Brake-by-wire control method, device and system

Abstract

The embodiment of the invention provides a brake-by-wire control method, device and system.The method is applied to brake-by-wire assemblies of a brake-by-wire device, the brake-by-wire assemblies are arranged on all wheels of a vehicle, and the brake-by-wire control method comprises the steps that target braking force is determined according to a received first braking signal; determining a first braking parameter required for generating the target braking force in a preset operating environment according to the target braking force; and under the condition that the first operation parameter and the second operation parameter are different, the first braking parameter is adjusted according to the first operation parameter and the second operation parameter, so that the actual braking force output by the brake-by-wire assembly is equal to the target braking force. The first braking parameter can be adjusted according to the actual operation environment of the vehicle, so that the actual braking force output is the same as the target braking force output in different operation environments, and the braking force control accuracy is improved.

Description

Technical Field

[0001] Embodiments of the present application relate to the field of computer technologies, and in particular, to a wire braking control method, apparatus, and system. Background Art

[0002] Currently, vehicle braking technology has become a key part of vehicle control technology to ensure vehicle safety. Although the traditional hydraulic braking system is mature and reliable, it has limitations in terms of response speed, braking force control accuracy, and energy recovery. Therefore, the wire braking system has emerged. It controls braking through electronic signals, replacing the traditional mechanical connection, and providing a faster response time and more accurate braking force control.

[0003] However, when braking, since the operating environment of the wheels will affect the braking force, there is a deviation between the actual output braking force and the target braking force, and thus the requirement for precise control of the braking force cannot be met. Summary of the Invention

[0004] In view of this, embodiments of the present application provide a wire braking control method, apparatus, and system to at least partially solve the above problems.

[0005] According to a first aspect of embodiments of the present application, there is provided a wire braking control method, which is applied to a wire braking component of a wire braking device. The wire braking component is disposed on each wheel of a vehicle, and the method includes:

[0006] Determine a target braking force according to a received first braking signal, where the first braking signal is determined by a main controller according to a second braking signal and a preset distribution ratio, and the second braking signal is determined by the active controller according to the travel of the brake pedal in a standard braking mode;

[0007] Determine a first braking parameter required to generate the target braking force in a preset operating environment according to the target braking force, where the preset operating environment corresponds to first operating parameters;

[0008] Obtain second operating parameters in the current operating environment;

[0009] In a case where there are differences between the first operating parameters and the second operating parameters, adjust the first braking parameter according to the first operating parameters and the second operating parameters so that the actual braking force output by the wire braking component is equal to the target braking force.

[0010] In some embodiments, the operating parameters include tire temperature, tire pressure, and road surface type. The operating parameters further include first operating parameters and second operating parameters. The first operating parameters include a first tire temperature range, a first tire pressure range, and a first road surface type;

[0011] In the case where there are differences between the first operating parameter and the second operating parameter, adjusting the first braking parameter according to the first operating parameter and the second operating parameter includes:

[0012] Determining the operating parameters with differences according to the first tire temperature range and the second tire temperature, the first tire pressure range and the second tire pressure, the first road surface type and the second road surface type;

[0013] Determining an adjustment coefficient according to the operating parameters with differences;

[0014] Adjusting the first braking parameter according to the adjustment coefficient.

[0015] In some embodiments, determining the adjustment coefficient according to the operating parameters with differences includes:

[0016] Determining a first adjustment sub - coefficient according to the operating parameters with differences;

[0017] Determining the adjustment coefficient according to the first adjustment sub - coefficient and the second adjustment sub - coefficient, where the second adjustment sub - coefficient is determined according to the non - existent operating parameters and the second adjustment sub - coefficient is 1;

[0018] Determining the first adjustment sub - coefficient according to the operating parameters with differences includes:

[0019] If the second tire temperature does not belong to the first tire temperature range, determining a first target extreme point in the first tire temperature range that is close to the second tire temperature;

[0020] Determining a first difference between the second tire temperature and the first target extreme point, and determining the first adjustment sub - coefficient according to the quotient of the first difference and the maximum value in the first tire temperature range;

[0021] If the second tire pressure does not belong to the first tire pressure range, determining a second target extreme point in the first tire pressure range that is close to the second tire pressure;

[0022] Determining a second difference between the second tire pressure and the second target extreme point, and determining the first adjustment sub - coefficient according to the quotient of the second difference and the maximum value in the first tire pressure range;

[0023] If the second road surface type is different from the first road surface type, determining the first adjustment sub - coefficient according to the reciprocal of the friction coefficient corresponding to the second road surface type.

