Braking torque distribution method and device of vehicle and storage medium

Abstract

The invention discloses a distribution method and device for braking torque of a vehicle and a storage medium, and belongs to the technical field of vehicle control. The method comprises the following steps: determining a target brake torque according to a pedal travel of a brake pedal of a vehicle; when the vehicle meets the electro-hydraulic braking condition, torque is distributed to a motor and a hydraulic braking system according to the target braking torque to obtain respective distributed torque, the vehicle is braked according to the respective distributed torque to obtain the actual braking torque of the vehicle, and the vehicle is braked according to the target braking torque and the actual braking torque. And the actual hydraulic braking torque of the hydraulic braking system is adjusted so that the actual braking torque can be equal to the target braking torque. When the driving motor and the hydraulic braking system jointly provide the braking force of the vehicle, the flexibility of the braking relation between electric braking and hydraulic braking is guaranteed, the electric braking force corresponding to the motor and the hydraulic braking force provided by the hydraulic braking system can be distributed in a coordinated mode, and the accuracy of vehicle braking force control is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method, device and storage medium for distributing braking torque of a vehicle. Background Art

[0002] With the rapid development of new energy vehicles, various braking systems have been widely used. At present, the main braking system is the wire-controlled decoupling braking system, which mainly includes: a drive motor, a hydraulic braking system and a communication system for signal transmission. The drive motor and the hydraulic braking system can jointly provide braking force for the vehicle, thereby realizing the electro-hydraulic coordinated control of the vehicle.

[0003] When the driving motor and the hydraulic brake system jointly provide braking force, it is necessary to distribute the hydraulic braking force provided by the hydraulic brake system and the electric braking force provided by the driving motor, so as to achieve coordinated cooperation between electric braking and hydraulic braking.

[0004] Based on this, how to coordinate and distribute the electric braking force and hydraulic braking force corresponding to the drive motor has become an urgent problem to be solved. Summary of the invention

[0005] The present application provides a method and device for distributing braking torque of a vehicle, i.e., a storage medium, which can coordinate and distribute the electric braking force and hydraulic braking force corresponding to the driving motor to improve the accuracy of the braking force control of the vehicle. The technical solution is as follows:

[0006] In one aspect, a method for distributing braking torque of a vehicle is provided, the method comprising:

[0007] determining a target braking torque according to a pedal travel of a brake pedal of the vehicle;

[0008] When the vehicle meets the electro-hydraulic braking condition, torque is distributed to the drive motor and the hydraulic brake system according to the target braking torque to obtain a target feedback torque for the drive motor to brake the vehicle and a target hydraulic braking torque for the hydraulic brake system to brake the vehicle;

[0009] Acquiring an actual braking torque of the vehicle, where the actual braking torque is generated by the driving motor braking the vehicle according to the target hydraulic braking torque and the hydraulic braking system braking the vehicle according to the target hydraulic braking torque;

[0010] The actual hydraulic braking torque of the hydraulic braking system is adjusted according to the target braking torque and the actual braking torque so that the actual braking torque is equal to the target braking torque.

[0011] Optionally, the target hydraulic braking torque is the product of a torque distribution coefficient and a corresponding hydraulic pressure of the hydraulic braking system; and adjusting the actual hydraulic braking torque of the hydraulic braking system according to the target braking torque and the actual braking torque includes:

[0012] According to the target braking torque and the actual braking torque, the current torque distribution coefficient is adjusted to obtain the target torque distribution coefficient;

[0013] determining a target hydraulic pressure of the hydraulic pressure according to the target torque distribution coefficient and the target hydraulic brake torque;

[0014] The hydraulic brake system is controlled to brake the vehicle at a first hydraulic brake torque corresponding to the target hydraulic pressure, so as to adjust an actual hydraulic brake torque of the hydraulic brake system.

[0015] Optionally, adjusting the current torque distribution coefficient according to the target braking torque and the actual braking torque to obtain the target torque distribution coefficient includes:

[0016] When the target braking torque is greater than the actual braking torque, reducing the current torque distribution coefficient by a preset value to obtain the target torque distribution coefficient;

[0017] When the target braking torque is less than the actual braking torque, the current torque distribution coefficient is increased by a preset value to obtain the target torque distribution coefficient.

