Braking force distribution method and device, electronic equipment, product and storage medium

Abstract

The invention provides a braking force distribution method and device, electronic equipment, a product and a storage medium, and relates to the technical field of vehicle dynamics and control. The method comprises the steps that based on a whole vehicle kinetic equation when a vehicle is driven and a whole vehicle kinetic equation when the vehicle is braked, a front axle vertical load and a rear axle vertical load of the vehicle are obtained through solving; the whole vehicle kinetic equation when the vehicle is driven is determined by the axle slip rate, the vehicle longitudinal acceleration and the road surface gradient force when the vehicle is driven, and the whole vehicle kinetic equation when the vehicle is braked is determined by the axle slip rate, the vehicle longitudinal acceleration and the road surface gradient force when the vehicle is braked; and determining a braking force distribution result of the vehicle based on the ratio of the front axle vertical load to the rear axle vertical load. The defect that reasonable distribution of braking force is affected due to the fact that the accuracy of axle load data obtained in the prior art is low can be overcome.

Description

Technical Field

[0001] The present invention relates to the field of vehicle dynamics and control technology, and in particular to a braking force distribution method, device, electronic equipment, product and storage medium. Background Art

[0002] In the braking system of commercial vehicles, reasonable braking force distribution is crucial to ensure driving safety and stability. One of the key factors in braking force distribution is axle load, that is, the vertical load carried by the front and rear axles of the vehicle. Since the axle load distribution of commercial vehicles under different loads, driving states and road conditions varies greatly, how to accurately calculate and reasonably distribute the braking force has become a major challenge in the design of the braking system. Traditional braking force distribution methods are generally based on height sensors or pressure sensors to obtain actual axle load data. However, under the influence of factors such as actual road surface and tire wear, it is often difficult to ensure sufficiently high accuracy in actual use, which affects the reasonable distribution of braking force and may cause excessive or insufficient braking of some wheels, thereby affecting the stability and safety of the vehicle. Summary of the invention

[0003] The present invention provides a braking force distribution method, device, electronic device, product and storage medium to solve the defect in the prior art that, under the influence of factors such as actual road surface and tire wear, the accuracy of obtaining axle load data is low, thereby affecting the reasonable distribution of braking force, possibly causing excessive or insufficient braking of some wheels, and further affecting the stability and safety of the vehicle.

[0004] The present invention provides a braking force distribution method, comprising: Based on the whole vehicle dynamics equation of the vehicle when driving and the whole vehicle dynamics equation of the vehicle when braking, the front axle vertical load and the rear axle vertical load of the vehicle are solved; the whole vehicle dynamics equation of the vehicle when driving is determined by the axle slip rate, the longitudinal acceleration of the vehicle and the road gradient force of the vehicle when driving, and the whole vehicle dynamics equation of the vehicle when braking is determined by the axle slip rate, the longitudinal acceleration of the vehicle and the road gradient force of the vehicle when braking; A braking force distribution result of the vehicle is determined based on a ratio of the front axle vertical load to the rear axle vertical load.

[0005] According to a braking force distribution method provided by the present invention, the front axle vertical load and the rear axle vertical load of the vehicle are obtained by solving the vehicle dynamics equation when the vehicle is driving and the vehicle dynamics equation when the vehicle is braking, including: Determining a whole vehicle dynamics equation of the vehicle when accelerating based on a whole vehicle dynamics equation of the vehicle when driving and a preset axle load transfer coefficient; Determining a whole vehicle dynamics equation of the vehicle when decelerating based on the whole vehicle dynamics equation of the vehicle when braking and the preset axle load transfer coefficient; Based on the whole vehicle dynamics equation of the vehicle when accelerating and the whole vehicle dynamics equation of the vehicle when decelerating, the front axle vertical load and the rear axle vertical load of the vehicle are determined.

[0006] According to a braking force distribution method provided by the present invention, the front axle vertical load and the rear axle vertical load of the vehicle are determined based on the vehicle dynamics equation when the vehicle is accelerating and the vehicle dynamics equation when the vehicle is decelerating, including: Obtaining a preset axle load transfer test coefficient set, a preset vehicle longitudinal acceleration test set when the vehicle is accelerating, and a preset vehicle longitudinal acceleration test set when the vehicle is decelerating; each vehicle longitudinal acceleration test value in the preset vehicle longitudinal acceleration test set when the vehicle is accelerating and each vehicle longitudinal acceleration test value in the preset vehicle longitudinal acceleration test set when the vehicle is decelerating are opposite numbers to each other; Determine a front axle vertical load test set and a rear axle vertical load test set of the vehicle based on a preset axle load transfer test coefficient set, a preset vehicle longitudinal acceleration test set of the vehicle when accelerating, a preset vehicle longitudinal acceleration test set of the vehicle when decelerating, a whole vehicle dynamics equation of the vehicle when accelerating, and a whole vehicle dynamics equation of the vehicle when decelerating; The front axle vertical load and the rear axle vertical load of the vehicle are determined based on the average value of each front axle vertical load test value in the front axle vertical load test set and the average value of each rear axle vertical load test value in the rear axle vertical load test set.

