ABS control method, device and equipment for electric commercial vehicle and storage medium

Abstract

The invention provides an ABS control method, device and equipment of an electric commercial vehicle and a storage medium, the method and device are applied to the electric commercial vehicle, the electric commercial vehicle comprises a motor braking system, an air braking system and an ABS, and the method comprises the steps that if it is detected that the ABS intervenes in work, the control stage of the ABS is determined; and determining a corresponding control strategy based on the control stage, and controlling the motor braking system and / or the air braking system to brake based on the control strategy. By controlling the cooperation between the motor braking system and the air braking system, the problem that the whole vehicle braking control effect is affected due to inaccurate slip rate control caused by delay, overshoot and the like of air pressure control is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and particularly to an ABS control method, device, equipment and storage medium for an electric commercial vehicle. Background Art

[0002] In the existing technical solutions, the braking system of commercial vehicles basically adopts pneumatic control. For the control of the ABS of commercial vehicles, basically, the state conversion of increasing pressure, reducing pressure, and maintaining pressure is carried out according to the wheel slip ratio and acceleration based on threshold values to achieve the method of adjusting the wheel locking situation. For electric drive models, limited by the characteristics of the pneumatic system, the inaccurate control of the slip ratio caused by the delay and overshoot of pneumatic control affects the braking control effect of the whole vehicle. Summary of the Invention

[0003] The present invention provides an ABS control method, device, equipment and storage medium for an electric commercial vehicle to solve the defects in the prior art.

[0004] The present invention provides an ABS control method for an electric commercial vehicle, which is applied to an electric commercial vehicle. The electric commercial vehicle includes an electric braking system, a pneumatic braking system and an ABS system. The method includes: If it is detected that the ABS system intervenes in work, determine the control stage of the ABS system; Based on the control stage, determine the corresponding control strategy, and based on the control strategy, control the electric braking system and / or the pneumatic braking system to perform braking.

[0005] According to the ABS control method for an electric commercial vehicle provided by the present invention, the determining the corresponding control strategy based on the control stage includes: If the control stage is the first control stage, determine that the control strategy is the first control strategy, where the first control strategy is to keep the braking air pressure of the pneumatic braking system unchanged and increase the driving torque of the wheels of the electric commercial vehicle through the electric braking system; If the control stage is the second control stage, determine that the control strategy is the second control strategy; where the second control strategy is to keep the braking air pressure of the pneumatic braking system unchanged and at the same time keep the current driving torque of the wheels unchanged through the electric braking system; If the control stage is the third control stage, determine that the control strategy is the third control strategy; where the third control strategy is to keep the braking air pressure of the pneumatic braking system unchanged and reduce the driving torque of the wheels through the electric braking system.

[0006] An anti-lock braking system (ABS) control method for an electric commercial vehicle provided by the present invention, wherein braking is performed on the electric drive braking system and / or the pneumatic braking system based on the control strategy, includes: When braking is performed on the electric drive braking system and / or the pneumatic braking system based on the third control strategy, if the driving torque of the wheel decreases to 0 and the wheel speed of the electric commercial vehicle does not return to the preset state, the braking pressure is reduced according to a preset first ratio until the wheel speed returns to the preset state; If the driving torque of the wheel does not decrease to 0 and the wheel speed returns to the preset state, the braking pressure is increased according to a preset second ratio until the wheel speed starts to decrease again.

[0007] An anti-lock braking system (ABS) control method for an electric commercial vehicle provided by the present invention, wherein braking is performed on the electric drive braking system and / or the pneumatic braking system based on the control strategy, includes: During the process of braking the electric drive braking system and / or the pneumatic braking system based on the control strategy, if it is detected that the electric commercial vehicle enters a low-adhesion road surface from a high-adhesion road surface, the driving torque of the wheels of the electric commercial vehicle is increased through the electric drive braking system, and at the same time, the braking pressure of the pneumatic braking system is reduced.