[0018] Optionally, adjusting the current torque distribution coefficient according to the target braking torque and the actual braking torque to obtain the target torque distribution coefficient includes:

[0019] determining a first difference between the actual braking torque and the target braking torque;

[0020] determining a torque adjustment value corresponding to the current torque distribution coefficient according to the first difference and the current hydraulic pressure;

[0021] The current torque distribution coefficient is adjusted according to the torque adjustment value to obtain the target torque distribution coefficient.

[0022] Optionally, obtaining the actual braking torque of the vehicle includes:

[0023] Obtaining the deceleration, wheel radius and mass of the vehicle;

[0024] The actual braking torque of the vehicle is determined based on the deceleration of the vehicle, the wheel radius, and the mass of the vehicle.

[0025] Optionally, determining the target braking torque according to a pedal stroke of a brake pedal of the vehicle includes:

[0026] Determining a hydraulic pressure corresponding to the hydraulic brake system according to the pedal stroke;

[0027] The braking torque corresponding to the pedal stroke is determined according to the hydraulic pressure and is used as the target braking torque.

[0028] Optionally, the electro-hydraulic braking conditions include:

[0029] The state of charge of the power battery is less than a first threshold and the vehicle speed is greater than a second threshold.

[0030] In another aspect, a braking torque distribution device for a vehicle is provided, the device comprising:

[0031] a determination module, configured to determine a target braking torque according to a pedal stroke of a brake pedal of the vehicle;

[0032] a distribution module, configured to distribute torque to a drive motor and a hydraulic brake system according to the target braking torque when the vehicle meets an electro-hydraulic braking condition, so as to obtain a target feedback torque for braking the vehicle by the drive motor and a target hydraulic braking torque for braking the vehicle by the hydraulic brake system;

[0033] an acquisition module, configured to acquire an actual braking torque of the vehicle, wherein the actual braking torque is generated by the driving motor braking the vehicle according to the target hydraulic braking torque and the hydraulic braking system braking the vehicle according to the target hydraulic braking torque;

[0034] The adjustment module is used to adjust the actual hydraulic braking torque of the hydraulic braking system according to the target braking torque and the actual braking torque, so that the actual braking torque is equal to the target braking torque.

[0035] Optionally, the target hydraulic braking torque is the product of a torque distribution coefficient and a corresponding hydraulic pressure of the hydraulic braking system; the adjustment module comprises:

[0036] an adjusting submodule, configured to adjust a current torque distribution coefficient according to the target braking torque and the actual braking torque to obtain a target torque distribution coefficient;

[0037] a first determination submodule, configured to determine a target hydraulic pressure of the hydraulic pressure according to the target torque distribution coefficient and the target hydraulic braking torque;

[0038] The control submodule is used to control the hydraulic brake system to brake the vehicle with the target hydraulic pressure corresponding to the first hydraulic brake torque, so as to adjust the actual hydraulic brake torque of the hydraulic brake system.

[0039] Optionally, adjust submodules, including:

[0040] A first allocation unit, configured to reduce the current torque allocation coefficient by a preset value to obtain the target torque allocation coefficient when the target braking torque is greater than the actual braking torque;

[0041] The second allocation unit is used to increase the current torque allocation coefficient by a preset value to obtain the target torque allocation coefficient when the target braking torque is less than the actual braking torque.

[0042] Optionally, the adjustment submodule includes:

[0043] a first determining unit, configured to determine a first difference between the actual braking torque and the target braking torque;

[0044] a second determining unit, configured to determine a torque adjustment value corresponding to the current torque distribution coefficient according to the first difference and the current hydraulic pressure;

[0045] The adjustment unit is used to adjust the current torque distribution coefficient according to the torque adjustment value to obtain the target torque distribution coefficient.

[0046] Optionally, the acquisition module includes:

[0047] An acquisition submodule, used to acquire the deceleration, wheel radius and mass of the vehicle;

[0048] The second determination submodule is used to determine the actual braking torque of the vehicle according to the deceleration of the vehicle, the wheel radius and the mass of the vehicle.