[0007] According to a braking force distribution method provided by the present invention, before determining the braking force distribution result of the vehicle based on the ratio of the front axle vertical load to the rear axle vertical load, the method comprises: If it is detected that the vehicle stops traveling, the front axle vertical load and the rear axle vertical load are reset to default values.

[0008] According to a braking force distribution method provided by the present invention, the axle slip rate of the vehicle when driving includes the front axle slip rate and the rear axle slip rate, and the whole vehicle dynamics equation of the vehicle when driving is shown as follows: ; in, is the vertical load on the front axle, is the vertical load on the rear axle, is the longitudinal acceleration of the vehicle when the vehicle is driving, is the rear axle slip rate of the vehicle when driving, is the road slope force, g is the acceleration of gravity, and K is the linear correlation coefficient.

[0009] According to a braking force distribution method provided by the present invention, the axle slip rate of the vehicle during braking includes the front axle slip rate and the rear axle slip rate, and the whole vehicle dynamics equation of the vehicle during braking is as follows: ; in, is the vertical load on the front axle, is the vertical load on the rear axle, is the longitudinal acceleration of the vehicle when braking, is the front axle slip rate of the vehicle during braking, is the rear axle slip rate of the vehicle during braking, is the road slope force, g is the acceleration of gravity, and K is the linear correlation coefficient.

[0010] The present invention also provides a braking force distribution device, comprising: A load determination module, which is used to solve the front axle vertical load and the rear axle vertical load of the vehicle based on the whole vehicle dynamics equation of the vehicle when driving and the whole vehicle dynamics equation of the vehicle when braking; the whole vehicle dynamics equation of the vehicle when driving is determined by the axle slip rate, the longitudinal acceleration of the vehicle and the road gradient force of the vehicle when driving, and the whole vehicle dynamics equation of the vehicle when braking is determined by the axle slip rate, the longitudinal acceleration of the vehicle and the road gradient force of the vehicle when braking; A braking force distribution result determination module is used to determine the braking force distribution result of the vehicle based on the ratio of the front axle vertical load to the rear axle vertical load.

[0011] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, any one of the above-mentioned braking force distribution methods is implemented.

[0012] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the braking force distribution method as described above is implemented.

[0013] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the braking force distribution method as described above is implemented.

[0014] The braking force distribution method, device, electronic device, product and storage medium provided by the present invention solve the front axle vertical load and the rear axle vertical load of the vehicle based on the whole vehicle dynamics equation of the vehicle when driving and the whole vehicle dynamics equation of the vehicle when braking; the whole vehicle dynamics equation of the vehicle when driving is determined by the axle slip rate, the longitudinal acceleration of the vehicle and the road gradient force of the vehicle when driving, and the whole vehicle dynamics equation of the vehicle when braking is determined by the axle slip rate, the longitudinal acceleration of the vehicle and the road gradient force of the vehicle when braking; the braking force distribution result of the vehicle is determined based on the ratio of the front axle vertical load and the rear axle vertical load; the present invention solves the problem of inaccurate axle load estimation and braking force distribution of commercial vehicles under different working conditions through calculation based on the vehicle dynamics equation; based on the dynamic behavior of the vehicle when driving and braking, the vertical loads of the front and rear axles are dynamically solved, and then the braking force is distributed according to the load ratio, thereby improving the braking performance and safety; specifically, during driving and braking, the front and rear axles of the vehicle are subjected to different loads. When the vehicle is driving, the slip rate of the front and rear axles, the longitudinal acceleration and the road grade force jointly determine the vertical load of the front and rear axles. When the vehicle is driving, the slip rate of the front and rear axles reflects the traction between the tire and the road surface, the longitudinal acceleration reflects the acceleration state of the vehicle, and the road grade force reflects the impact of the road grade on the vehicle's traction. By combining these parameters with the vehicle dynamics equation, the vertical load of the front and rear axles can be calculated. Based on the ratio of the front axle vertical load and the rear axle vertical load, the braking force distribution of each axle can be accurately determined, avoiding the imbalance of braking force caused by inaccurate axle load distribution in traditional methods, thereby effectively improving the braking performance and reducing the safety risks caused by brake failure or imbalance. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a flow chart of the braking force distribution method provided by the present invention.

