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

Abstract

The application provides a brake force distribution method and device, electronic equipment, product and storage medium, and relates to the technical field of vehicle dynamics and control. The method comprises the following steps: obtaining front axle vertical load and rear axle vertical load of a vehicle based on a vehicle dynamics equation of the vehicle during driving and a vehicle dynamics equation of the vehicle during braking; the vehicle dynamics equation of the vehicle during driving is determined by axle slip rate, vehicle longitudinal acceleration and road slope force of the vehicle during driving, and the vehicle dynamics equation of the vehicle during braking is determined by axle slip rate, vehicle longitudinal acceleration and road slope force of the vehicle during braking; and determining a brake force distribution result of the vehicle based on the proportion of the front axle vertical load and the rear axle vertical load. The application can solve the defect that the accuracy of axle load data obtained by the prior art is low, thereby affecting the reasonable distribution of brake force.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle dynamics and control technology, and in particular to a brake force distribution method and device, an electronic device, a product and a storage medium. BACKGROUND

[0002] In the braking system of a commercial vehicle, reasonable brake force distribution is crucial to ensure driving safety and stability. One of the key factors of brake force distribution is axle load, i.e. the vertical load carried by the front and rear axles of the vehicle. Due to the large difference in axle load distribution of commercial vehicles under different loads, driving conditions and road conditions, how to accurately calculate and reasonably distribute brake force has become a major challenge in the design of the braking system. Traditional brake force distribution methods generally obtain actual axle load data based on height sensors or pressure sensors. However, under the influence of factors such as actual road surface and tire wear, it is often difficult to ensure high accuracy in actual use, thereby affecting the reasonable distribution of brake force, which may cause some wheels to be over-braked or under-braked, thereby affecting the stability and safety of the vehicle. SUMMARY

[0003] The present application provides a brake force distribution method, device, electronic device, product and storage medium to solve the problem of low accuracy in obtaining axle load data under the influence of factors such as actual road surface and tire wear in the prior art, thereby affecting the reasonable distribution of brake force, which may cause some wheels to be over-braked or under-braked, thereby affecting the stability and safety of the vehicle.

[0004] The present application provides a brake force distribution method, comprising:

[0005] Based on the vehicle dynamics equation of the vehicle when driving and the 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 vehicle dynamics equation of the vehicle when driving is determined by the axle slip ratio of the vehicle when driving, the vehicle longitudinal acceleration and the road slope force, and the vehicle dynamics equation of the vehicle when braking is determined by the axle slip ratio of the vehicle when braking, the vehicle longitudinal acceleration and the road slope force;

[0006] Based on the proportion of the front axle vertical load and the rear axle vertical load, the brake force distribution result of the vehicle is determined.

[0007] According to the brake force distribution method provided by the present application, the front axle vertical load and the rear axle vertical load of the vehicle are solved based on the vehicle dynamics equation of the vehicle when driving and the vehicle dynamics equation of the vehicle when braking, comprising:

[0008] determine a whole vehicle dynamics equation of the vehicle when accelerating based on the whole vehicle dynamics equation of the vehicle when driving and the preset axle load transfer coefficient;

[0009] determine 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;

[0010] determine 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.

[0011] According to the brake force distribution method provided by the application, the front axle vertical load and the rear axle vertical load of the vehicle are determined based on the whole vehicle dynamics equation of the vehicle when accelerating and the whole vehicle dynamics equation of the vehicle when decelerating, and the method comprises the following steps:

[0012] obtain 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 of each other;

[0013] determine a front axle vertical load test set and a rear axle vertical load test set of the vehicle based on the preset axle load transfer test coefficient set, the preset vehicle longitudinal acceleration test set when the vehicle is accelerating, the preset vehicle longitudinal acceleration test set when the vehicle is decelerating, the whole vehicle dynamics equation of the vehicle when accelerating and the whole vehicle dynamics equation of the vehicle when decelerating;

[0014] determine the front axle vertical load and the rear axle vertical load of the vehicle based on the average of each front axle vertical load test value in the front axle vertical load test set and the average of each rear axle vertical load test value in the rear axle vertical load test set.