[0008] An anti-lock braking system (ABS) control method for an electric commercial vehicle provided by the present invention, before determining the control stage of the ABS system, the method further includes: Detecting the drive type of the electric commercial vehicle; If the drive type is a central drive configuration, the wheel on the side with a small slip ratio is used as the object, and the process jumps to the step of determining the control stage of the ABS system.

[0009] An anti-lock braking system (ABS) control method for an electric commercial vehicle provided by the present invention, determining the control stage of the ABS system, includes: Obtaining the current wheel acceleration or the current slip ratio of the electric commercial vehicle; Determining the control stage of the ABS system based on the current wheel acceleration or the current slip ratio.

[0010] An anti-lock braking system (ABS) control method for an electric commercial vehicle provided by the present invention, determining the control stage of the ABS system based on the current wheel acceleration or the current slip ratio, includes: If the current wheel acceleration is greater than a first threshold, or the current slip ratio is greater than a second threshold, determining that the control stage is the first control stage; If the current wheel acceleration is between the third threshold and the first threshold, or the current slip ratio is between the fourth threshold and the second threshold, determine that the control phase is the second control phase; wherein, the first threshold is greater than the third threshold, and the second threshold is greater than the fourth threshold; If the current wheel acceleration is less than a preset third threshold, or the current slip ratio is less than a preset fourth threshold, determine that the control phase is the third control phase.

[0011] The present invention further provides an ABS control device for an electric commercial vehicle, which is applied to an electric commercial vehicle. The electric commercial vehicle includes an electric braking system, a pneumatic braking system, and an ABS system. The device includes: A first determination module, configured to determine the control phase of the ABS system if it is detected that the ABS system intervenes in operation; A second determination module, configured to determine a corresponding control strategy based on the control phase, and control the electric braking system and / or the pneumatic braking system to perform braking based on the control strategy.

[0012] The present invention further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the ABS control method for an electric commercial vehicle as described in any one of the above is implemented.

[0013] The present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the ABS control method for an electric commercial vehicle as described in any one of the above is implemented.

[0014] The present invention further provides a computer program product, including a computer program. When the computer program is executed by a processor, the ABS control method for an electric commercial vehicle as described in any one of the above is implemented.

[0015] The ABS control method, device, equipment, and storage medium for an electric commercial vehicle provided by the present invention determine the control phase of the ABS system after detecting that the ABS system intervenes in operation. Each control phase has a corresponding control strategy, and the corresponding control strategy is executed in the corresponding control phase to control the electric braking system and / or the pneumatic braking system to perform braking. By controlling the cooperation between the electric braking system and the pneumatic braking system, the problem of inaccurate slip ratio control and affecting the vehicle braking control effect caused by the delay and overshoot of pneumatic control is improved. Description of the Drawings

[0016] To more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0017] Figure 1 It is a schematic diagram of ABS control involved in the present invention.

[0018] Figure 2 It is a schematic flow chart of the ABS control method for an electric commercial vehicle provided by the present invention.

[0019] Figure 3 It is a schematic diagram of the ABS working cycle when the air pressure level decreases involved in the present invention.

[0020] Figure 4 It is one of the schematic diagrams of the ABS working cycle when the air pressure level increases involved in the present invention.

[0021] Figure 5 It is another schematic diagram of the ABS working cycle when the air pressure level increases involved in the present invention.

[0022] Figure 6 It is a schematic structural diagram of the ABS control device for an electric commercial vehicle provided by the present invention.