[0017] Figure 2 It is a force analysis schematic diagram of the braking force distribution method provided by the present invention.

[0018] Figure 3 It is a structural schematic diagram of the braking force distribution device provided by the present invention.

[0019] Figure 4It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] With the continuous development of commercial vehicle technology, especially in the braking system, how to achieve accurate braking force distribution according to the load changes of the vehicle has become an important research direction to improve vehicle driving safety and braking performance. Especially in commercial vehicles, due to the differences in the position, shape and weight of the loaded cargo, different axle load distributions are caused, which brings great challenges to the reasonable distribution of braking force. Although the existing braking force distribution method has improved the accuracy of braking force distribution to a certain extent, it still has many shortcomings and cannot meet the actual needs of commercial vehicles under different working conditions.

[0022] The applicant of the present invention has found through long-term research and practice that in the actual operation of commercial vehicles, the distribution of vehicle axle load is not constant, but is affected by factors such as vehicle speed, road conditions, load state, acceleration, deceleration, etc. The traditional braking force distribution method is usually distributed based on a preset axle load ratio or fixed parameters, and fails to fully consider the real-time dynamic load changes, resulting in uneven braking force distribution under different working conditions, which in turn affects the braking effect and may cause the vehicle's braking performance to decrease, or even dangerous braking failure. Through in-depth research on vehicle dynamics equations, the applicant realized that there is a close relationship between the vertical load of the front and rear axles and the braking force distribution, and this relationship changes dynamically under different driving conditions. The prior art obtains the axle load information of the vehicle through sensors, however, these methods generally rely on expensive hardware equipment, such as height sensors and pressure sensors, which increases the vehicle manufacturing cost. In addition, although some technologies attempt to calculate the load through the relationship between tire slip rate and axle load, due to the complexity of commercial vehicles in the driving and braking process, it is often difficult to accurately obtain the braking force, resulting in a large error in the estimated axle load.

[0023] In view of the above problems, the present invention proposes the following embodiments.

[0024] Figure 1 is a flow chart of the braking force distribution method provided by the present invention, such as Figure 1 As shown, the method includes the following: Step 110, based on the whole vehicle dynamics equation of the vehicle when driving and the whole vehicle dynamics equation of the vehicle when braking, solve the front axle vertical load and the rear axle vertical load of the vehicle; the whole vehicle dynamics equation of the vehicle when driving is determined by the axle slip rate of the vehicle when driving, the longitudinal acceleration of the vehicle and the road gradient force, and the whole vehicle dynamics equation of the vehicle when braking is determined by the axle slip rate of the vehicle when braking, the longitudinal acceleration of the vehicle and the road gradient force.

[0025] Here, the front axle vertical load refers to the force in the vertical direction borne by each wheel on the front axle of the vehicle when it contacts the ground; the rear axle vertical load refers to the force in the vertical direction borne by each wheel on the rear axle of the vehicle when it contacts the ground; both the front axle vertical load and the rear axle vertical load directly affect the vehicle's traction, braking force and stability. In order to simplify the calculation, the left and right wheels of the front axle and the left and right wheels of the rear axle are considered together.

[0026] Here, longitudinal acceleration is the acceleration of the vehicle in the direction of travel, usually generated by the driving or braking of the vehicle, and directly affects the speed and dynamic response of the vehicle. The road slope force is the force caused by the inclination angle of the road surface. The greater the slope, the greater the component force of gravity in the longitudinal direction, which affects the longitudinal acceleration and load distribution of the vehicle. The magnitude and direction of this force directly affect the driving force and braking force of the vehicle when driving on a slope.

[0027] Here, axle slip is a measure of tire slip and friction between the wheels and the road. Specifically, slip reflects the degree of slippage of the tire relative to the road contact point and is usually defined as a percentage of the difference between wheel speed and vehicle speed. During driving and braking, changes in axle slip directly affect tire friction and vehicle traction, which in turn affects the calculation of vertical load.

[0028] Understandably, driving and braking are the two most common dynamic operating conditions of a vehicle. Under these two conditions, the stress conditions on the front and rear axles are very different.

[0029] Specifically, when driving, the driving force output by the vehicle's engine is transmitted to the road through the tires, causing the vehicle to move forward along the road. At this time, the vehicle's longitudinal acceleration works together with factors such as the driving force and the road slope to affect the vertical load distribution of the front and rear axles.

