Braking method and device of driving equipment, control equipment and program product

Abstract

The invention is suitable for the technical field of driving equipment, and provides a braking method and device of driving equipment, control equipment and a program product. The method comprises the following steps: detecting respective corresponding working states of a main braking unit and a hydraulic backup unit of target driving equipment; according to the working states corresponding to a main braking unit and a hydraulic backup unit of the target driving equipment, at least one target braking actuator, a braking torque distribution strategy and a target stability controller are determined, and the braking torque distribution strategy is used for indicating the braking torque distribution proportion of the at least one target braking actuator; and the target driving equipment is braked through the target braking actuator, the braking torque distribution strategy and the target stability controller. Through the method, the driving equipment can be braked in different fault scenes, and the safety of the driving equipment is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of driving equipment, and in particular relates to a braking method, device, control device and program product of a driving equipment. Background Art

[0002] In the current braking method of driving equipment, a main brake unit and a hydraulic backup unit are usually set in the driving equipment. When the driving equipment needs to be braked, the driving equipment is usually braked by the main brake unit first. If the main brake unit fails, the hydraulic backup unit is used to brake the driving equipment.

[0003] However, when the main brake unit and the hydraulic backup unit fail at the same time, the driving device cannot be braked, which reduces the safety of the driving device. Summary of the Invention

[0004] In view of this, the embodiments of the present application provide a braking method, device, control device and program product for a driving device to solve the technical problem of low safety of existing driving devices.

[0005] In a first aspect, an embodiment of the present application provides a braking method for a driving device, comprising:

[0006] Detecting the respective working states of the main brake unit and the hydraulic backup unit of the target driving equipment;

[0007] determining, based on respective corresponding operating states of the primary brake unit and the hydraulic backup unit of the target driving device, at least one target brake actuator, a braking torque distribution strategy, and a target stability controller, wherein the braking torque distribution strategy is used to indicate a braking torque distribution ratio of the at least one target brake actuator;

[0008] The target driving device is braked by the target braking actuator, the braking torque distribution strategy, and the target stability controller.

[0009] Optionally, determining the target brake actuator, the braking torque distribution strategy, and the target stability controller according to the respective corresponding working states of the main brake unit and the hydraulic backup unit of the target driving device includes:

[0010] If the working state corresponding to the main brake unit is a non-fault state, determining the at least one target brake actuator according to the main brake unit, the front drive motor, and the rear drive motor of the target driving device;

[0011] The braking torque distribution strategy is determined as a first distribution strategy; wherein the first distribution strategy is: determining the braking torque distribution ratios corresponding to the front drive motor, the rear drive motor, and the main brake unit according to the requirements of the driver of the target driving device for the endurance and stability of the target driving device;

[0012] An anti-lock control system and a drag torque system of the main brake unit are determined as the target stability controller.

[0013] Optionally, determining the at least one target brake actuator according to the main brake unit, the front drive motor, and the rear drive motor of the target driving device includes:

[0014] determining a maximum motor braking torque and a target braking torque of the target driving device;

[0015] If the maximum motor braking torque is greater than or equal to the target braking torque, determining the front drive motor and the rear drive motor as the at least one target brake actuator;

[0016] If the maximum motor braking torque is smaller than the target braking torque, the main brake unit, the front drive motor, and the rear drive motor are determined as the at least one target brake actuator.

[0017] Optionally, determining the target brake actuator, the braking torque distribution strategy, and the target stability controller according to the respective corresponding working states of the main brake unit and the hydraulic backup unit of the target driving device includes:

[0018] If the working state corresponding to the main brake unit is a fault state, and the working state corresponding to the hydraulic backup unit is a non-fault state, determining the at least one target brake actuator according to the hydraulic backup unit, the front drive motor, and the rear drive motor of the target driving device;

[0019] Determining the braking torque distribution strategy as a second distribution strategy; wherein the second distribution strategy is: determining the braking torque distribution ratio corresponding to the front drive motor, the rear drive motor, and the hydraulic backup unit according to the target distribution ratio, and the braking torque distribution ratio corresponding to the front drive motor is greater than the braking torque distribution ratio corresponding to the rear drive motor;

[0020] The domain controller of the target driving device is determined as the target stability controller.

[0021] Optionally, determining the at least one target brake actuator according to the hydraulic backup unit, the front drive motor, and the rear drive motor of the target driving device includes:

[0022] determining a maximum motor braking torque and a target braking torque of the target driving device;

[0023] If the maximum motor braking torque is greater than or equal to the target braking torque, determining the front drive motor and the rear drive motor as the target brake actuators;

[0024] If the maximum motor braking torque is less than the target braking torque, the hydraulic backup unit, the front drive motor, and the rear drive motor are determined as the target brake actuators.

[0025] Optionally, determining the target brake actuator, the braking torque distribution strategy, and the target stability controller according to the respective corresponding working states of the main brake unit and the hydraulic backup unit of the target driving device includes:

[0026] If the working states corresponding to the main brake unit and the hydraulic backup unit are both fault states, determining the at least one target brake actuator according to the electronic parking unit, the front drive motor, and the rear drive motor of the target driving device;

[0027] The braking torque distribution strategy is determined as a third distribution strategy; wherein the third distribution strategy is: determining the braking torque distribution ratio corresponding to the front drive motor, the rear drive motor, and the electronic parking unit according to the maximum motor braking torque of the front drive motor, the maximum motor braking torque of the rear drive motor, and the target braking torque;

[0028] The domain controller of the target driving device is determined as the target stability controller.