[0023] Figure 7 It is a schematic structural diagram of the electronic device provided by the present invention. Detailed implementation manners

[0024] To make the objectives, technical solutions and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0025] As Figure 1 shown, it is a schematic diagram of a typical ABS control. Among them, V ref is the actual vehicle speed (reference speed), and V whl is the speed of the wheel. When V whl is lower than V ref and exceeds a certain threshold (the slip ratio exceeds the threshold), for a conventional braking system, the ABS function adjusts the increase and decrease of the braking air pressure P ( Figure 1The slip ratio is controlled within a reasonable range by the middle dashed line). However, due to the slow response and poor accuracy of the air pressure control, there will be large fluctuations in the final control of the wheel speed, thus affecting the braking performance of the whole vehicle. For the wheels driven by motors, since the response of controlling the motor torque is fast and the accuracy is high, when there is a tendency of wheel lock-up, by increasing the driving torque (M in the attached drawing) to offset part of the braking air pressure, the same effect similar to pressure reduction can be achieved. At this time, the air pressure P can be maintained at the initial air pressure when lock-up occurs (the solid line in the middle figure).

[0026] Figure 2 is a flowchart of an ABS control method for an electric commercial vehicle shown according to an exemplary embodiment. As Figure 2 shown, in an exemplary embodiment, this ABS control method for an electric commercial vehicle is applied to an electric commercial vehicle, and the electric commercial vehicle includes an electric braking system, a pneumatic braking system, and an ABS system. The method includes steps 210 to 220, which are introduced in detail as follows.

[0027] Step 210, if it is detected that the ABS system intervenes in operation, determine the control stage of the ABS system.

[0028] In the embodiment of the present invention, after it is detected that the ABS system intervenes in operation, the control stage of the ABS system is determined.

[0029] Step 220, based on the control stage, determine the corresponding control strategy, and based on the control strategy, control the electric braking system and / or the pneumatic braking system to perform braking.

[0030] In the embodiment of the present invention, each control stage has a corresponding control strategy. In the corresponding control stage, the corresponding control strategy is executed to control the electric braking system and / or the pneumatic braking system to perform braking. By controlling the cooperation between the electric braking system and the pneumatic braking system, the problems of inaccurate slip ratio control and affecting the braking control effect of the whole vehicle caused by the delay and overshoot of the air pressure control are improved.

[0031] In an exemplary embodiment of the present invention, the determining the corresponding control strategy based on the control stage includes: If the control stage is the first control stage, determine the control strategy as the first control strategy, where the first control strategy is to keep the braking air pressure of the pneumatic braking system unchanged and increase the driving torque of the wheels of the electric commercial vehicle through the electric braking system; If the control stage is the second control stage, determine the control strategy as the second control strategy; where the second control strategy is to keep the braking air pressure of the pneumatic braking system unchanged and at the same time keep the current driving torque of the wheels unchanged through the electric braking system; If the control stage is the third control stage, determine that the control strategy is the third control strategy; wherein, the third control strategy is to keep the braking air pressure of the air braking system unchanged and reduce the driving torque of the wheel through the electric braking system.

[0032] In the embodiment of the present invention, in the first control stage where wheel-end pressure reduction is required, at this time, with the braking air pressure remaining unchanged, by increasing the driving torque M of the wheel, the slip ratio is reduced through the driving torque, and the wheel speed is restored without performing pressure reduction control, thereby improving the response speed of the control.

[0033] After the first control strategy is executed, at this time, the speed of the wheel begins to decrease and the wheel speed begins to recover, entering the pressure holding stage corresponding to the traditional control, that is, the second control stage. At this time, the braking air pressure and the magnitude of the driving torque are kept unchanged. By maintaining the driving torque unchanged, it is prevented that an excessive driving force is applied, resulting in an excessive impact on the wheel speed.

[0034] After the second control strategy is executed, after the wheel speed is gradually restored, it enters the pressure increasing stage corresponding to the traditional air pressure control, that is, the third control stage. At this time, the braking air pressure still remains unchanged. By reducing the driving torque M, the total braking force received by the wheel is increased, and the wheel speed starts to decrease again, entering a new ABS control cycle.

