Driving and braking integrated control method and system based on EMB, medium and vehicle

Abstract

The invention provides an EMB-based driving and braking integrated control method and system, a medium and a vehicle. The method is applied to a longitudinal controller and comprises the following steps: acquiring state information of a driving motor corresponding to wheels of a target vehicle; in response to a received driving instruction for the target vehicle, controlling a driving motor to output positive torque according to the state information and the driving instruction so as to drive the target vehicle; in response to a received braking instruction for the target vehicle, controlling the driving motor to output negative torque according to the state information and the braking instruction so as to brake the target vehicle; and in response to the received braking instruction for the target vehicle, an EMB brake is driven to brake the target vehicle.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to an EMB-based drive-brake integrated control method, an EMB-based drive-brake integrated control device, an EMB-based drive-brake integrated control system, a computer-readable storage medium and a vehicle. Background Art

[0002] Existing technologies tend to separate the power system and brake system of EMB vehicles for independent control, where the braking function mainly relies on the EMB brake system. However, under this control method, the response accuracy of the EMB brake system still has a lot of room for improvement, which limits the further optimization of the vehicle's braking performance.

[0003] In addition, the application of EMB (Electro-Mechanical Brake) system in the field of vehicle braking faces many technical challenges. In particular, after the ABS (Anti-lock Braking System) function is triggered, the wheel speed measurement accuracy of ABS is insufficient, resulting in a significant lag in wheel speed control response. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, the first object of the present invention is to propose a driving and braking integrated control method based on EMB, which realizes precise synchronous control of vehicle driving and braking by introducing a longitudinal controller.

[0005] The second objective of the present invention is to provide a driving and braking integrated control device based on EMB.

[0006] The third object of the present invention is to provide a driving and braking integrated control system based on EMB.

[0007] A fourth object of the present invention is to provide a computer-readable storage medium.

[0008] A fifth object of the present invention is to provide a vehicle.

[0009] To achieve the above-mentioned objectives, an embodiment of the first aspect of the present invention proposes a drive and brake integrated control method based on EMB, which is applied to a longitudinal controller, including: obtaining status information of a drive motor corresponding to the wheel of a target vehicle; in response to receiving a drive instruction for the target vehicle, controlling the drive motor to output a positive torque according to the status information and the drive instruction to drive the target vehicle; in response to receiving a braking instruction for the target vehicle, controlling the drive motor to output a negative torque according to the status information and the braking instruction to brake the target vehicle; in response to receiving a braking instruction for the target vehicle, driving the EMB brake to brake the target vehicle.

[0010] In addition, the drive-brake integrated control method based on EMB according to the above embodiment of the present invention may also have the following additional technical features:

[0011] As an optional embodiment, the state information includes the position and rotation speed of the drive motor corresponding to the wheel of the target vehicle.

[0012] As an optional embodiment, the drive motor is controlled to output negative torque according to the status information and the braking command to brake the target vehicle, including: according to the status information and the braking command, the drive motor is controlled to output negative torque, and energy is recovered from the wheels of the target vehicle to achieve braking of the target vehicle.

[0013] As an optional embodiment, the method further includes: in response to receiving a braking command for the target vehicle, preferentially executing an operation of controlling the drive motor to output a negative torque according to the state information and the braking command to brake the target vehicle.

[0014] As an optional embodiment, the method further includes: determining whether the wheels of the target vehicle are in an idling state based on the status information; and in response to the wheels of the target vehicle being in an idling state, determining to start an anti-skid function for the wheels of the target vehicle.

[0015] As an optional embodiment, the method further includes: determining whether the wheels of the target vehicle are in a stalled state based on the status information; and in response to the wheels of the target vehicle being in a stalled state, determining to start an anti-lock braking function for the wheels of the target vehicle.

