Vehicle braking force control method, device and equipment and vehicle

Abstract

The invention discloses a vehicle braking force control method which comprises the steps that current target parameters of a vehicle are monitored, and the target parameters at least represent the current slip rate, the current vehicle speed, the current acceleration speed and the current deceleration speed of the vehicle; acquiring a braking force distribution factor corresponding to the target parameter, wherein the braking force distribution factor is related to an electronic braking force distribution system function of the vehicle; and under the condition that the braking force distribution factor is activated, distribution of regenerative braking force is conducted on a front axle and a rear axle of the vehicle based on the braking force distribution factor, so that the vehicle is prevented from starting the electronic braking force distribution system function and closing the braking energy recovery function in a four-wheel drive mode. Meanwhile, the invention further discloses a braking force control device and equipment of the vehicle and the vehicle.

Description

Technical Field

[0001] The present application relates to the field of braking force control for vehicles, and particularly to a method, device, equipment and vehicle for controlling the braking force of a vehicle. Background Art

[0002] The braking energy recovery function is to generate electrical energy by using the current reversibility of the motor during the braking process of a new energy vehicle and recycle it, which can effectively increase the driving range of the new energy vehicle. However, the braking energy recovery function in existing vehicles will exit when the safety functions on the vehicle (such as the Electronic Brake force Distribution (EBD) function) are triggered, affecting the recovery intensity of the braking energy recovery function, reducing the driving range of the vehicle, and decreasing the economy of the vehicle. Summary of the Invention

[0003] In view of this, embodiments of the present application are expected to provide a method, device, equipment and vehicle for controlling the braking force of a vehicle to at least solve the above technical problems.

[0004] To achieve the above object, the technical solution of the present application is realized as follows:

[0005] According to one aspect of the embodiments of the present application, a method for controlling the braking force of a vehicle is provided, and the method includes:

[0006] Monitoring the current target parameters of the vehicle, where the target parameters at least characterize the current slip ratio, vehicle speed, and acceleration and deceleration of the vehicle;

[0007] Obtaining a braking force distribution factor corresponding to the target parameter, where the braking force distribution factor is related to the Electronic Brake force Distribution system function of the vehicle;

[0008] When the braking force distribution factor is activated, based on the braking force distribution factor, the regenerative braking force is respectively distributed to the front axle and the rear axle of the vehicle to prevent the vehicle from activating the Electronic Brake force Distribution system function in four-wheel drive mode and closing the braking energy recovery function.

[0009] In the above solution, the obtaining of the braking force distribution factor corresponding to the target parameter includes:

[0010] Obtaining the braking force distribution factor corresponding to the target parameter by querying a preset table, where the preset table stores the corresponding relationships between different target parameters and different braking force distribution factors.

[0011] In the above solution, the activation of the braking force distribution factor includes:

[0012] When providing regenerative braking force through the front axle and the rear axle of the vehicle respectively, if the target parameter indicates that the current vehicle speed and acceleration and deceleration remain unchanged, but the current first slip ratio of the front axle is greater than the current second slip ratio of the rear axle, and the first slip ratio is greater than or equal to the slip ratio threshold, activate the braking force distribution factor.

[0013] In the above solution, the method further includes:

[0014] When providing regenerative braking force through the front axle and the rear axle of the vehicle, monitor the first duration during which the first slip ratio is greater than the second slip ratio and the first slip ratio is greater than or equal to the slip ratio threshold; if the first duration is greater than the duration threshold, deactivate the braking force distribution factor and activate the electronic braking force distribution system function;

[0015] Or, when providing regenerative braking force through the front axle and the rear axle of the vehicle, if the target parameter indicates that the current vehicle speed and / or acceleration and deceleration are greater than or equal to the speed threshold, deactivate the braking force distribution factor and activate the electronic braking force distribution system function;

[0016] Or, when providing regenerative braking force through the front axle and the rear axle of the vehicle, if it is monitored that the first slip ratio is less than the second slip ratio, deactivate the braking force distribution factor.

[0017] In the above solution, the distribution of the regenerative braking force to the front axle and the rear axle of the vehicle based on the braking force distribution factor to prevent the vehicle from activating the electronic braking force distribution system function and closing the braking energy recovery function in the four-wheel drive mode includes:

[0018] Determine the current braking force demand value of the vehicle;

[0019] Based on the braking force distribution factor, adjust the regenerative braking torque parameters and hydraulic braking torque parameters of the front axle and the rear axle of the vehicle for the braking force demand value to prevent the vehicle from activating the electronic braking force distribution system function and closing the braking energy recovery function in the four-wheel drive mode.