[0024] In some embodiments, the method further comprises:

[0025] Determining a braking distance according to the target braking force;

[0026] When the braking distance is greater than a preset braking distance, determining whether the road surface type within the braking distance changes;

[0027] If the road surface type within the braking distance changes from the second road surface type to the third road surface type, adjusting a second braking parameter according to the friction coefficient corresponding to the second road surface type and the friction coefficient of the third road surface type, wherein the second braking parameter is obtained according to a first braking parameter and an adjustment coefficient.

[0028] In some embodiments, adjusting the second braking parameter according to the friction coefficient corresponding to the second road surface type and the friction coefficient of the third road surface type includes:

[0029] Determining an absolute value of a first difference according to the friction coefficient corresponding to the second road surface type and the friction coefficient of the third road surface type;

[0030] Determining a braking parameter change amount according to the absolute value of the first difference;

[0031] Determining a target braking parameter according to the braking parameter change amount and the second braking parameter.

[0032] In some embodiments, the method further comprises:

[0033] When obtaining a second operating parameter in the current operating environment, if there is a data missing in the second operating parameter, obtaining the missing second operating parameter in the adjacent electronic brake control unit (EBCU).

[0034] In some embodiments, when failing to obtain the missing second operating parameter in the adjacent electronic brake control unit (EBCU), matching the second operating parameter in historical data to obtain the missing second operating parameter in the historical data.

[0035] According to a second aspect of the embodiments of the present application, there is provided an electronic brake control device, which is applied to an electronic brake control unit (EBCU) of an electronic brake system, and the electronic brake control unit (EBCU) is disposed on each wheel of a vehicle. The device includes:

[0036] A receiving module, configured to determine a target braking force according to a received first braking signal, wherein the first braking signal is determined by a main controller according to a second braking signal and a preset distribution ratio, and the second braking signal is determined by the active controller according to a stroke of a brake pedal in a standard braking mode;

[0037] A determination module, configured to determine a first braking parameter required to generate the target braking force in a preset operating environment according to the target braking force, where a first operating parameter corresponds to the preset operating environment;

[0038] An acquisition module, configured to acquire a second operating parameter in the current operating environment;

[0039] An adjustment module, configured to adjust the first braking parameter according to the first operating parameter and the second operating parameter when there is a difference between the first operating parameter and the second operating parameter, so that the actual braking force output by the electronic brake control assembly is equal to the target braking force.

[0040] According to a third aspect of the embodiments of the present application, an electronic brake control system is provided, including a main controller and an electronic brake control device. The electronic brake control device includes a plurality of electronic brake control assemblies, and each of the electronic brake control assemblies is installed on a wheel of a vehicle. The electronic brake control assembly includes a slave controller and a sensor group. The electronic brake control assembly is configured to execute the method described in the first aspect. The main controller is configured to determine a second braking signal according to the stroke of a brake pedal in a standard braking mode, and is further configured to generate a first braking signal according to the second braking signal and a preset distribution ratio, and send the first braking signal to the slave controller.

[0041] According to a fourth aspect of the embodiments of the present application, a computer storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the electronic brake control method described in the first aspect is implemented.

[0042] According to the electronic brake control method provided by the embodiments of the present application, after receiving the first braking signal, the electronic brake control assembly determines a target braking force required during braking based on the first braking signal, and determines a first braking parameter required for a first operating parameter in a preset operating environment based on the target braking force. Further, a second operating parameter in the current operating environment is acquired, so that when there is a difference between the first operating parameter and the second operating parameter, the first braking parameter is adjusted according to the first operating parameter and the second operating parameter, so that the actual braking force output by the electronic brake control assembly in the current operating environment is equal to the target braking force, thereby enabling the first braking parameter to be adjusted according to the actual operating environment of the vehicle, so that the actual braking force output is the same as the target braking force output in different operating environments, and improving the accuracy of braking force control. Description of the Drawings

[0043] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in the embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0044] Figure 1 FIG. is a flowchart of steps of a check code generation method according to an embodiment of the present application;

[0045] Figure 2 FIG. is a flowchart of steps of a check code generation method according to another embodiment of the present application;

[0046] Figure 3 FIG. is a structural block diagram of a check code generation device according to an embodiment of the present application. Detailed implementation manners

[0047] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the embodiments of the present application, rather than all embodiments. Based on the embodiments in the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art shall fall within the protection scope of the embodiments of the present application.