[0030] When braking, the wheels generate a reverse force with the ground through friction, slowing down and eventually stopping. During this process, the longitudinal acceleration and braking force of the vehicle affect the load distribution of the front and rear axles. Especially when braking suddenly, the axle load transfer phenomenon of the vehicle is significant, and the vertical load on the front axle usually increases, while the vertical load on the rear axle decreases.

[0031] It should be noted that in the vehicle dynamics equation when the vehicle is driving and the vehicle dynamics equation when the vehicle is braking, there are only two unknown quantities, the front axle vertical load and the rear axle vertical load, and the other parameters are known quantities. Therefore, the front axle vertical load and the rear axle vertical load can be solved by combining these two vehicle dynamics equations. This method can accurately estimate the front axle vertical load and the rear axle vertical load without relying on complex sensors, thereby providing an accurate basis for braking force distribution, which is especially suitable for commercial vehicles and other heavy-duty vehicles, and improves the accuracy and safety of braking force distribution.

[0032] The whole vehicle dynamics equation when the vehicle is driving and the whole vehicle dynamics equation when the vehicle is braking can be referred to the following embodiments, which will not be elaborated here.

[0033] Step 120: Determine a braking force distribution result of the vehicle based on a ratio of the front axle vertical load to the rear axle vertical load.

[0034] Here, the braking force distribution is determined by the proportion of vertical loads on each axle to determine how to distribute the braking force between the front and rear axles. Ideally, the braking force distribution between the front and rear axles should be proportional to the vertical loads on the front and rear axles.

[0035] For example, if the vertical load on the front axle increases, this usually means that the center of gravity of the vehicle has moved forward, or that the front axle is under greater pressure when the vehicle brakes suddenly. In this case, in order to maintain the stability of the vehicle and prevent the rear axle from losing traction prematurely, the braking force of the front axle should be increased. If the vertical load ratio of the rear axle increases, it usually means that the center of gravity of the vehicle has moved backward, or that the rear axle is under greater pressure. In this case, the braking force of the rear axle will be appropriately increased as needed. Based on the ratio of the vertical load on the front axle to the vertical load on the rear axle, the distribution of the braking force between the front and rear axles can be adjusted in real time to ensure optimal braking performance under different road conditions and working conditions.

[0036] The braking force distribution method provided by the embodiment of the present invention solves the problem of inaccurate axle load estimation and braking force distribution of commercial vehicles under different working conditions through calculation based on the vehicle dynamics equation; based on the dynamic behavior of the vehicle during driving and braking, the vertical loads of the front and rear axles are dynamically solved, and then the braking force is distributed according to the load ratio, thereby improving the braking performance and safety; specifically, during the driving and braking process, the front and rear axles of the vehicle are subjected to different loads. When the vehicle is driving, the slip rate, longitudinal acceleration and road slope force of the front and rear axles jointly determine the vertical loads of the front and rear axles. When the vehicle is driving, the slip rate of the front and rear axles reflects the traction between the tire and the road surface, the longitudinal acceleration reflects the acceleration state of the vehicle, and the road slope force reflects the influence of the road slope on the traction of the vehicle. By combining these parameters with the vehicle dynamics equation, the vertical loads of the front and rear axles can be calculated. Based on the ratio of the vertical load of the front axle and the vertical load of the rear axle, the braking force distribution of each axle can be accurately determined, avoiding the imbalance of braking force caused by inaccurate axle load distribution in the traditional method, thereby effectively improving the braking performance and reducing the safety risks caused by brake failure or imbalance.

[0037] Based on any of the above embodiments, in the method, solving the front axle vertical load and the rear axle vertical load of the vehicle based on the whole vehicle dynamics equation when the vehicle is driving and the whole vehicle dynamics equation when the vehicle is braking includes: Determining a whole vehicle dynamics equation of the vehicle when accelerating based on a whole vehicle dynamics equation of the vehicle when driving and a preset axle load transfer coefficient; Determining a whole vehicle dynamics equation of the vehicle when decelerating based on the whole vehicle dynamics equation of the vehicle when braking and the preset axle load transfer coefficient; Based on the whole vehicle dynamics equation of the vehicle when accelerating and the whole vehicle dynamics equation of the vehicle when decelerating, the front axle vertical load and the rear axle vertical load of the vehicle are determined.