[0020] According to the second aspect of the present application, there is provided a braking force control device for a vehicle, the device includes:

[0021] A monitoring unit for monitoring the current target parameter of the vehicle, the target parameter at least characterizing the current slip ratio, vehicle speed and acceleration and deceleration of the vehicle;

[0022] An acquisition unit for acquiring the braking force distribution factor corresponding to the target parameter, the braking force distribution factor being related to the electronic braking force distribution system function of the vehicle;

[0023] A control unit, when the braking force distribution factor is activated, is configured to distribute the regenerative braking force to the front axle and the rear axle of the vehicle respectively based on the braking force distribution factor, so as to prevent the vehicle from activating the electronic braking force distribution system function and turning off the braking energy recovery function in the four-wheel drive mode.

[0024] In the above solution, the device further includes:

[0025] A storage unit, configured to store a preset table, in which the corresponding relationship between different target parameters and different braking force distribution factors is stored;

[0026] The obtaining unit is specifically configured to obtain the braking force distribution factor corresponding to the target parameter by querying the preset table.

[0027] In the above solution, the control unit is further configured to, when providing regenerative braking force through the front axle and the rear axle of the vehicle, if the target parameter indicates that the current vehicle speed and acceleration / deceleration of the vehicle remain unchanged, but the current first slip ratio of the front axle is greater than the current second slip ratio of the rear axle, and the first slip ratio is greater than or equal to the slip ratio threshold, activate the braking force distribution factor.

[0028] According to a third aspect of the present application, there is provided a braking force control device for a vehicle, the device including:

[0029] A memory, configured to store a computer program that can run on a processor;

[0030] The processor is configured to execute the braking force control method for a vehicle according to any one of the above when running the computer program.

[0031] According to a fourth aspect of the present application, there is provided a vehicle, the vehicle including the braking force control device for a vehicle according to any one of the above.

[0032] The braking force control method, device, equipment and vehicle provided by the present application are a solution for reducing the triggering probability of EBD in four-wheel drive vehicles when passing through rainy, snowy and slippery roads by increasing the braking force distribution factor. Specifically, the solution monitors the current target parameters of the vehicle, and the target parameters at least characterize the current slip rate, vehicle speed, acceleration and deceleration of the vehicle; obtains the braking force distribution factor corresponding to the target parameters, and the braking force distribution factor is related to the function of the electronic braking force distribution system of the vehicle; when the braking force distribution factor is activated, based on the braking force distribution factor, the regenerative braking force is respectively distributed to the front axle and the rear axle of the vehicle to prevent the vehicle from starting the function of the electronic braking force distribution system in the four-wheel drive mode and closing the braking energy recovery function. In this way, when the vehicle brakes under the condition of passing through a slippery road surface (such as rainy and snowy weather), it can prevent the front wheels from tending to lock up before the rear wheels in the four-wheel drive mode, greatly reduce the probability of activating the EBD function, and keep the vehicle braking smoothly when passing through the slippery road surface condition. And since the braking energy recovery function will not be turned off under this road surface condition, the recovery intensity of the vehicle braking energy and the cruising range can be improved. Description of the Drawings

[0033] Figure 1 It is a schematic diagram of the process implementation of the braking force control method for the vehicle in the present application;

[0034] Figure 2 It is a schematic diagram of the structural composition of the braking force control device for the vehicle in the present application;

[0035] Figure 3 It is a schematic diagram of the structural composition of the braking force control equipment for the vehicle in the present application. Detailed Embodiments

[0036] The technical solutions of the present application will be further elaborated in detail below in conjunction with the drawings in the specification and specific embodiments.

[0037] For each specific technical feature in each of the embodiments described in the detailed embodiments, various combinations can be made without conflict. For example, different embodiments can be formed through combinations of different specific technical features. To avoid unnecessary repetition, various possible combination methods of each specific technical feature in the present application will not be described separately.

