Brake-by-wire control method, device, system

Abstract

This application provides a brake-by-wire control method, apparatus, and system. The method is applied to a brake-by-wire assembly of a brake-by-wire device, which is mounted on each wheel of a vehicle. The method includes: determining a target braking force based on a received first braking signal; determining first braking parameters required to generate the target braking force under a preset operating environment based on the target braking force; and adjusting the first braking parameters according to the first and second operating parameters when there is a difference, so that the actual braking force output by the brake-by-wire assembly equals the target braking force. This application allows adjustment of the first braking parameters according to the actual operating environment of the vehicle, ensuring that the actual braking force output is the same as the target braking force output under different operating environments, thus improving the accuracy of braking force control.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to a brake-by-wire control method, apparatus, and system. Background Technology

[0002] Currently, vehicle braking technology has become a crucial part of vehicle control technology to ensure vehicle safety. While traditional hydraulic braking systems are mature and reliable, they have limitations in response speed, braking force control precision, and energy recovery. Therefore, brake-by-wire systems have emerged, which control braking through electronic signals, replacing traditional mechanical connections and providing faster response times and more precise braking force control.

[0003] Then, during braking, the operating environment of the wheels affects the braking force, resulting in a deviation between the actual output braking force and the target braking force, thus failing to meet the requirement of precise control of the braking force. Summary of the Invention

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

[0005] According to a first aspect of the embodiments of this application, a brake-by-wire control method is provided, applied to a brake-by-wire assembly of a brake-by-wire device, the brake-by-wire assembly being disposed on each wheel of a vehicle, the method comprising:

[0006] Based on the received first braking signal, the target braking force is determined, wherein the first braking signal is determined by the main controller based on the second braking signal and a preset distribution ratio, and the second braking signal is determined by the active controller based on the travel of the brake pedal in the standard braking mode;

[0007] The first braking parameter required to generate the target braking force in a preset operating environment is determined based on the target braking force, wherein the preset operating environment corresponds to the first operating parameter;

[0008] Obtain the second runtime parameter in the current runtime environment;

[0009] If 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 brake-by-wire assembly is equal to the target braking force.

[0010] In some embodiments, 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, wherein the first operating parameter includes a first tire temperature range, a first tire pressure range and a first road surface type;

[0011] When 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 includes:

[0012] Based on 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, the operating parameters that differ are determined;

[0013] Based on the differences in the operating parameters, determine the adjustment coefficients;

[0014] The first braking parameter is adjusted according to the adjustment coefficient.

[0015] In some embodiments, determining the adjustment coefficient based on the differing operating parameters includes:

[0016] Based on the differing operating parameters, determine the first adjustment sub-coefficient;

[0017] The adjustment coefficient is determined based on the first adjustment sub-coefficient and the second adjustment sub-coefficient, wherein the second adjustment sub-coefficient is determined based on the non-existent operating parameter, and the second adjustment coefficient is 1;

[0018] Determining the first adjustment sub-coefficient based on the differing operating parameters includes:

[0019] If the temperature of the second tire is not within the temperature range of the first tire, then the first target extreme point is within the temperature range of the first tire that is close to the temperature of the second tire.

[0020] Determine the first difference between the second tire temperature and the first target extreme point, and determine the first adjustment coefficient based on the quotient of the first difference and the maximum value in the range of the first tire temperature;

[0021] If the tire pressure of the second tire is not within the range of the tire pressure of the first tire, then the second target extreme point is within the range of the tire pressure of the first tire that is close to the tire pressure of the second tire.

[0022] Determine the second difference between the second tire pressure and the second target extreme point, and determine the first adjustment coefficient based on the quotient of the second difference and the maximum value in the range of the first tire pressure;

[0023] If the second road surface type is different from the first road surface type, the first adjustment coefficient is determined based on the reciprocal of the friction coefficient corresponding to the second road surface type.

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

[0025] Determine the braking distance based on the target braking force;

[0026] When the braking distance is greater than the preset braking distance, determine whether the road surface type has changed within the braking distance;

[0027] If the road surface type changes from the second road surface type to the third road surface type within the braking distance, the second braking parameter is adjusted 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 based on the first braking parameter and the adjustment coefficient.