[0016] According to the EMB-based drive and brake integrated control method of the embodiment of the present invention, the longitudinal sensor is applied to first obtain the state information of the drive motor corresponding to the wheel of the target vehicle; further, in response to receiving the drive command for the target vehicle, the drive motor is controlled to output positive torque according to the state information and the drive command to drive the target vehicle; further, in response to receiving the braking command for the target vehicle, the drive motor is controlled to output negative torque according to the state information and the braking command to brake the target vehicle. The present invention introduces a longitudinal controller, integrates motor drive control and EMB braking control through the longitudinal controller, and determines whether to start the drive anti-skid, brake anti-lock and other functions according to the state information. The precise synchronous control of vehicle drive and braking is realized, and the speed at which the wheel end speed reaches the target value is significantly improved, thereby enhancing the response accuracy of the vehicle drive and braking, and effectively improving the driving stability of the vehicle. The present application collects wheel speed signals through a rotary sensor to improve the wheel speed collection accuracy. In addition, the longitudinal controller can intelligently manage the energy recovery of the drive motor and the rapid response of the EMB mechanical brake, further optimize the braking effect, and improve the energy utilization efficiency. It can also minimize the use of EMB mechanical brakes, help reduce the weight of friction blocks or reduce the power demand of the EMB system, thereby achieving energy conservation and emission reduction, and improving the overall performance and economic benefits of the vehicle.

[0017] To achieve the above-mentioned purpose, the second embodiment of the present invention proposes a drive and brake integrated control device based on EMB, including: an acquisition module, configured to acquire the status information of the drive motor corresponding to the wheel of the target vehicle; a first response module, configured to respond to receiving a drive instruction for the target vehicle, and control the drive motor to output a positive torque according to the status information and the drive instruction to drive the target vehicle; the second response module, configured to respond to receiving a braking instruction for the target vehicle, and control the drive motor to output a negative torque according to the status information and the braking instruction to brake the target vehicle; the second response module is also configured to respond to receiving a braking instruction for the target vehicle, and drive the EMB brake to brake the target vehicle.

[0018] According to the EMB-based drive and brake integrated control device of the embodiment of the present invention, the state information of the drive motor corresponding to the wheel of the target vehicle is first obtained; further, in response to receiving the drive command for the target vehicle, the drive motor is controlled to output positive torque according to the state information and the drive command to drive the target vehicle; further, in response to receiving the braking command for the target vehicle, the drive motor is controlled to output negative torque according to the state information and the braking command to brake the target vehicle; in response to receiving the braking command for the target vehicle, the EMB brake is driven to brake the target vehicle. The present invention introduces a longitudinal controller, integrates motor drive control and EMB braking control through the longitudinal controller, realizes precise synchronous control of vehicle drive and braking, significantly improves the speed at which the wheel end speed reaches the target value, thereby enhancing the response accuracy of the vehicle drive and braking, and effectively improves the driving stability of the vehicle. The present application collects wheel speed signals through a rotary sensor to improve the wheel speed collection accuracy. In addition, the longitudinal controller can intelligently manage the energy recovery of the drive motor and the rapid response of the EMB mechanical brake, further optimize the braking effect, and improve energy utilization efficiency. It can also minimize the use of EMB mechanical brakes, help reduce the weight of friction blocks or reduce the power demand of the EMB system, thereby achieving energy conservation and emission reduction, and improving the overall performance and economic benefits of the vehicle.

[0019] To achieve the above-mentioned objectives, an embodiment of the third aspect of the present invention proposes a drive-brake integrated control system based on EMB, wherein the drive-brake integrated control system based on EMB includes a memory, a longitudinal controller, and a computer program stored in the memory and executable on the longitudinal controller, and when the longitudinal controller executes the program, the drive-brake integrated control method based on EMB as described above is implemented.

[0020] According to the EMB-based drive and brake integrated control system of the embodiment of the present invention, firstly, the state information of the drive motor corresponding to the wheel of the target vehicle is obtained; further, in response to receiving the drive command for the target vehicle, the drive motor is controlled to output positive torque according to the state information and the drive command to drive the target vehicle; further, in response to receiving the braking command for the target vehicle, the drive motor is controlled to output negative torque according to the state information and the braking command to brake the target vehicle; in response to receiving the braking command for the target vehicle, the EMB brake is driven to brake the target vehicle. The present invention introduces a longitudinal controller, integrates motor drive control and EMB braking control through the longitudinal controller, realizes precise synchronous control of vehicle drive and braking, significantly improves the speed at which the wheel end speed reaches the target value, thereby enhancing the response accuracy of the vehicle drive and braking, and effectively improves the driving stability of the vehicle. The present application collects wheel speed signals through a rotary sensor to improve the wheel speed collection accuracy. In addition, the longitudinal controller can intelligently manage the energy recovery of the drive motor and the rapid response of the EMB mechanical brake, further optimize the braking effect, and improve energy utilization efficiency. It can also minimize the use of EMB mechanical brakes, help reduce the weight of friction blocks or reduce the power demand of the EMB system, thereby achieving energy conservation and emission reduction, and improving the overall performance and economic benefits of the vehicle.