[0035] In an exemplary embodiment of the present invention, controlling the electric braking system and / or the air braking system to perform braking based on the control strategy includes: When controlling the electric braking system and / or the air braking system to perform braking based on the third control strategy, if the driving torque of the wheel is reduced to 0 and the wheel speed of the electric commercial vehicle has not been restored to the preset state, the braking air pressure is reduced according to a preset first ratio until the wheel speed is restored to the preset state; If the wheel speed is restored to the preset state before the driving torque of the wheel is reduced to 0, the braking air pressure is increased according to a preset second ratio until the wheel speed starts to decrease again.

[0036] In the embodiment of the present invention, during the actual working process, if in the third control stage, when the driving torque of the motor is reduced to 0 and the wheel speed has not been restored to the preset state, as Figure 3 shown, at this time, the braking air pressure is reduced according to a preset first ratio until the wheel speed starts to recover. Subsequently, the braking air pressure at this time is used as the reference air pressure for torque control. By reducing the air pressure level, the reference air pressure is made closer to the required air pressure level, and the motor torque required for the next cycle is reduced.

[0037] If in the third control stage, the driving torque of the motor has not been reduced to 0 and the wheel speed has been restored to the preset state, attached Figure 4As shown, at this time, the braking air pressure increases according to a preset second ratio until the wheel speed starts to decrease again. Subsequently, with this air pressure as the reference air pressure, the torque is controlled. Through the above method, the control effect of adjusting the overall air pressure level by air pressure in the long cycle and adjusting the wheel speed by the motor torque in the short cycle is achieved. By increasing the air pressure level, the reference air pressure is closer to the required air pressure level, ensuring the braking intensity.

[0038] In an exemplary embodiment of the present invention, controlling the electric braking system and / or the air pressure braking system to perform braking based on the control strategy includes: During the process of controlling the electric braking system and / or the air pressure braking system to perform braking based on the control strategy, if it is detected that the electric commercial vehicle enters a low-adhesion road surface from a high-adhesion road surface, the driving torque of the wheels of the electric commercial vehicle is increased through the electric braking system, and at the same time, the braking air pressure of the air pressure braking system is reduced.

[0039] In the embodiment of the present invention, as Figure 5 shown, in the vehicle ABS working cycle, when entering a low-adhesion road surface from a high-adhesion road surface, that is, the so-called "high-to-low" working condition, usually due to the sudden decrease in ground adhesion, the wheels will suddenly lock, and a long decompression and wheel speed recovery process is required. For this working condition, when the high-to-low working condition is recognized, while controlling the motor to increase the driving force, the braking air pressure is simultaneously reduced to achieve the purpose of avoiding wheel lock and accelerating wheel speed recovery.

[0040] In an exemplary embodiment of the present invention, before determining the control stage of the ABS system, the method further includes: Detecting the drive type of the electric commercial vehicle; If the drive type is a central drive configuration, the wheels on the side with a small slip ratio are taken as the object, and it jumps to the step of determining the control stage of the ABS system.

[0041] In the embodiment of the present invention, for an electric commercial vehicle with a central drive configuration, that is, a configuration in which the driving torques on both sides are transmitted to the left and right wheels by a central motor through a differential, the above control effect cannot be directly achieved. For this type of electric commercial vehicle, a "select the higher" control strategy is adopted, that is, the wheels on the side with a small slip ratio are taken as the object, and the driving torque is determined in the foregoing manner. The driving torque determined in this case can meet the wheel speed recovery requirements of the wheels on the side with a low slip ratio, while for the wheels on the other side with a larger slip ratio, this torque cannot fully achieve the effect of reducing the slip ratio and recovering the wheel speed. At this time, by controlling the further reduction of the air pressure on this side, the final control effect is achieved.

[0042] In an exemplary embodiment of the present invention, determining the control stage of the ABS system includes: Obtain the current wheel acceleration or current slip ratio of the electric commercial vehicle; Determine the control stage of the ABS system based on the current wheel acceleration or the current slip ratio.