[0015] According to the brake force distribution method provided by the application, before determining the brake force distribution result of the vehicle based on the proportion of the front axle vertical load and the rear axle vertical load, the method comprises the following steps:

[0016] if it is detected that the vehicle stops running, the front axle vertical load and the rear axle vertical load are reset to default values.

[0017] According to the brake force distribution method provided by the application, the axle slip rate of the vehicle when driving comprises a front axle slip rate and a rear axle slip rate, and the whole vehicle dynamics equation of the vehicle when driving is as follows:

[0018] ;

[0019] wherein, is the front axle vertical load, is the rear axle vertical load, is the vehicle longitudinal acceleration of the vehicle when driving, is the rear axle slip ratio of the vehicle when driving, is the road slope force, g is the gravity acceleration, and K is a linear correlation coefficient.

[0020] According to the brake force distribution method provided by the application, the axle slip ratio of the vehicle when braking includes a front axle slip ratio and a rear axle slip ratio, and the vehicle dynamics equation of the vehicle when braking is as follows:

[0021] ;

[0022] wherein, is the front axle vertical load, is the rear axle vertical load, is the vehicle longitudinal acceleration of the vehicle when braking, is the front axle slip ratio of the vehicle when braking, is the rear axle slip ratio of the vehicle when braking, is the road slope force, g is the gravity acceleration, and K is a linear correlation coefficient.

[0023] The application further provides a brake force distribution device, which comprises:

[0024] a load determination module, which is used for solving the front axle vertical load and the rear axle vertical load of the vehicle based on a vehicle dynamics equation of the vehicle when driving and a vehicle dynamics equation of the vehicle when braking; the vehicle dynamics equation of the vehicle when driving is determined by the axle slip ratio of the vehicle when driving, the vehicle longitudinal acceleration and the road slope force, and the vehicle dynamics equation of the vehicle when braking is determined by the axle slip ratio of the vehicle when braking, the vehicle longitudinal acceleration and the road slope force;

[0025] a brake force distribution result determination module, which is used for determining the brake force distribution result of the vehicle based on the proportion of the front axle vertical load and the rear axle vertical load.

[0026] The application further provides an electronic device, which comprises a memory, a processor, and a computer program stored in the memory and capable of running on the processor; when the processor executes the computer program, the brake force distribution method of any one of the above is realized.

[0027] The application further provides a non-transitory computer-readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the brake force distribution method.

[0028] The application further provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to implement the brake force distribution method.

[0029] The application provides a brake force distribution method, device, electronic equipment, product and storage medium. The front axle vertical load and the rear axle vertical load of a vehicle are solved based on a whole vehicle dynamics equation of the vehicle when the vehicle is driven and a whole vehicle dynamics equation of the vehicle when the vehicle is braked. The whole vehicle dynamics equation of the vehicle when the vehicle is driven is determined by the axle slip ratio, the vehicle longitudinal acceleration and the road slope force of the vehicle when the vehicle is driven. The whole vehicle dynamics equation of the vehicle when the vehicle is braked is determined by the axle slip ratio, the vehicle longitudinal acceleration and the road slope force of the vehicle when the vehicle is braked. The brake force distribution result of the vehicle is determined based on the proportion of the front axle vertical load and the rear axle vertical load. The axle load estimation and the brake force distribution of the commercial vehicle under different working conditions are solved through the calculation based on the vehicle dynamics equation. The vertical loads of the front axle and the rear axle are dynamically solved based on the dynamics behavior of the vehicle when the vehicle is driven and braked, and then the brake force distribution is performed according to the load proportion, so that the brake performance and safety are improved. Specifically, the loads borne by the front axle and the rear axle of the vehicle are different during the driving and braking processes. When the vehicle is driven, the vertical loads of the front axle and the rear axle are determined by the slip ratio, the longitudinal acceleration and the road slope force of the vehicle. The slip ratio of the front axle and the rear axle of the vehicle when the vehicle is driven reflects the traction force 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 force of the vehicle. The vertical loads of the front axle and the rear axle can be calculated by combining these parameters with the vehicle dynamics equation. The brake force distribution of each axle can be accurately determined based on the proportion of the front axle vertical load and the rear axle vertical load, and the brake force imbalance phenomenon caused by the inaccurate axle load distribution in the traditional method is avoided, so that the brake performance is effectively improved, and the safety risk caused by the brake failure or imbalance is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the application or prior art, the following will briefly introduce the drawings needed in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0031] Figure 1 FIG. 1 is a flowchart of the brake force distribution method provided by the application.