[0049] Optionally, the determining module includes:

[0050] A third determination submodule, configured to determine a hydraulic pressure corresponding to the hydraulic brake system according to the pedal stroke;

[0051] The fourth determination submodule is used to determine the braking torque corresponding to the pedal stroke according to the hydraulic pressure, and use the braking torque as the target braking torque.

[0052] Optionally, the electro-hydraulic braking conditions include:

[0053] The state of charge of the power battery is less than a first threshold and the vehicle speed is greater than a second threshold.

[0054] On the other hand, an electronic device is provided, which includes a processor and a memory, wherein the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the operations performed by the vehicle braking torque distribution method described in the above aspect.

[0055] On the other hand, a computer storage medium is provided, in which at least one instruction is stored, and the instruction is loaded and executed by a processor to implement the operations performed by the vehicle braking torque distribution method described in the above aspect.

[0056] The beneficial effects of the technical solution provided by this application include at least:

[0057] The present application provides a method for distributing braking torque of a vehicle, wherein a target braking torque is determined according to a pedal stroke of a brake pedal of the vehicle; when the vehicle meets the electro-hydraulic braking condition, torque is distributed to a driving motor and a hydraulic braking system according to the target braking torque, and respective torques are obtained; the vehicle is braked according to respective torques to obtain the actual braking torque of the vehicle; and the actual hydraulic braking torque of the hydraulic braking system is adjusted according to the target braking torque and the actual braking torque, so that the actual braking torque is equal to the target braking torque. In this way, when the driving motor and the hydraulic braking system jointly provide the braking force of the vehicle, if the actual braking torque of the vehicle cannot meet the braking demand, hydraulic braking can be used for compensation, so that the actual braking torque is equal to the target braking torque, thereby ensuring the flexibility of the braking relationship between electric braking and hydraulic braking, so that the electric braking force corresponding to the driving motor and the hydraulic braking force provided by the hydraulic braking system can be coordinated and distributed, so as to improve the accuracy of the control of the braking force of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0059] Figure 1 is a flow chart of a vehicle braking torque distribution method provided in an embodiment of the present application;

[0060] Figure 2 is a flow chart of another method for distributing braking torque of a vehicle provided in an embodiment of the present application;

[0061] Figure 3 is a schematic diagram of the corresponding relationship between the pedal stroke and the hydraulic pressure provided in an embodiment of the present application;

[0062] Figure 4is a flow chart for obtaining a target torque distribution coefficient provided in an embodiment of the present application;

[0063] Figure 5 It is a structural schematic diagram of a vehicle braking torque distribution device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0064] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0065] Figure 1 is a flow chart of a method for distributing braking torque of a vehicle provided in an embodiment of the present application, which method can be applied to a controller in a vehicle. Figure 1 , the method comprises the following steps.

[0066] Step 101 : determining a target braking torque according to a pedal stroke of a brake pedal of a vehicle.

[0067] Step 102, when the vehicle meets the electro-hydraulic braking condition, torque is distributed to the drive motor and the hydraulic brake system according to the target braking torque, so as to obtain a target feedback torque for the drive motor to brake the vehicle and a target hydraulic braking torque for the hydraulic brake system to brake the vehicle;

[0068] Step 103 : acquiring an actual braking torque of the vehicle, where the actual braking torque is generated by the driving motor braking the vehicle according to the target hydraulic braking torque and the hydraulic braking system braking the vehicle according to the target hydraulic braking torque.

[0069] Step 104 : adjusting the actual hydraulic braking torque of the hydraulic braking system according to the target braking torque and the actual braking torque so that the actual braking torque is equal to the target braking torque.