[0021] In order to achieve the above-mentioned purpose, a computer-readable storage medium is proposed in an embodiment of the fourth aspect of the present invention, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the above-mentioned EMB-based drive and brake integrated control method.

[0022] In order to achieve the above-mentioned object, a fifth aspect of an embodiment of the present invention proposes a vehicle, wherein the vehicle adopts the above-mentioned EMB-based driving and braking integrated control method for driving or braking.

[0023] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A schematic diagram of an application scenario of the EMB-based drive and brake integrated control method provided in an embodiment of the present invention.

[0026] Figure 2 A schematic flow chart of a drive-brake integrated control method based on EMB provided in an embodiment of the present invention.

[0027] Figure 3 A control logic diagram of a drive-brake integrated control method based on EMB provided in an embodiment of the present invention.

[0028] Figure 4 , is a schematic diagram of an EMB-based drive and brake integrated control device provided in an embodiment of the present invention.

[0029] Figure 5 Schematic diagram of a drive and brake integrated control system based on EMB provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0031] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0032] As described in the background technology section, EMB (Electro-Mechanical Brake) is an advanced automotive braking technology that combines electronic and mechanical technologies to provide a safer, more efficient and more environmentally friendly braking solution. The existing technology tends to separate the power system and braking system of EMB vehicles for independent control, in which the braking function mainly relies on the EMB braking system. However, under this control method, the response accuracy of the EMB braking system still has a lot of room for improvement, which limits the further optimization of the vehicle's braking performance. In addition, the application of EMB (Electro-Mechanical Brake) systems in the field of vehicle braking faces many technical challenges. In particular, the wheel speed measurement accuracy of ABS (Anti-lock Braking System) is insufficient, resulting in a significant lag in the wheel speed control response.

[0033] The technical solution of the present invention is further described in detail below through specific embodiments.

[0034] refer to Figure 1 , which is a schematic diagram of an application scenario of the EMB-based driving and braking integrated control method provided in an embodiment of the present invention.

[0035] like Figure 1 As shown, each wheel of the target vehicle is provided with a drive motor, an EMB brake, and a longitudinal controller.

[0036] The drive motor installed at each wheel end is responsible for directly driving the wheel to rotate in the driving mode to accelerate and drive the vehicle, and is responsible for recovering the kinetic energy of the wheel in the braking mode to brake the vehicle. The EMB brake is responsible for receiving the braking command from the brake pedal and controlling the EMB brake to generate the corresponding braking force. The longitudinal controller integrates the drive control and the brake control to achieve unified management and optimization of the longitudinal dynamics of the vehicle. The drive pedal is used to control the acceleration of the vehicle, and the brake pedal is used to control the deceleration and parking of the vehicle.

[0037] In addition, the target vehicle is also provided with a driving pedal and a brake pedal. It should be noted that, depending on the vehicle model, the driving pedal and the brake pedal can be integrated into a control pedal, and the control pedal is used to drive and brake the vehicle, that is, the single-pedal mode, which is to control the acceleration and deceleration of the vehicle through a control pedal. In this mode, pressing the control pedal can accelerate, and lifting the control pedal is equivalent to braking. The vehicle will decelerate through the kinetic energy recovery system until it stops completely.

[0038] Among them, a high-precision resolver sensor is installed on the drive motor, and the resolver sensor is used to replace the traditional wheel speed sensor.

[0039] A resolver sensor, or rotary transformer, is an electromagnetic induction angle sensor designed for accurately measuring the position and speed of a rotating shaft. It consists of a stator and a rotor. The stator is provided with a sine winding and a cosine winding, while the rotor is provided with a winding. When the rotor starts to rotate, it senses sine and cosine signals on the stator. Through demodulation and calculation, the actual angle and speed of the rotor can be obtained. Compared with traditional wheel speed sensors, it can provide high-precision angle measurement, usually reaching an accuracy of 0.1 degrees or even higher, which is crucial for the drive control of electric vehicles. In addition, resolver sensors can measure angles ranging from a few degrees to hundreds of degrees to meet the needs of electric vehicles under different working conditions. In addition, resolver sensors usually adopt a non-contact measurement principle, have high reliability and durability, and can operate stably in harsh working environments. Furthermore, resolver sensors can also quickly respond to changes in the rotation angle and output corresponding electrical signals, which helps to achieve rapid acceleration and braking of electric vehicles.

