Emb-based drive-brake integrated control method, system, medium, and vehicle

Abstract

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

Description

Technical Field

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

[0002] Current technologies tend to separate and independently control the powertrain and braking systems of EMB vehicles, with braking primarily relying on the EMB braking system. However, under this control approach, there is still significant room for improvement in the response accuracy of the EMB braking system, limiting further optimization of vehicle braking performance.

[0003] Furthermore, the application of EMB (Electro-Mechanical Brake) systems in vehicle braking faces several technical challenges. In particular, after the ABS (Anti-lock Braking System) function is triggered, the insufficient accuracy of ABS wheel speed measurement leads to a significant lag in wheel speed control response. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the first objective of this invention is to propose an integrated drive and braking control method based on EMB, which achieves precise synchronous control of vehicle drive and braking by introducing a longitudinal controller.

[0005] The second objective of this invention is to propose an integrated drive and braking control device based on EMB.

[0006] The third objective of this invention is to propose an integrated drive and braking control system based on EMB.

[0007] The fourth objective of this invention is to provide a computer-readable storage medium.

[0008] The fifth objective of this invention is to provide a vehicle.

[0009] To achieve the above objectives, a first aspect of the present invention proposes an integrated drive and braking control method based on EMB, applied to a longitudinal controller, comprising: acquiring state information of drive motors corresponding to the wheels of a target vehicle; responding to receiving a drive command for the target vehicle, controlling the drive motors to output positive torque according to the state information and the drive command to drive the target vehicle; responding to receiving a braking command for the target vehicle, controlling the drive motors to output negative torque according to the state information and the braking command to brake the target vehicle; and responding to receiving a braking command for the target vehicle, driving the EMB brake to brake the target vehicle.

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

[0011] As an optional embodiment, the status information includes the position and rotational speed of the drive motors corresponding to the wheels of the target vehicle.

[0012] As an optional embodiment, controlling the drive motor to output negative torque according to the status information and braking command to brake the target vehicle includes: controlling the drive motor to output negative torque according to the status information and braking command to recover energy 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, prioritizing the execution of an operation to control the drive motor to output negative torque based on the status information and the braking command, so as to brake the target vehicle.

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

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

[0016] According to an embodiment of the present invention, the EMB-based integrated drive and braking control method is applied to a longitudinal sensor. First, it acquires the state information of the drive motor corresponding to the wheels of the target vehicle. Further, in response to receiving a drive command for the target vehicle, it controls the drive motor to output positive torque based on the state information and the drive command to drive the target vehicle. Further, in response to receiving a braking command for the target vehicle, it controls the drive motor to output negative torque based on the state information and the braking command to brake the target vehicle. This invention introduces a longitudinal controller, which integrates motor drive control and EMB braking control. Based on the state information, it determines whether to activate functions such as drive anti-slip and brake anti-lock braking. This achieves precise synchronous control of vehicle drive and braking, significantly improving the speed at which wheel-end speeds reach target values, thereby enhancing the response accuracy of the vehicle's drive and braking, and effectively improving vehicle driving stability. This application uses a resolver sensor to collect wheel speed signals, improving wheel speed acquisition accuracy. Furthermore, the longitudinal controller can intelligently manage the energy recovery of the drive motor and the rapid response of the EMB mechanical braking, further optimizing braking performance and improving energy utilization efficiency. It can also minimize the use of EMB mechanical braking, which helps to reduce the weight of the friction block 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 objectives, a second aspect of the present invention provides a drive-brake integrated control device based on EMB, comprising: an acquisition module configured to acquire state information of drive motors corresponding to wheels of a target vehicle; a first response module configured to, in response to receiving a drive command for the target vehicle, control the drive motors to output positive torque according to the state information and the drive command to drive the target vehicle; a second response module configured to, in response to receiving a braking command for the target vehicle, control the drive motors to output negative torque according to the state information and the braking command to brake the target vehicle; and the second response module is further configured to, in response to receiving a braking command for the target vehicle, drive an EMB brake to brake the target vehicle.