[0043] In an embodiment of the present invention, the current wheel acceleration or current slip ratio of the electric commercial vehicle is obtained, and the control stage is determined based on the current wheel acceleration or current slip ratio.

[0044] In an exemplary embodiment of the present invention, the determining the control stage of the ABS system based on the current wheel acceleration or the current slip ratio includes: If the current wheel acceleration is greater than a first threshold, or the current slip ratio is greater than a second threshold, determine that the control stage is a first control stage; If the current wheel acceleration is between a third threshold and the first threshold, or the current slip ratio is between a fourth threshold and the second threshold, determine that the control stage is a second control stage; wherein, the first threshold is greater than the third threshold, and the second threshold is greater than the fourth threshold; If the current wheel acceleration is less than a preset third threshold, or the current slip ratio is less than a preset fourth threshold, determine that the control stage is a third control stage.

[0045] In an embodiment of the present invention, the corresponding control stage is determined based on the relationship between the current wheel acceleration and the current slip ratio and the thresholds.

[0046] In an embodiment of the present invention, when considering the increase and decrease pressure control, the switching of each stage is determined according to the threshold, or the motor drive torque can be closed-loop controlled based on the optimal target slip ratio (such as 15%) on the basis of the current reference air pressure to achieve a more continuous control effect.

[0047] The ABS control device of the electric commercial vehicle provided by the present invention will be described below. The ABS control device of the electric commercial vehicle described below can be correspondingly referred to the ABS control method of the electric commercial vehicle described above. It should be noted that the device provided in the following embodiments and the method provided in the above embodiments belong to the same concept. The specific manners in which each module and unit perform operations have been described in detail in the method embodiments, and will not be repeated here.

[0048] In an exemplary embodiment of the present invention, please refer to Figure 6 , Figure 6 is an ABS control device of an electric commercial vehicle shown according to an exemplary embodiment, which is applied to an electric commercial vehicle. The electric commercial vehicle includes an electric braking system, a pneumatic braking system, and the ABS system includes the following modules: The first determination module 610 is configured to determine the control phase of the ABS system if it is detected that the ABS system intervenes in operation. The second determination module 620 is configured to determine a corresponding control strategy based on the control phase, and control the electric braking system and / or the pneumatic braking system to perform braking based on the control strategy.

[0049] In an exemplary embodiment of the present invention, the second determination module 620 includes: The first determination sub-module is configured to determine that the control strategy is the first control strategy if the control phase is the first control phase, wherein the first control strategy is to keep the braking air pressure of the pneumatic braking system unchanged, and increase the driving torque on the wheels of the electric commercial vehicle through the electric braking system. The second determination sub-module is configured to determine that the control strategy is the second control strategy if the control phase is the second control phase; wherein the second control strategy is to keep the braking air pressure of the pneumatic braking system unchanged, and at the same time keep the current driving torque of the wheels unchanged through the electric braking system. The third determination sub-module is configured to determine that the control strategy is the third control strategy if the control phase is the third control phase; wherein the third control strategy is to keep the braking air pressure of the pneumatic braking system unchanged, and reduce the driving torque of the wheels through the electric braking system.

[0050] In an exemplary embodiment of the present invention, the second determination module 620 includes: The reduction sub-module is configured to, when controlling the electric braking system and / or the pneumatic braking system to perform braking based on the third control strategy, if the driving torque of the wheels is reduced to 0 and the wheel speed of the electric commercial vehicle does not return to the preset state, reduce the braking air pressure by a preset first ratio until the wheel speed returns to the preset state. The first increase sub-module is configured to, if the wheel speed returns to the preset state when the driving torque of the wheels is not reduced to 0, increase the braking air pressure by a preset second ratio until the wheel speed starts to decrease again.