[0070] The present application provides a method for distributing braking torque of a vehicle, wherein a target braking torque is determined according to a pedal stroke of a brake pedal of the vehicle; when the vehicle meets the electro-hydraulic braking condition, torque is distributed to a driving motor and a hydraulic braking system according to the target braking torque, and respective torques are obtained; the vehicle is braked according to respective torques to obtain the actual braking torque of the vehicle; and the actual hydraulic braking torque of the hydraulic braking system is adjusted according to the target braking torque and the actual braking torque, so that the actual braking torque is equal to the target braking torque. In this way, when the driving motor and the hydraulic braking system jointly provide the braking force of the vehicle, if the actual braking torque of the vehicle cannot meet the braking demand, hydraulic braking can be used for compensation, so that the actual braking torque is equal to the target braking torque, thereby ensuring the flexibility of the braking relationship between electric braking and hydraulic braking, so that the electric braking force corresponding to the driving motor and the hydraulic braking force provided by the hydraulic braking system can be coordinated and distributed, so as to improve the accuracy of the control of the braking force of the vehicle.

[0071] Figure 2 is a flow chart of another method for distributing braking torque of a vehicle provided in an embodiment of the present application, which method can be applied to a controller in a vehicle. Figure 2 , the method comprises the following steps.

[0072] Step 201 , determining the hydraulic pressure corresponding to the hydraulic brake system according to the pedal stroke of the vehicle's brake pedal.

[0073] Among them, hydraulic pressure refers to the pressure exerted on the brake fluid in the hydraulic brake system. The hydraulic brake system provides braking force to the vehicle through the pressure transmission of the brake fluid and the coordinated action of various components, thereby controlling the vehicle's braking.

[0074] In one embodiment of the present application, determining the hydraulic pressure corresponding to the hydraulic brake system according to the pedal stroke of the vehicle's brake pedal comprises: querying the hydraulic pressure corresponding to the pedal stroke according to a preset correspondence between the pedal stroke and the hydraulic pressure. Figure 3 A correspondence between pedal stroke and hydraulic pressure is provided. By querying the correspondence through the pedal stroke, the size of the hydraulic pressure can be obtained.

[0075] Among them, the pedal travel can be obtained by a brake pedal position sensor.

[0076] Step 202: Determine the braking torque corresponding to the pedal stroke according to the hydraulic pressure and use it as the target braking torque.

[0077] In one embodiment of the present application, the braking torque corresponding to the hydraulic pressure is queried according to a preset correspondence relationship between the hydraulic pressure and the braking torque.

[0078] In another embodiment of the present application, the corresponding hydraulic braking force is determined based on the hydraulic pressure, and the product of the hydraulic braking force and the roller radius of the vehicle is determined as the target braking torque.

[0079] Among them, the hydraulic braking force corresponding to the hydraulic pressure can be determined through the corresponding relationship between the hydraulic pressure and the hydraulic braking force, and the hydraulic braking force can also be calculated by the following formula. Among them, the formula is as follows:

[0080]

[0081] Among them, P is the hydraulic pressure, R is the roller radius, μ is the friction coefficient, d1 is the front wheel brake cylinder diameter, d2 is the rear wheel brake cylinder diameter, and T1 is the hydraulic braking force.

[0082] Hydraulic pressure in this application refers to the pressure in the pipeline.

[0083] Step 203, when the vehicle meets the electro-hydraulic braking condition, torque is allocated to the drive motor and the hydraulic brake system according to the target braking torque to obtain the target feedback torque of the drive motor for braking the vehicle and the target hydraulic braking torque of the hydraulic brake system for braking the vehicle.

[0084] It should be noted that when the vehicle's drive motor is not capable, pure hydraulic braking is used; when the drive motor is capable, electric braking and hydraulic braking are required to coordinate to complete braking. Whether the drive motor is capable is determined by meeting the electro-hydraulic braking conditions. If the electro-hydraulic braking conditions are met, the drive motor is considered to be capable; if the electro-hydraulic braking conditions are not met, the drive motor is considered to be incapable.

[0085] In one embodiment of the present application, the electro-hydraulic braking condition includes: the state of charge of the power battery is less than a first threshold and the vehicle speed is greater than a second threshold. Exemplarily, the state of charge of the power battery can be between 0% and 90%, and the vehicle speed is above 20 km / h.

[0086] In one embodiment of the present application, the target hydraulic braking torque is obtained by subtracting the target feedback torque from the target braking torque, wherein the target feedback torque refers to the torque corresponding to the electric braking to be provided by the motor during the deceleration process.