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

[0029] The absolute value of the first difference is determined based on the friction coefficient corresponding to the second road surface type and the friction coefficient of the third road surface type;

[0030] The change in braking parameters is determined based on the absolute value of the first difference.

[0031] The target braking parameter is determined based on the change in the braking parameter and the second braking parameter.

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

[0033] When acquiring the second operating parameter under the current operating environment, if the second operating parameter has missing data, the missing second operating parameter is acquired from the adjacent brake-by-wire component.

[0034] In some embodiments, if it fails to obtain the missing second operating parameter in an adjacent brake-by-wire assembly, a matching is performed in historical data based on the second operating parameter to obtain the missing second operating parameter in the historical data.

[0035] According to a second aspect of the embodiments of this application, a brake-by-wire control device is provided, which is applied to a brake-by-wire assembly of the brake-by-wire device, the brake-by-wire assembly being disposed on each wheel of a vehicle, the device comprising:

[0036] The receiving module is used to determine the target braking force based on the received first braking signal, wherein the first braking signal is determined by the main controller based on the second braking signal and a preset allocation ratio, and the second braking signal is determined by the active controller based on the travel of the brake pedal in the standard braking mode;

[0037] The determining module is used to determine the first braking parameters required to generate the target braking force in a preset operating environment based on the target braking force, wherein the preset operating environment corresponds to the first operating parameters;

[0038] The acquisition module is used to acquire the second operating parameters in the current operating environment;

[0039] The adjustment module is used 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 brake-by-wire component is equal to the target braking force.

[0040] According to a third aspect of the present application, a brake-by-wire system is provided, including a main controller and a brake-by-wire device. The brake-by-wire device includes a plurality of brake-by-wire components, each of which is mounted on a wheel of a vehicle. Each brake-by-wire component includes a slave controller and a sensor group. The brake-by-wire component is used to execute the method described in the first aspect. The main controller is used to determine a second braking signal based on the travel of the brake pedal in a standard braking mode, and is also used to generate a first braking signal based on 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 this application, a computer storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the brake-by-wire control method as described in the first aspect.

[0042] According to the brake-by-wire control method provided in this application embodiment, after receiving a first braking signal, the brake-by-wire control component determines the target braking force required for braking based on the first braking signal, and determines the first braking parameters required for the first operating parameters under a preset operating environment based on the target braking force. It further acquires the second operating parameters under the current operating environment. If there is a difference between the first and second operating parameters, the first braking parameters are adjusted according to the first and second operating parameters so that the actual braking force output by the brake-by-wire component under the current operating environment is equal to the target braking force. This allows the first braking parameters to be adjusted according to the actual operating environment of the vehicle, ensuring that the actual braking force output is the same as the target braking force output under different operating environments, thereby improving the accuracy of braking force control. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0044] Figure 1 This is a flowchart illustrating the steps of a verification code generation method according to an embodiment of this application;

[0045] Figure 2 This is a flowchart illustrating the steps of a check code generation method according to another embodiment of this application;

[0046] Figure 3 This is a structural block diagram of a check code generation device according to an embodiment of this application. Detailed Implementation

[0047] To enable those skilled in the art to better understand the technical solutions in the embodiments of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art should fall within the protection scope of the embodiments of this application.

[0048] The specific implementation of the embodiments of this application will be further described below with reference to the accompanying drawings.

[0049] This application provides a brake-by-wire control method, which is applied to the brake-by-wire components of a brake-by-wire device. The brake-by-wire components are mounted on each wheel of a vehicle, and each brake-by-wire component brakes independently. Specifically, as shown... Figure 1 As shown, the method may include:

[0050] S101, the controller determines the target braking force based on the received first braking signal.

[0051] In this embodiment of the application, the brake-by-wire device includes a main controller and multiple brake-by-wire components. Each brake-by-wire component includes a slave controller and a sensor assembly. When braking in standard braking mode, the main controller determines a second braking signal based on the travel of the brake pedal, allocates a first braking signal to each brake-by-wire component on each wheel according to a preset allocation 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 for braking.