[0038] It should be noted that the terms "first / second / third" involved in the embodiments of the present application are only used to distinguish similar objects and do not represent a specific order for the objects. It can be understood that "first / second / third" can be interchanged in a specific order or sequence under allowable circumstances. It should be understood that the objects distinguished by "first / second / third" can be interchanged under appropriate circumstances so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here.

[0039] Figure 1 It is a schematic flowchart of the implementation of the braking force control method for a vehicle in the present application. This method can be applied to various types of vehicles such as electric vehicles and hybrid electric vehicles, such as Figure 1 shown, the method includes:

[0040] Step 101, monitor the current target parameters of the vehicle, where the target parameters at least characterize the current slip ratio, vehicle speed, and acceleration / deceleration of the vehicle;

[0041] Here, the vehicle can detect the wheel speed value and acceleration / deceleration value of the vehicle through a wheel speed sensor and an inertial measurement unit (IMU). Based on the wheel speed value and acceleration / deceleration value, the slip ratio value and vehicle speed value of the vehicle can be obtained through a tire slip ratio calculation model and a vehicle speed estimation model. The parameters corresponding to the current slip ratio, vehicle speed, and acceleration / deceleration of the vehicle are used as the current target parameters of the vehicle.

[0042] Step 102, obtain the braking force distribution factor corresponding to the target parameter, where the braking force distribution factor is related to the function of the electronic braking force distribution system of the vehicle;

[0043] Here, a preset table related to the function of the electronic braking force distribution system of the vehicle is stored in the vehicle. The preset table stores the corresponding relationship between different target parameters and different braking force distribution factors obtained through calibration. The vehicle can obtain the braking force distribution factor corresponding to the target parameter by querying the preset table.

[0044] Step 103, when the braking force distribution factor is activated, distribute the regenerative braking force to the front axle and rear axle of the vehicle based on the braking force distribution factor, so as to prevent the vehicle from activating the function of the electronic braking force distribution system and closing the braking energy recovery function in the four-wheel drive mode.

[0045] Here, the vehicle is a four-wheel drive vehicle and can have a four-wheel drive mode and a two-wheel drive mode. In the four-wheel drive mode, the braking force distribution factor can be activated. When the braking force distribution factor is activated, the vehicle can distribute the regenerative braking force to the front axle and the rear axle of the vehicle respectively based on the braking force distribution factor, so as to prevent the vehicle from starting the EBD function and turning off the braking energy recovery function in the four-wheel drive mode.

[0046] In this application, the braking force distribution factor can be activated at least in the following two ways:

[0047] First: When the regenerative braking force is provided to the vehicle through the front axle and the rear axle of the vehicle at the same time, it can be determined whether the current vehicle speed and acceleration and deceleration change. If the target parameter indicates that the current vehicle speed and acceleration and deceleration of the vehicle remain unchanged, the first slip ratio of the front axle at present can be compared with the second slip ratio of the rear axle at present for the first comparison. If the result of the first comparison indicates that the first slip ratio is greater than or equal to the second slip ratio, the braking force distribution factor is activated.

[0048] Second: When the regenerative braking force is provided to the vehicle through the front axle and the rear axle of the vehicle at the same time, it can be determined whether the current vehicle speed and acceleration and deceleration change. If the target parameter indicates that the current vehicle speed and acceleration and deceleration of the vehicle remain unchanged, the first slip ratio of the front axle at present can be compared with the second slip ratio of the rear axle at present for the first comparison. If the result of the first comparison indicates that the first slip ratio is greater than or equal to the second slip ratio, the first slip ratio is continuously compared with the slip ratio threshold for the second comparison. If the result of the second comparison indicates that the first slip ratio is greater than or equal to the slip ratio threshold, the braking force distribution factor is activated.