[0087] The motor generates braking torque through energy recovery as the target feedback torque. The target feedback torque is obtained by determining the maximum energy recovery torque of the motor and multiplying the maximum energy recovery torque of the motor by the transmission ratio. The transmission ratio refers to the proportional relationship between the output torque and the input torque of the motor.

[0088] Step 204, obtaining the vehicle's deceleration, wheel radius, and vehicle mass.

[0089] In the embodiment of the present application, the deceleration of the vehicle is collected by a deceleration sensor, and the wheel radius may be the above-mentioned roller radius.

[0090] Step 205 , determining the actual braking torque of the vehicle according to the deceleration of the vehicle, the wheel radius and the mass of the vehicle.

[0091] Among them, the actual braking torque is generated by the driving motor braking the vehicle according to the target hydraulic braking torque and the hydraulic braking system braking the vehicle according to the target hydraulic braking torque; the actual braking torque refers to the braking torque actually generated by the motor and the hydraulic braking system when the vehicle is decelerating.

[0092] It should be noted that, through step 203, the corresponding torques are allocated to the drive motor and the hydraulic brake system, but considering that there will be an error between the actual braking torque obtained when executing the braking torque command and the target braking torque, the actual hydraulic braking torque of the hydraulic brake system is adjusted to compensate, so that the vehicle can achieve the expected braking effect. The specific adjustment steps can be seen in the following steps 206-208.

[0093] In an embodiment of the present application, the product of the deceleration of the vehicle, the wheel radius and the mass of the vehicle is taken as the actual braking torque of the vehicle.

[0094] Step 206 , adjusting the current torque distribution coefficient according to the target braking torque and the actual braking torque to obtain the target torque distribution coefficient.

[0095] In the embodiment of the present application, the target hydraulic braking torque is the product of the torque distribution coefficient and the hydraulic pressure corresponding to the hydraulic braking system; when the torque distribution coefficient is determined to be the target torque distribution coefficient, the hydraulic pressure can be determined.

[0096] The target torque distribution coefficient is the torque under unit hydraulic pressure.

[0097] It should be noted that if the current torque distribution coefficient is the torque distribution coefficient corresponding to the initial state, the torque distribution coefficient is pre-set; if the current torque distribution coefficient is not the torque distribution coefficient corresponding to the initial state, the current torque distribution coefficient is the torque distribution coefficient obtained by the last adjustment.

[0098] In one embodiment of the present application, the current torque distribution coefficient is adjusted according to the target braking torque and the actual braking torque to obtain the target torque distribution coefficient, including: when the target braking torque is greater than the actual braking torque, reducing the current torque distribution coefficient by a preset value to obtain the target torque distribution coefficient; when the target braking torque is less than the actual braking torque, increasing the current torque distribution coefficient by a preset value to obtain the target torque distribution coefficient.

[0099] The preset value is pre-set, and the value of the preset value can be set according to actual conditions. For example, the preset value can be 1.

[0100] It should be noted that since the target hydraulic braking torque is the product of the torque distribution coefficient and the corresponding hydraulic pressure of the hydraulic braking system, if the current torque distribution coefficient decreases, the hydraulic pressure will increase, so that the hydraulic braking torque actually generated by the hydraulic braking system will increase; if the current torque distribution coefficient increases, the hydraulic pressure will decrease, so that the hydraulic braking torque actually generated by the hydraulic braking system will decrease. This adjustment makes the actual braking torque close to the target braking torque until the actual braking torque is equal to the target braking torque.

[0101] It should be noted that in the process of electro-hydraulic cooperation, the braking torque output by each electric brake can be used as a fixed value, and the hydraulic braking torque corresponding to the hydraulic part can be given by the electro-hydraulic coordination system. The key influencing factor of the hydraulic torque is the torque distribution coefficient. If the torque distribution coefficient is a fixed value, and the output braking torque is only a theoretical torque, it cannot be adjusted with changes in the environment and vehicle status, resulting in the deceleration at the same brake pedal depth. For example, each time the driver brakes, the depth of the brake pedal is consistent, but the obtained braking deceleration is not consistent, which will cause a deviation between the braking effect and the expected braking effect. Based on this, according to the target braking torque and the actual braking torque, the current torque distribution coefficient is adjusted to obtain the target torque distribution coefficient, so that the target torque distribution coefficient can be adjusted to achieve a consistent deceleration output.

