Brake control method and related device

Abstract

The embodiment of the invention provides a brake control method and a related device, and is applied to the technical field of vehicle brake control. The target torque adjusting mode and the brake torque adjusting amount of the first rear wheel can be determined, and the motor and the wheel supporting cylinder are controlled to adjust the brake torque of the first rear wheel according to the target torque adjusting mode and the brake torque adjusting amount. Wherein the target torque adjusting mode and the braking torque adjusting amount are determined at least according to the speed information of the first front wheel and the speed information of the first rear wheel, and therefore the braking torque of the rear wheels can be adjusted at least according to the speed information of the first front wheel and the speed information of the first rear wheel; for example, the braking torque of the first rear wheel is adjusted according to the difference value between the wheel deceleration of the first front wheel and the wheel deceleration of the first rear wheel, the difference of the wheel deceleration serves as the control variable, delay can be reduced, the response speed can be increased, then the braking stability and braking efficiency of the vehicle are improved, and user experience is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle braking control, and in particular to a braking control method and related devices. Background Art

[0002] As a key area of ​​vehicle safety research, automotive brake safety control has long been a hot topic in vehicle safety technology research and application. In recent years, the development of electronic brake-force distribution (EBD) systems has significantly improved vehicle braking safety. As an auxiliary function of the anti-lock braking system (ABS), the EBD system pre-distributes braking force between the front and rear wheels before ABS activation, enabling the vehicle to better utilize the road adhesion of the rear wheels, thereby improving braking stability and efficiency.

[0003] In some solutions, the EBD control method usually adopts a logic threshold control method based on slip rate control, with the slip rate and the difference between the slip rates as the control variables. However, this method has a large delay and a slow response speed, which leads to lower vehicle braking stability and braking efficiency and a poor user experience. Summary of the Invention

[0004] An embodiment of the present application provides a braking control method and related devices, which can determine the target torque adjustment method and braking torque adjustment amount for the rear wheels based on at least the speed information of the front and rear wheels, and adjust the braking torque of the rear wheels through a motor, thereby improving the response speed, thereby improving the braking stability and braking efficiency of the vehicle, and enhancing the user experience.

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

[0006] Obtaining speed information of a first front wheel and a first rear wheel of the vehicle, where the first front wheel and the first rear wheel are located on the same side of the vehicle;

[0007] determining a target torque adjustment mode and a braking torque adjustment amount for the first rear wheel, the target torque adjustment mode and the braking torque adjustment amount being determined based on at least speed information of the first front wheel and the first rear wheel, the target torque adjustment mode being one of increasing torque, decreasing torque, and maintaining torque;

[0008] According to the target torque adjustment mode and the brake torque adjustment amount, the motor of the vehicle and the wheel cylinder of the vehicle are controlled to adjust the brake torque of the first rear wheel.

[0009] The present application can determine a target torque adjustment mode and a braking torque adjustment amount for the first rear wheel, and control the motor and the wheel cylinder to adjust the braking torque of the first rear wheel according to the target torque adjustment mode and the braking torque adjustment amount. The target torque adjustment mode and the braking torque adjustment amount are determined at least based on speed information of the first front wheel and the first rear wheel. Thus, the braking torque of the rear wheel can be adjusted according to the speed information of the first front wheel and the first rear wheel in response to a braking signal (e.g., releasing the accelerator or stepping on the brake pedal). For example, the braking torque of the first rear wheel can be adjusted according to the difference between the wheel deceleration of the first front wheel and the wheel deceleration of the first rear wheel. Using the difference in wheel deceleration as a control variable can reduce latency, increase response speed, and thereby improve the braking stability and braking efficiency of the vehicle, thereby enhancing the user experience.

[0010] In a possible implementation of the first aspect, the speed information of the first front wheel and the first rear wheel includes one or more of the wheel speeds of the first front wheel and the first rear wheel, the wheel decelerations of the first front wheel and the first rear wheel, and a wheel deceleration difference, where the wheel deceleration difference is the difference between the wheel deceleration of the first front wheel and the wheel deceleration of the first rear wheel.

[0011] In this way, if the speed information obtained is not the wheel deceleration difference, the wheel deceleration difference is obtained by calculation, and the braking torque of the rear wheels is adjusted according to the wheel deceleration difference. This can reduce latency, increase response speed, and thereby improve the vehicle's braking stability and braking efficiency, thereby enhancing the user experience.

[0012] In another possible implementation of the first aspect, controlling a motor and a wheel cylinder of the vehicle to adjust the braking torque of the first rear wheel according to the target torque adjustment mode and the braking torque adjustment amount includes:

[0013] When the target torque adjustment mode is to increase the torque, the first target feedback torque is determined according to the braking torque adjustment amount and the current braking torque of the motor;

[0014] When the first target feedback torque is greater than or equal to the maximum allowable feedback torque, the motor is controlled to increase the braking torque on the first rear wheel and the wheel cylinder is controlled to maintain the brake hydraulic pressure unchanged. The braking torque adjustment range of the motor is greater than or equal to the maximum allowable feedback torque.