[0032] Figure 2 is a force analysis schematic diagram of the brake force distribution method provided by the application.

[0033] Figure 3 is a structural schematic diagram of the brake force distribution device provided by the application.

[0034] Figure 4 is a structural schematic diagram of the electronic device provided by the application. DETAILED DESCRIPTION

[0035] To make the objectives, technical solutions, and advantages of the present application clearer, the technical solutions in the present application will be described below in conjunction with the accompanying drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0036] With the continuous development of commercial vehicle technology, especially in the braking system, how to achieve accurate brake force distribution according to the load change of the vehicle has become an important research direction to improve the driving safety and braking performance of the vehicle. Especially in commercial vehicles, due to the differences in the position, shape, and weight of the loaded goods, different axle load distributions are caused, thereby bringing great challenges to the reasonable distribution of brake force. Although the existing brake force distribution methods have improved the accuracy of brake force distribution to some extent, there are still many deficiencies, which cannot meet the actual needs of commercial vehicles under different working conditions.

[0037] The applicant of the present application has found through long-term research and practice that in the actual operation process of a commercial vehicle, the distribution of vehicle axle load is not constant, but is affected by factors such as vehicle speed, road conditions, load state, and acceleration and deceleration. The traditional brake force distribution method usually distributes based on a preset axle load ratio or fixed parameters, without fully considering real-time dynamic load changes, resulting in uneven brake force distribution under different working conditions, thereby affecting the braking effect, possibly leading to reduced braking performance of the vehicle, and even dangerous brake failure. Through in-depth research on the vehicle dynamics equation, the applicant realizes that the vertical load of the front and rear axles has a close relationship with brake force distribution, and this relationship is dynamically changed under different driving conditions. The existing technology obtains the axle load information of the vehicle through sensors, however, these methods generally rely on expensive hardware devices such as height sensors and pressure sensors, increasing the manufacturing cost of the vehicle. In addition, part of the technology attempts to calculate the load through the relationship between the tire slip ratio and the axle load, but due to the complexity of commercial vehicles in the driving and braking process, it is often difficult to accurately obtain the brake force, resulting in a large error in the estimated axle load.

[0038] To solve the above problems, the present application provides the following embodiments.

[0039] Figure 1 is a flowchart of the braking force distribution method provided by the present application, as shown in the figure, the method comprises the following: Figure 1

[0040] In step 110, the front axle vertical load and the rear axle vertical load of the vehicle are solved based on the vehicle dynamics equation of the vehicle in driving and the vehicle dynamics equation of the vehicle in braking; the vehicle dynamics equation of the vehicle in driving is determined by the axle slip ratio of the vehicle in driving, the vehicle longitudinal acceleration and the road slope force, and the vehicle dynamics equation of the vehicle in braking is determined by the axle slip ratio of the vehicle in braking, the vehicle longitudinal acceleration and the road slope force.

[0041] Here, the front axle vertical load refers to the force in the vertical direction borne by each wheel of 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 of 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 traction, braking force and stability of the vehicle. Among them, the left and right wheels of the front axle and the left and right wheels of the rear axle are considered uniformly for simplifying calculation.

[0042] Here, the longitudinal acceleration is the acceleration of the vehicle in the driving direction, which is 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, 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, and the size and direction of this force directly affect the driving force and braking force of the vehicle when driving on a slope.

[0043] Here, the axle slip ratio is a measure of the tire slip and the friction between the wheel and the ground. Specifically, the slip ratio reflects the degree of slip of the tire relative to the road contact point, which is usually defined as the percentage of the difference between the wheel speed and the vehicle speed. During driving and braking, the change of the axle slip ratio directly affects the friction of the tire and the traction of the vehicle, thereby affecting the calculation of the vertical load.

[0044] Understandably, driving and braking are the two most common power conditions of a vehicle, and the stress conditions of the front and rear axles are quite different under these two conditions.