[0102] like Figure 4 As shown, the current torque distribution coefficient is adjusted according to the target braking torque and the actual braking torque to obtain the target torque distribution coefficient, including the following steps 2061-2063:

[0103] Step 2061: Determine a first difference between the actual braking torque and the target braking torque.

[0104] It should be noted that the first difference is a difference obtained by subtracting the target braking torque from the actual braking torque.

[0105] Step 2062: Determine the torque adjustment value corresponding to the current torque distribution coefficient according to the first difference and the current hydraulic pressure.

[0106] In the embodiment of the present application, the first difference is divided by the current hydraulic pressure to obtain the torque adjustment value.

[0107] Step 2063, adjusting the current torque distribution coefficient according to the torque adjustment value to obtain the target torque distribution coefficient.

[0108] In an embodiment of the present application, the target torque distribution coefficient is obtained by adding the current torque distribution coefficient to the torque adjustment value.

[0109] Step 207 : determining a target hydraulic pressure according to the target torque distribution coefficient and the target hydraulic braking torque.

[0110] In one embodiment of the present application, the target hydraulic pressure is obtained by dividing the target hydraulic braking torque by the target torque distribution coefficient.

[0111] Step 208 : Controlling the hydraulic brake system to brake the vehicle with a first hydraulic brake torque corresponding to the target hydraulic pressure, so as to adjust the actual hydraulic brake torque of the hydraulic brake system.

[0112] It should be noted that the actual hydraulic braking torque output by the hydraulic braking system is adjusted by adjusting the current hydraulic pressure so that the actual braking torque is equal to the target braking torque.

[0113] The present application provides a method for distributing braking torque of a vehicle, wherein a target braking torque is determined according to a pedal stroke of a brake pedal of the vehicle; when the vehicle meets the electro-hydraulic braking condition, torque is distributed to the motor and the hydraulic brake system according to the target braking torque to obtain the torques respectively distributed, the vehicle is braked according to the torques respectively distributed to obtain the actual braking torque of the vehicle, and the actual hydraulic braking torque of the hydraulic brake system is adjusted according to the target braking torque and the actual braking torque to make the actual braking torque equal to the target braking torque. In this way, when the motor and the hydraulic brake system jointly provide the braking force of the vehicle, if the actual braking torque of the vehicle cannot meet the braking demand, hydraulic braking can be used for compensation to make the actual braking torque equal to the target braking torque, thereby ensuring the flexibility of the braking relationship between the electric brake and the hydraulic brake, so that the electric braking force corresponding to the motor and the hydraulic braking force provided by the hydraulic brake system can be coordinated and distributed to improve the accuracy of the vehicle braking force control.

[0114] Figure 5 A braking torque distribution device for a vehicle provided in an embodiment of the present application is as follows: Figure 5 As shown, the device comprises:

[0115] A determination module 501, configured to determine a target braking torque according to a pedal stroke of a brake pedal of the vehicle;

[0116] an allocating module 502, configured to allocate torque to the motor and the hydraulic braking system according to the target braking torque when the vehicle meets the electro-hydraulic braking condition, so as to obtain a target feedback torque for the motor to brake the vehicle and a target hydraulic braking torque for the hydraulic braking system to brake the vehicle;

[0117] An acquisition module 503 is used to acquire an actual braking torque of the vehicle, where the actual braking torque is generated by the motor braking the vehicle according to the target hydraulic braking torque and the hydraulic braking system braking the vehicle according to the target hydraulic braking torque;

[0118] The adjustment module 504 is configured to adjust the actual hydraulic braking torque of the hydraulic braking system according to the target braking torque and the actual braking torque, so that the actual braking torque is equal to the target braking torque.