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

[0053] In one example, the main controller of this application embodiment stores a preset allocation ratio. The preset allocation ratio can be 60% for the front wheels and 40% for the rear wheels, or it can be other allocation ratios. Those skilled in the art can set it according to actual needs.

[0054] S102, The controller determines the first braking parameters required to generate the target braking force in the preset operating environment based on the target braking force.

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

[0056] In one example, the preset operating environment corresponds to first operating parameters, which include, but are not limited to, a first tire temperature range, a first tire pressure range, a first road surface type, and a tire load range. Specifically, the preset operating environment in this application embodiment can be understood as the operating environment that enables the tire to generate optimal braking performance; under the preset environment, the tire's adhesion is optimal.

[0057] S103, obtain the second operating parameters of the current operating environment from the controller.

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

[0059] S104, when there is a difference between the first operating parameter and the second operating parameter, the 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 brake-by-wire component is equal to the target braking force.

[0060] In this embodiment of the application, after the controller obtains the second operating parameter, it compares the first operating parameter and 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 brake-by-wire component is equal to the target braking force.

[0061] The brake-by-wire control method provided in this application embodiment involves a brake-by-wire control component that, upon receiving a first braking signal, determines the target braking force required for braking based on the first braking signal, and determines the first braking parameters required under a preset operating environment based on the target braking force. Furthermore, it acquires a second operating parameter under the current operating environment. If there is a difference between the first and second operating parameters, the first braking parameter is adjusted according to the first and second operating parameters to ensure that the actual braking force output by the brake-by-wire control component in the current operating environment equals the target braking force. This allows the first braking parameter to be adjusted according to the actual operating environment of the vehicle, ensuring that the actual braking force output is the same as the target braking force output under different operating environments, thereby improving the accuracy of braking force control.

[0062] Furthermore, the preferred operating parameters in the embodiments of this 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] When 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 controller determines the operating parameters that differ based on 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.

[0065] In this embodiment of the application, after the controller obtains the first operating parameter and the second operating parameter, it compares the first operating parameter and the second operating parameter to determine the operating parameters that have differences. Specifically, it compares 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, thereby determining the operating parameters that have differences.

[0066] In one example, the first tire temperature range can be 80℃-90℃, the first tire pressure range can be 2.2bar-2.5bar, and the first road surface type can be dry asphalt concrete pavement. Specifically, the first tire temperature range, the first tire pressure range, and the first road surface type can also be set according to actual needs.

[0067] S1042, the controller determines the adjustment coefficient based on the differing operating parameters.

[0068] In this embodiment, after the comparison is completed by the controller, the controller calculates an adjustment coefficient based on the operating parameters that differ. Specifically, if the operating parameter that differs is tire temperature, the adjustment coefficient is calculated using the difference in tire temperature; if the operating parameters that differ are tire temperature and tire pressure, the adjustment coefficient is calculated using the difference in tire temperature and tire pressure, and so on, using the operating parameters that differ to determine the adjustment coefficient.

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

[0070] In this embodiment, after determining the adjustment coefficient, the controller uses the adjustment coefficient and the first braking parameter to determine the second braking parameter, so that the brake-by-wire component outputs the second braking parameter.

[0071] This application provides a method to compare a first operating parameter and a second operating parameter to identify the operating parameters that differ from each other. This allows for the accurate calculation of adjustment coefficients using the differing operating parameters. The output first braking parameter can then be adjusted according to the actual operating environment of the vehicle to ensure that the actual output braking force equals the target braking force, thereby improving the control precision and accuracy of braking force.

[0072] Furthermore, determining the adjustment coefficient from the controller based on the differing operating parameters may include the following steps:

[0073] S10421, The controller determines the first adjustment sub-coefficient based on the differing operating parameters.

[0074] In this embodiment, the controller determines a first adjustment coefficient based on the differing operating parameters. First, the differing operating parameters are determined. If the second tire temperature is not within the first tire temperature range, a first target extreme point that is close to the second tire temperature within the first tire temperature range is identified. A first difference between the second tire temperature and the first target extreme point is determined, and the first adjustment coefficient is determined based on the quotient of the first difference and the maximum value within the first tire temperature range.