[0049] Here, take a four-wheel drive vehicle braking on a high-friction asphalt road surface as an example. If the high-friction asphalt road surface is a normal road surface, when the vehicle is under medium braking (0.3g < a < 0.6g), the vehicle's total braking force is jointly provided by the regenerative braking force / hydraulic braking force of the front axle and the rear axle. The slip ratios of the front wheels and the rear wheels do not change (the change rate is within the preset range). At this time, the EBD function is not activated. If the high-friction asphalt road surface is a slippery road surface, when the vehicle is under medium braking (0.3g < a < 0.6g), since the vehicle's total braking force is jointly provided by the regenerative braking force / hydraulic braking force of the front axle and the rear axle, both the front wheels and the rear wheels of the four-wheel drive vehicle participate in the energy recovery of the regenerative braking force. However, the front axle will quickly tend to lock during braking, resulting in a rapid increase in the slip ratio of the front wheels. Therefore, it is necessary to perform a first comparison between the current first slip ratio of the front wheels and the current second slip ratio of the rear wheels. If the result of the first comparison indicates that the first slip ratio is greater than or equal to the second slip ratio, it means that the increase in the slip ratio of the front wheels is faster than that of the rear wheels, and then the braking force distribution factor is activated. Or, when the first slip ratio is greater than or equal to the second slip ratio, continue to determine whether the first slip ratio is greater than the slip ratio threshold (such as 9%). If it is determined that the first slip ratio is greater than or equal to the slip ratio threshold, the braking force distribution factor is activated. Based on this braking force distribution factor, it is possible to control the front axle to reduce the regenerative braking force and the hydraulic braking force, thereby reducing the total braking force of the front axle and lowering the slip ratio of the front wheels, making it reach the locked state slower than the rear wheels. Thus, the EBD function will not be activated, and the EBD function is not activated, so the braking energy recovery function will not be exited either.

[0050] Meanwhile, if the regenerative braking forces of the front and rear axles have both reached their peaks, control the vehicle to turn on the hydraulic braking force of the rear wheels to provide power supply for the vehicle. Based on this braking force distribution factor, the locked speed of the rear wheels can be increased, further preventing the EBD function from being activated, so that while reducing the fluctuations generated by the vehicle's deceleration, the braking energy recovery efficiency can be improved.

[0051] The braking force control method for the vehicle provided by this application adjusts the regenerative braking torque and hydraulic braking torque of the front and rear wheels of the vehicle by increasing the braking force distribution factor. It can not only prevent the vehicle from reducing the probability of turning off the braking energy recovery function by activating the EBD function when braking under the condition of a slippery road surface in four-wheel drive mode, and reduce the sense of jerk generated by the front wheels locking first when passing through a slippery road surface condition for the driver and passengers, improving the vehicle's smoothness, but also increase the intensity of braking energy recovery, extend the vehicle's cruising range, and improve the energy utilization efficiency.

[0052] In this application, following the above example, the vehicle can also continuously monitor a first duration during which the first slip ratio of the front axle is greater than the second slip ratio and the first slip ratio is greater than or equal to a slip ratio threshold. If this first duration is greater than a duration threshold, it indicates that the braking force is continuing to increase. At this time, deactivate this braking force distribution factor, activate the electronic braking force distribution system function, and at the same time, the braking energy recovery function is turned off, and the hydraulic braking force is used to supply energy to the vehicle. In this way, the driving safety of the passengers can be ensured.

[0053] Alternatively, in the case of providing regenerative braking force through the front axle and the rear axle of the vehicle, if this target parameter characterizes that the current vehicle speed and / or acceleration and deceleration of the vehicle are greater than or equal to a speed threshold, it indicates that emergency braking is required at present, then deactivate the braking force distribution factor and activate the electronic braking force distribution system function; or, in the case of providing regenerative braking force through the front axle and the rear axle of the vehicle, if it is monitored that the first slip ratio is less than the second slip ratio, it indicates that the vehicle is tending to stop, then deactivate this braking force distribution factor, or set this braking force distribution factor to zero.

[0054] In this application, when the vehicle distributes the regenerative braking force of the front axle and the rear axle of the vehicle based on this braking force distribution factor to prevent the vehicle from activating the EBD function in the four-wheel drive mode and turning off the braking energy recovery function, it can also determine the current braking force demand value of the vehicle; based on this braking force distribution factor, adjust the regenerative braking torque parameters of the front axle and the rear axle of the vehicle and the hydraulic braking torque parameters of the front axle and the rear axle for this braking force demand value to prevent the vehicle from activating the EBD function in the four-wheel drive mode and turning off the braking energy recovery function.