[0029] Optionally, determining the electronic parking unit, the front drive motor, and the rear drive motor of the target driving device as the at least one target brake actuator includes:

[0030] Determining a maximum motor braking torque and a target braking torque of the target driving device;

[0031] If the maximum motor braking torque is greater than or equal to the target braking torque, determining the front drive motor and the rear drive motor as the target brake actuators;

[0032] If the maximum electric motor braking torque is smaller than the target braking torque, the electronic parking brake unit, the front drive motor, and the rear drive motor are determined as the target brake actuators.

[0033] In a second aspect, an embodiment of the present application provides a braking device for a driving device, comprising:

[0034] A working state detection unit, used to detect the working states of the main brake unit and the hydraulic backup unit of the target driving device;

[0035] a determination unit, configured to determine at least one target brake actuator, a braking torque distribution strategy, and a target stability controller according to respective corresponding operating states of the main brake unit and the hydraulic backup unit of the target driving device, wherein the braking torque distribution strategy is configured to indicate a braking torque distribution ratio of the at least one target brake actuator;

[0036] A braking unit is used to brake the target driving device through the target braking actuator, the braking torque distribution strategy and the target stability controller.

[0037] In a third aspect, an embodiment of the present application provides a control device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, each step in the braking method of the driving device as described in any one of the first aspects above is implemented.

[0038] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements each step in the braking method of the driving device as described in any one of the first aspects above.

[0039] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device executes each step of the braking method of the driving device as described in any one of the first aspects above.

[0040] The braking method, device, driving device, and program product of the driving device provided by the embodiments of the present application have the following beneficial effects:

[0041] In the braking method for a driving device provided in an embodiment of the present application, the corresponding working states of the main brake unit and the hydraulic backup unit of the target driving device are first detected, and then at least one target brake actuator, a braking torque distribution strategy, and a target stability controller are determined according to the corresponding working states of the main brake unit and the hydraulic backup unit of the target driving device, wherein the braking torque distribution strategy is used to indicate the braking torque distribution ratio of at least one target brake actuator, and finally the target driving device is braked by the target brake actuator, the braking torque distribution strategy, and the target stability controller. Through the braking method for a driving device provided in the present application, the driving device can be braked in different fault scenarios, thereby improving the safety of the driving device. In addition, in the braking method for a driving device provided in the present application, the most suitable target brake actuator, braking torque distribution strategy, and target stability controller for different fault scenarios can be determined to brake the driving device, thereby further improving the safety of the driving device. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0043] Figure 1 A flowchart of a braking method for a driving device provided in an embodiment of the present application;

[0044] Figure 2 A schematic structural diagram of a braking device of a driving device provided in an embodiment of the present application;

[0045] Figure 3 A schematic diagram of the structure of a control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] It should be noted that the terms used in the embodiments of the present application are only used to explain the specific embodiments of the present application and are not intended to limit the present application. In the description of the embodiments of the present application, unless otherwise specified, "multiple" refers to two or more than two, and "at least one" and "one or more" refer to one, two or more. The terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the definition of "first" and "second" features can explicitly or implicitly include one or more of the features.

[0047] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in yet other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0048] The executor of the braking method of the driving device provided in the embodiment of the present application may be the control device of the driving device. For example, the driving device may include but is not limited to a vehicle, and the control device of the driving device may include but is not limited to an on-board controller of the vehicle.

[0049] The braking method for a driving device provided in the embodiments of the present application can be applied to various scenarios requiring braking of the driving device. For example, when braking of a vehicle is required, the various steps of the braking method for a driving device provided in the embodiments of the present application can be executed by the vehicle's onboard controller, thereby achieving braking of the vehicle.

[0050] See also Figure 1 , Figure 1 This is a flowchart of a braking method for a driving device provided in an embodiment of the present application. The braking method for the driving device may include S101 to S103, which are described in detail as follows:

[0051] In S101 , the corresponding working states of the main brake unit and the hydraulic backup unit of the target driving device are detected.

[0052] In an embodiment of the present application, in a human driving scenario (i.e., a scenario in which the target driving device is controlled by the driver), the control device can detect the corresponding working states of the main braking unit and the hydraulic backup unit of the target driving device when the braking intention of the driver of the target driving device is detected.

[0053] In an intelligent driving scenario (i.e., a scenario in which the target driving device is controlled by the intelligent driving controller of the target driving device), the control device can detect the corresponding working status of the main braking unit and the hydraulic backup unit of the target driving device when receiving the braking command sent by the intelligent driving controller.

[0054] The working states corresponding to the main brake unit and the hydraulic backup unit may each include a fault state and a non-fault state.

[0055] In one possible implementation, the control device may detect the braking intention of the driver of the target driving device in the following manner:

[0056] The control device can obtain the brake signal sent by the main brake pedal sensor of the target driving device, and can obtain the brake signal sent by the backup brake pedal sensor of the target driving device. If the control device obtains the brake signal sent by the main brake pedal sensor of the target driving device, or obtains the brake signal sent by the backup brake pedal sensor of the target driving device, the control device can determine the detected braking intention of the driver.

[0057] By detecting the driver's braking intention in the above manner, it can be ensured that when any one of the main brake pedal sensor and the backup brake pedal sensor fails, the control device can also detect the braking intention of the driver of the target driving device, thereby further improving the safety of the driving device.