[0075] If the tire pressure of the second tire is not within the range of the tire pressure of the first tire, find the second target extreme point in the range of the tire pressure of the first tire that is close to the tire pressure of the second tire; determine the second difference between the tire pressure of the second tire and the second target extreme point, and determine the first adjustment coefficient based on the quotient of the second difference and the maximum value in the range of the tire pressure of the first tire.

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

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

[0078]

[0079] Where k is the first adjustment coefficient, A is the second tire temperature, A3 is the first target extreme point in the first tire temperature range that is close to the second tire temperature, A2 is the maximum value in the first tire temperature range, B is the second tire pressure, B3 is the second target extreme point in the first tire pressure range that is close to the second tire temperature, 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 controller determines the adjustment coefficient based on the first adjustment sub-coefficient and the second adjustment sub-coefficient.

[0081] In this embodiment of the application, when the controller determines the first adjustment sub-coefficient, it simultaneously determines the second adjustment sub-coefficient. Specifically, the second adjustment sub-coefficient is determined based on non-existent operating parameters, and the second adjustment sub-coefficient is 1.

[0082] In one example, if the second road surface type is the same as the first road surface type, then the first adjustment factor is:

[0083]

[0084] Then, the adjustment coefficient is determined by using the sum of k and 1.

[0085] If the tire pressure of the second tire is within the range of the tire pressure of the first tire, and the second road surface type is the same as the first road surface type, then the first adjustment factor is:

[0086]

[0087] Then, the adjustment coefficient is determined by using the sum of k and 1.

[0088] This application embodiment calculates a first adjustment coefficient by using operating parameters that differ from each other and a second adjustment coefficient by using operating parameters that do not differ from each other. This allows for accurate determination of the adjustment coefficient based on the actual operating environment of the vehicle. As a result, the first braking parameter output can be adjusted using the adjustment coefficient, thereby ensuring that the output braking force is the same as the target braking force and improving the accuracy of braking force control.

[0089] Furthermore, the control method in this application embodiment may further include the following steps:

[0090] S105, the controller determines the braking distance based on the target braking force.

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

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

[0093] In this embodiment, after determining the braking distance, the controller compares the current braking distance with the preset braking distance. If 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 has changed within the braking distance, the road surface image within the braking distance can be obtained in advance based on the vehicle's vision device, and the road surface image can be used to determine whether the road surface type has changed within the braking distance. Alternatively, the road surface type within the braking distance can be obtained based on the vehicle's position information, thereby determining whether the road surface type has changed within the braking distance.

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

[0096] S107 If the controller determines that the road surface type changes from the second road surface type to the third road surface type within the braking distance, the second braking parameters are adjusted according to the friction coefficients corresponding to the second road surface type and the third road surface type.

[0097] In this embodiment of the application, if the controller determines that the road surface type changes from the second road surface type to the third road surface type within the braking distance, the second braking parameter is adjusted 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 based on the friction coefficients corresponding to the second road surface type and the third road surface type. The amount of change in the braking parameter is determined based on the absolute value of the first difference. The target braking parameter is determined based on the amount of change in the braking parameter and the second braking parameter.

[0099] This application embodiment calculates the braking distance and, based on changes in road surface type within the braking distance, makes a secondary adjustment to the first braking parameter, which can make the output of braking force more suitable for the current operating environment and further improve the accuracy of braking force control.

[0100] Furthermore, the method in this application embodiment may further include the following steps:

[0101] S108: When the controller obtains the second operating parameters under the current operating environment, if there is missing data in the second operating parameters, the missing second operating parameters are obtained from the adjacent brake-by-wire component.

[0102] In this embodiment of the application, if the second operating parameter data is missing when the controller obtains the second operating parameter under the current operating environment, the controller determines that the sensor component is faulty and obtains the missing second operating parameter from the brake-by-wire component of the adjacent wheel.