[0045] Specifically, when driving, the driving force output by the engine of the vehicle is transmitted to the road through the tire, so that the vehicle moves forward along the road, at this time, the longitudinal acceleration of the vehicle and the driving force, the road slope and other factors jointly act on the vertical load distribution of the front and rear axles.

[0046] ​When braking, the wheels generate a counter force with the ground through friction, decelerate and eventually stop. During this process, the longitudinal acceleration and braking force of the vehicle affect the load distribution of the front and rear axles. In particular, when braking sharply, the phenomenon of axle load transfer of the vehicle is significant, and the vertical load of the front axle usually increases, while the vertical load of the rear axle decreases.

[0047] It should be noted that in the vehicle dynamics equation of the vehicle when driving, and the vehicle dynamics equation when braking, only the front axle vertical load and the rear axle vertical load are unknown, and other parameters are known. Therefore, by solving the two vehicle dynamics equations, the front axle vertical load and the rear axle vertical load can be obtained. This method can accurately estimate the front axle vertical load and the rear axle vertical load without relying on complex sensors, thereby providing accurate basis for brake force distribution, especially for heavy vehicles such as commercial vehicles, improving the accuracy and safety of brake force distribution.

[0048] The vehicle dynamics equation of the vehicle when driving, and the vehicle dynamics equation when braking can be referred to the following embodiments, which will not be described in detail here.

[0049] Step 120, determining the brake force distribution result of the vehicle based on the proportion of the front axle vertical load and the rear axle vertical load.

[0050] Here, the brake force distribution is determined according to the proportion of the vertical load borne by each axle to determine how to distribute the brake force between the front and rear axles. Ideally, the brake force distribution of the front and rear axles should be proportional to the vertical load of the front and rear axles.

[0051] For example, if the front axle vertical load increases, it usually means that the center of gravity of the vehicle moves forward, or the front axle bears more pressure when the vehicle brakes sharply. In this case, in order to maintain the stability of the vehicle and avoid the rear axle losing traction too early, the brake force of the front axle should be increased. If the proportion of the rear axle vertical load increases, it usually means that the center of gravity of the vehicle moves backward, or the rear axle bears more pressure. In this case, the brake force of the rear axle should be appropriately increased as needed. Based on the proportion of the front axle vertical load and the rear axle vertical load, the distribution of the brake 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.

[0052] The brake force distribution method provided by the embodiments of the present application solves the problem of inaccurate axle load estimation and brake force distribution of a commercial vehicle under different working conditions through calculation based on a vehicle dynamics equation; based on the dynamics behavior of the vehicle during driving and braking, the vertical loads of the front and rear axles are dynamically solved, and then brake force distribution is performed according to the load ratio, thereby improving brake performance and safety; specifically, during driving and braking, the loads borne by the front and rear axles of the vehicle are different. When the vehicle is driving, the slip ratio, longitudinal acceleration and road slope force of the front and rear axles jointly determine the vertical loads of the front and rear axles, the slip ratio of the front and rear axles when the vehicle is driving reflects the traction force 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 force 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 to the vertical load of the rear axle, the brake force distribution of each axle can be accurately determined, avoiding the phenomenon of uneven brake force caused by inaccurate axle load distribution in the traditional method, thereby effectively improving the brake performance and reducing the safety risks caused by brake failure or imbalance.

[0053] Based on any one of the above embodiments, in the method, the vehicle dynamics equation of the vehicle during driving and the vehicle dynamics equation of the vehicle during braking are used to solve the vertical load of the front axle and the vertical load of the rear axle of the vehicle, including:

[0054] Based on the vehicle dynamics equation of the vehicle during driving and a preset axle load transfer coefficient, a vehicle dynamics equation of the vehicle during acceleration is determined;

[0055] Based on the vehicle dynamics equation of the vehicle during braking and the preset axle load transfer coefficient, a vehicle dynamics equation of the vehicle during deceleration is determined;

[0056] Based on the vehicle dynamics equation of the vehicle during acceleration and the vehicle dynamics equation of the vehicle during deceleration, the vertical load of the front axle and the vertical load of the rear axle of the vehicle are determined.