[0058] The specific manner in which the control device detects the respective working states of the main brake unit and the hydraulic backup unit of the target driving device can be set according to actual needs and is not limited here.

[0059] In S102, at least one target brake actuator, a braking torque distribution strategy, and a target stability controller are determined based on the corresponding working states of the main brake unit and the hydraulic backup unit of the target driving device. The braking torque distribution strategy is used to indicate the braking torque distribution ratio of at least one target brake actuator.

[0060] In an embodiment of the present application, after detecting the driver's braking intention and the corresponding working states of the main braking unit and the hydraulic backup unit of the target driving device, the control device can determine at least one target braking actuator, braking torque distribution strategy and target stability controller based on the corresponding working states of the main braking unit and the hydraulic backup unit of the target driving device.

[0061] Specifically, the step of "determining at least one target brake actuator, braking torque distribution strategy, and target stability controller based on the respective operating states of the main brake unit and the hydraulic backup unit of the target driving device" can be implemented through the following three implementation methods, which are detailed as follows:

[0062] In a first possible implementation, if the working states corresponding to the main brake units are all non-fault states, the control device can determine at least one target brake actuator based on the main brake unit, front drive motor, and rear drive motor of the target driving device, and can determine the braking torque distribution strategy as the first distribution strategy, and can determine the anti-lock control system and drag torque system of the main brake unit as the target stability controller.

[0063] In this implementation, it should be noted that "the operating state corresponding to the main brake unit is a non-fault state" can include the following two situations: the first situation is that the operating state corresponding to the main brake unit is a non-fault state, while the operating state corresponding to the hydraulic backup unit is a fault state; the second situation is that the operating states corresponding to the main brake unit and the hydraulic backup unit are both non-fault states. Based on this, in both of the above situations, the control device can determine at least one target brake actuator based on the main brake unit, front drive motor, and rear drive motor of the target driving device, determine the braking torque distribution strategy as the first distribution strategy, and determine the anti-lock braking control system and drag torque system of the main brake unit as the target stability controller.

[0064] In this implementation, the control device may implement “determining at least one target brake actuator according to the main brake unit, the front drive motor, and the rear drive motor of the target driving device” through steps a to c:

[0065] In step a, a maximum motor braking torque and a target braking torque of the target driving device are determined.

[0066] The maximum motor braking torque of the target driving device may be the sum of the maximum motor braking torque of the front drive motor of the target driving device and the maximum motor braking torque of the rear drive motor of the target driving device.

[0067] Based on this, the control device can respectively determine the maximum motor braking torque of the front drive motor of the target driving device and the maximum motor braking torque of the rear drive motor of the target driving device, thereby determining the maximum motor braking torque of the target driving device.

[0068] In actual applications, the control device can pre-store the maximum motor braking torque of the front drive motor and the maximum motor braking torque of the rear drive motor, so as to determine the maximum motor braking torque of the front drive motor and the maximum motor braking torque of the rear drive motor, or the control device can determine the maximum motor braking torque of the front drive motor according to the current state of the front drive motor, and determine the maximum motor braking torque of the rear drive motor according to the current state of the rear drive motor.

[0069] Among them, in the human driving scenario, the target braking torque can be determined by: determining the target deceleration based on the depth to which the driver presses the brake pedal of the target driving device, then determining the deceleration difference based on the current deceleration of the target driving device and the target deceleration, and finally determining the target braking torque based on the deceleration difference.

[0070] Among them, in the intelligent driving scenario, the target braking torque can be determined in the following way: according to the target deceleration sent by the intelligent driving controller and the current deceleration of the target driving device, the speed difference is determined, and finally the target braking torque is determined according to the deceleration difference.

[0071] In step b, if the maximum motor braking torque is greater than or equal to the target braking torque, the front drive motor and the rear drive motor are determined as at least one target brake actuator.

[0072] After determining the maximum motor braking torque and target braking torque of the target driving device, the control device can compare the maximum motor braking torque with the target braking torque. If the maximum motor braking torque is greater than or equal to the target braking torque, the control device can jointly determine the front drive motor and the rear drive motor as the target brake actuator. In this way, the noise and vibration output of the target driving device can be reduced, the acoustic harshness experienced by people in the target driving device can be reduced, and the energy consumption of the target driving device can be reduced.

[0073] In step c, if the maximum motor braking torque is less than the target braking torque, the main brake unit, the front drive motor, and the rear drive motor are determined as at least one target brake actuator.

[0074] After determining the maximum motor braking torque and target braking torque of the target driving device, the control device can compare the maximum motor braking torque with the target braking torque. If the maximum motor braking torque is less than the target braking torque, the control device can collectively determine the main brake unit, front drive motor, and rear drive motor as the target brake actuator. In this way, it can ensure that the target driving device can meet the braking requirements.

[0075] In this implementation, the first allocation strategy may be: determining the braking torque distribution ratios corresponding to the front drive motor, rear drive motor, and main brake unit according to the driver's requirements for the endurance and stability of the target driving device.

[0076] Specifically, when the control device jointly determines the front drive motor and the rear drive motor as the target brake actuator, the control device can determine the braking torque distribution ratio corresponding to the front drive motor and the rear drive motor respectively according to the driver's requirements of the target driving device for the endurance and stability of the target driving device.