[0018] According to an embodiment of the present invention, the EMB-based integrated drive and braking control device first acquires the state information of the drive motor corresponding to the wheels of the target vehicle; further, in response to receiving a drive command for the target vehicle, it controls the drive motor to output positive torque according to the state information and the drive command to drive the target vehicle; further, in response to receiving a braking command for the target vehicle, it controls the drive motor to output negative torque according to the state information and the braking command to brake the target vehicle; and in response to receiving a braking command for the target vehicle, it drives the EMB brake to brake the target vehicle. This invention, by introducing a longitudinal controller, integrates motor drive control and EMB braking control, achieving precise synchronous control of vehicle drive and braking, significantly improving the speed at which wheel-end speeds reach the target value, thereby enhancing the response accuracy of the vehicle's drive and braking, and effectively improving vehicle driving stability. This application uses a resolver sensor to collect wheel speed signals, improving wheel speed acquisition accuracy. Furthermore, the longitudinal controller can intelligently manage the energy recovery of the drive motor and the rapid response of the EMB mechanical brake, further optimizing the braking effect and improving energy utilization efficiency. It can also minimize the use of EMB mechanical braking, which helps to reduce the weight of the friction block 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 objectives, a third aspect of the present invention provides an EMB-based integrated drive and braking control system, which includes 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, it implements the EMB-based integrated drive and braking control method as described above.

[0020] According to an embodiment of the present invention, the drive-braking integrated control system based on EMB first acquires the state information of the drive motor corresponding to the wheels of the target vehicle; further, in response to receiving a 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 a 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 a braking command for the target vehicle, the EMB brake is driven to brake the target vehicle. This invention, by introducing a longitudinal controller, integrates motor drive control and EMB braking control, achieving precise synchronous control of vehicle drive and braking, significantly improving the speed at which wheel-end speeds reach the target value, thereby enhancing the response accuracy of the vehicle's drive and braking, and effectively improving vehicle driving stability. This application uses a resolver sensor to collect wheel speed signals, improving wheel speed acquisition accuracy. Furthermore, the longitudinal controller can intelligently manage the energy recovery of the drive motor and the rapid response of the EMB mechanical brake, further optimizing the braking effect and improving energy utilization efficiency. It can also minimize the use of EMB mechanical braking, which helps to reduce the weight of the friction block 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] To achieve the above objectives, a fourth aspect of the present invention provides a computer-readable storage medium storing computer instructions for causing the computer to execute the aforementioned EMB-based integrated drive and braking control method.

[0022] To achieve the above objectives, a vehicle is provided in the fifth aspect of the present invention, wherein the vehicle is driven or braked using the aforementioned EMB-based integrated drive and brake control method.

[0023] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only for this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram illustrating an application scenario of the EMB-based integrated drive and braking control method provided in an embodiment of the present invention.

[0026] Figure 2 This is a flowchart illustrating the integrated drive and braking control method based on EMB provided in an embodiment of the present invention.

[0027] Figure 3 This is a schematic diagram of the control logic of the EMB-based integrated drive and braking control method provided in an embodiment of the present invention.

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

[0029] Figure 5 A schematic diagram of an EMB-based integrated drive and braking control system provided in an embodiment of the present invention. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0031] It should be noted that, unless otherwise defined, the technical or scientific terms used in this invention should have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only 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 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. Current technologies tend to separate and independently control the powertrain and braking systems of EMB vehicles, with braking function primarily relying on the EMB system. However, under this control approach, the response accuracy of the EMB braking system still has significant room for improvement, limiting further optimization of vehicle braking performance. Furthermore, the application of EMB systems in vehicle braking faces several technical challenges. In particular, insufficient wheel speed measurement accuracy in ABS (Anti-lock Braking System) leads to a noticeable lag in wheel speed control response.

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

[0034] refer to Figure 1 This is a schematic diagram illustrating an application scenario of the EMB-based integrated drive and braking control method provided in this embodiment of the invention.