[0040] In an embodiment of the present invention, each wheel of the target vehicle is provided with at least one resolver sensor, and the resolver sensor is integrated with the wheel motor.

[0041] In terms of drive motor control, resolver sensors can provide high-precision rotor position feedback to assist motor controllers (such as vector controllers or brushless DC motor controllers) to accurately adjust the motor phase current, thereby optimizing torque output and efficiency. In terms of energy recovery, that is, during the deceleration or braking of electric vehicles, resolver sensors can monitor the speed and position of the wheels in real time, thereby accurately controlling the braking torque of the motor and achieving efficient energy recovery. In terms of fault detection and protection, resolver sensors can also be used to monitor abnormal conditions in motors or control systems, such as positioning errors or speed fluctuations. Once these abnormalities are detected, the resolver sensor will immediately trigger a protection mechanism to prevent further damage to the system.

[0042] The longitudinal controller integrates the vehicle's drive control and brake control into one, realizing integrated control of the vehicle's drive and brakes.

[0043] In addition, the drive motor, EMB brake, longitudinal controller, drive pedal and brake pedal are all powered by the vehicle's battery, which can be the battery of the entire vehicle or an on-board redundant power supply that is additionally equipped in addition to the battery of the entire vehicle.

[0044] refer to Figure 2 , which is a flow chart of the EMB-based driving and braking integrated control method provided in an embodiment of the present invention.

[0045] The EMB-based driving and braking integrated control method provided in an embodiment of the present invention is applied to a longitudinal controller and includes the following steps:

[0046] Step S201, obtaining status information of a driving motor corresponding to a wheel of a target vehicle;

[0047] As an optional embodiment, the state information includes the position and rotation speed of the drive motor corresponding to the wheel of the target vehicle.

[0048] Specifically, the system first collects the real-time status information of the drive motor associated with the target vehicle wheel through the resolver sensor configured by the drive motor associated with the target vehicle wheel. This information may include but is not limited to the actual angle (i.e. position), speed, temperature, current, voltage and possible fault status of the current rotor of the drive motor. This status information is the basis for subsequent control decisions, ensuring the accuracy and safety of control instructions.

[0049] Further, in most vehicles, the traction pedal (often referred to as the accelerator pedal) is the primary means by which the driver controls the acceleration of the vehicle. When the driver presses the traction pedal, this action is converted into an electrical signal, which is then received by the system and interpreted as a driving command. Similarly, when the driver presses the brake pedal, this action is converted into a mechanical or electrical signal (usually an electrical signal in modern vehicles). This signal is then received by the system and interpreted as a braking command.

[0050] Step S202 , in response to receiving a driving instruction for a target vehicle, controlling a driving motor to output a positive torque according to the state information and the driving instruction to drive the target vehicle.

[0051] Specifically, when the system receives a driving command from the driver (by stepping on the brake pedal) or the autonomous driving system (decision-making based on road conditions and traffic information), the command will be recognized by the system as a signal to accelerate or maintain the current vehicle speed. Based on the acquired state information (such as the position and speed of the drive motor) and the received driving command, the system will calculate a suitable torque value. Once it is determined that the drive motor needs to be controlled to output a positive torque value, the system will send a command to the drive motor through the corresponding controller to make it output the required torque. At the same time, the system will continue to monitor the actual output of the motor and the dynamic response of the vehicle to ensure the effectiveness of the control strategy and make adjustments when necessary.

[0052] Step S2031, in response to receiving a braking command for the target vehicle, controlling the drive motor to output negative torque according to the state information and the braking command to brake the target vehicle.

[0053] Specifically, when the vehicle control system receives a braking command from the driver (by stepping on the brake pedal) or the automatic driving system (decision made based on road conditions and traffic information), this command will be recognized by the system as a signal that needs to slow down or stop. Based on the acquired state information and the received braking command, the system will calculate a suitable torque value. Once it is determined that the drive motor needs to be controlled to output a negative torque value, the system will send a command to the drive motor through the corresponding controller to output the required negative torque. At the same time, the system will continue to monitor the actual output of the motor, the dynamic response of the vehicle, and the state of the battery to ensure the effectiveness of the control strategy and make adjustments when necessary. As an optional embodiment, the drive motor is controlled to output a negative torque according to the state information and the braking command to brake the target vehicle, including: controlling the drive motor to output a negative torque according to the state information and the braking command, and recovering energy from the wheels of the target vehicle to achieve braking of the target vehicle.