[0048] The following further illustrates the specific implementation of the embodiments of the present application with reference to the drawings of the embodiments of the present application.

[0049] The embodiment of the present application provides a wire brake control method, which is applied to the wire brake assembly of a wire brake device. The wire brake assemblies are arranged on each wheel of the vehicle, and each wire brake assembly brakes independently. Specifically, as Figure 1 shown, the method may include:

[0050] S101, the slave controller determines the target braking force according to the received first braking signal.

[0051] In the embodiment of the present application, the wire brake device of the embodiment of the present application includes a master controller and a plurality of wire brake assemblies. The wire brake assembly includes a slave controller and a sensor assembly. When braking in the standard braking mode, the master controller determines the second braking signal according to the stroke of the brake pedal, distributes the first braking signal to the wire brake assemblies on each wheel according to a preset distribution ratio, and sends the first braking signal to the slave controller. After receiving the first braking signal, the slave controller analyzes the first braking signal to determine the target braking force required during braking.

[0052] In one example, the standard braking mode of the embodiment of the present application is non-emergency braking, that is, the depression depth or depression speed of the brake pedal is less than a preset value.

[0053] In one example, a preset distribution ratio is stored in the slave controller of the embodiment of the present application. The preset distribution ratio can be 60% for the front wheels as a whole and 40% for the rear wheels as a whole, or other distribution ratios, which can be set by those skilled in the art according to actual needs.

[0054] S102. The slave controller determines a first braking parameter required to generate a target braking force in a preset operating environment according to the target braking force.

[0055] In the embodiment of the present application, after the slave controller determines the target braking force, the slave controller determines a first braking parameter required to generate the target braking force in the preset operating environment. Specifically, the first braking parameter in the embodiment of the present application can be the braking torque of the motor.

[0056] In one example, a first operating parameter corresponds to the preset operating environment. The first operating parameter includes but is not limited to a first tire temperature range, a first tire pressure range, a first road surface type, a tire load range, etc. Specifically, the preset operating environment of the embodiment of the present application can be understood as an operating environment that enables the tire to generate optimal braking performance. Under the preset environment, the adhesion of the tire is optimal.

[0057] S103. The slave controller obtains a second operating parameter in the current operating environment.

[0058] In the embodiment of the present application, after the slave controller determines the first braking parameter, it controls the sensor group to obtain a second operating parameter in the current operating environment.

[0059] S104. When there is a difference between the first operating parameter and the second operating parameter, the slave controller adjusts the first braking parameter according to the first operating parameter and the second operating parameter so that the actual braking force output by the by-wire braking assembly is equal to the target braking force.

[0060] In the embodiment of the present application, after the slave controller obtains the second operating parameter, it compares the first operating parameter with the second operating parameter. If it is determined that there is a difference between the first operating parameter and the second operating parameter, the first braking parameter is adjusted according to the first operating parameter and the second operating parameter so that the actual braking force output by the by-wire braking assembly is equal to the target braking force.

[0061] The wire control braking control method provided by the embodiment of the present application. After receiving the first braking signal, the wire control component determines the target braking force required during braking based on the first braking signal, and determines the first braking parameter required in the preset operating environment based on the target braking force. Further, the second operating parameter in the current operating environment is obtained. In the case where there is a difference between the first operating parameter and the second operating parameter, the first braking parameter is adjusted according to the first operating parameter and the second operating parameter, so that the actual braking force output by the wire braking component in the current operating environment is equal to the target braking force. Thus, the first braking parameter can be adjusted according to the actual operating environment of the vehicle, so that the actual braking force output is the same as the target braking force output in different operating environments, improving the accuracy of braking force control.

[0062] Further, the preferred operating parameters in the embodiment of the present application include tire temperature, tire pressure, and road surface type. The operating parameters also include a first operating parameter and a second operating parameter. The first operating parameter includes a first tire temperature range, a first tire pressure range, and a first road surface type.