[0057] Here, during the acceleration or deceleration of the vehicle, the gravity center of the vehicle moves forward and backward, and the vertical loads borne by the front and rear axles are transferred. For example, during acceleration, the gravity center of the vehicle may move backward, causing the load borne by the rear axle to increase and the load borne by the front axle to decrease; during deceleration, the gravity center moves forward, and the load borne by the front axle increases. The preset axle load transfer coefficient is a preset value for indicating the degree of gravity center transfer, which usually needs to be calibrated according to the test data of the vehicle model and acceleration or deceleration.

[0058] In an embodiment, the preset axle load transfer coefficient can include an axle load transfer coefficient of the front axle and an axle load transfer coefficient of the rear axle; by the preset axle load transfer coefficient, the whole vehicle dynamics equation is established for the vehicle in acceleration and deceleration respectively; based on the whole vehicle dynamics equation in acceleration and deceleration, combined with the axle load transfer coefficient, the front axle vertical load and the rear axle vertical load of the vehicle are finally calculated. The process considers the acceleration and braking conditions of the vehicle, the specific parameters of the vehicle and the road conditions, so that the calculation result is more accurate and dynamic.

[0059] Exemplarily, the whole vehicle dynamics equation of the vehicle in acceleration is as follows:

[0060] ;

[0061] wherein, is the front axle vertical load, is the rear axle vertical load, is the vehicle longitudinal acceleration of the vehicle in acceleration, is the rear axle slip ratio of the vehicle in acceleration, is the road slope force, g is the gravity acceleration, and K is the linear correlation coefficient, is the axle load transfer coefficient of the rear axle of the vehicle in acceleration.

[0062] Exemplarily, the whole vehicle dynamics equation of the vehicle in deceleration is as follows:

[0063] ;

[0064] wherein, is the front axle vertical load, is the rear axle vertical load, is the vehicle longitudinal acceleration of the vehicle in deceleration, is the front axle slip ratio of the vehicle in deceleration, is the rear axle slip ratio of the vehicle in deceleration, is the road slope force, g is the gravity acceleration, and K is the linear correlation coefficient, is the axle load transfer coefficient of the front axle of the vehicle in deceleration, is the axle load transfer coefficient of the rear axle of the vehicle in deceleration.

[0065] It should be noted that in the whole vehicle dynamics equation of the vehicle in acceleration and the whole vehicle dynamics equation of the vehicle in deceleration, only the front axle vertical load and the rear axle vertical load are unknown quantities, and other parameters are known quantities, so the front axle vertical load and the rear axle vertical load can be solved by simultaneously solving the two whole vehicle dynamics equations.

[0066] The brake force distribution method provided by the embodiment of the application introduces a preset axle load transfer coefficient in a vehicle dynamics equation when the vehicle is driving and a vehicle dynamics equation when the vehicle is braking, accurately solves the front axle vertical load and the rear axle vertical load of the vehicle, and avoids 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, so that the brake force distribution is more accurate. During acceleration and deceleration of the vehicle, the load of the front axle and the rear axle changes, and reasonable estimation of the load distribution of the front axle and the rear axle can ensure optimal distribution of the brake force, especially in the case of uneven load of the commercial vehicle, change of the distribution of goods and the like, accurate estimation of the axle load can help the system to better distribute the brake force and avoid brake failure and instability caused by uneven load.

[0067] Based on any of the above embodiments, in the method, 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, and the determination includes:

[0068] 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 are obtained; 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 of each other;

[0069] Based on the preset axle load transfer test coefficient set, the preset vehicle longitudinal acceleration test set when the vehicle is accelerating, 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, a front axle vertical load test set and a rear axle vertical load test set of the vehicle are determined;

[0070] Based on the average of each front axle vertical load test value in the front axle vertical load test set and the average of each rear axle vertical load test value in the rear axle vertical load test set, the front axle vertical load and the rear axle vertical load of the vehicle are determined.

[0071] Here, the preset axle load transfer test coefficient set is a set of pre-calibrated coefficients for describing 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 when decelerating is negative.