[0038] Here, during the acceleration or deceleration of the vehicle, the center of gravity of the vehicle will move forward and backward, and the vertical loads on the front and rear axles will be transferred. For example, when accelerating, the center of gravity of the vehicle may move backward, resulting in an increase in the load on the rear axle and a decrease in the load on the front axle; when decelerating, the center of gravity moves forward and the load on the front axle increases. The preset axle load transfer coefficient is a preset value used to indicate the degree of center of gravity transfer, and usually needs to be calibrated according to the vehicle model and acceleration and deceleration test data.

[0039] In one embodiment, the preset axle load transfer coefficient may include the axle load transfer coefficient of the front axle and the axle load transfer coefficient of the rear axle; by using the preset axle load transfer coefficient, the vehicle dynamics equation is established for the vehicle when accelerating and decelerating; based on the vehicle dynamics equation when accelerating and decelerating, combined with the axle load transfer coefficient, the vertical load on the front axle and the vertical load on the rear axle of the vehicle are finally calculated. This process takes into account the acceleration and braking conditions of the vehicle, the specific parameters of the vehicle, and the road conditions, making the calculation results more accurate and dynamic.

[0040] For example, the vehicle dynamics equation when accelerating is as follows: ; in, is the vertical load on the front axle, is the vertical load on the rear axle, is the longitudinal acceleration of the vehicle when the vehicle is accelerating, is the rear axle slip rate of the vehicle during acceleration, is the road slope force, g is the acceleration of gravity, K is the linear correlation coefficient, is the axle load transfer coefficient of the rear axle of the vehicle when accelerating.

[0041] For example, the vehicle dynamics equation when the vehicle is decelerating is as follows: ; in, is the vertical load on the front axle, is the vertical load on the rear axle, is the longitudinal acceleration of the vehicle when the vehicle is decelerating, is the front axle slip rate of the vehicle during deceleration, is the rear axle slip rate of the vehicle during deceleration, is the road slope force, g is the acceleration of gravity, K is the linear correlation coefficient, is the axle load transfer coefficient of the front axle of the vehicle when decelerating, is the axle load transfer coefficient of the rear axle of the vehicle when decelerating.

[0042] It should be noted that in the vehicle dynamics equation when the vehicle is accelerating and the vehicle dynamics equation when the vehicle is decelerating, there are only two unknown quantities, the front axle vertical load and the rear axle vertical load, and the other parameters are known quantities. Therefore, the front axle vertical load and the rear axle vertical load can be solved by combining these two vehicle dynamics equations.

[0043] The braking force distribution method provided in the embodiment of the present invention accurately solves the vertical load on the front axle and the vertical load on the rear axle of the vehicle by introducing a preset axle load transfer coefficient into the whole vehicle dynamics equation when driving and the whole vehicle dynamics equation when the vehicle is braking, thereby avoiding the rough estimation of the axle load in the traditional method. This process can not only solve the load in a static state, but also dynamically track the load distribution under different driving conditions, making the braking force distribution more accurate. During the acceleration and deceleration of the vehicle, the loads on the front and rear axles will change. Reasonable estimation of the load distribution on the front and rear axles can ensure the optimal distribution of braking force, especially in the case of uneven load of commercial vehicles and changes in cargo distribution. Accurate axle load estimation can help the system better distribute the braking force and avoid problems such as brake failure and instability caused by uneven load.

[0044] Based on any of the above embodiments, in the method, determining the front axle vertical load and the rear axle vertical load of the vehicle based on the whole vehicle dynamics equation of the vehicle when accelerating and the whole vehicle dynamics equation of the vehicle when decelerating includes: Obtaining a preset axle load transfer test coefficient set, a preset vehicle longitudinal acceleration test set when the vehicle is accelerating, and a preset vehicle longitudinal acceleration test set when the vehicle is decelerating; each vehicle longitudinal acceleration test value in the preset vehicle longitudinal acceleration test set when the vehicle is accelerating and each vehicle longitudinal acceleration test value in the preset vehicle longitudinal acceleration test set when the vehicle is decelerating are opposite numbers to each other; Determine a front axle vertical load test set and a rear axle vertical load test set of the vehicle based on a preset axle load transfer test coefficient set, a preset vehicle longitudinal acceleration test set of the vehicle when accelerating, a preset vehicle longitudinal acceleration test set of the vehicle when decelerating, a whole vehicle dynamics equation of the vehicle when accelerating, and a whole vehicle dynamics equation of the vehicle when decelerating; The front axle vertical load and the rear axle vertical load of the vehicle are determined based on the average value of each front axle vertical load test value in the front axle vertical load test set and the average value of each rear axle vertical load test value in the rear axle vertical load test set.