[0077] For example, if the driver of the target driving device has a greater demand for the endurance of the target driving device than for the stability of the target driving device, the control device may first determine, among the front drive motor and the rear drive motor, a first drive motor with a higher kinetic energy recovery efficiency and a second drive motor with a lower kinetic energy recovery efficiency, and then determine the braking torque distribution ratio corresponding to each of the front drive motor and the rear drive motor by a method in which the braking torque distribution ratio corresponding to the first drive motor is larger and the braking torque distribution ratio corresponding to the second drive motor is smaller. If the driver of the target driving device has a greater demand for the stability of the target driving device than for the endurance of the target driving device, the control device may determine the braking torque distribution ratio corresponding to each of the front drive motor and the rear drive motor by a method in which the braking torque distribution ratio corresponding to the front drive motor is larger and the braking torque distribution ratio corresponding to the rear drive motor is smaller.

[0078] Specifically, when the control device collectively determines the main brake unit, the front drive motor and the rear drive motor as the target brake actuators, the control device can determine the braking torque distribution ratios corresponding to the main brake unit, the front drive motor and the rear drive motor respectively according to the driver's requirements of the target driving device for the endurance and stability of the target driving device.

[0079] Exemplarily, the control device may first determine the braking torque distribution ratio of the main brake unit based on the difference between the maximum motor braking torque and the target braking torque. Thereafter, the control device may determine the remaining distribution ratio (i.e., the sum of the braking torque distribution ratios corresponding to the front drive motor and the rear drive motor) based on the braking torque distribution ratio of the main brake unit. Thereafter, the control device may determine the braking torque distribution ratios corresponding to the front drive motor and the rear drive motor respectively based on the remaining distribution ratio and the requirements of the driver of the target driving device for the endurance and stability of the target driving device. The specific method for the control device to determine the braking torque distribution ratios corresponding to the front drive motor and the rear drive motor respectively based on the remaining distribution ratio and the requirements of the driver of the target driving device for the endurance and stability of the target driving device can be referred to the relevant description of the previous example and will not be repeated here.

[0080] In this implementation, the control device can determine the anti-lock control system and drag torque system of the main brake unit as the target stability controller, so as to control the stability of the target driving device through the anti-lock control system and drag torque system of the main brake unit during braking.

[0081] In a second possible implementation, if the working state corresponding to the main brake unit is a fault state, and the working state corresponding to the hydraulic backup unit is a non-fault state, the control device can determine at least one target brake actuator based on the hydraulic backup unit, the front drive motor, and the rear drive motor of the target driving device, and can determine the braking torque distribution strategy as the second distribution strategy, and can determine the domain controller of the target driving device as the target stability controller.

[0082] In this implementation, the control device may implement “determining at least one target brake actuator based on the hydraulic backup unit, the front drive motor, and the rear drive motor of the target driving device” through steps d to f:

[0083] In step d, the maximum motor braking torque and the target braking torque of the target driving device are determined.

[0084] The specific implementation of step d can refer to the relevant description of step a and will not be repeated here.

[0085] In step e, if the maximum motor braking torque is greater than or equal to the target braking torque, the front drive motor and the rear drive motor are determined as target brake actuators.

[0086] The specific implementation of step e can refer to the relevant description of step b and will not be repeated here.

[0087] In step f, if the maximum motor braking torque is less than the target braking torque, the hydraulic backup unit, the front drive motor, and the rear drive motor are determined as target brake actuators.

[0088] After determining the maximum motor braking torque and target braking torque of the target driving device, the control device can compare the maximum motor braking torque with the target braking torque. If the maximum motor braking torque is less than the target braking torque, the control device can collectively determine the hydraulic backup unit, the front drive motor, and the rear drive motor as the target brake actuator. In this way, it can ensure that the target driving device can meet the braking requirements.

[0089] In this implementation, the second distribution strategy can be: according to the target distribution ratio, determine the braking torque distribution ratio corresponding to the front drive motor, the rear drive motor and the hydraulic backup unit, wherein the braking torque distribution ratio corresponding to the front drive motor is greater than the braking torque distribution corresponding to the rear drive motor.

[0090] The target allocation ratio can be used to describe the braking torque allocation ratio corresponding to the front drive motor and the braking torque allocation ratio corresponding to the rear drive motor. In actual applications, the target allocation ratio can be predetermined and stored in the control device so that the control device can obtain the target allocation ratio.

[0091] Specifically, when the control device determines both the front and rear drive motors as target brake actuators, the control device may determine the braking torque distribution ratios for the front and rear drive motors, respectively, based on the target distribution ratio. For example, the target distribution ratio may be 7:3, based on which the braking torque distribution ratio for the front drive motor is 70%, and the braking torque distribution ratio for the rear drive motor is 30%.

[0092] Specifically, when the control device collectively determines the hydraulic backup unit, the front drive motor, and the rear drive motor as the target brake actuator, the control device can determine the braking torque distribution ratios corresponding to the front drive motor, the rear drive motor, and the hydraulic backup unit, respectively, based on the target distribution ratio. For example, the control device can first determine the braking torque distribution ratio of the hydraulic backup unit based on the difference between the maximum motor braking torque and the target braking torque. Thereafter, the control device can determine the remaining distribution ratio (i.e., the sum of the braking torque distribution ratios corresponding to the front drive motor and the rear drive motor, respectively) based on the braking torque distribution ratio of the hydraulic backup unit. Thereafter, the control device can determine the braking torque distribution ratios corresponding to the front drive motor and the rear drive motor, respectively, based on the target distribution ratio, thereby determining the braking torque distribution ratios corresponding to the front drive motor, the rear drive motor, and the hydraulic backup unit, respectively.