[0072] In an 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 front axle vertical load test set and the rear axle vertical load test set of the vehicle under different working conditions can be calculated by substituting into the vehicle dynamics equation when the vehicle is accelerating and the vehicle dynamics equation when the vehicle is decelerating, reflecting the load change of the front and rear axles of the vehicle during acceleration and deceleration. Further, by calculating the average 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 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.

[0073] The brake force distribution method provided by the embodiments of the present application eliminates the deviation caused by instantaneous changes or single experiment errors by calculating the average value, so that the load values of the front and rear axles are more stable and accurate. The average value can better reflect the stress of the front and rear axles of the vehicle under different working conditions, providing a more reliable data basis for subsequent brake force distribution, stability control, etc.

[0074] Based on any of the above embodiments, before determining the brake force distribution result of the vehicle based on the ratio of the front axle vertical load and the rear axle vertical load, the method comprises:

[0075] If it is detected that the vehicle stops running, the front axle vertical load and the rear axle vertical load are reset to default values.

[0076] It should be understood that when the vehicle stops running, the front axle vertical load and the rear axle vertical load of the vehicle may lose their original accuracy due to changes in load distribution, vehicle body posture, etc. Therefore, in order to ensure that accurate front axle vertical load and rear axle vertical load are used in the subsequent brake force distribution process, the front axle vertical load and the rear axle vertical load need to be reset to default values for recalculation.

[0077] After the front axle vertical load and the rear axle vertical load are estimated based on the above method, the estimated results can be used to perform brake force distribution control. In the electronic brake system (EBS) of a commercial vehicle, if the distribution of axle load is not considered, the brake pressures of the front and rear wheels are usually distributed in a fixed ratio (for example, it can be 50:50 or other fixed ratio). However, after the estimated front axle vertical load and the rear axle vertical load are used, the distribution ratio of these axle loads can be used as feedforward information to dynamically adjust the brake pressures of the front and rear wheels, so that the brake force of each axle can be optimally distributed according to the actual load condition, thereby more effectively exerting the same brake force between the axles.

[0078] On this basis, in order to further improve the accuracy of brake force distribution, the slip rates 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 gradually accumulated and exceeds a set threshold value, in order to correct this deviation, the brake pressure of the axle with smaller slip rate can be appropriately increased. This can be achieved by multiplying the current brake pressure by a correction coefficient greater than 1, or directly increasing a fixed value. Through this process, the final goal is to make the slip rates of the front and rear axles consistent, thereby ensuring more balanced and optimized brake force distribution effect, and improving the driving stability and safety of the vehicle.

[0079] In summary, this method feeds forward the distribution of brake pressure according to the estimated results of axle load distribution, and combines the strategy of monitoring the slip rate in real time, on the basis of ensuring the balance of vehicle brake force, by correcting the pressure to adjust the slip rate deviation of different axles, finally realizing the optimization of front and rear axle brake force distribution, maximizing the brake force output of each axle, and ensuring the stability and safety of the vehicle under various working conditions.

[0080] As shown in Figure 2 , based on any of the above embodiments, in the method, the axle slip rate of the vehicle during driving includes a front axle slip rate and a rear axle slip rate, and the vehicle dynamics equation of the vehicle during driving is as follows:

[0081] ;

[0082] wherein, is the front axle vertical load, is the rear axle vertical load, is the vehicle longitudinal acceleration of the vehicle during driving, is the rear axle slip rate of the vehicle during driving, is the road slope force, g is the acceleration of gravity, and K is a linear correlation coefficient.

[0083] As shown in Figure 2As shown, based on any of the above embodiments, in the method, the axle slip ratio of the vehicle when braking includes a front axle slip ratio and a rear axle slip ratio, and the vehicle dynamics equation of the vehicle when braking is as follows:

[0084] ;

[0085] wherein, is the front axle vertical load, is the rear axle vertical load, is the vehicle longitudinal acceleration of the vehicle when braking, is the front axle slip ratio of the vehicle when braking, is the rear axle slip ratio of the vehicle when braking, is the road slope force, g is the gravity acceleration, and K is a linear correlation coefficient.

[0086] The braking force distribution device provided by the present application is described below, and the braking force distribution device described below can be referred to in correspondence with the braking force distribution method described above.