[0045] Here, the preset axle load transfer test coefficient set is a set of pre-calibrated coefficients used to describe the axle load transfer characteristics of the vehicle during acceleration and deceleration. The axle load transfer coefficients in the preset axle load transfer test coefficient set reflect the load transfer ratio between different axles when the vehicle is accelerating or decelerating. The preset vehicle longitudinal acceleration test set when the vehicle is accelerating refers to a preset data set of the longitudinal acceleration of the vehicle under different acceleration conditions. The preset vehicle longitudinal acceleration test set when the vehicle is decelerating refers to a preset data set of the longitudinal acceleration of the vehicle under different deceleration conditions. The longitudinal acceleration test value of the vehicle when accelerating is positive, while the longitudinal acceleration test value is negative when decelerating.

[0046] In one embodiment, based on the preset axle load transfer test coefficient set, the preset vehicle longitudinal acceleration test set when the vehicle is accelerating, and the preset vehicle longitudinal acceleration test set when the vehicle is decelerating, the vehicle dynamics equation when the vehicle is accelerating and the vehicle dynamics equation when the vehicle is decelerating are substituted to calculate the front axle vertical load test set and the rear axle vertical load test set of the vehicle under different working conditions, which reflects the load change of the front and rear axles of the vehicle during acceleration and deceleration. Further, by calculating the average value of each test value in the front axle vertical load test set, an overall load level, i.e., a representative front axle vertical load, is obtained; by calculating the average value of each test value in the rear axle vertical load test set, an overall load level, i.e., a representative rear axle vertical load, is obtained.

[0047] The braking force distribution method provided by the embodiment of the present invention eliminates the deviation caused by instantaneous changes or single experimental errors by calculating the average value, making the load values ​​of the front and rear axles more stable and accurate. The average value can better reflect the force conditions of the front and rear axles of the vehicle under different working conditions, providing a more reliable data basis for subsequent braking force distribution, stability control, etc.

[0048] Based on any of the above embodiments, in the method, before determining the braking force distribution result of the vehicle based on the ratio of the front axle vertical load to the rear axle vertical load, the method includes: If it is detected that the vehicle stops traveling, the front axle vertical load and the rear axle vertical load are reset to default values.

[0049] It should be understood that when the vehicle stops, the front axle vertical load and rear axle vertical load of the vehicle may lose their original accuracy due to the changes in the load distribution, body posture and other factors of the vehicle when stopped. Therefore, in order to ensure that the accurate front axle vertical load and rear axle vertical load are used in the subsequent braking force distribution process, the front axle vertical load and rear axle vertical load need to be reset to the default value for recalculation.

[0050] After estimating the front axle vertical load and the rear axle vertical load based on the above method, these estimation results can be used to control the braking force distribution. In the electronic braking system (EBS) of commercial vehicles, if the distribution of axle loads is not considered, the braking pressure of the front and rear wheels is usually distributed in a fixed ratio (for example, it may be 50:50 or other fixed ratios). However, after using the estimated front axle vertical load and rear axle vertical load, the braking pressure of the front and rear wheels can be dynamically adjusted according to the distribution ratio of these axle loads as feedforward information, so that the braking force of each axle can be optimally distributed according to the actual load conditions, thereby more effectively exerting the same braking force between the axles.

[0051] On this basis, in order to further improve the accuracy of braking force distribution, the slip rate of the front and rear wheels can also be monitored in real time. When the slip rate deviation of the front and rear axles is detected to gradually accumulate and exceed the set threshold value, in order to correct this deviation, the braking pressure of the axle with a smaller slip rate will be appropriately increased. This can be achieved by multiplying the current braking pressure by a correction factor greater than 1, or directly increasing a fixed value. Through this process, the ultimate goal is to make the slip rate of the front and rear axles tend to be consistent, thereby ensuring a more balanced and optimized braking force distribution effect and improving the driving stability and safety of the vehicle.

[0052] In summary, this method distributes brake pressure in a feedforward manner according to the estimated results of axle load distribution, and combines it with a real-time monitoring strategy of slip rate. On the basis of ensuring the balance of vehicle braking force, it adjusts the slip rate deviation of different axles by correcting the pressure, and finally optimizes the braking force distribution of the front and rear axles, maximizes the braking force output of each axle, and ensures the stability and safety of the vehicle under various working conditions.

[0053] like Figure 2 As shown, based on any of the above embodiments, in this method, the axle slip rate of the vehicle when driving includes the front axle slip rate and the rear axle slip rate, and the whole vehicle dynamics equation of the vehicle when driving is shown as follows: ; in, is the vertical load on the front axle, is the vertical load on the rear axle, is the longitudinal acceleration of the vehicle when the vehicle is driving, is the rear axle slip rate of the vehicle when driving, is the road slope force, g is the acceleration of gravity, and K is the linear correlation coefficient.