[0093] In this implementation, the control device may determine the domain controller of the target driving device as the target stability controller, so that during the braking process, the stability of the target driving device is controlled through the domain controller of the target driving device.

[0094] In a third possible implementation, if the corresponding working states of the main brake unit and the hydraulic backup unit are both fault states, the control device can determine at least one target brake actuator based on the electronic parking unit, front drive motor and rear drive motor of the target driving device, and can determine the braking torque distribution strategy as the third distribution strategy, and can determine the domain controller of the target driving device as the target stability controller.

[0095] In this implementation, the control device may implement “determining at least one target brake actuator according to the electronic parking unit, the front drive motor, and the rear drive motor of the target driving device” through steps g to i:

[0096] In step g, the maximum motor braking torque and the target braking torque of the target driving device are determined.

[0097] The specific implementation of step g can refer to the relevant description of step a and will not be repeated here.

[0098] In step h, if the maximum motor braking torque is greater than or equal to the target braking torque, the front drive motor and the rear drive motor are determined as target brake actuators.

[0099] The specific implementation of step h can refer to the relevant description of step b and will not be repeated here.

[0100] In step i, if the maximum motor braking torque is less than the target braking torque, the electronic parking unit, the front drive motor, and the rear drive motor are determined as target brake actuators.

[0101] After determining the maximum motor braking torque and target braking torque of the target driving device, the control device can compare the maximum motor braking torque with the target braking torque. If the maximum motor braking torque is less than the target braking torque, the control device can collectively determine the electronic parking unit, front drive motor, and rear drive motor as the target brake actuator. In this way, it can ensure that the target driving device can meet the braking requirements.

[0102] In this implementation, the third distribution strategy can be: determining the braking torque distribution ratio corresponding to the front drive motor, the rear drive motor and the electronic parking unit according to the maximum motor braking torque of the front drive motor, the maximum motor braking torque of the rear drive motor and the target braking torque.

[0103] Specifically, when the control device jointly determines the front drive motor and the rear drive motor as the target brake actuator, the control device can compare the maximum motor braking torque of the front drive motor with the target braking torque. If the maximum motor braking torque of the front drive motor is greater than or equal to the target braking torque, that is, the maximum motor braking torque of the front drive motor can meet the target braking torque of the target driving device, then the braking torque distribution ratio corresponding to the front drive motor can be determined as 100%.

[0104] If the maximum motor braking torque of the front drive motor is less than the target braking torque, that is, the maximum motor braking torque of the front drive motor cannot meet the target braking torque of the target driving device, then the ratio of the maximum motor braking torque of the front drive motor to the target braking torque of the target driving device can be first determined, thereby determining the braking torque distribution ratio corresponding to the front drive motor. Finally, the braking torque distribution ratio corresponding to the rear drive motor is determined based on the braking torque distribution ratio corresponding to the front drive motor. For example, if the ratio of the maximum motor braking torque of the front drive motor to the target braking torque of the target driving device is 80%, then the control device can determine the braking torque distribution ratio corresponding to the front drive motor to be 80%, and further determine the braking torque distribution ratio corresponding to the rear drive motor to be 20%.

[0105] Specifically, when the control device collectively determines the electronic parking unit, the front drive motor and the rear drive motor as the target brake actuators, the control device can first determine the ratio of the maximum electric motor braking torque of the front drive motor to the target braking torque of the target driving device, and the ratio of the maximum electric motor braking torque of the rear drive motor to the target braking torque of the target driving device, and then determine the braking torque distribution ratio corresponding to the front drive motor according to the ratio of the maximum electric motor braking torque of the front drive motor to the target braking torque of the target driving device, and determine the braking torque distribution ratio corresponding to the rear drive motor according to the ratio of the maximum electric motor braking torque of the rear drive motor to the target braking torque of the target driving device, and then determine the braking torque distribution ratio corresponding to the electronic parking unit according to the braking torque distribution ratio corresponding to the front drive motor and the braking torque distribution ratio corresponding to the rear drive motor. For example, if the ratio of the maximum motor braking torque of the front drive motor to the target braking torque of the target driving device is 60%, and the ratio of the maximum motor braking torque of the rear drive motor to the target braking torque of the target driving device is 20%, then the control device can determine that the braking torque distribution ratio corresponding to the front drive motor is 60%, and can determine that the braking torque distribution ratio corresponding to the rear drive motor is 20%, thereby determining that the braking torque distribution ratio corresponding to the electronic parking unit is 20%.

[0106] In this implementation, the control device may determine the domain controller of the target driving device as the target stability controller, so that during the braking process, the stability of the target driving device is controlled through the domain controller of the target driving device.

[0107] It should be noted that the first, second, and third allocation strategies share the commonality of prioritizing the front and rear drive motors when distributing braking torque. In practical applications, prioritizing the front and rear drive motors can achieve faster regulation efficiency, thereby improving the safety of the driving device.

[0108] In S103 , the target driving device is braked through the target brake actuator, the braking torque distribution strategy, and the target stability controller.

[0109] In an embodiment of the present application, after determining the target brake actuator, braking torque distribution strategy and target stability controller, the control device can brake the target driving device through the target brake actuator, braking torque distribution strategy and target stability controller.