[0054] Specifically, when the vehicle needs to brake, the vehicle control system will accurately control the drive motor to output negative torque based on the current state information (such as the position and speed of the drive motor) and the braking command. This negative torque can also convert the vehicle's kinetic energy into electrical energy, and recover the energy through the motors on the wheels and store it in the vehicle's battery. In the process of outputting negative torque, the drive motor switches to generator mode, converting the vehicle's kinetic energy into electrical energy. This electrical energy is then stored in the vehicle's battery for subsequent driving.

[0055] Step S2032: in response to receiving a braking command for the target vehicle, driving the EMB brake to brake the target vehicle.

[0056] When the vehicle control system receives a braking command from the driver, the system may also optionally activate an electromechanical brake (EMB) controller to brake the target vehicle.

[0057] As an optional embodiment, in response to receiving a braking command for a target vehicle, the operation of controlling the drive motor to output a negative torque according to the state information and the braking command to brake the target vehicle is preferentially executed.

[0058] When the vehicle receives a braking command, the system will first attempt to use the drive motor to output negative torque for regenerative braking to recover energy and slow down the vehicle.

[0059] In an embodiment of the present invention, the braking control logic is designed to give priority to the use of energy recovery from the drive motor to achieve braking capability. When the vehicle control system receives a braking command, the system will first check the current state information (such as the position, speed, vehicle speed, motor state, battery state, etc. of the drive motor) to determine whether regenerative braking is suitable. If the conditions are met, the system will give priority to controlling the drive motor to output negative torque, brake the target vehicle, and recover energy at the same time to achieve braking control of the vehicle.

[0060] Furthermore, when the vehicle receives a braking command, the system will first try to use the regenerative braking capability of the drive motor to recover energy and slow down the vehicle. However, if the system determines that the recovered energy cannot meet the braking needs of the vehicle (for example, due to excessive speed, full battery, or motor reaching its working limit), it will instead drive the EMB brake to brake the target vehicle. The advantage of this strategy is that it achieves intelligent decoupling between regenerative braking and EMB braking, allowing the system to make the best decision based on the current vehicle state and braking needs. This decoupling not only improves the flexibility and safety of the braking process, but also helps to extend the vehicle's range and reduce energy consumption and emissions. At the same time, minimizing the involvement of EMB mechanical braking can effectively control the weight of the friction block or reduce the power of the EMB.

[0061] As an optional embodiment, it is determined whether the wheels of the target vehicle are in an idling state according to the state information; in response to the wheels of the target vehicle being in an idling state, it is determined to start an anti-skid function for the wheels of the target vehicle.

[0062] When a vehicle is driving on a slippery or soft road, the wheels may enter an idling state due to the loss of sufficient grip. Idling not only causes the vehicle to lose forward momentum, but may also accelerate tire wear and even cause safety hazards. Therefore, this embodiment proposes a strategy for determining wheel idling based on state information and activating an anti-skid function.

[0063] Specifically, the rotation speed of each wheel can be monitored by a rotary sensor to determine whether there is an abnormal increase in the rotation speed. If the rotation speed of a wheel is significantly higher or lower than that of other wheels, and this difference is inconsistent with the vehicle speed, it may indicate that the wheel is in an idling state. The acceleration sensor can also be used to monitor the longitudinal and lateral acceleration of the vehicle to evaluate the dynamic stability of the vehicle. If the acceleration data of the vehicle does not match the normal driving state (such as a sudden decrease or unstable direction), it may indicate that the wheel idling affects the stability of the vehicle. The steering angle sensor can also monitor the steering wheel rotation angle to determine the driver's intention and the direction of the vehicle. In addition, the force output by the drive motor or the braking system can also be monitored to evaluate the driving force or braking force applied to the wheel. If the driving force or braking force output by the system does not match the actual response of the wheel (such as the driving force increases but the vehicle speed does not increase), it may indicate that the wheel is in an idling state. Once the system determines that the wheel is in an idling state, it will immediately start the anti-skid function (i.e., start the ASR system). The anti-skid function may include reducing the driving force applied to the idling wheel by adjusting the torque output of the drive motor to reduce the idling speed. It can also include applying an appropriate amount of braking force to the idling wheels to increase the friction between the wheels and the ground and help the wheels regain grip. If necessary, the steering angle of the vehicle can be adjusted to improve the force state of the wheels and help the vehicle remain stable. In addition, the driver can be reminded of the idling wheels through the vehicle dashboard or sound prompts, and take corresponding driving operations.