[0054] like Figure 2 As shown, based on any of the above embodiments, in the method, the axle slip rate of the vehicle during braking includes the front axle slip rate and the rear axle slip rate, and the whole vehicle dynamics equation of the vehicle during braking is shown as follows: ; in, is the vertical load on the front axle, is the vertical load on the rear axle, is the longitudinal acceleration of the vehicle when braking, is the front axle slip rate of the vehicle during braking, is the rear axle slip rate of the vehicle during braking, is the road slope force, g is the acceleration of gravity, and K is the linear correlation coefficient.

[0055] The braking force distribution device provided by the present invention is described below. The braking force distribution device described below and the braking force distribution method described above can be referred to each other.

[0056] FIG3 is a schematic diagram of the structure of the braking force distribution device provided by the present invention. As shown in FIG3 , the braking force distribution device includes: A load determination module 310, which is used to solve the front axle vertical load and the rear axle vertical load of the vehicle based on the whole vehicle dynamics equation of the vehicle when driving and the whole vehicle dynamics equation of the vehicle when braking; the whole vehicle dynamics equation of the vehicle when driving is determined by the axle slip rate, the longitudinal acceleration of the vehicle and the road gradient force of the vehicle when driving, and the whole vehicle dynamics equation of the vehicle when braking is determined by the axle slip rate, the longitudinal acceleration of the vehicle and the road gradient force of the vehicle when braking; The braking force distribution result determination module 320 is used to determine the braking force distribution result of the vehicle based on the ratio of the front axle vertical load to the rear axle vertical load.

[0057] Figure 4 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 4 As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430 and a communication bus 440, wherein the processor 410, the communication interface 420 and the memory 430 communicate with each other through the communication bus 440. The processor 410 may call the logic instructions in the memory 430 to execute the braking force distribution method, which includes: based on the whole vehicle dynamics equation of the vehicle when driving and the whole vehicle dynamics equation of the vehicle when braking, solving the front axle vertical load and the rear axle vertical load of the vehicle; the whole vehicle dynamics equation of the vehicle when driving is determined by the axle slip rate, the longitudinal acceleration of the vehicle and the road gradient force of the vehicle when driving, and the whole vehicle dynamics equation of the vehicle when braking is determined by the axle slip rate, the longitudinal acceleration of the vehicle and the road gradient force of the vehicle when braking; based on the ratio of the front axle vertical load and the rear axle vertical load, determining the braking force distribution result of the vehicle.

[0058] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0059] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the braking force distribution method provided by the above-mentioned methods, which includes: based on the whole vehicle dynamics equation of the vehicle when driving and the whole vehicle dynamics equation of the vehicle when braking, solving the front axle vertical load and the rear axle vertical load of the vehicle; the whole vehicle dynamics equation of the vehicle when driving is determined by the axle slip rate, the longitudinal acceleration of the vehicle and the road grade force of the vehicle when driving, and the whole vehicle dynamics equation of the vehicle when braking is determined by the axle slip rate, the longitudinal acceleration of the vehicle and the road grade force of the vehicle when braking; based on the ratio of the front axle vertical load and the rear axle vertical load, determining the braking force distribution result of the vehicle.

[0060] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the processor executes the braking force distribution method provided by the above-mentioned methods, the method comprising: solving the front axle vertical load and the rear axle vertical load of the vehicle based on the whole vehicle dynamics equation of the vehicle when driving and the whole vehicle dynamics equation of the vehicle when braking; the whole vehicle dynamics equation of the vehicle when driving is determined by the axle slip rate, the longitudinal acceleration of the vehicle and the road grade force of the vehicle when driving, and the whole vehicle dynamics equation of the vehicle when braking is determined by the axle slip rate, the longitudinal acceleration of the vehicle and the road grade force of the vehicle when braking; and determining the braking force distribution result of the vehicle based on the ratio of the front axle vertical load and the rear axle vertical load.

[0061] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0062] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A braking force distribution method, characterized in that: include: Based on the whole vehicle dynamics equation of the vehicle when driving and the whole vehicle dynamics equation of the vehicle when braking, solving the front axle vertical load and the rear axle vertical load of the vehicle; The whole vehicle dynamics equation of the vehicle when driving is determined by the axle slip rate, the longitudinal acceleration of the vehicle and the road gradient force of the vehicle when driving, and the whole vehicle dynamics equation of the vehicle when braking is determined by the axle slip rate, the longitudinal acceleration of the vehicle and the road gradient force of the vehicle when braking; A braking force distribution result of the vehicle is determined based on a ratio of the front axle vertical load to the rear axle vertical load.