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

[0036] In this system, each wheel-end-mounted drive motor directly drives the wheel in drive mode, enabling vehicle acceleration and movement. In braking mode, it recovers kinetic energy from the wheels, achieving braking. The EMB brake receives braking commands from the brake pedal and controls the EMB brake to generate the corresponding braking force. The longitudinal controller integrates drive and braking control, achieving unified management and optimization of the vehicle's longitudinal dynamics. The drive pedal controls vehicle acceleration, while the brake pedal controls vehicle deceleration and stopping.

[0037] In addition, the target vehicle is equipped with a drive pedal and a brake pedal. It should be noted that, depending on the vehicle model, the drive pedal and brake pedal can be integrated into a single control pedal, which controls both driving and braking – a one-pedal mode. In this mode, pressing the control pedal accelerates the vehicle, while releasing it brakes, causing the vehicle to decelerate through the regenerative braking system until it comes to a complete stop.

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

[0039] A resolver, or rotary transformer, is an electromagnetic induction angle sensor designed for the precise measurement of the position and speed of a rotating shaft. It consists of a stator and a rotor. The stator has sine and cosine windings, while the rotor has a single winding. When the rotor begins to rotate, it induces sine and cosine signals in the stator. Through demodulation and calculation, the actual angle and speed of the rotor can be obtained. Compared to traditional wheel speed sensors, it provides high-precision angle measurement, typically achieving 0.1 degrees or even higher accuracy, which is crucial for the drive control of electric vehicles. Furthermore, resolvers can measure angles ranging from a few degrees to hundreds of degrees, meeting the needs of electric vehicles under various operating conditions. In addition, resolvers typically employ a non-contact measurement principle, offering high reliability and durability, and enabling stable operation in harsh environments. Moreover, resolvers can quickly respond to changes in rotation angle and output corresponding electrical signals, facilitating rapid acceleration and braking of electric vehicles.

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

[0041] In drive motor control, resolvers provide high-precision rotor position feedback, assisting motor controllers (such as vector controllers or brushless DC motor controllers) in accurately adjusting the motor's phase current, thereby optimizing torque output and efficiency. In energy recovery, during deceleration or braking of electric vehicles, resolvers can monitor wheel speed and position in real time, precisely controlling the motor's braking torque for efficient energy recovery. For fault detection and protection, resolvers can also monitor abnormalities in the motor or control system, such as positioning errors or speed fluctuations. Upon detecting these abnormalities, the resolver immediately triggers protection mechanisms to prevent further system damage.

[0042] The longitudinal controller integrates the vehicle's drive control and braking control into one unit, achieving integrated control of the vehicle's drive and braking.

[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 vehicle's main battery or an additional on-board redundant power supply in addition to the main battery.

[0044] refer to Figure 2 This is a flowchart illustrating the integrated drive and braking control method based on EMB provided in an embodiment of the present invention.

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

[0046] Step S201: Obtain the status information of the drive motor corresponding to the wheel of the target vehicle.

[0047] As an optional embodiment, the status information includes the position and rotational speed of the drive motors corresponding to the wheels of the target vehicle.

[0048] Specifically, the system first collects real-time status information of the drive motors associated with the target vehicle's wheels through resolver sensors configured on those motors. This information may include, but is not limited to, the actual rotor angle (i.e., position), rotational speed, temperature, current, voltage, and possible fault conditions of the drive motor. This status information forms the basis for subsequent control decisions, ensuring the accuracy and safety of control commands.

[0049] Furthermore, in most vehicles, the drive pedal (often called the accelerator pedal) is the primary means by which the driver controls the vehicle's acceleration. When the driver presses the drive 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 (in modern vehicles, it is usually an electrical signal). This signal is then received by the system and interpreted as a braking command.

[0050] In step S202, in response to receiving a drive command for the target vehicle, the drive motor is controlled to output positive torque according to the status information and the drive command to drive the target vehicle.