[0064] As an optional embodiment, it is determined whether the wheels of the target vehicle are in a stalled state according to the state information; in response to the wheels of the target vehicle being in a stalled state, it is determined to start the anti-lock braking function for the wheels of the target vehicle.

[0065] Specifically, the rotation speed of each wheel can be monitored by a resolver sensor to determine whether there is an abnormal rotation speed (the wheel speed is zero and lasts for a period of time). If the rotation speed signal of a wheel is zero for a long time and this state does not match the current operating state of the vehicle (such as the vehicle is not in a stationary state), the wheel is judged to be in a stalled state. Combined with the engine / motor state, transmission state and other sensor information, a comprehensive judgment is made to ensure the accuracy of the wheel stall judgment. Once the system determines that the wheel is in a stalled state, the anti-lock function will be immediately activated, that is, (activate the ABS system). The anti-lock function can prevent the wheel from completely locking by controlling the magnitude of the braking force when the car is in emergency braking, thereby maintaining the adhesion between the wheel and the ground and ensuring the controllability and stability of the vehicle. The working principle of the ABS system is based on the real-time monitoring of the wheel speed by the resolver sensor. When the wheel is about to lock, the sensor will transmit a signal to the control unit, and the control unit will then instruct to reduce the pressure of the wheel brake to resume rotation of the wheel. When the wheel is about to lock again, the system will increase the braking pressure, and so on and so forth, to prevent the wheel from locking in a high-frequency braking-releasing-braking manner.

[0066] In addition, the wheel speed status information obtained by the resolver sensor can be used to determine brake lock and drive slip, and based on this, decide whether to start functions such as ESC (electronic stability control system) and EDTC (electronic differential control, a new type of drag torque control function). The above functions are also important components of modern automobile safety control systems.

[0067] refer to Figure 3 , which is a control logic diagram of the EMB-based drive and brake integrated control method provided in an embodiment of the present invention.

[0068] Acquire status information of a drive motor corresponding to a wheel of a target vehicle, and in response to receiving a drive command for the target vehicle, control the drive motor to output a positive torque to drive the target vehicle according to the status information and the drive command, and control the drive motor to output a negative torque to recover energy from the wheels of the target vehicle to brake the target vehicle, and in response to receiving a brake command for the target vehicle, drive the EMB brake to brake the target vehicle.

[0069] As can be seen from the above, the drive-brake integrated control method based on EMB provided by the present invention is applied to the longitudinal sensor, firstly, the state information of the drive motor corresponding to the wheel of the target vehicle is obtained; further, in response to receiving the drive command for the target vehicle, the drive motor is controlled to output positive torque according to the state information and the drive command to drive the target vehicle; further, in response to receiving the braking command for the target vehicle, the drive motor is controlled to output negative torque according to the state information and the braking command to brake the target vehicle. The present invention realizes the precise synchronous control of vehicle driving and braking by introducing the longitudinal controller, significantly improves the speed at which the wheel end speed reaches the target value, thereby enhancing the response accuracy of the whole vehicle driving and braking, and effectively improves the driving stability of the vehicle. In addition, the longitudinal controller can intelligently manage the energy recovery of the drive motor and the rapid response of the EMB mechanical brake, further optimize the braking effect, and improve the energy utilization efficiency. It can also minimize the use of EMB mechanical brakes, help reduce the weight of the friction block or reduce the power demand of the EMB system, thereby achieving energy saving and emission reduction, and improving the overall performance and economic benefits of the vehicle.

[0070] It should be noted that the method of the embodiment of the present invention can be performed by a single device, such as a computer or a server. The method of this embodiment can also be applied in a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present invention, and the multiple devices will interact with each other to complete the described method.

[0071] It should be noted that some embodiments of the present invention are described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0072] Based on the same inventive concept, corresponding to the method described in any of the above embodiments, the present invention also provides an EMB-based drive and brake integrated control device.

[0073] refer to Figure 4 , is a schematic diagram of an EMB-based drive and brake integrated control device provided in an embodiment of the present invention.

[0074] The EMB-based driving and braking integrated control device comprises:

[0075] An acquisition module 401 is configured to acquire status information of a driving motor corresponding to a wheel of a target vehicle;

[0076] A first response module 402 is configured to, in response to receiving a driving instruction for a target vehicle, control the driving motor to output a positive torque according to the state information and the driving instruction to drive the target vehicle;

[0077] The second response module 403 is configured to control the drive motor to output negative torque according to the state information and the braking command in response to receiving a braking command for the target vehicle, so as to brake the target vehicle;

[0078] The second response module is further configured to drive the EMB brake to brake the target vehicle in response to receiving a braking command for the target vehicle.