2. The braking force distribution method according to claim 1, characterized in that: The front axle vertical load and the rear axle vertical load of the vehicle are obtained by solving the vehicle dynamics equation when the vehicle is driving and the vehicle dynamics equation when the vehicle is braking, including: Determining a whole vehicle dynamics equation of the vehicle when accelerating based on a whole vehicle dynamics equation of the vehicle when driving and a preset axle load transfer coefficient; Determining a whole vehicle dynamics equation of the vehicle when decelerating based on the whole vehicle dynamics equation of the vehicle when braking and the preset axle load transfer coefficient; Based on the whole vehicle dynamics equation of the vehicle when accelerating and the whole vehicle dynamics equation of the vehicle when decelerating, the front axle vertical load and the rear axle vertical load of the vehicle are determined.

3. The braking force distribution method according to claim 2, characterized in that: The determining of the front axle vertical load and the rear axle vertical load of the vehicle based on the whole vehicle dynamics equation of the vehicle when accelerating and the whole vehicle dynamics equation of the vehicle when decelerating comprises: Obtaining a preset axle load transfer test coefficient set, a preset vehicle longitudinal acceleration test set when the vehicle is accelerating, and a preset vehicle longitudinal acceleration test set when the vehicle is decelerating; each vehicle longitudinal acceleration test value in the preset vehicle longitudinal acceleration test set when the vehicle is accelerating and each vehicle longitudinal acceleration test value in the preset vehicle longitudinal acceleration test set when the vehicle is decelerating are opposite numbers to each other; Determine a front axle vertical load test set and a rear axle vertical load test set of the vehicle based on a preset axle load transfer test coefficient set, a preset vehicle longitudinal acceleration test set of the vehicle when accelerating, a preset vehicle longitudinal acceleration test set of the vehicle when decelerating, a whole vehicle dynamics equation of the vehicle when accelerating, and a whole vehicle dynamics equation of the vehicle when decelerating; The front axle vertical load and the rear axle vertical load of the vehicle are determined based on the average value of each front axle vertical load test value in the front axle vertical load test set and the average value of each rear axle vertical load test value in the rear axle vertical load test set.

4. The braking force distribution method according to claim 1, characterized in that: Before determining the braking force distribution result of the vehicle based on the ratio of the front axle vertical load to the rear axle vertical load, the method includes: If it is detected that the vehicle stops traveling, the front axle vertical load and the rear axle vertical load are reset to default values.

5. The braking force distribution method according to claim 1, characterized in that: The axle slip rate of the vehicle when driving includes the front axle slip rate and the rear axle slip rate. The whole vehicle dynamics equation of the vehicle when driving is shown as follows: ； in, is the vertical load on the front axle, is the vertical load on the rear axle, is the longitudinal acceleration of the vehicle when the vehicle is driving, is the rear axle slip rate of the vehicle when driving, is the road slope force, g is the acceleration of gravity, and K is the linear correlation coefficient.

6. The braking force distribution method according to claim 1, characterized in that: The axle slip rate of the vehicle during braking includes the front axle slip rate and the rear axle slip rate. The whole vehicle dynamics equation of the vehicle during braking is as follows: ； in, is the vertical load on the front axle, is the vertical load on the rear axle, is the longitudinal acceleration of the vehicle when braking, is the front axle slip rate of the vehicle during braking, is the rear axle slip rate of the vehicle during braking, is the road slope force, g is the acceleration of gravity, and K is the linear correlation coefficient.

7. A braking force distribution device, characterized in that: include: A load determination module, which is used to solve the front axle vertical load and the rear axle vertical load of the vehicle based on the whole vehicle dynamics equation of the vehicle when driving and the whole vehicle dynamics equation of the vehicle when braking; the whole vehicle dynamics equation of the vehicle when driving is determined by the axle slip rate, the longitudinal acceleration of the vehicle and the road gradient force of the vehicle when driving, and the whole vehicle dynamics equation of the vehicle when braking is determined by the axle slip rate, the longitudinal acceleration of the vehicle and the road gradient force of the vehicle when braking; A braking force distribution result determination module is used to determine the braking force distribution result of the vehicle based on the ratio of the front axle vertical load to the rear axle vertical load.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the braking force distribution method according to any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the braking force distribution method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the braking force distribution method according to any one of claims 1 to 6 is implemented.

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