[0063] In the case where there is a difference between the first operating parameter and the second operating parameter, adjusting the first braking parameter according to the first operating parameter and the second operating parameter may include the following steps:

[0064] S1041, the slave controller determines the operating parameters with differences according to the first tire temperature range and the second tire temperature, the first tire pressure range and the second tire pressure, and the first road surface type and the second road surface type.

[0065] In the embodiment of the present application, after obtaining the first operating parameter and the second operating parameter, the slave controller compares the first operating parameter and the second operating parameter to determine the operating parameters with differences. Specifically, the first tire temperature range is compared with the second tire temperature, the first tire pressure range is compared with the second tire pressure, and the first road surface type is compared with the second road surface type, so as to determine the operating parameters with differences.

[0066] In one example, the first tire temperature range may be 80°C - 90°C, the first tire pressure range may be 2.2 bar - 2.5 bar, and the first road surface type may be an asphalt concrete road surface in a dry state. Specifically, the first tire temperature range, the first tire pressure range, and the first road surface type can also be set according to actual requirements.

[0067] S1042, the slave controller determines the adjustment coefficient according to the operating parameters with differences.

[0068] In the embodiment of the present application, after the slave controller completes the comparison, the slave controller calculates an adjustment coefficient based on the operating parameters with differences. Specifically, if the operating parameter with a difference is the tire temperature, the adjustment coefficient is calculated using the difference in tire temperature. If the operating parameters with differences are the tire temperature and the tire pressure, the adjustment coefficient is calculated using the differences in tire temperature and tire pressure, and so on. The adjustment coefficient is determined using the operating parameters with differences.

[0069] S1043. The slave controller adjusts the first braking parameter according to the adjustment coefficient.

[0070] In the embodiment of the present application, after the slave controller determines the adjustment coefficient, the slave controller uses the adjustment coefficient and the first braking parameter to determine the second braking parameter, so that the electronic brake assembly outputs the second braking parameter.

[0071] The embodiment of the present application provides for comparing the first operating parameter and the second operating parameter, so as to determine the operating parameter with a difference, and thus the adjustment coefficient can be accurately calculated using the operating parameter with a difference, so that the first braking parameter output can be adjusted according to the actual operating environment of the vehicle, so that the actually output braking force is equal to the target braking force, thereby improving the control accuracy of the braking force and the accuracy of braking force control.

[0072] Further, the slave controller determines the adjustment coefficient according to the operating parameter with a difference, which may include the following steps:

[0073] S10421. The slave controller determines a first adjustment sub-coefficient according to the operating parameter with a difference.

[0074] In the embodiment of the present application, the slave controller determines the first adjustment sub-coefficient according to the operating parameter with a difference. First, the operating parameter with a difference is determined. If the second tire temperature does not belong to the first tire temperature range, the first target extreme point close to the second tire temperature in the first tire temperature range is determined; the first difference between the second tire temperature and the first target extreme point is determined, and the first adjustment sub-coefficient is determined according to the quotient of the first difference and the maximum value in the first tire temperature range;

[0075] If the second tire pressure does not belong to the first tire pressure range, the second target extreme point close to the second tire pressure in the first tire pressure range is determined; the second difference between the second tire pressure and the second target extreme point is determined, and the first adjustment sub-coefficient is determined according to the quotient of the second difference and the maximum value in the first tire pressure range;

[0076] If the second road surface type is different from the first road surface type, the first adjustment sub-coefficient is determined according to the reciprocal of the friction coefficient corresponding to the second road surface type.

[0077] Specifically, the above calculation process can be summarized into the following formula:

[0078]

[0079] Where k is the first adjustment sub - coefficient, A is the second tire temperature, A3 is the first target extreme point close to the second tire temperature in the first tire temperature range, A2 is the maximum value in the first tire temperature range, B is the second tire pressure, B3 is the second target extreme point close to the second tire temperature in the first tire pressure range, B2 is the maximum value in the first tire pressure range, and C is the friction coefficient corresponding to the second road surface type.

[0080] S10422, The slave controller determines the adjustment coefficient according to the first adjustment sub - coefficient and the second adjustment sub - coefficient.