[0051] Specifically, when the system receives a drive command from the driver (by pressing the brake pedal) or the autonomous driving system (making decisions based on road conditions and traffic information), this command is 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 drive command, the system calculates an appropriate torque value. Once it is determined that the drive motor needs to output a positive torque value, the system sends a command to the drive motor through the corresponding controller to make it output the required torque. At the same time, the system continuously monitors the actual output of the motor and the dynamic response of the vehicle to ensure the effectiveness of the control strategy and makes adjustments as necessary.

[0052] In step S2031, in response to receiving a braking command for the target vehicle, the drive motor is controlled to output negative torque according to the status 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 pressing the brake pedal) or the autonomous driving system (making decisions based on road conditions and traffic information), this command is recognized by the system as a signal requiring deceleration or stopping. Based on the acquired state information and the received braking command, the system calculates a suitable torque value. Once it is determined that a negative torque value needs to be output by the drive motor, the system sends a command to the drive motor through the corresponding controller to make it output the required negative torque. Simultaneously, the system continuously monitors the actual output of the motor, the vehicle's dynamic response, and the battery status to ensure the effectiveness of the control strategy and makes adjustments as necessary. As an optional embodiment, controlling the drive motor to output negative torque based on state information and braking commands to brake the target vehicle includes: controlling the drive motor to output negative torque based on state information and braking commands to recover 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 precisely controls the drive motor to output negative torque based on current status information (such as the position and speed of the drive motor) and braking commands. This negative torque can also convert the vehicle's kinetic energy into electrical energy, which is then recovered through the motors on the wheels and stored in the vehicle's battery. During the output of 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 use.

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

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

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

[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 in order to recover energy and decelerate the vehicle.

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

[0060] Furthermore, when the vehicle receives a braking command, the system first attempts to recover energy and decelerate the vehicle using the regenerative braking capability of the drive motor. However, if the system determines that the recovered energy is insufficient to meet the vehicle's braking needs (e.g., due to excessive vehicle speed, a fully charged battery, or the motor reaching its operating limit), it will switch to actuating the EMB brakes 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 optimal decisions based on the current vehicle state and braking requirements. This decoupling not only improves the flexibility and safety of the braking process but also helps extend the vehicle's driving range and reduce energy consumption and emissions. Simultaneously, minimizing the involvement of EMB mechanical braking effectively controls the weight of the friction pads or reduces the power required for EMB braking.

[0061] As an optional embodiment, it is determined whether the wheels of the target vehicle are in a free-spinning state based on the status information; in response to the wheels of the target vehicle being in a free-spinning state, it is determined to activate the anti-skid function for the wheels of the target vehicle.

[0062] When a vehicle is driving on a wet or soft surface, the wheels may lose sufficient traction and spin. Spinning not only causes the vehicle to lose forward momentum but can also accelerate tire wear and even create safety hazards. Therefore, this embodiment proposes a strategy to determine wheel spinning based on status information and activate anti-skid functions.

[0063] Specifically, the rotational speed of each wheel can be monitored using a resolver sensor to determine if there is an abnormal increase in speed. If the rotational speed of a particular 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 spinning. Accelerometers can also be used to monitor the vehicle's longitudinal and lateral acceleration to assess its dynamic stability. If the vehicle's acceleration data is inconsistent with normal driving conditions (such as a sudden decrease or directional instability), it may indicate that wheel spinning is affecting vehicle stability. Steering angle sensors can also monitor the steering wheel's rotation angle to determine the driver's intention and the vehicle's direction of travel. Furthermore, the force output by the drive motor or braking system can be monitored to assess the magnitude of the driving or braking force on the wheels. If the system's output driving or braking force does not match the actual response of the wheels (such as increased driving force but no increase in vehicle speed), it may indicate that the wheels are spinning. Once the system determines that a wheel is spinning, it immediately activates the anti-slip function (i.e., the ASR system). The anti-slip function may include adjusting the torque output of the drive motor to reduce the driving force applied to the spinning wheel, thereby reducing the spinning speed. This may also include applying appropriate braking force to the spinning wheels to increase friction between the wheels and the ground, helping the wheels regain traction. If necessary, adjusting the vehicle's steering angle can also improve the force distribution on the wheels, helping the vehicle maintain stability. Furthermore, the driver can be alerted to wheel spinning via the vehicle's dashboard or audible prompts to take appropriate driving actions.