[0110] In a first possible implementation, when the control device determines the main brake unit, front drive motor, and rear drive motor of the target driving device as target brake actuators, determines the braking torque distribution strategy as the first distribution strategy, and determines the anti-lock control system and drag torque system of the main brake unit as target stability controllers, the control device can first determine the braking torque distribution ratios corresponding to the main brake unit, the front drive motor, and the rear drive motor respectively according to the first distribution strategy, and then can control the main brake unit, the front drive motor, and the rear drive motor to output the braking torques of their corresponding proportions to brake the target driving device according to the braking torque distribution ratios corresponding to the main brake unit, the front drive motor, and the rear drive motor respectively. In addition, in the process of controlling the main brake unit, the front drive motor, and the rear drive motor to output the braking torques of their corresponding proportions, the control device can also control the stability of the target driving device through the anti-lock control system and the drag torque system of the main brake unit.

[0111] In a second possible implementation method, when the control device determines the hydraulic backup unit, front drive motor and rear drive motor of the target driving device as target brake actuators, determines the braking torque distribution strategy as the second distribution strategy, and determines the domain controller of the target driving device as the target stability controller, the control device can first determine the braking torque distribution ratios corresponding to the hydraulic backup unit, the front drive motor and the rear drive motor respectively according to the second distribution strategy, and then can control the hydraulic backup unit, the front drive motor and the rear drive motor to output the braking torques of their respective corresponding proportions to brake the target driving device according to the braking torque distribution ratios corresponding to the hydraulic backup unit, the front drive motor and the rear drive motor respectively. In addition, in the process of controlling the hydraulic backup unit, the front drive motor and the rear drive motor to output the braking torques of their respective corresponding proportions, the control device can also control the stability of the target driving device through the domain controller of the target driving device.

[0112] Exemplarily, in the second possible implementation method, the control device can achieve "controlling the stability of the target driving device through the domain controller of the target driving device" in the following way: the domain controller of the target driving device can receive the tire speed signal sent by the wheel speed sensor of the target driving device, and determine the degree of tire slip based on the tire speed signal, and then adjust the braking torque output by the hydraulic backup unit, the front drive motor and the rear drive motor according to the degree of tire slip to control the slip rate of the target driving device, thereby achieving control of the stability of the target driving device.

[0113] In a third possible implementation, when the control device determines the electronic parking unit, front drive motor and rear drive motor of the target driving device as target brake actuators, determines the braking torque distribution strategy as the third distribution strategy, and determines the domain controller of the target driving device as the target stability controller, the control device can first determine the braking torque distribution ratios corresponding to the electronic parking unit, the front drive motor and the rear drive motor respectively according to the third distribution strategy, and then can control the electronic parking unit, the front drive motor and the rear drive motor to output the braking torques of their corresponding proportions to brake the target driving device according to the braking torque distribution ratios corresponding to the electronic parking unit, the front drive motor and the rear drive motor respectively. In addition, in the process of controlling the electronic parking unit, the front drive motor and the rear drive motor to output the braking torques of their corresponding proportions respectively, the control device can also control the stability of the target driving device through the domain controller of the target driving device.

[0114] Exemplarily, in the third possible implementation method, the control device can implement "controlling the stability of the target driving device through the domain controller of the target driving device" in the following way: the domain controller of the target driving device can receive the tire speed signal sent by the wheel speed sensor of the target driving device, and determine the degree of tire slip based on the tire speed signal, and then adjust the braking torque output by the electronic parking unit, the front drive motor and the rear drive motor according to the degree of tire slip to control the slip rate of the target driving device, thereby achieving control of the stability of the target driving device.

[0115] From the above, it can be seen that in the braking method of the driving device provided in the embodiment of the present application, the corresponding working states of the main brake unit and the hydraulic backup unit of the target driving device are first detected, and then according to the corresponding working states of the main brake unit and the hydraulic backup unit of the target driving device, at least one target brake actuator, braking torque distribution strategy and target stability controller are determined, wherein the braking torque distribution strategy is used to indicate the braking torque distribution ratio of at least one target brake actuator, and finally the target driving device is braked by the target brake actuator, braking torque distribution strategy and target stability controller. Through the braking method of the driving device provided in the present application, the driving device can be braked in different fault scenarios, thereby improving the safety of the driving device. In addition, in the braking method of the driving device provided in the present application, the most suitable target brake actuator, braking torque distribution strategy and target stability controller for the fault scenario can be determined for different fault scenarios to brake the driving device, thereby further improving the safety of the driving device.

[0116] Based on the braking method of the driving device provided in the above embodiment, the present application further provides a braking device for the driving device that implements the above method embodiment. Figure 2 , Figure 2 This is a schematic diagram of the structure of a braking device of a driving device provided in an embodiment of the present application. Figure 2 As shown, the braking device 20 of the driving device may include: a working state detection unit 21, a determination unit 22 and a braking unit 23.

[0117] The working state detection unit 21 is used to detect the working states of the main brake unit and the hydraulic backup unit of the target driving device.

[0118] The determination unit 22 is used to determine at least one target brake actuator, a braking torque distribution strategy and a target stability controller according to the corresponding working states of the main brake unit and the hydraulic backup unit of the target driving device. The braking torque distribution strategy is used to indicate the braking torque distribution ratio of at least one target brake actuator.

[0119] The braking unit 23 is used to brake the target driving device through a target braking actuator, a braking torque distribution strategy, and a target stability controller.