[0055] Here, the vehicle can determine this braking force demand value according to the pedal opening. When the vehicle is driven by the front axle and the rear axle simultaneously, based on this braking force distribution factor, respectively adjust the regenerative braking torque parameters of the front axle and the rear axle of the vehicle and the hydraulic braking torque parameters of the front axle and the rear axle for this braking force demand value;

[0056] For example, when the braking force demand value a ≤ 0.3g, only the regenerative braking of the motor provides the braking force; when the braking force demand value increases, that is, when the braking demand value 0.3g < a < 0.6g, the regenerative braking force of the motor reaches the peak value, and the hydraulic braking force intervenes to supplement the braking demand. At this time, the vehicle's total braking force is provided by both the hydraulic braking and the motor regenerative braking force; when the braking demand value a ≥ 0.6g, the vehicle performs emergency braking. To ensure braking safety, the braking force is completely provided by the hydraulic braking.

[0057] The braking force control method for a vehicle provided in this application can prevent the front wheels of the vehicle from tending to lock up prior to the rear wheels when braking under wet road surface conditions in four-wheel drive mode, reduce the probability of the EBD function being activated, keep the vehicle braking smoothly through this section of the road surface, and improve the driving experience of the driver and passengers during moderate braking under wet road surface conditions. Since the braking energy recovery function is not turned off either, the recovery intensity of the vehicle's braking energy and the cruising range can be increased.

[0058] Figure 2 It is a schematic structural composition diagram of the braking force control device for the vehicle in this application, as Figure 2 shown. The device includes:

[0059] A monitoring unit 201 for monitoring the current target parameters of the vehicle, where the target parameters at least characterize the current slip ratio, vehicle speed, and acceleration and deceleration of the vehicle;

[0060] An acquisition unit 202 for acquiring the braking force distribution factor corresponding to the target parameter, where the braking force distribution factor is related to the electronic braking force distribution system function of the vehicle;

[0061] A control unit 203 for, when the braking force distribution factor is activated, distributing the regenerative braking force to the front axle and the rear axle of the vehicle respectively based on the braking force distribution factor, so as to prevent the vehicle from activating the electronic braking force distribution system function and turning off the braking energy recovery function in four-wheel drive mode.

[0062] In a preferred solution of this application, the device further includes:

[0063] A storage unit 204 for storing a preset table, where the corresponding relationship between different target parameters and different braking force distribution factors is stored in the preset table;

[0064] The acquisition unit 202 is specifically configured to acquire the braking force distribution factor corresponding to the target parameter by querying the preset table.

[0065] In a preferred solution of this application, the control unit 203 is further configured to, when providing regenerative braking force through the front axle and the rear axle of the vehicle, if the target parameters characterize that the current vehicle speed and acceleration and deceleration of the vehicle remain unchanged, but the current first slip ratio of the front axle is greater than the current second slip ratio of the rear axle, and the first slip ratio is greater than or equal to the slip ratio threshold, activate the braking force distribution factor.

[0066] In a preferred embodiment of the present application, when the monitoring unit 201 provides regenerative braking force through the front axle and the rear axle of the vehicle, it is further configured to monitor a first duration during which the first slip ratio is greater than the second slip ratio and the first slip ratio is greater than or equal to a slip ratio threshold.

[0067] The control unit 203 is configured to deactivate the braking force distribution factor and activate the electronic braking force distribution system function if the first duration is greater than a duration threshold.

[0068] Alternatively, the control unit 203 is configured to, when regenerative braking force is provided through the front axle and the rear axle of the vehicle, deactivate the braking force distribution factor and activate the electronic braking force distribution system function if the target parameter indicates that the current vehicle speed and / or acceleration and deceleration of the vehicle are greater than or equal to a speed threshold.

[0069] Alternatively, the control unit 203 is configured to, when regenerative braking force is provided through the front axle and the rear axle of the vehicle, deactivate the braking force distribution factor if it is monitored that the first slip ratio is less than the second slip ratio.

[0070] In a preferred embodiment of the present application, the acquisition unit 202 is further configured to determine the current braking force demand value of the vehicle.

[0071] The control unit 203 is specifically configured to adjust the regenerative braking torque parameters of the front axle and the rear axle of the vehicle and the hydraulic braking torque parameters of the front axle and the rear axle based on the braking force distribution factor for the braking force demand value, so as to prevent the vehicle from activating the electronic braking force distribution system function and closing the braking energy recovery function in the four-wheel drive mode.

[0072] It should be noted that the vehicle braking force control device provided in the above embodiment and the Figure 1 provided vehicle braking force control method belong to the same concept. The specific implementation process can refer to the above method embodiment and will not be elaborated here.