[0119] Optionally, the target hydraulic braking torque is the product of the torque distribution coefficient and the hydraulic pressure corresponding to the hydraulic braking system; the adjustment module 504 includes:

[0120] an adjusting submodule, configured to adjust a current torque distribution coefficient according to the target braking torque and the actual braking torque to obtain a target torque distribution coefficient;

[0121] a first determination submodule, configured to determine a target hydraulic pressure of the hydraulic pressure according to the target torque distribution coefficient and the target hydraulic braking torque;

[0122] The control submodule is used to control the hydraulic brake system to brake the vehicle with the target hydraulic pressure corresponding to the first hydraulic brake torque, so as to adjust the actual hydraulic brake torque of the hydraulic brake system.

[0123] Optionally, adjust submodules, including:

[0124] A first allocation unit, configured to reduce the current torque allocation coefficient by a preset value to obtain the target torque allocation coefficient when the target braking torque is greater than the actual braking torque;

[0125] The second allocation unit is used to increase the current torque allocation coefficient by a preset value to obtain the target torque allocation coefficient when the target braking torque is less than the actual braking torque.

[0126] Optionally, the adjustment submodule includes:

[0127] a first determining unit, configured to determine a first difference between the actual braking torque and the target braking torque;

[0128] a second determining unit, configured to determine a torque adjustment value corresponding to the current torque distribution coefficient according to the first difference and the current hydraulic pressure;

[0129] The adjustment unit is used to adjust the current torque distribution coefficient according to the torque adjustment value to obtain the target torque distribution coefficient.

[0130] Optionally, the acquisition module includes:

[0131] An acquisition submodule, used to acquire the deceleration, wheel radius and mass of the vehicle;

[0132] The second determination submodule is used to determine the actual braking torque of the vehicle according to the deceleration of the vehicle, the wheel radius and the mass of the vehicle.

[0133] Optionally, the determining module includes:

[0134] A third determination submodule, configured to determine a hydraulic pressure corresponding to the hydraulic brake system according to the pedal stroke;

[0135] The fourth determination submodule is used to determine the braking torque corresponding to the pedal stroke according to the hydraulic pressure, and use the braking torque as the target braking torque.

[0136] Optionally, the electro-hydraulic braking conditions include:

[0137] The state of charge of the power battery is less than a first threshold and the vehicle speed is greater than a second threshold.

[0138] The present application provides a method for distributing braking torque of a vehicle, wherein a target braking torque is determined according to a pedal stroke of a brake pedal of the vehicle; when the vehicle meets the electro-hydraulic braking condition, torque is distributed to the motor and the hydraulic brake system according to the target braking torque to obtain the torques respectively distributed, the vehicle is braked according to the torques respectively distributed to obtain the actual braking torque of the vehicle, and the actual hydraulic braking torque of the hydraulic brake system is adjusted according to the target braking torque and the actual braking torque to make the actual braking torque equal to the target braking torque. In this way, when the motor and the hydraulic brake system jointly provide the braking force of the vehicle, if the actual braking torque of the vehicle cannot meet the braking demand, hydraulic braking can be used for compensation to make the actual braking torque equal to the target braking torque, thereby ensuring the flexibility of the braking relationship between the electric brake and the hydraulic brake, so that the electric braking force corresponding to the motor and the hydraulic braking force provided by the hydraulic brake system can be coordinated and distributed to improve the accuracy of the vehicle braking force control.

[0139] It is understandable that the braking torque distribution device for a vehicle provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functional distribution can be completed by different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the braking torque distribution device for a vehicle and the braking torque distribution method for a vehicle provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0140] An embodiment of the present application also provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the operations performed by the vehicle braking torque distribution method described in the above aspects.

[0141] An embodiment of the present application also provides a computer storage medium, in which at least one instruction is stored. The instruction is loaded and executed by a processor to implement the operations performed by the vehicle braking torque distribution method described in the above aspects.