[0081] In the embodiment of the present application, when the slave controller determines the first adjustment sub - coefficient, it simultaneously determines the second adjustment sub - coefficient. Specifically, the second adjustment sub - coefficient is determined according to the non - existent operating parameter, and the second adjustment sub - coefficient is 1.

[0082] In an example, if the second road surface type is the same as the first road surface type, the first adjustment coefficient is:

[0083]

[0084] Furthermore, use the sum value of k and 1 to determine the adjustment coefficient.

[0085] If the second tire pressure belongs to the first tire pressure range and the second road surface type is the same as the first road surface type, the first adjustment coefficient is:

[0086]

[0087] Furthermore, use the sum value of k and 1 to determine the adjustment coefficient.

[0088] In the embodiment of the present application, by calculating the first adjustment sub - coefficient through the different operating parameters and calculating the second adjustment sub - coefficient through the non - different operating parameters, the adjustment coefficient can be accurately determined according to the actual operating environment of the vehicle. Thus, the first braking parameter output can be adjusted by using the adjustment coefficient, and further, the braking force output can be made the same as the target braking force, improving the accuracy of braking force control.

[0089] Further, the control method of the embodiment of the present application may further include the following steps:

[0090] S105, The slave controller determines the braking distance according to the target braking force.

[0091] In the embodiment of the present application, after determining the target braking force, the slave controller calculates the braking distance based on the target braking force and the current vehicle speed.

[0092] S106. When the braking distance is greater than the preset braking distance, the slave controller determines whether the road surface type within the braking distance has changed.

[0093] In the embodiment of the present application, after determining the braking distance, the slave controller compares the current braking distance with the preset braking distance. When it is determined that the braking distance is greater than the preset braking distance, it determines whether the road surface type within the braking distance has changed.

[0094] In one example, to determine whether the road surface type within the braking distance has changed, the road surface image within the braking distance can be acquired in advance based on the vehicle's vision device, so as to determine whether the road surface type within the braking distance has changed according to the road surface image. Also, based on the vehicle's position information, the road surface type within the braking distance can be acquired, thereby determining whether the road surface type within the braking distance has changed.

[0095] In one example, the preset braking distance can be 1 meter, 2 meters, or other distances, which can be set according to requirements.

[0096] S107. If the slave controller determines that the road surface type within the braking distance has changed from the second road surface type to the third road surface type, it adjusts the second braking parameter according to the friction coefficient corresponding to the second road surface type and the friction coefficient of the third road surface type.

[0097] In the embodiment of the present application, if the slave controller determines that the road surface type within the braking distance has changed from the second road surface type to the third road surface type, it adjusts the second braking parameter according to the friction coefficient corresponding to the second road surface type and the friction coefficient of the third road surface type.

[0098] In one example, when adjusting the second braking parameter, the absolute value of the first difference is determined according to the friction coefficient corresponding to the second road surface type and the friction coefficient of the third road surface type; the braking parameter change amount is determined according to the absolute value of the first difference; and the target braking parameter is determined according to the braking parameter change amount and the second braking parameter.

[0099] In the embodiment of the present application, by calculating the braking distance and performing a secondary adjustment on the first braking parameter based on the change in the road surface type within the braking distance, the output of the braking force can be made more in line with the current operating environment, and further improve the accuracy of braking force control.

[0100] Furthermore, the method of the embodiment of the present application may further include the following steps:

[0101] S108. When the slave controller obtains the second operating parameter in the current operating environment, if there is missing data in the second operating parameter, the missing second operating parameter is obtained from the adjacent electronic brake-by-wire (EBW) assemblies.

[0102] In the embodiment of the present application, when the slave controller obtains the second operating parameter in the current operating environment, if there is missing data in the second operating parameter, the slave controller determines that the sensor assembly is faulty and obtains the missing second operating parameter from the EBW assemblies of adjacent wheels.

[0103] In one example, if the slave controller determines that the second tire temperature is missing, the slave controller obtains the second tire temperature from the EBW assemblies of adjacent wheels. Specifically, in the embodiment of the present application, the adjacent wheels refer to the wheels in the same row as the present wheel.

[0104] S109. When the slave controller fails to obtain the missing second operating parameter from the EBW assemblies, the missing second operating parameter is matched in the historical data based on the second operating parameter to obtain the missing second operating parameter from the historical data.