[0073] The vehicle braking force control device provided in the present application distributes the regenerative braking force of the front axle and the rear axle of the vehicle by increasing the braking force distribution factor, which can greatly reduce the triggering probability of the EBD when the four-wheel drive vehicle passes through a rainy, snowy or slippery road surface, keep the vehicle braking smoothly through this working condition road surface, and improve the driving experience of the driver and passengers during moderate braking on a slippery road surface. Since the braking energy recovery function will not be closed under this road surface condition, the recovery intensity of the vehicle braking energy and the cruising range can be improved.

[0074] Figure 3 is a schematic structural diagram of the vehicle braking force control device in the present application, as Figure 3As shown, the braking force control device 300 of the vehicle includes at least one processor 301 and a memory 302 for storing a computer program that can run on the processor 301. When the processor 301 runs the computer program, it executes the intelligent connected vehicle passing risk assessment method for the school gate prompted by the above embodiments of the present application. The braking force control device 300 of the vehicle further includes at least one network interface 304 and a user interface 303. Each component in the braking force control device 300 of the vehicle is coupled together through a bus system 305. It can be understood that the bus system 305 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 305 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clear illustration, in Figure 3 all kinds of buses are labeled as the bus system 305.

[0075] Among them, the user interface 303 may include a display, a keyboard, a mouse, a trackball, a click wheel, a button, a touchpad, or a touch screen, etc.

[0076] It can be understood that the memory 302 can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a ferromagnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc or a compact disc read-only memory (CD-ROM); the magnetic surface memory can be a disk memory or a tape memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as a static random access memory (SRAM), a synchronous static random access memory (SSRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDR SDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a sync link dynamic random access memory (SLDRAM), a direct rambus random access memory (DRRAM).The memory 302 described in the embodiments of this application is intended to include but is not limited to these and any other suitable types of memory.

[0077] The memory 302 in the embodiments of this application is used to store various types of data to support the operation of the braking force control device 300 of the vehicle. Examples of such data include: any computer programs for operating on the braking force control device 300 of the vehicle, such as the operating system 3021 and application programs 3022; messages; pictures; videos, etc. Among them, the operating system 3021 contains various system programs, such as the framework layer, core library layer, driver layer, etc., for implementing various basic services and processing hardware-based tasks. The application programs 3022 may include various application programs, such as a Media Player, a Browser, etc., for implementing various application services. The program for implementing the method of the embodiments of this application may be included in the application programs 3022.

[0078] The processor 301 may be an integrated circuit chip with the ability to process signals. In the implementation process, each step of the above method may be completed by the integrated logic circuit in the hardware of the processor 301 or instructions in software form. The above-mentioned processor 301 may be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor 301 may implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor, etc. Combining the steps of the method disclosed in the embodiments of this application, it may be directly embodied as being executed and completed by a hardware decoding processor, or executed and completed by a combination of the hardware and software modules in the decoding processor. The software module may be located in a storage medium, and this storage medium is located in the memory 302. The processor 301 reads the information in the memory 302 and combines its hardware to complete the steps of the foregoing method.

[0079] In an exemplary embodiment, the braking force control device 300 of the vehicle may be implemented by one or more application specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs), general purpose processors, controllers, microcontroller units (MCUs), microprocessors, or other electronic components, and is used to execute the foregoing method.

[0080] In an exemplary embodiment, the embodiment of the present application further provides a computer-readable storage medium, such as a memory 302 including a computer program. The foregoing computer program can be executed by a processor 301 of the braking force control device 300 of the vehicle to complete the steps of the foregoing method. The computer-readable storage medium may be a FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disc, or a memory such as a CD-ROM; it may also be various devices including one or any combination of the foregoing memories, such as AR devices, CR devices, VR devices, MR devices, etc.

[0081] A computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, it executes the method for controlling the braking force of the vehicle as prompted in the foregoing embodiments of the present application.

[0082] The present application further provides a vehicle, which includes the braking force control device of the vehicle provided in the foregoing embodiment.