[0103] In one example, if the controller determines that the second tire temperature is missing, the controller obtains the second tire temperature from the brake-by-wire assembly of the adjacent wheel. Specifically, in this embodiment, the adjacent wheel refers to the wheel in the same row as this wheel.

[0104] S109, if it fails to obtain the missing second operating parameter from the controller's online control braking component, then match it in the historical data based on the second operating parameter in order to obtain the missing second operating parameter from the historical data.

[0105] In this embodiment of the application, if the controller fails to obtain the missing second operating parameter from the adjacent brake-by-wire component, the controller matches the existing second operating parameter in the historical braking scenario data to select the historical braking scenario that is the same as or closest to the current braking scenario, and obtains the missing second operating parameter from the historical braking scenario.

[0106] In one example, if the controller determines that the second tire temperature is missing, it uses the second tire pressure and the second road surface type to match historical braking scenario data. It then identifies the historical braking scenario that is identical to or closest to the current braking scenario, and determines the second tire temperature from that historical braking scenario as the second tire temperature for the current braking scenario. Specifically, if multiple matching historical braking scenarios exist, the historical braking scenario with the most recent date from the current braking scenario is selected, and this historical braking scenario is considered the identical to or closest to the current braking scenario.

[0107] In the present application embodiment, when the second operating parameter is missing, the determined second operating parameter can be obtained from the brake-by-wire assembly of the adjacent wheel or from the historical braking scenario. This ensures that the output of braking force can still be controlled when a fault occurs, thus improving the accuracy of braking force control during a fault.

[0108] Furthermore, embodiments of this application provide another brake-by-wire control method, such as... Figure 2 As shown, the method includes:

[0109] The main controller determines the second braking signal based on the travel of the brake pedal, and distributes the first braking signal to the brake-by-wire assembly on each wheel according to a preset allocation ratio. The first braking signal is then sent 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 for braking.

[0110] The controller determines the first braking parameters required to generate the target braking force under the preset operating environment. After determining the first braking parameters, the controller obtains the second operating parameters under the current operating environment. If the second operating parameter data is missing, the controller obtains the missing second operating parameters from the brake-by-wire assembly of the adjacent wheel. If the controller fails to obtain the missing second operating parameters from the adjacent brake-by-wire assembly, the controller matches the existing second operating parameters in the historical braking scenario data to obtain the missing second operating parameters.

[0111] After receiving the second operating parameter, the controller compares the first and second operating parameters. If there is a difference between the first and second operating parameters, the controller determines a first adjustment coefficient based on the differing operating parameter. If the second tire temperature is not within the first tire temperature range, a first target extreme point close to the second tire temperature within the first tire temperature range is identified. The first difference between the second tire temperature and the first target extreme point is determined, and the first adjustment coefficient is determined based on the quotient of the first difference and the maximum value within the first tire temperature range. If the second tire pressure is not within the first tire pressure range, a second target extreme point close to the second tire pressure within the first tire pressure range is identified. The second difference between the second tire pressure and the second target extreme point is determined, and the first adjustment coefficient is determined based on the quotient of the second difference and the maximum value within the first tire pressure range. If the second road surface type is different from the first road surface type, the first adjustment coefficient is determined based on the reciprocal of the friction coefficient corresponding to the second road surface type.

[0112] The controller determines the adjustment coefficient based on the first adjustment coefficient and the second adjustment coefficient, wherein the second adjustment coefficient is determined based on non-existent operating parameters and is 1.

[0113] After determining the adjustment coefficient, the controller uses the adjustment coefficient and the first braking parameter to determine the second braking parameter, so that the brake-by-wire assembly outputs the second braking parameter.

[0114] The controller determines the braking distance based on the target braking force. When the controller determines that the braking distance is greater than the preset braking distance, it determines whether the road surface type has changed within the braking distance. If the controller determines that the road surface type has changed from the second road surface type to the third road surface type within the braking distance, it determines the absolute value of the first difference based on the friction coefficients of the second and third road surface types. Based on the absolute value of the first difference, it determines the change in braking parameters. Based on the change in braking parameters and the second braking parameters, it determines the target braking parameters.