[0105] In the embodiment of the present application, when the slave controller fails to obtain the missing second operating parameter from the adjacent EBW assemblies, the slave controller matches based on the existing second operating parameter in the historical braking scenario data to select a historical braking scenario that is the same as or closest to the current braking scenario, and obtains the missing second operating parameter in the historical braking scenario.

[0106] In one example, if the slave controller determines that the second tire temperature is missing, the slave controller uses the second tire pressure and the second road surface type to match in the historical braking scenario data, determines a historical braking scenario that is the same as or closest to the current braking scenario, and determines the second tire temperature in the historical braking scenario as the second tire temperature of the current braking scenario. Specifically, if there are multiple matching historical braking scenarios, the historical braking scenario with the closest date to the current braking scenario is selected and used as the historical braking scenario that is the same as or closest to the current braking scenario.

[0107] In the embodiment of the present application, when there is missing data in the second operating parameter, by obtaining the determined second operating parameter from the EBW assemblies of adjacent wheels or in the historical braking scenario, it is possible to ensure that the output of the braking force can still be controlled when a fault occurs, improving the accuracy of braking force control during a fault.

[0108] Further, the embodiment of the present application provides another electronic brake-by-wire control method, as Figure 2 shown, the method includes:

[0109] The master controller determines the second braking signal according to the travel of the brake pedal, distributes the first braking signal to the electronically controlled braking assemblies on each wheel according to a preset distribution ratio, and sends the first braking signal to the slave controller. After receiving the first braking signal, the slave controller analyzes the first braking signal to determine the target braking force required during braking.

[0110] The slave controller determines the first braking parameter required to generate the target braking force in a preset operating environment. After determining the first braking parameter, the slave controller obtains the second operating parameter in the current operating environment. When the second operating parameter data is missing, the slave controller obtains the missing second operating parameter on the electronically controlled braking assembly of the adjacent wheel. If the slave controller fails to obtain the missing second operating parameter from the adjacent electronically controlled braking assemblies, the slave controller matches in the historical braking scenario data based on the existing second operating parameter to obtain the missing second operating parameter.

[0111] After obtaining the second operating parameter, the slave controller compares the first operating parameter with the second operating parameter. When there are differences between the first operating parameter and the second operating parameter, the slave controller determines the first adjustment sub-coefficient according to the different operating parameters. If the second tire temperature does not belong to the first tire temperature range, the first target extreme point in the first tire temperature range that is close to the second tire temperature is determined; the first difference between the second tire temperature and the first target extreme point is determined, and the first adjustment sub-coefficient is determined according to the quotient of the first difference and the maximum value in the first tire temperature range; if the second tire pressure does not belong to the first tire pressure range, the second target extreme point in the first tire pressure range that is close to the second tire pressure is determined; the second difference between the second tire pressure and the second target extreme point is determined, and the first adjustment sub-coefficient is determined according to the quotient of the second difference and the maximum value in the first tire pressure range; if the second road surface type is different from the first road surface type, the first adjustment sub-coefficient is determined according to the reciprocal of the friction coefficient corresponding to the second road surface type.

[0112] The slave controller determines the adjustment coefficient according to the first adjustment sub-coefficient and the second adjustment sub-coefficient, where the second adjustment sub-coefficient is determined according to the non-existent operating parameter and the second adjustment sub-coefficient is 1.

[0113] After determining the adjustment coefficient, the slave controller determines the second braking parameter by using the adjustment coefficient and the first braking parameter, so that the electronically controlled braking assembly outputs the second braking parameter.

[0114] The slave controller determines the braking distance according to the target braking force. When the slave controller determines that the braking distance is greater than the preset braking distance, it determines whether the road surface type within the braking distance has changed. If the slave controller determines that the road surface type within the braking distance has changed from the second road surface type to the third road surface type, the slave controller determines the absolute value of the first difference according to the friction coefficient corresponding to the second road surface type and the friction coefficient of the third road surface type; determines the change amount of the braking parameter according to the absolute value of the first difference; and determines the target braking parameter according to the change amount of the braking parameter and the second braking parameter.