[0120] Optionally, the determining unit 22 is specifically configured to:

[0121] If the working state corresponding to the main brake unit is a non-fault state, determining at least one target brake actuator according to the main brake unit, the front drive motor, and the rear drive motor of the target driving device;

[0122] The braking torque distribution strategy is determined as a first distribution strategy, wherein the first distribution strategy is: determining the braking torque distribution ratios corresponding to the front drive motor, the rear drive motor, and the main brake unit according to the requirements of the driver of the target driving device for the endurance and stability of the target driving device;

[0123] The anti-lock control system and drag torque system of the main brake unit are determined as target stability controllers.

[0124] Determining at least one target brake actuator according to a main brake unit, a front drive motor, and a rear drive motor of a target driving device includes:

[0125] Determining a maximum motor braking torque and a target braking torque of a target driving device;

[0126] If the maximum motor braking torque is greater than or equal to the target braking torque, determining the front drive motor and the rear drive motor as at least one target brake actuator;

[0127] If the maximum motor braking torque is smaller than the target braking torque, the main brake unit, the front drive motor, and the rear drive motor are determined as at least one target brake actuator.

[0128] Optionally, the determining unit 22 is specifically configured to:

[0129] If the working state corresponding to the main brake unit is a fault state and the working state corresponding to the hydraulic backup unit is a non-fault state, determining at least one target brake actuator according to the hydraulic backup unit, the front drive motor, and the rear drive motor of the target driving device;

[0130] The braking torque distribution strategy is determined as a second distribution strategy; wherein the second distribution strategy is: according to the target distribution ratio, the braking torque distribution ratio corresponding to the front drive motor, the rear drive motor, and the hydraulic backup unit is determined, and the braking torque distribution ratio corresponding to the front drive motor is greater than the braking torque distribution ratio corresponding to the rear drive motor;

[0131] The domain controller of the target driving device is determined as the target stability controller.

[0132] Determining at least one target brake actuator based on a hydraulic backup unit, a front drive motor, and a rear drive motor of a target driving device includes:

[0133] Determining a maximum motor braking torque and a target braking torque of a target driving device;

[0134] If the maximum motor braking torque is greater than or equal to the target braking torque, the front drive motor and the rear drive motor are determined as target brake actuators;

[0135] If the maximum motor braking torque is less than the target braking torque, the hydraulic backup unit, the front drive motor, and the rear drive motor are determined as target brake actuators.

[0136] Optionally, the determining unit 22 is specifically configured to: if the respective working states of the main brake unit and the hydraulic backup unit are both fault states, determine at least one target brake actuator according to the electronic parking unit, the front drive motor, and the rear drive motor of the target driving device;

[0137] The braking torque distribution strategy is determined to be a third distribution strategy; wherein the third distribution strategy is: determining the braking torque distribution ratio corresponding to the front drive motor, the rear drive motor, and the electronic parking unit according to the maximum motor braking torque of the front drive motor, the maximum motor braking torque of the rear drive motor, and the target braking torque;

[0138] The domain controller of the target driving device is determined as the target stability controller.

[0139] The electronic parking unit, the front drive motor, and the rear drive motor of the target driving device are determined as at least one target brake actuator, including:

[0140] Determining a maximum motor braking torque and a target braking torque of a target driving device;

[0141] If the maximum motor braking torque is greater than or equal to the target braking torque, the front drive motor and the rear drive motor are determined as target brake actuators;

[0142] If the maximum electric motor braking torque is less than the target braking torque, the electronic parking brake unit, the front drive motor and the rear drive motor are determined as target brake actuators.

[0143] It should be noted that the information interaction, execution process and other contents between the above-mentioned units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0144] See also Figure 3 , Figure 3 This is a schematic diagram of the structure of a control device provided in an embodiment of the present application. Figure 3 As shown, the control device 3 provided in this embodiment may include: a processor 30, a memory 31, and a computer program 32 stored in the memory 31 and executable on the processor 30, such as a program corresponding to the braking method of the driving device. When the processor 30 executes the computer program 32, the steps in the above-mentioned braking method embodiment applied to the driving device are implemented, such as Figure 1 Alternatively, when the processor 30 executes the computer program 32, the functions of each module / unit in the braking device embodiment of the driving device are realized, for example Figure 2 The functions of the units 21 to 23 are shown.

[0145] For example, the computer program 32 can be divided into one or more modules / units, one or more modules / units are stored in the memory 31 and executed by the processor 30 to complete the present application. One or more modules / units can be a series of computer program instruction segments that can complete specific functions. The instruction segments are used to describe the execution process of the computer program 32 in the control device 3. For example, the computer program 32 can be divided into a working state detection unit 21, a determination unit 22, and a braking unit 23. The specific functions of each unit can be seen in FIG. Figure 2 The relevant descriptions in the corresponding embodiments are not repeated here.

[0146] Those skilled in the art will understand that Figure 3This is merely an example of the control device 3 and does not constitute a limitation on the control device 3 , which may include more or fewer components than shown in the figure, or a combination of certain components, or different components.

[0147] The processor 30 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0148] The memory 31 can be an internal storage unit of the control device 3, such as the hard disk or memory of the control device 3. The memory 31 can also be an external storage device of the control device 3, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, or flash card equipped on the control device 3. Furthermore, the memory 31 can include both the internal storage unit of the control device 3 and an external storage device. The memory 31 is used to store computer programs and other programs and data required by the control device. The memory 31 can also be used to temporarily store data that has been output or is about to be output.

[0149] Those skilled in the art can clearly understand that for the convenience and brevity of description, only the division of the above-mentioned functional units is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units as needed, that is, the internal structure of the braking device of the driving equipment can be divided into different functional units to complete all or part of the functions described above. The functional units in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0150] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0151] An embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device implements the steps in the above-mentioned various method embodiments.

