clamping force and the front axle right wheel clamping force, a first target clamping force of the front axle left wheel and the front axle right wheel of the vehicle is obtained; Using a coaxial clamping force low selection method, based on the rear axle left wheel clamping force and the rear axle right wheel clamping force, a second target clamping force of the rear axle left wheel and the rear axle right wheel of the vehicle is obtained; A target clamping force for coaxial wheels of the vehicle is formed based on the first target clamping force and the second target clamping force.

4. The method according to claim 3, characterized in that The method of using the coaxial clamping force low selection method to obtain the first target clamping force of the front axle left wheel and the front axle right wheel of the vehicle based on the front axle left wheel clamping force and the front axle right wheel clamping force includes: When the front axle left wheel clamping force is less than or equal to the front axle right wheel clamping force, the front axle left wheel clamping force is used as the first target clamping force of the front axle left wheel and the front axle right wheel of the vehicle; When the front axle left wheel clamping force is greater than the front axle right wheel clamping force, the front axle right wheel clamping force is used as the first target clamping force of the front axle left wheel and the front axle right wheel of the vehicle.

5. The method according to claim 3, characterized in that: The method of using the coaxial clamping force low selection method to obtain the second target clamping force of the rear axle left wheel and the rear axle right wheel of the vehicle based on the rear axle left wheel clamping force and the rear axle right wheel clamping force includes: When the rear axle left wheel clamping force is less than or equal to the rear axle right wheel clamping force, the rear axle left wheel clamping force is used as the second target clamping force of the rear axle left wheel and the rear axle right wheel of the vehicle; When the rear axle left wheel clamping force is greater than the rear axle right wheel clamping force, the rear axle right wheel clamping force is used as the second target clamping force of the rear axle left wheel and the rear axle right wheel of the vehicle.

6. The method according to any one of claims 1 to 5, characterized in that: The clamping control of the wheels of the vehicle based on the target clamping force so as to make the vehicle lateral stable includes: Acquiring the target clamping force includes a first target clamping force of a front axle left wheel and a front axle right wheel of the vehicle, and a second target clamping force of a rear axle left wheel and a rear axle right wheel of the vehicle; clamping and braking the left wheel of the front axle and the right wheel of the front axle according to the first target clamping force; The left wheel of the rear axle and the right wheel of the rear axle are clamped and braked according to the second target clamping force so that the vehicle can achieve lateral stability.

7. A vehicle, characterized in that: A vehicle wheel end clamping force control method as described in any one of claims 1 to 6 is applied.

8. A vehicle wheel end clamping force control system, characterized in that: include: An acquisition module, used for acquiring temperature parameters of the vehicle's braking system in real time; a determination module, configured to determine a wheel end clamping force state of a wheel of the vehicle based on the temperature parameter; An obtaining module, configured to obtain the wheel end clamping force of the wheel of the vehicle based on the wheel end clamping force state; A low selection module, configured to determine a target clamping force of the coaxial wheels of the vehicle based on the clamping forces of each wheel end by using a coaxial clamping force low selection method; A control module is used to perform clamping control on the wheels of the vehicle based on the target clamping force so as to achieve lateral stability of the vehicle.

9. A computing device comprising a memory, a processor, and a program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the steps of a vehicle wheel end clamping force control method as claimed in any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes the steps of a vehicle wheel end clamping force control method as claimed in any one of claims 1 to 6.

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