[0087] FIG. 3 is a structural schematic diagram of the braking force distribution device provided by the present application, as shown in FIG. 3, the braking force distribution device comprises:

[0088] a load determination module 310, configured to obtain the front axle vertical load and the rear axle vertical load of the vehicle based on a vehicle dynamics equation of the vehicle when driving and a vehicle dynamics equation of the vehicle when braking; the vehicle dynamics equation of the vehicle when driving is determined by the axle slip ratio of the vehicle when driving, the vehicle longitudinal acceleration, and the road slope force, and the vehicle dynamics equation of the vehicle when braking is determined by the axle slip ratio of the vehicle when braking, the vehicle longitudinal acceleration, and the road slope force;

[0089] a braking force distribution result determination module 320, configured to determine the braking force distribution result of the vehicle based on the proportion of the front axle vertical load and the rear axle vertical load.

[0090] Figure 4 An example of an entity structure schematic diagram of an electronic device is shown as Figure 4As shown, the electronic device can include a processor 410, a communications interface 420, a memory 430, and a communications bus 440, wherein the processor 410, the communications interface 420, and the memory 430 communicate with each other through the communications bus 440. The processor 410 can invoke a logical instruction in the memory 430 to execute a braking force distribution method, which includes: based on a vehicle dynamics equation of the vehicle when driving and a vehicle dynamics equation of the vehicle when braking, solving the front axle vertical load and the rear axle vertical load of the vehicle; the vehicle dynamics equation of the vehicle when driving is determined by the axle slip ratio of the vehicle when driving, the vehicle longitudinal acceleration, and the road slope force, and the vehicle dynamics equation of the vehicle when braking is determined by the axle slip ratio of the vehicle when braking, the vehicle longitudinal acceleration, and the road slope force; based on the proportion of the front axle vertical load and the rear axle vertical load, determining the braking force distribution result of the vehicle.

[0091] In addition, the logical instruction in the memory 430 described above can be realized in the form of a software functional unit and sold or used as an independent product, which can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various program code storage media.

[0092] In another aspect, the present application also provides a computer program product, which comprises a computer program, the computer program being stored in a non-transitory computer readable storage medium, and the computer program being executable by a processor to cause a computer to execute the method for distributing brake force provided by any of the above methods, the method comprising: solving a front axle vertical load and a rear axle vertical load of a vehicle based on a vehicle dynamics equation of the vehicle when driving and a vehicle dynamics equation of the vehicle when braking; the vehicle dynamics equation of the vehicle when driving being determined by a wheel slip ratio of the vehicle when driving, a vehicle longitudinal acceleration and a road slope force, and the vehicle dynamics equation of the vehicle when braking being determined by a wheel slip ratio of the vehicle when braking, a vehicle longitudinal acceleration and a road slope force; determining a brake force distribution result of the vehicle based on a ratio of the front axle vertical load and the rear axle vertical load.

[0093] In yet another aspect, the present application also provides a non-transitory computer readable storage medium, which stores a computer program, the computer program being executable by a processor to cause a computer to execute the method for distributing brake force provided by any of the above methods, the method comprising: solving a front axle vertical load and a rear axle vertical load of a vehicle based on a vehicle dynamics equation of the vehicle when driving and a vehicle dynamics equation of the vehicle when braking; the vehicle dynamics equation of the vehicle when driving being determined by a wheel slip ratio of the vehicle when driving, a vehicle longitudinal acceleration and a road slope force, and the vehicle dynamics equation of the vehicle when braking being determined by a wheel slip ratio of the vehicle when braking, a vehicle longitudinal acceleration and a road slope force; determining a brake force distribution result of the vehicle based on a ratio of the front axle vertical load and the rear axle vertical load.