[0115] Furthermore, embodiments of this application provide a brake-by-wire control device and a brake-by-wire assembly applied to a brake-by-wire device, the brake-by-wire assembly being disposed on each wheel of the vehicle, such as... Figure 3 As shown, the device includes:

[0116] The receiving module 301 is used to determine the target braking force based on the received first braking signal, wherein the first braking signal is determined by the main controller based on the second braking signal and the preset distribution ratio, and the second braking signal is determined by the active controller based on the travel of the brake pedal in the standard braking mode.

[0117] The determining module 302 is used to determine the first braking parameters required to generate the target braking force in a preset operating environment based on the target braking force, wherein the preset operating environment corresponds to the first operating parameters;

[0118] Module 303 is used to acquire the second operating parameters in the current operating environment;

[0119] The adjustment module 304 is used 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 brake-by-wire component is equal to the target braking force.

[0120] The brake-by-wire device of this embodiment is used to implement the corresponding brake-by-wire control methods in the foregoing method embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here. Furthermore, the functional implementation of each module in the brake-by-wire device of this embodiment can be referred to the description of the corresponding parts in the foregoing method embodiments, which will also not be repeated here.

[0121] Furthermore, this application provides a brake-by-wire system, including a main controller and a brake-by-wire device. The brake-by-wire device includes multiple brake-by-wire components, each of which is mounted on a vehicle wheel. Each brake-by-wire component includes a slave controller and a sensor group. The brake-by-wire component is used to execute the method described in this application. The main controller is used to determine a second braking signal based on the travel of the brake pedal in a standard braking mode, and is also used to generate a first braking signal based on 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, depending on the implementation needs, the various components / steps described in the embodiments of this application can be broken down into more components / steps, or two or more components / steps or parts of the operation of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of this application.

[0123] The methods described in the embodiments of this application can be implemented in hardware, firmware, or 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 as computer code originally stored on a remote recording medium or a non-transitory machine-readable medium and subsequently stored on a local recording medium, downloaded over a network. Thus, the methods described herein can be stored as software processing on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an ASIC or FPGA). It is understood that the computer, processor, microprocessor controller, or programmable hardware includes storage components (e.g., RAM, ROM, flash memory, etc.) capable of storing or receiving software or computer code that, when accessed and executed by the computer, processor, or hardware, implements the checksum generation method described herein. Furthermore, when a general-purpose computer accesses code used to implement the checksum generation method shown herein, the execution of the code transforms the general-purpose computer into a dedicated computer for executing the checksum generation method shown herein.

[0124] Those skilled in the art will recognize that the units and method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this application.

[0125] The above embodiments are only used to illustrate the embodiments of this application, and are not intended to limit the embodiments of this application. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the embodiments of this application. Therefore, all equivalent technical solutions also fall within the scope of the embodiments of this application, and the patent protection scope of the embodiments of this application should be defined by the claims.

Claims

1. A brake-by-wire control method, characterized in that, A brake-by-wire assembly applied to a brake-by-wire device, the brake-by-wire assembly being disposed on each wheel of a vehicle, the method comprising: Based on the received first braking signal, the target braking force is determined, wherein the first braking signal is determined by the main controller based on the second braking signal and a preset distribution ratio, and the second braking signal is determined by the main controller based on the travel of the brake pedal in the standard braking mode; Based on the target braking force, determine the first braking parameter required to generate the target braking force in a preset operating environment. ， The preset operating environment corresponds to the first operating parameters; Obtain the second runtime parameter in the current runtime environment; If 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 brake-by-wire assembly is equal to the target braking force; the operating parameters include tire temperature, tire pressure and road surface type, and the operating parameters also include a first operating parameter and a second operating parameter, wherein the first operating parameter includes a first tire temperature range, a first tire pressure range and a first road surface type; When 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 includes: Based on 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, the operating parameters that differ are determined; Based on the differences in the operating parameters, determine the adjustment coefficients; The first braking parameter is adjusted according to the adjustment coefficient.