[0115] Further, an embodiment of the present application provides a wire control braking control device, which is applied to a wire control braking component of a wire control braking device. The wire control braking components are arranged on each wheel of the vehicle, as Figure 3 shown. The device includes:

[0116] A receiving module 301, configured to determine a target braking force according to a received first braking signal, where the first braking signal is determined by a master controller according to a second braking signal and a preset distribution ratio, and the second braking signal is determined by an active controller according to the travel of a brake pedal in a standard braking mode;

[0117] A determining module 302, configured to determine a first braking parameter required to generate the target braking force in a preset operating environment according to the target braking force, where the preset operating environment corresponds to first operating parameters;

[0118] An obtaining module 303, configured to obtain second operating parameters in the current operating environment;

[0119] An adjusting module 304, configured to adjust the first braking parameter according to the first operating parameters and the second operating parameters when there is a difference between the first operating parameters and the second operating parameters, so that the actual braking force output by the wire control braking component is equal to the target braking force.

[0120] The wire control braking device in this embodiment is used to implement the corresponding wire control braking control method in the foregoing multiple method embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be elaborated here. In addition, the function implementation of each module in the wire control braking device in this embodiment can be referred to the corresponding part of the foregoing method embodiments, which will not be elaborated here either.

[0121] Furthermore, an embodiment of the present application provides a wire control braking system, including a main controller and a wire control braking device. The wire control braking device includes a plurality of wire control braking components, and each wire control braking component is installed on a wheel of a vehicle. The wire control braking component includes a slave controller and a sensor group. The wire control braking component is configured to execute the method described in the embodiment of the present application. The main controller is configured to determine a second braking signal according to the stroke of the braking pedal in a standard braking mode, and is further configured to generate a first braking signal according to the second braking signal and a preset distribution ratio, and send the first braking signal to the slave controller.

[0122] It should be noted that, according to the needs of implementation, each component / step described in the embodiment of the present application can be split into more components / steps, or two or more components / steps or partial operations of the component / step can be combined into a new component / step to achieve the purpose of the embodiment of the present application.

[0123] The method according to the embodiment of the present application can be implemented in hardware, firmware, or be implemented as software or computer code that can be stored in a recording medium (such as a CD ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or be implemented as computer code originally stored in a remote recording medium or a non-transitory machine-readable medium and downloaded through a network and to be stored in a local recording medium, so that the method described herein can be stored in such software processing on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an ASIC or an FPGA). It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component (such as a RAM, a ROM, a flash memory, etc.) that can store or receive software or computer code. When the software or computer code is accessed and executed by the computer, the processor, or the hardware, the method for generating a check code described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method for generating a check code shown herein, the execution of the code converts the general-purpose computer into a dedicated computer for executing the method for generating a check code shown herein.

[0124] Those of ordinary skill in the art can realize that the units and method steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. A professional technician can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the embodiment of the present application.

[0125] The above embodiments are only used to illustrate the embodiments of the present application, rather than limiting the embodiments of the present application. Those of ordinary skill in the relevant technical field can also make various changes and modifications without departing from the spirit and scope of the embodiments of the present application. Therefore, all equivalent technical solutions also belong to the scope of the embodiments of the present application. The patent protection scope of the embodiments of the present application shall be defined by the claims.

Claims

1. A wire brake control method, characterized in that, A wire-controlled braking assembly applied to a wire-controlled braking device, the wire-controlled braking assembly being arranged on each wheel of a vehicle, the method comprising: Determining a target braking force according to a received first braking signal, wherein the first braking signal is determined by a main controller according to a second braking signal and a preset distribution ratio, and the second braking signal is determined by the active controller according to the stroke of a brake pedal in a standard braking mode; Determining a first braking parameter required to generate the target braking force in a preset operating environment according to the target braking force, wherein the preset operating environment corresponds to a first operating parameter; Obtaining a second operating parameter in the current operating environment; In the case where there is a difference between the first operating parameter and the second operating parameter, adjusting the first braking parameter according to the first operating parameter and the second operating parameter so that the actual braking force output by the wire-controlled braking assembly is equal to the target braking force.

2. The method according to claim 1, characterized in that The operating parameters include tire temperature, tire pressure and road surface type, and the operating parameters further include a first operating parameter and a second operating parameter, and the first operating parameter includes a first tire temperature range, a first tire pressure range and a first road surface type; The adjusting the first braking parameter according to the first operating parameter and the second operating parameter in the case where there is a difference between the first operating parameter and the second operating parameter includes: Determining the operating parameters with differences according to the first tire temperature range and the second tire temperature, the first tire pressure range and the second tire pressure, the first road surface type and the second road surface type; Determining an adjustment coefficient according to the operating parameters with differences; Adjusting the first braking parameter according to the adjustment coefficient.