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

[0065] Specifically, the rotational speed of each wheel can be monitored using resolver sensors to determine if there are any abnormal speeds (wheel speed zero for a sustained period). If the speed signal of a wheel remains zero for an extended period, and this state is inconsistent with the vehicle's current operating state (e.g., the vehicle is not stationary), then that wheel is determined to be stationary. This is combined with information from the engine / motor status, transmission status, and other sensors to ensure the accuracy of the wheel stoppage detection. Once the system determines that a wheel is stationary, it immediately activates the anti-lock braking system (ABS). The ABS prevents complete wheel lock-up during emergency braking by controlling the braking force, thus maintaining wheel traction and ensuring vehicle handling and stability. The ABS system operates based on real-time monitoring of wheel speed by resolver sensors. When a wheel is about to lock up, the sensor sends a signal to the control unit, which then instructs the brake pressure on that wheel to resume rotation. When the wheel is about to lock up again, the system increases the braking pressure, repeating this cycle with a high-frequency braking-releasing-braking pattern to prevent wheel lock-up.

[0066] In addition, the wheel speed information obtained by the resolver sensor can be used to determine brake lock-up and drive slippage, and based on this, decide whether to activate functions such as ESC (Electronic Stability Control) and EDTC (Electronic Differential Control, a new type of drag torque control function). These functions are also important components of modern automotive safety control systems.

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

[0068] The system acquires the status information of the drive motors corresponding to the wheels of the target vehicle. In response to receiving a drive command for the target vehicle, it controls the drive motors to output positive torque based on the status information and the drive command to drive the target vehicle. Based on the status information and the braking command, it controls the drive motors to output negative torque to recover energy from the wheels of the target vehicle to brake the target vehicle. In response to receiving a braking command for the target vehicle, it drives the EMB brakes to brake the target vehicle.

[0069] As described above, the EMB-based integrated drive and braking control method provided by this invention, applied to a longitudinal sensor, first acquires the state information of the drive motor corresponding to the wheels of the target vehicle; further, in response to receiving a drive command for the target vehicle, it controls the drive motor to output positive torque according to the state information and the drive command to drive the target vehicle; further, in response to receiving a braking command for the target vehicle, it controls the drive motor to output negative torque according to the state information and the braking command to brake the target vehicle. This invention, by introducing a longitudinal controller, achieves precise synchronous control of vehicle drive and braking, significantly improving the speed at which the wheel-end speed reaches the target value, thereby enhancing the response accuracy of the vehicle's drive and braking, and effectively improving the vehicle's driving stability. In addition, the longitudinal controller can intelligently manage the energy recovery of the drive motor and the rapid response of the EMB mechanical braking, further optimizing the braking effect and improving energy utilization efficiency. It can also minimize the use of EMB mechanical braking, helping to reduce the weight of the friction pads or lower 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 this embodiment can be executed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario, where multiple devices cooperate to complete the task. In such a distributed scenario, one of these devices may execute only one or more steps of the method of this embodiment, and the multiple devices will interact with each other to complete the method described.

[0071] It should be noted that the above description describes some embodiments of the present invention. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims may be performed in a different order than that shown in the above embodiments and still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order 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 methods described in any of the above embodiments, the present invention also provides an integrated drive and braking control device based on EMB.

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

[0074] The EMB-based integrated drive and braking control device includes:

[0075] The acquisition module 401 is configured to acquire the status information of the drive motors corresponding to the wheels of the target vehicle;

[0076] The first response module 402 is configured to respond to receiving a drive command for the target vehicle, and control the drive motor to output positive torque according to the status information and the drive command to drive the target vehicle.

[0077] The second response module 403 is configured to respond to receiving a braking command for the target vehicle, and control the drive motor to output negative torque according to the status information and the braking command to brake the target vehicle.