[0094] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the present embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0095] Those skilled in the art can clearly understand the technical solutions of the various embodiments from the above description of the embodiments, and the various embodiments can be implemented by means of software with the necessary general hardware platforms, and of course, can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part of the prior art that makes a contribution, can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, and the like, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0096] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features therein; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A brake force distribution method characterized by, The method comprises: 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 a whole vehicle dynamics equation of the vehicle when braking and the preset axle load transfer coefficient; 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 reciprocal numbers of each other; determining a front axle vertical load test set and a rear axle vertical load test set of the vehicle based on the preset axle load transfer test coefficient set, the preset vehicle longitudinal acceleration test set when the vehicle is accelerating, the preset vehicle longitudinal acceleration test set when the vehicle is decelerating, the whole vehicle dynamics equation of the vehicle when accelerating, and the whole vehicle dynamics equation of the vehicle when decelerating; determining a front axle vertical load and a rear axle vertical load of the vehicle based on an average value of each front axle vertical load test value in the front axle vertical load test set and an average value of each rear axle vertical load test value in the rear axle vertical load test set, respectively; the whole vehicle dynamics equation of the vehicle when driving is determined by a wheel slip ratio of the vehicle when driving, a vehicle longitudinal acceleration, and a road slope force, and the whole vehicle dynamics equation of the vehicle when braking is determined by a wheel slip ratio of the vehicle when braking, a vehicle longitudinal acceleration, and a road slope force; determining a braking force distribution result of the vehicle based on a proportion of the front axle vertical load and the rear axle vertical load.

2. The brake force distribution method according to claim 1, characterized by, Before determining the braking force distribution result of the vehicle based on the proportion of the front axle vertical load and the rear axle vertical load, the method comprises: if it is detected that the vehicle stops running, resetting the front axle vertical load and the rear axle vertical load to default values.

3. The brake force distribution method according to claim 1, characterized by, the wheel slip ratio of the vehicle when driving comprises a front axle slip ratio and a rear axle slip ratio, and the whole vehicle dynamics equation of the vehicle when driving is as follows: ； wherein, is the front axle vertical load, is the rear axle vertical load, is the vehicle longitudinal acceleration of the vehicle when driving, is the rear axle slip ratio of the vehicle when driving, is the road slope force, g is the gravitational acceleration, and K is a linear correlation coefficient.

4. The brake force distribution method according to claim 1, characterized by, the wheel slip ratio of the vehicle when braking comprises a front axle slip ratio and a rear axle slip ratio, and the whole vehicle dynamics equation of the vehicle when braking is as follows: ； wherein, is the front axle vertical load, is the rear axle vertical load, is the vehicle longitudinal acceleration of the vehicle when braking, is the front axle slip ratio of the vehicle when braking, is the rear axle slip ratio of the vehicle when braking, is the road slope force, g is the gravitational acceleration, and K is a linear correlation coefficient.

5. A brake force distribution device characterized by comprising: The method comprises: a load determination module configured to determine 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; determine a whole vehicle dynamics equation of the vehicle when decelerating based on a whole vehicle dynamics equation of the vehicle when braking and the preset axle load transfer coefficient; acquire 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 to each other; determine a front axle vertical load test set and a rear axle vertical load test set of the vehicle based on the preset axle load transfer test coefficient set, the preset vehicle longitudinal acceleration test set when the vehicle is accelerating, the preset vehicle longitudinal acceleration test set when the vehicle is decelerating, a vehicle dynamics equation when the vehicle is accelerating, and a vehicle dynamics equation when the vehicle is decelerating; determine the front axle vertical load and the rear axle vertical load of the vehicle based on an average of each front axle vertical load test value in the front axle vertical load test set and an average of each rear axle vertical load test value in the rear axle vertical load test set, respectively; the vehicle dynamics equation when the vehicle is driving is determined by the axle slip ratio, the vehicle longitudinal acceleration and the road slope force when the vehicle is driving, and the vehicle dynamics equation when the vehicle is braking is determined by the axle slip ratio, the vehicle longitudinal acceleration and the road slope force when the vehicle is braking; a braking force distribution result determination module configured to determine a braking force distribution result of the vehicle based on a proportion of the front axle vertical load and the rear axle vertical load.

6. An electronic device comprising a memory, a processor, and a computer program stored on the memory and running on the processor, characterized in that, The processor executes the computer program to realize the braking force distribution method of any one of claims 1 to 4.

7. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the braking force distribution method of any one of claims 1 to 4.

8. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to realize the braking force distribution method of any one of claims 1 to 4. The computer program is executed by the processor to realize the braking force distribution method of any one of claims 1 to 4.

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