2. The method according to claim 1, characterized in that, The step of determining the adjustment coefficient based on the differing operating parameters includes: Based on the differing operating parameters, determine the first adjustment sub-coefficient; The adjustment coefficient is determined based on the first adjustment sub-coefficient and the second adjustment sub-coefficient, wherein the second adjustment sub-coefficient is determined based on the non-existent operating parameter, and the second adjustment coefficient is 1; Determining the first adjustment sub-coefficient based on the differing operating parameters includes: If the temperature of the second tire is not within the temperature range of the first tire, then the first target extreme point is within the temperature range of the first tire that is close to the temperature of the second tire. Determine the first difference between the second tire temperature and the first target extreme point, and determine the first adjustment coefficient based on the quotient of the first difference and the maximum value in the range of the first tire temperature; If the tire pressure of the second tire is not within the range of the tire pressure of the first tire, then the second target extreme point is within the range of the tire pressure of the first tire that is close to the tire pressure of the second tire. Determine the second difference between the second tire pressure and the second target extreme point, and determine the first adjustment coefficient based on the quotient of the second difference and the maximum value in the range of the first tire pressure; If the second road surface type is different from the first road surface type, the first adjustment coefficient is determined based on the reciprocal of the friction coefficient corresponding to the second road surface type.

3. The method according to claim 2, characterized in that, The method further includes: Determine the braking distance based on the target braking force; When the braking distance is greater than the preset braking distance, determine whether the road surface type has changed within the braking distance; If the road surface type changes from the second road surface type to the third road surface type within the braking distance, the second braking parameter is adjusted 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 based on the first braking parameter and the adjustment coefficient.

4. The method according to claim 3, characterized in that, The second braking parameters are adjusted based on the friction coefficients corresponding to the second road surface type and the third road surface type, including: The absolute value of the first difference is determined based on the friction coefficient corresponding to the second road surface type and the friction coefficient of the third road surface type; The change in braking parameters is determined based on the absolute value of the first difference. The target braking parameter is determined based on the change in the braking parameter and the second braking parameter.

5. The method according to claim 1, characterized in that, The method further includes: When acquiring the second operating parameter under the current operating environment, if the second operating parameter has missing data, the missing second operating parameter is acquired from the adjacent brake-by-wire component.

6. The method according to claim 5, characterized in that, If it fails to retrieve the missing second operating parameter in an adjacent brake-by-wire assembly, then a match is made in historical data based on the second operating parameter to retrieve the missing second operating parameter from the historical data.

7. A brake-by-wire control device, characterized in that, A brake-by-wire assembly for use in a brake-by-wire system, the brake-by-wire assembly being disposed on each wheel of a vehicle, the assembly comprising: The receiving module is used to determine the target braking force based on the received first braking signal, wherein the first braking signal is determined by the main controller based on the second braking signal and a preset allocation ratio, and the second braking signal is determined by the main controller based on the travel of the brake pedal in the standard braking mode; The determining module is used to determine the first braking parameters required to generate the target braking force in a preset operating environment based on the target braking force, wherein the preset operating environment corresponds to the first operating parameters; The acquisition module is used to acquire the second operating parameters in the current operating environment; The adjustment module is used 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 brake-by-wire component is equal to the target braking force; The operating parameters 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. When 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 includes: Based on 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, the operating parameters that differ are determined; Based on the differences in the operating parameters, determine the adjustment coefficients; The first braking parameter is adjusted according to the adjustment coefficient.

8. A brake-by-wire system, comprising a master controller and a brake-by-wire device, the brake-by-wire device comprising a plurality of brake-by-wire components, each brake-by-wire component being mounted on a wheel of a vehicle, each brake-by-wire component comprising a slave controller and a sensor group, the brake-by-wire component being configured to perform the method according to any one of claims 1-6, the master controller being configured to determine a second braking signal based on the travel of the brake pedal in a standard braking mode, and further configured to generate a first braking signal based on the second braking signal and a preset distribution ratio, and send the first braking signal to the slave controller.

9. A computer storage medium having a computer program stored thereon, which, when executed by a processor, implements the brake-by-wire control method as described in any one of claims 1-6.

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