[0079] Optionally, the status information includes the position and rotation speed of a drive motor corresponding to the wheels of the target vehicle.

[0080] Optionally, the second response module 403 is further configured to:

[0081] According to the status information and the braking command, the drive motor is controlled to output negative torque, and the energy of the wheels of the target vehicle is recovered to achieve braking of the target vehicle.

[0082] Optionally, the second response module 403 is further configured to:

[0083] In response to receiving a braking command for the target vehicle, the operation of controlling the drive motor to output a negative torque according to the state information and the braking command to brake the target vehicle is preferentially performed.

[0084] Optionally, the second response module 403 is further configured to:

[0085] Determining whether the wheels of the target vehicle are in an idling state according to the state information;

[0086] In response to the wheels of the target vehicle being in an idling state, it is determined to activate an anti-skid function for the wheels of the target vehicle.

[0087] Optionally, the second response module 403 is further configured to:

[0088] Determining whether the wheels of the target vehicle are in a stopped state according to the state information;

[0089] In response to the wheels of the target vehicle being in a stalled state, it is determined to activate an anti-lock function for the wheels of the target vehicle.

[0090] According to the EMB-based drive and brake integrated control device of the embodiment of the present invention, the state information of the drive motor corresponding to the wheel of the target vehicle is first obtained; further, in response to receiving the drive command for the target vehicle, the drive motor is controlled to output positive torque according to the state information and the drive command to drive the target vehicle; further, in response to receiving the braking command for the target vehicle, the drive motor is controlled to output negative torque according to the state information and the braking command to brake the target vehicle. The present invention introduces a longitudinal controller, integrates motor drive control and EMB braking control through the longitudinal controller, realizes precise synchronous control of vehicle drive and braking, significantly improves the speed at which the wheel end speed reaches the target value, thereby enhancing the response accuracy of the vehicle drive and braking, and effectively improves the driving stability of the vehicle. The present application collects wheel speed signals through a rotary sensor to improve the wheel speed collection accuracy. It is determined whether to start the drive anti-skid, brake anti-lock and other functions according to the state information. In addition, the longitudinal controller can intelligently manage the energy recovery of the drive motor and the rapid response of the EMB mechanical brake, further optimize the braking effect, and improve the energy utilization efficiency. It can also minimize the use of EMB mechanical brakes, help reduce the weight of friction blocks or reduce the power demand of the EMB system, thereby achieving energy conservation and emission reduction, and improving the overall performance and economic benefits of the vehicle.

[0091] Based on the same inventive concept, corresponding to the method described in any of the above embodiments, the present invention also provides an EMB-based drive and braking integrated control system, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in any of the above embodiments when executing the program.

[0092] Figure 5 The schematic diagram of the drive-brake integrated control system based on EMB provided in an embodiment of the present invention may include: a longitudinal controller 510, a memory 520, an input / output interface 530, a communication interface 540 and a bus 550. The longitudinal controller 510, the memory 520, the input / output interface 530 and the communication interface 540 are connected to each other in communication within the device through the bus 550.

[0093] The vertical controller 510 can be implemented by a general-purpose CPU (Central Processing Unit), a micro vertical controller, an application-specific integrated circuit (ASIC), or one or more integrated circuits, etc., to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0094] The memory 520 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 520 can store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 520 and called and executed by the vertical controller 510.

[0095] The input / output interface 530 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0096] The communication interface 540 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0097] The bus 550 comprises a pathway for transmitting information between the various components of the device (eg, the vertical controller 510, the memory 520, the input / output interface 530, and the communication interface 540).

[0098] It should be noted that, although the above device only shows the longitudinal controller 510, the memory 520, the input / output interface 530, the communication interface 540 and the bus 550, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0099] The EMB-based drive-brake integrated control system of the above-mentioned embodiment is used to implement the corresponding method in any of the above-mentioned embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be described in detail here.

[0100] Based on the same inventive concept, corresponding to the method described in any of the above embodiments, the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the method described in any of the above embodiments.

[0101] The above-mentioned computer-readable storage medium can be any available medium or data storage device that can be accessed by a computer, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical storage (such as CD, DVD, BD, HVD, etc.), and semiconductor storage (such as ROM, EPROM, EEPROM, non-volatile memory (NANDFLASH), solid-state drive (SSD)), etc.