[0051] In an exemplary embodiment of the present invention, the second determination module 620 includes: The second increase sub-module is configured to, during the process of controlling the electric braking system and / or the pneumatic braking system to perform braking based on the control strategy, if it is detected that the electric commercial vehicle enters a low-adhesion road surface from a high-adhesion road surface, increase the driving torque on the wheels of the electric commercial vehicle through the electric braking system, and at the same time reduce the braking air pressure of the pneumatic braking system.

[0052] In an exemplary embodiment of the present invention, the ABS control device of an electric commercial vehicle further includes: A detection module configured to detect the drive type of the electric commercial vehicle; A jump module configured to, if the drive type is a central drive configuration, target the wheel on the side with a smaller slip ratio and jump to the step of determining the control stage of the ABS system.

[0053] In an exemplary embodiment of the present invention, the first determination module 610 includes: An acquisition sub-module configured to acquire the current wheel acceleration or the current slip ratio of the electric commercial vehicle; A fourth determination sub-module configured to determine the control stage of the ABS system based on the current wheel acceleration or the current slip ratio.

[0054] In an exemplary embodiment of the present invention, the fourth determination sub-module includes: A first determination unit configured to, if the current wheel acceleration is greater than a first threshold or the current slip ratio is greater than a second threshold, determine that the control stage is the first control stage; A second determination unit configured to, if the current wheel acceleration is between a third threshold and the first threshold or the current slip ratio is between a fourth threshold and the second threshold, determine that the control stage is the second control stage; wherein, the first threshold is greater than the third threshold, and the second threshold is greater than the fourth threshold; A third determination unit configured to, if the current wheel acceleration is less than a preset third threshold or the current slip ratio is less than a preset fourth threshold, determine that the control stage is the third control stage.

[0055] Figure 7 An example of a schematic physical structure diagram of an electronic device is shown as Figure 7 shown. The electronic device may include: a processor 710, a communication interface 720, a memory 730, and a communication bus 740. Among them, the processor 710, the communication interface 720, and the memory 730 complete mutual communication through the communication bus 740. The processor 710 can call the logical instructions in the memory 730 to execute the ABS control method for an electric commercial vehicle. The method is applied to an electric commercial vehicle, which includes an electric braking system, a pneumatic braking system, and an ABS system. The method includes: If it is detected that the ABS system intervenes in operation, determine the control stage of the ABS system; Determine a corresponding control strategy based on the control phase, and control the electric braking system and / or the pneumatic braking system to perform braking based on the control strategy.

[0056] In addition, when the logic instructions in the above-mentioned memory 730 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs, etc., which can store program codes.

[0057] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the ABS control method for electric commercial vehicles provided by the above-mentioned various methods. Applied to an electric commercial vehicle, the electric commercial vehicle includes an electric braking system, a pneumatic braking system, and an ABS system. The method includes: If it is detected that the ABS system intervenes in operation, determine the control phase of the ABS system; Determine a corresponding control strategy based on the control phase, and control the electric braking system and / or the pneumatic braking system to perform braking based on the control strategy.

[0058] On another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is implemented to execute the ABS control method for electric commercial vehicles provided by the above-mentioned various methods. Applied to an electric commercial vehicle, the electric commercial vehicle includes an electric braking system, a pneumatic braking system, and an ABS system. The method includes: If it is detected that the ABS system intervenes in operation, determine the control phase of the ABS system; Determine a corresponding control strategy based on the control phase, and control the electric braking system and / or the pneumatic braking system to perform braking based on the control strategy.

[0059] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative labor.

[0060] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several 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 each embodiment or some parts of the embodiments.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. And these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An ABS control method for an electric commercial vehicle, characterized in that: Applied to an electric commercial vehicle, the electric commercial vehicle includes a motor brake system, a pneumatic brake system and an ABS system, the method includes: If it is detected that the ABS system is intervening, determining a control stage of the ABS system; A corresponding control strategy is determined based on the control stage, and the motor brake system and / or the pneumatic brake system are controlled to perform braking based on the control strategy.