[0152] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0153] Those skilled in the art will appreciate that the units and algorithm steps of each example 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 performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0154] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A braking method for a driving device, characterized in that: include: Detecting the respective working states of the main brake unit and the hydraulic backup unit of the target driving equipment; determining, based on respective corresponding operating states of the primary brake unit and the hydraulic backup unit of the target driving device, at least one target brake actuator, a braking torque distribution strategy, and a target stability controller, wherein the braking torque distribution strategy is used to indicate a braking torque distribution ratio of the at least one target brake actuator; The target driving device is braked by the target braking actuator, the braking torque distribution strategy, and the target stability controller.

2. The method according to claim 1, characterized in that The method of determining a target brake actuator, a braking torque distribution strategy, and a target stability controller according to the respective corresponding working states of the main brake unit and the hydraulic backup unit of the target driving device includes: If the working state corresponding to the main brake unit is a non-fault state, determining the at least one target brake actuator according to the main brake unit, the front drive motor, and the rear drive motor of the target driving device; The braking torque distribution strategy is determined as a first distribution strategy; wherein the first distribution strategy is: determining the braking torque distribution ratios corresponding to the front drive motor, the rear drive motor, and the main brake unit according to the requirements of the driver of the target driving device for the endurance and stability of the target driving device; An anti-lock control system and a drag torque system of the main brake unit are determined as the target stability controller.

3. The method according to claim 2, characterized in that The determining of the at least one target brake actuator according to the main brake unit, the front drive motor, and the rear drive motor of the target driving device includes: determining a maximum motor braking torque and a target braking torque of the target driving device; If the maximum motor braking torque is greater than or equal to the target braking torque, determining the front drive motor and the rear drive motor as the at least one target brake actuator; If the maximum motor braking torque is smaller than the target braking torque, the main brake unit, the front drive motor, and the rear drive motor are determined as the at least one target brake actuator.

4. The method according to claim 1, wherein The method of determining a target brake actuator, a braking torque distribution strategy, and a target stability controller according to the respective corresponding working states of the main brake unit and the hydraulic backup unit of the target driving device includes: If the working state corresponding to the main brake unit is a fault state, and the working state corresponding to the hydraulic backup unit is a non-fault state, determining the at least one target brake actuator according to the hydraulic backup unit, the front drive motor, and the rear drive motor of the target driving device; Determining the braking torque distribution strategy as a second distribution strategy; wherein the second distribution strategy is: determining the braking torque distribution ratio corresponding to the front drive motor, the rear drive motor, and the hydraulic backup unit according to the target distribution ratio, and the braking torque distribution ratio corresponding to the front drive motor is greater than the braking torque distribution ratio corresponding to the rear drive motor; The domain controller of the target driving device is determined as the target stability controller.

5. The method according to claim 4, characterized in that The determining of the at least one target brake actuator according to the hydraulic backup unit, the front drive motor, and the rear drive motor of the target driving device includes: determining a maximum motor braking torque and a target braking torque of the target driving device; If the maximum motor braking torque is greater than or equal to the target braking torque, determining the front drive motor and the rear drive motor as the target brake actuators; If the maximum motor braking torque is less than the target braking torque, the hydraulic backup unit, the front drive motor, and the rear drive motor are determined as the target brake actuators.

6. The method according to claim 1, characterized in that The method of determining a target brake actuator, a braking torque distribution strategy, and a target stability controller according to the respective corresponding working states of the main brake unit and the hydraulic backup unit of the target driving device includes: If the working states corresponding to the main brake unit and the hydraulic backup unit are both fault states, determining the at least one target brake actuator according to the electronic parking unit, the front drive motor, and the rear drive motor of the target driving device; The braking torque distribution strategy is determined as a third distribution strategy; wherein the third distribution strategy is: determining the braking torque distribution ratio corresponding to the front drive motor, the rear drive motor, and the electronic parking unit according to the maximum motor braking torque of the front drive motor, the maximum motor braking torque of the rear drive motor, and the target braking torque; The domain controller of the target driving device is determined as the target stability controller.

7. The method according to claim 6, characterized in that The step of determining the electronic parking unit, the front drive motor, and the rear drive motor of the target driving device as the at least one target brake actuator includes: Determining a maximum motor braking torque and a target braking torque of the target driving device; If the maximum motor braking torque is greater than or equal to the target braking torque, determining the front drive motor and the rear drive motor as the target brake actuators; If the maximum electric motor braking torque is smaller than the target braking torque, the electronic parking brake unit, the front drive motor, and the rear drive motor are determined as the target brake actuators.

8. A braking device for a driving device, characterized in that: include: A working state detection unit, used to detect the working states of the main brake unit and the hydraulic backup unit of the target driving device; a determination unit, configured to determine at least one target brake actuator, a braking torque distribution strategy, and a target stability controller according to respective corresponding operating states of the main brake unit and the hydraulic backup unit of the target driving device, wherein the braking torque distribution strategy is configured to indicate a braking torque distribution ratio of the at least one target brake actuator; A braking unit is used to brake the target driving device through the target braking actuator, the braking torque distribution strategy and the target stability controller.

9. A control device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, each step of the braking method of the driving device according to any one of claims 1 to 7 is implemented.

10. A computer program product, characterized in that When the computer program product is executed by a processor, each step of the braking method of the driving device according to any one of claims 1 to 7 is implemented.

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