[0083] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. In addition, the features disclosed in several method or device embodiments provided by the present application can be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0084] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present application, and all should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for controlling the braking force of a vehicle, characterized in that: The method comprises: Monitoring current target parameters of the vehicle, wherein the target parameters at least represent the current slip rate, vehicle speed, and acceleration / deceleration of the vehicle; Acquire a braking force distribution factor corresponding to the target parameter, wherein the braking force distribution factor is related to a function of an electronic braking force distribution system of the vehicle; When the braking force distribution factor is activated, regenerative braking force is distributed to the front and rear axles of the vehicle respectively based on the braking force distribution factor to prevent the vehicle from starting the electronic braking force distribution system function and turning off the braking energy recovery function in the four-wheel drive mode.

2. The method according to claim 1, characterized in that: The obtaining of the braking force distribution factor corresponding to the target parameter includes: The braking force distribution factor corresponding to the target parameter is obtained by querying a preset table, wherein the preset table stores the correspondence between different target parameters and different braking force distribution factors.

3. The method according to claim 1, characterized in that The braking force distribution factors are activated, including: In the case where regenerative braking force is provided by the front axle and the rear axle of the vehicle respectively, if the target parameter characterizing the current vehicle speed and acceleration and deceleration remain unchanged, but the current first slip rate of the front axle is greater than the current second slip rate of the rear axle, and the first slip rate is greater than or equal to the slip rate threshold, the braking force distribution factor is activated.

4. The method according to claim 3, characterized in that The method further comprises: monitoring a first duration during which the first slip ratio is greater than the second slip ratio and the first slip ratio is greater than or equal to a slip ratio threshold when regenerative braking force is provided by the front and rear axles of the vehicle; and if the first duration is greater than the duration threshold, disabling the braking force distribution factor and activating the electronic brake force distribution system function; Alternatively, in the case where the regenerative braking force is provided by the front and rear axles of the vehicle, if the target parameter represents that the current vehicle speed and / or acceleration / deceleration of the vehicle is greater than or equal to a speed threshold, the braking force distribution factor is deactivated and the electronic brake force distribution system function is activated; Alternatively, in a case where the regenerative braking force is provided by the front and rear axles of the vehicle, if it is monitored that the first slip ratio is smaller than the second slip ratio, the braking force distribution factor is disabled.

5. The method according to claim 1, characterized in that The distributing the regenerative braking force to the front axle and the rear axle of the vehicle respectively based on the braking force distribution factor to prevent the vehicle from starting the electronic braking force distribution system function and turning off the braking energy recovery function in the four-wheel drive mode includes: Determining a current braking force requirement value of the vehicle; Based on the braking force distribution factor, the regenerative braking force torque parameters and hydraulic braking force torque parameters of the front and rear axles of the vehicle are adjusted according to the braking force demand value to prevent the vehicle from starting the electronic braking force distribution system function and turning off the braking energy recovery function in the four-wheel drive mode.

6. A vehicle braking force control device, characterized in that: The device comprises: A monitoring unit, used for monitoring a current target parameter of the vehicle, wherein the target parameter at least represents a current slip rate, a vehicle speed, and an acceleration / deceleration of the vehicle; an acquisition unit, configured to acquire a braking force distribution factor corresponding to the target parameter, wherein the braking force distribution factor is related to a function of an electronic braking force distribution system of the vehicle; A control unit is used to distribute regenerative braking force to the front and rear axles of the vehicle respectively based on the braking force distribution factor when the braking force distribution factor is activated, so as to prevent the vehicle from starting the electronic braking force distribution system function and turning off the braking energy recovery function in the four-wheel drive mode.

7. The device according to claim 6, characterized in that The device also includes: A storage unit, used to store a preset table, wherein the preset table stores corresponding relationships between different target parameters and different braking force distribution factors; The acquisition unit is specifically configured to acquire the braking force distribution factor corresponding to the target parameter by querying the preset table.

8. The device according to claim 6, characterized in that The control unit is further used to activate the braking force distribution factor when regenerative braking force is provided by the front and rear axles of the vehicle, if the target parameter characterizing the current vehicle speed and acceleration and deceleration remain unchanged, but the current first slip rate of the front axle is greater than the current second slip rate of the rear axle, and the first slip rate is greater than or equal to a slip rate threshold.

9. A vehicle braking force control device, characterized in that: The device comprises: A memory for storing computer programs that can be executed on the processor; The processor is used to execute the vehicle braking force control method according to any one of claims 1 to 5 when running the computer program.

10. A vehicle, characterized in that: The vehicle includes the vehicle braking force control device according to any one of claims 6 to 8.

Images