2. The ABS control method for an electric commercial vehicle according to claim 1, characterized in that: The determining of the corresponding control strategy based on the control stage includes: If the control stage is the first control stage, determining that the control strategy is the first control strategy, wherein the first control strategy is to keep the brake air pressure of the pneumatic brake system unchanged and increase the driving torque on the wheels of the electric commercial vehicle through the motor brake system; If the control stage is the second control stage, determining that the control strategy is the second control strategy; wherein the second control strategy is to keep the brake air pressure of the pneumatic brake system unchanged, and at the same time keep the current driving torque of the wheel unchanged through the motor brake system; If the control stage is the third control stage, the control strategy is determined to be the third control strategy; wherein the third control strategy is to keep the brake air pressure of the pneumatic brake system unchanged and reduce the driving torque of the wheel through the motor brake system.

3. The ABS control method for an electric commercial vehicle according to claim 2, characterized in that: The controlling the motor brake system and / or the pneumatic brake system to brake based on the control strategy includes: When the motor brake system and / or the pneumatic brake system are controlled to brake based on the third control strategy, if the driving torque of the wheel is reduced to 0 and the wheel speed of the electric commercial vehicle has not recovered to a preset state, the brake air pressure is reduced according to a preset first ratio until the wheel speed recovers to the preset state; If the driving torque of the wheel has not decreased to 0, the wheel speed is restored to the preset state, and the brake air pressure is increased according to a preset second ratio until the wheel speed starts to decrease again.

4. The ABS control method for an electric commercial vehicle according to claim 1, characterized in that: The controlling the motor brake system and / or the pneumatic brake system to brake based on the control strategy includes: During the process of controlling the motor brake system and / or the pneumatic brake system to brake based on the control strategy, if it is detected that the electric commercial vehicle enters a low-adhesion road from a high-adhesion road, the driving torque of the wheels of the electric commercial vehicle is increased by the motor brake system, and the brake pressure of the pneumatic brake system is reduced.

5. The ABS control method for an electric commercial vehicle according to claim 1, characterized in that: Before determining the control phase of the ABS system, the method further includes: detecting a drive type of the electric commercial vehicle; If the drive type is a central drive configuration, the wheel on the side with a smaller slip ratio is taken as the target, and the process jumps to the step of determining the control stage of the ABS system.

6. The ABS control method for an electric commercial vehicle according to any one of claims 1 to 5, characterized in that: Determining the control stage of the ABS system includes: Acquiring a current wheel acceleration or a current slip rate of the electric commercial vehicle; A control phase of the ABS system is determined based on the current wheel acceleration or the current slip ratio.

7. The ABS control method for an electric commercial vehicle according to claim 6, characterized in that: The step of determining the control phase of the ABS system based on the current wheel acceleration or the current slip rate comprises: If the current wheel acceleration is greater than a first threshold, or the current slip ratio is greater than a second threshold, determining that the control stage is the first control stage; If the current wheel acceleration is between the third threshold and the first threshold, or the current slip ratio is between the fourth threshold and the second threshold, determining that the control stage is the second control stage; wherein the first threshold is greater than the third threshold, and the second threshold is greater than the fourth threshold; If the current wheel acceleration is less than a preset third threshold, or the current slip ratio is less than a preset fourth threshold, it is determined that the control stage is the third control stage.

8. An ABS control device for an electric commercial vehicle, characterized in that: Applied to an electric commercial vehicle, the electric commercial vehicle includes a motor brake system, a pneumatic brake system and an ABS system, and the device includes: A first determination module is configured to determine a control phase of the ABS system if it is detected that the ABS system is intervening; The second determination module is configured to determine a corresponding control strategy based on the control stage, and control the motor brake system and / or the pneumatic brake system to brake based on the control strategy.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the ABS control method for an electric commercial vehicle according to any one of claims 1 to 7 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the ABS control method for an electric commercial vehicle according to any one of claims 1 to 7 is implemented.

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