3. The method according to claim 2, wherein The determining the adjustment coefficient according to the operating parameters with differences includes: Determining a first adjustment sub-coefficient according to the operating parameters with differences; Determining the adjustment coefficient according to the first adjustment sub-coefficient and a second adjustment sub-coefficient, wherein the second adjustment sub-coefficient is determined according to the operating parameters that do not exist, and the second adjustment sub-coefficient is 1; The determining the first adjustment sub-coefficient according to the operating parameters with differences includes: If the second tire temperature does not belong to the first tire temperature range, determining a first target extreme point in the first tire temperature range that is close to the second tire temperature; Determining a first difference between the second tire temperature and the first target extreme point, and determining the first adjustment sub-coefficient according to the quotient of the first difference and the maximum value in the first tire temperature range; If the second tire pressure does not belong to the first tire pressure range, determining a second target extreme point in the first tire pressure range that is close to the second tire pressure; Determining a second difference between the second tire pressure and the second target extreme point, and determining the first adjustment sub-coefficient according to the quotient of the second difference and the maximum value in the first tire pressure range; If the second road surface type is different from the first road surface type, determining the first adjustment sub-coefficient according to the reciprocal of the friction coefficient corresponding to the second road surface type.

4. The method according to claim 3, characterized in that, The method further includes: Determining a braking distance according to the target braking force; When the braking distance is greater than a preset braking distance, determining whether the road surface type within the braking distance changes; If the road surface type within the braking distance changes from the second road surface type to the third road surface type, adjusting a second braking parameter according to the friction coefficient corresponding to the second road surface type and the friction coefficient of the third road surface type, where the second braking parameter is obtained according to a first braking parameter and an adjustment coefficient.

5. The method according to claim 4, wherein Adjusting the second braking parameter according to the friction coefficient corresponding to the second road surface type and the friction coefficient of the third road surface type includes: Determining an absolute value of a first difference according to the friction coefficient corresponding to the second road surface type and the friction coefficient of the third road surface type; Determining a braking parameter change amount according to the absolute value of the first difference; Determining a target braking parameter according to the braking parameter change amount and the second braking parameter.

6. The method according to claim 1, wherein The method further includes: When obtaining a second operating parameter in the current operating environment, if there is a data missing in the second operating parameter, obtaining the missing second operating parameter in the adjacent line control brake assemblies.

7. The method according to claim 6, characterized in that, When failing to obtain the missing second operating parameter in the adjacent line control brake assemblies, matching based on the second operating parameter in historical data to obtain the missing second operating parameter in the historical data.

8. A wire braking control device, characterized in that, A line control brake assembly applied to a line control braking device, the line control brake assembly being arranged on each wheel of a vehicle, the device includes: A receiving module, configured to determine a target braking force according to a received first braking signal, where the first braking signal is determined by a main controller according to a second braking signal and a preset distribution ratio, and the second braking signal is determined by the active controller according to a stroke of a brake pedal in a standard braking mode; A determining module, configured to determine a first braking parameter required to generate the target braking force in a preset operating environment according to the target braking force, where a first operating parameter corresponds to the preset operating environment; An obtaining module, configured to obtain a second operating parameter in the current operating environment; An adjusting module, configured to, when there is a difference between the first operating parameter and the second operating parameter, adjust the first braking parameter according to the first operating parameter and the second operating parameter, so that an actual braking force output by the line control brake assembly is equal to the target braking force.

9. A line control braking system, including a main controller and a line control braking device, the line control braking device including a plurality of line control brake assemblies, each of the line control brake assemblies being installed on a wheel of a vehicle, the line control brake assembly including a slave controller and a sensor group, the line control brake assembly being configured to execute the method according to any one of claims 1-7, the main controller being configured to determine a second braking signal according to a stroke of a brake pedal in a standard braking mode, and further configured to generate a first braking signal according to the second braking signal and a preset distribution ratio, and send the first braking signal to the slave controller.

10. A computer storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements the line control braking control method described in any one of claims 1-7.

Images