[0078] The second response module is also 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 speed of the drive motors corresponding to the wheels of the target vehicle.

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

[0081] Based on the status information and braking commands, the drive motor is controlled to output negative torque to recover energy from the wheels of the target vehicle in order 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 system prioritizes executing the operation of controlling the drive motor to output negative torque based on the status information and the braking command, in order to brake the target vehicle.

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

[0085] Determine whether the target vehicle's wheels are spinning freely based on the status information;

[0086] In response to the target vehicle's wheels being in a free-spinning state, the anti-skid function for the target vehicle's wheels is activated.

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

[0088] Determine whether the wheels of the target vehicle are stationary based on the status information;

[0089] In response to the target vehicle's wheels being stationary, the anti-lock braking function for the target vehicle's wheels is activated.

[0090] According to an embodiment of the present invention, the EMB-based integrated drive and braking control device first acquires the state information of the drive motor corresponding to the wheels of the target vehicle; further, in response to receiving a drive command for the target vehicle, it controls the drive motor to output positive torque according to the state information and the drive command to drive the target vehicle; further, in response to receiving a braking command for the target vehicle, it controls the drive motor to output negative torque according to the state information and the braking command to brake the target vehicle. This invention, by introducing a longitudinal controller, integrates motor drive control and EMB braking control, achieving precise synchronous control of vehicle drive and braking, significantly improving the speed at which wheel-end speeds reach the target value, thereby enhancing the response accuracy of the vehicle's drive and braking, and effectively improving vehicle driving stability. This application uses a resolver sensor to collect wheel speed signals, improving wheel speed acquisition accuracy. It determines whether to activate functions such as drive anti-slip and brake anti-lock based on 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 braking, further optimizing the braking effect and improving energy utilization efficiency. It can also minimize the use of EMB mechanical braking, which helps to reduce the weight of the friction block 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 methods described in any of the above embodiments, the present invention also provides an EMB-based integrated drive and braking control system, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the methods described in any of the above embodiments.

[0092] Figure 5 This is a schematic diagram of an EMB-based integrated drive and braking control system provided in an embodiment of the present invention. The EMB-based integrated drive and braking control system 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, memory 520, input / output interface 530, and communication interface 540 are interconnected internally via the bus 550.

[0093] The longitudinal controller 510 can be implemented using a general-purpose CPU (Central Processing Unit), a micro longitudinal controller, an application-specific integrated circuit (ASIC), or one or more integrated circuits, to execute relevant programs and 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 the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 520 and is called and executed by the vertical controller 510.

[0095] Input / output interface 530 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touch screens, microphones, various sensors, etc., and output devices may include displays, speakers, vibrators, indicator lights, etc.

[0096] The communication interface 540 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0097] Bus 550 includes a pathway for transmitting information between various components of the device, such as longitudinal controller 510, memory 520, input / output interface 530, and communication interface 540.

[0098] It should be noted that although the above-described device only shows the longitudinal controller 510, memory 520, input / output interface 530, communication interface 540, and bus 550, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

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

[0100] Based on the same inventive concept, corresponding to the methods described in any of the above embodiments, the present invention also provides a computer-readable storage medium storing computer instructions for causing the computer to perform the methods described in any of the above embodiments.

[0101] The aforementioned computer-readable storage medium can be any available medium or data storage device that a computer can access, including but not limited to magnetic storage (e.g., floppy disks, hard disks, magnetic tapes, magneto-optical disks (MOs), etc.), optical storage (e.g., CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (e.g., ROMs, EPROMs, EEPROMs, non-volatile memory (NAND flash), solid-state drives (SSDs)).

[0102] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to perform the methods described in any of the embodiments in the exemplary method section above, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0103] Based on the same inventive concept, corresponding to the methods described in any of the above embodiments, the present invention also provides a vehicle, which uses the above-described EMB-based integrated drive and braking control method for driving or braking.