[0102] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the method described in any embodiment of the above exemplary method part, and have the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0103] Based on the same inventive concept, corresponding to the method described in any of the above embodiments, the present invention further provides a vehicle, wherein the vehicle is driven or braked by the above EMB-based driving and braking integrated control method.

[0104] The vehicle in the above-mentioned embodiment is used to implement the corresponding method in any of the above-mentioned embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0105] In addition, although the operations of the method of the present invention are described in a specific order in the accompanying drawings, this does not require or imply that the operations must be performed in this specific order, or that all the operations shown must be performed to achieve the desired results. On the contrary, the steps depicted in the flow chart can be performed in a different order. Additionally or alternatively, some steps can be omitted, multiple steps can be combined into one step, and / or one step can be decomposed into multiple steps.

[0106] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0107] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in the embodiments of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0108] Although the spirit and principle of the present invention have been described with reference to several specific embodiments, it should be understood that the present invention is not limited to the disclosed specific embodiments, and the division of various aspects does not mean that the features in these aspects cannot be combined to benefit, and this division is only for the convenience of expression. The present invention is intended to cover various modifications and equivalent arrangements included in the spirit and scope of the attached claims. The scope of the attached claims conforms to the broadest interpretation, thereby including all such modifications and equivalent structures and functions.

Claims

1. A driving and braking integrated control method based on EMB, characterized in that: Applied to a longitudinal controller, the method comprises: Obtaining status information of a drive motor corresponding to a wheel of a target vehicle; In response to receiving a driving instruction for a target vehicle, controlling the driving motor to output a positive torque according to the state information and the driving instruction to drive the target vehicle; In response to receiving a braking command for a target vehicle, controlling the drive motor to output a negative torque according to the state information and the braking command to brake the target vehicle; In response to receiving a braking command for a target vehicle, the EMB brake is driven to brake the target vehicle.

2. The EMB-based driving and braking integrated control method according to claim 1, characterized in that: The state information includes the position and rotation speed of the drive motor corresponding to the wheel of the target vehicle.

3. The EMB-based driving and braking integrated control method according to claim 2, characterized in that: The controlling the drive motor to output negative torque according to the state information and the braking command to brake the target vehicle includes: The drive motor is controlled to output negative torque according to the state information and the braking instruction, and energy is recovered from the wheels of the target vehicle to achieve braking of the target vehicle.

4. The EMB-based driving and braking integrated control method according to claim 3, characterized in that: The method further comprises: In response to receiving a braking command for a target vehicle, the operation of controlling the drive motor to output a negative torque according to the state information and the braking command to brake the target vehicle is preferentially performed.

5. The EMB-based driving and braking integrated control method according to claim 4, characterized in that: The method further comprises: Determining whether the wheels of the target vehicle are in an idling state according to the state information; In response to the wheels of the target vehicle being in an idling state, it is determined to activate an anti-skid function for the wheels of the target vehicle.

6. The EMB-based driving and braking integrated control method according to claim 5, characterized in that: The method further comprises: Determining whether the wheels of the target vehicle are in a stopped state according to the state information; In response to the wheels of the target vehicle being in a stopped state, it is determined to activate an anti-lock function for the wheels of the target vehicle.

7. A driving and braking integrated control device based on EMB, characterized in that: include: An acquisition module is configured to acquire status information of a drive motor corresponding to a wheel of a target vehicle; A first response module is configured to, in response to receiving a driving instruction for a target vehicle, control the driving motor to output a positive torque according to the state information and the driving instruction to drive the target vehicle; A second response module is configured to, in response to receiving a braking command for a target vehicle, control the drive motor to output a negative torque according to the state information and the braking command to brake the target vehicle; The second response module is further configured to drive the EMB brake to brake the target vehicle in response to receiving a braking instruction for the target vehicle.

8. A drive and brake integrated control system based on EMB, characterized in that: It comprises a memory, a longitudinal controller and a computer program stored in the memory and executable on the longitudinal controller. When the longitudinal controller executes the program, the drive and brake integrated control method based on EMB as claimed in any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to enable the computer to implement the EMB-based drive and brake integrated control method according to any one of claims 1 to 6.

10. A vehicle, characterized in that: The vehicle is driven or braked by using the EMB-based integrated driving and braking control method described in any one of claims 16.

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