[0142] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0143] The above are merely exemplary embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for distributing braking torque of a vehicle, characterized in that: The method comprises: determining a target braking torque according to a pedal travel of a brake pedal of the vehicle; When the vehicle meets the electro-hydraulic braking condition, torque is distributed to the drive motor and the hydraulic brake system according to the target braking torque to obtain a target feedback torque for the drive motor to brake the vehicle and a target hydraulic braking torque for the hydraulic brake system to brake the vehicle; Acquiring an actual braking torque of the vehicle, where the actual braking torque is generated by the driving motor braking the vehicle according to the target hydraulic braking torque and the hydraulic braking system braking the vehicle according to the target hydraulic braking torque; The actual hydraulic braking torque of the hydraulic braking system is adjusted according to the target braking torque and the actual braking torque so that the actual braking torque is equal to the target braking torque.

2. The method according to claim 1, characterized in that The target hydraulic braking torque is the product of the torque distribution coefficient and the hydraulic pressure corresponding to the hydraulic braking system; and adjusting the actual hydraulic braking torque of the hydraulic braking system according to the target braking torque and the actual braking torque includes: According to the target braking torque and the actual braking torque, the current torque distribution coefficient is adjusted to obtain the target torque distribution coefficient; determining a target hydraulic pressure of the hydraulic pressure according to the target torque distribution coefficient and the target hydraulic brake torque; The hydraulic brake system is controlled to brake the vehicle with a first hydraulic brake torque corresponding to the target hydraulic pressure, so as to adjust an actual hydraulic brake torque of the hydraulic brake system.

3. The method according to claim 2, characterized in that The step of adjusting the current torque distribution coefficient according to the target braking torque and the actual braking torque to obtain the target torque distribution coefficient includes: When the target braking torque is greater than the actual braking torque, reducing the current torque distribution coefficient by a preset value to obtain the target torque distribution coefficient; When the target braking torque is less than the actual braking torque, the current torque distribution coefficient is increased by a preset value to obtain the target torque distribution coefficient.

4. The method according to claim 2, characterized in that: The step of adjusting the current torque distribution coefficient according to the target braking torque and the actual braking torque to obtain the target torque distribution coefficient includes: determining a first difference between the actual braking torque and the target braking torque; determining a torque adjustment value corresponding to the current torque distribution coefficient according to the first difference and the current hydraulic pressure; The current torque distribution coefficient is adjusted according to the torque adjustment value to obtain the target torque distribution coefficient.

5. The method according to claim 1, characterized in that The obtaining of the actual braking torque of the vehicle comprises: Obtaining the deceleration, wheel radius and mass of the vehicle; The actual braking torque of the vehicle is determined based on the deceleration of the vehicle, the wheel radius, and the mass of the vehicle.

6. The method according to claim 1, characterized in that The step of determining the target braking torque according to the pedal stroke of the brake pedal of the vehicle comprises: Determining a hydraulic pressure corresponding to the hydraulic brake system according to the pedal stroke; The braking torque corresponding to the pedal stroke is determined according to the hydraulic pressure and is used as the target braking torque.

7. The method according to claim 1, characterized in that The electro-hydraulic braking conditions include: The state of charge of the power battery is less than a first threshold and the vehicle speed is greater than a second threshold.

8. A braking torque distribution device for a vehicle, characterized in that: The device comprises: a determination module, configured to determine a target braking torque according to a pedal stroke of a brake pedal of the vehicle; a distribution module, configured to distribute torque to a drive motor and a hydraulic brake system according to the target braking torque when the vehicle meets an electro-hydraulic braking condition, so as to obtain a target feedback torque for braking the vehicle by the drive motor and a target hydraulic braking torque for braking the vehicle by the hydraulic brake system; an acquisition module, configured to acquire an actual braking torque of the vehicle, wherein the actual braking torque is generated by the driving motor braking the vehicle according to the target hydraulic braking torque and the hydraulic braking system braking the vehicle according to the target hydraulic braking torque; The adjustment module is used to adjust the actual hydraulic braking torque of the hydraulic braking system according to the target braking torque and the actual braking torque, so that the actual braking torque is equal to the target braking torque.

9. An electronic device, characterized in that: The electronic device includes a processor and a memory, wherein the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the operation performed by the vehicle braking torque distribution method as described in any one of claims 1 to 7.

10. A computer storage medium, characterized in that: The computer storage medium stores at least one instruction, which is loaded and executed by the processor to implement the operations performed by the vehicle braking torque distribution method as described in any one of claims 1 to 7.

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