[0104] The vehicles described in the above embodiments are used to implement the corresponding methods in any of the foregoing embodiments and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0105] Furthermore, 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 these operations must be performed in that specific order, or that all of the operations shown must be performed to achieve the desired result. Rather, the steps depicted in the flowchart may be performed in a different order. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0106] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0107] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this invention should have the ordinary meaning understood by those skilled in the art. The terms "first," "second," and similar terms used in the embodiments of this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word covers the element or object listed after the word and its equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" 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] While the spirit and principles of the invention have been described with reference to several specific embodiments, it should be understood that the invention is not limited to the disclosed specific embodiments, and the division of aspects does not imply that features in these aspects cannot be combined for benefit; such division is merely for ease of description. The invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. The scope of the appended claims is to be interpreted in the broadest sense, thereby encompassing all such modifications and equivalent structures and functions.

Claims

1. An EMB-based drive-brake integrated control method, characterized by, The method applied to a longitudinal controller comprises: acquiring state information of a drive motor corresponding to a wheel of a target vehicle; in response to receiving a drive instruction for the target vehicle, controlling the drive motor to output positive torque according to the state information and the drive instruction, so as to drive the target vehicle; in response to receiving a brake instruction for the target vehicle, controlling the drive motor to output negative torque according to the state information and the brake instruction, so as to brake the target vehicle; in response to receiving the brake instruction for the target vehicle, driving an EMB brake to brake the target vehicle.

2. The EMB-based drive-brake integrated control method according to claim 1, characterized by, The state information comprises position and rotation speed of the drive motor corresponding to the wheel of the target vehicle.

3. The EMB-based drive-brake integrated control method according to claim 2, characterized by, The controlling the drive motor to output negative torque according to the state information and the brake instruction, so as to brake the target vehicle, comprises: controlling the drive motor to output negative torque according to the state information and the brake instruction, so as to perform energy recovery on the wheel of the target vehicle, so as to brake the target vehicle.

4. The EMB-based drive-brake integrated control method according to claim 3, characterized by, The method further comprises: in response to receiving the brake instruction for the target vehicle, preferentially performing the operation of controlling the drive motor to output negative torque according to the state information and the brake instruction, so as to brake the target vehicle.

5. The EMB-based drive-brake integrated control method according to claim 4, characterized by, The method further comprises: determining whether the wheel of the target vehicle is in an idling state according to the state information; in response to the wheel of the target vehicle being in the idling state, determining to start an anti-slip function for the wheel of the target vehicle.

6. The EMB-based drive-brake integration control method according to claim 5, characterized by, The method further comprises: determining whether the wheel of the target vehicle is in a stall state according to the state information; in response to the wheel of the target vehicle being in the stall state, determining to start an anti-lock function for the wheel of the target vehicle.

7. An EMB-based drive-brake integrated control device, characterized by comprises: an acquiring module configured to acquire state information of a drive motor corresponding to a wheel of a target vehicle; a first response module configured to, in response to receiving a drive instruction for the target vehicle, control the drive motor to output positive torque according to the state information and the drive instruction, so as to drive the target vehicle; a second response module configured to, in response to receiving a brake instruction for the target vehicle, control the drive motor to output negative torque according to the state information and the brake instruction, so as to brake the target vehicle; the second response module is further configured to, in response to receiving the brake instruction for the target vehicle, drive an EMB brake to brake the target vehicle.

8. An EMB-based drive-brake integrated control system, characterized by, The computer program is stored in the memory and can be run on the longitudinal controller, and the longitudinal controller implements the EMB-based drive-brake integrated control method according to any one of claims 1 to 6 when the program is run.

9. A computer-readable storage medium storing computer instructions, wherein, The computer program is stored in the memory and can be run on the longitudinal controller, and the longitudinal controller implements the EMB-based drive-brake integrated control method according to any one of claims 1 to 6 when the program is run.

10. A vehicle characterized by comprising: The vehicle adopts the EMB-based drive-brake integrated control method according to any one of claims 1 to 6 to drive or brake.

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