[0015] When the first target feedback torque is less than the maximum allowable feedback torque, the motor is controlled to keep the current braking torque on the first rear wheel unchanged and the wheel cylinder is controlled to increase the braking hydraulic pressure.

[0016] In another possible implementation of the first aspect, controlling a motor and a wheel cylinder of the vehicle to adjust the braking torque of the first rear wheel according to the target torque adjustment mode and the braking torque adjustment amount includes:

[0017] When the target torque adjustment mode is torque reduction, determining the second target feedback torque according to the braking torque adjustment amount and the current braking torque of the motor;

[0018] When the second target feedback torque is less than or equal to 0, the motor is controlled to reduce the braking torque on the first rear wheel and the wheel cylinder is controlled to maintain the brake hydraulic pressure unchanged. The braking torque adjustment range of the motor is less than or equal to 0.

[0019] When the second target feedback torque is greater than 0, the motor is controlled to keep the current braking torque on the first rear wheel unchanged and the wheel cylinder is controlled to reduce the braking hydraulic pressure.

[0020] This allows the motor to be prioritized when adjusting braking torque. When the motor's adjustment range is exceeded, the wheel cylinders are used for adjustment. For example, controlling the motor while the wheel cylinders remain unchanged is equivalent to prioritizing the motor to adjust the braking torque of the first rear wheel. Due to the motor's fast response speed and high adjustment precision, this effectively improves the vehicle's braking response speed, thereby enhancing braking stability and efficiency, and enhancing the user experience. Furthermore, the energy generated by the motor's reverse braking can be used to charge the battery, recovering some braking energy, improving energy utilization, and effectively enhancing the vehicle's overall economic efficiency.

[0021] In another possible implementation of the first aspect, controlling the braking torque of a first rear wheel of a motor and a wheel cylinder of the vehicle to adjust according to the target torque adjustment mode and the braking torque adjustment amount includes:

[0022] When the target torque adjustment mode is to maintain torque, the motor is controlled to maintain the current braking torque on the first rear wheel unchanged and the wheel cylinder is controlled to maintain the braking hydraulic pressure unchanged.

[0023] In another possible implementation of the first aspect, the method further includes:

[0024] Obtain the vehicle speed and vehicle deceleration;

[0025] determining a braking mode of the vehicle, wherein the braking mode of the vehicle is determined based on a braking depth of the vehicle and a braking depth change rate of the vehicle;

[0026] When the vehicle speed, the vehicle deceleration, the vehicle braking mode, the wheel deceleration of the first rear wheel and the slip ratio of the first rear wheel meet the preset conditions, the step of "determining the target torque adjustment method and braking torque adjustment amount for the first rear wheel" is executed.

[0027] In another possible implementation of the first aspect, the method further includes:

[0028] determining a braking control mode of the vehicle, where the braking control mode of the vehicle is determined based on the braking mode of the vehicle, vehicle dynamics control (VDC) state information of the first rear wheel, and anti-lock braking system (ABS) state information of the first rear wheel and the first front wheel;

[0029] When the brake control mode is in the reduction prohibition state, the brake torque of the first rear wheel is prohibited from being reduced;

[0030] When the brake control mode is the normal control, the braking torque of the first rear wheel is not restricted from decreasing.

[0031] In this way, the braking force of the rear wheels is coordinated and controlled based on the received VDC status information and ABS status information of each wheel, preventing the vehicle from experiencing problems such as low braking efficiency or braking instability due to the rear wheels locking before the front wheels, thereby improving the vehicle's braking safety.

[0032] In another possible implementation manner of the first aspect, when the braking mode of the vehicle is emergency braking, when the VDC of the first rear wheel is not activated and the ABS of the first rear wheel is not activated, the braking control mode of the vehicle is reduction prohibited;

[0033] When the braking mode of the vehicle is gentle braking, when the VDC of the first rear wheel is not activated and the ABS of the first rear wheel is not activated and the ABS of the first front wheel is activated, the braking control mode of the vehicle is inhibit reduction;

[0034] When the braking mode of the vehicle is gentle braking, when the VDC of the first rear wheel is not activated, the ABS of the first rear wheel is not activated, and the ABS of the first front wheel is not activated, the braking control mode of the vehicle is normal control.

[0035] In yet another possible implementation of the first aspect, the target torque adjustment manner is determined according to a braking control mode and a wheel deceleration difference of the vehicle.

[0036] In another possible implementation manner of the first aspect, when the vehicle's braking control mode is to prohibit reduction and the wheel deceleration difference is less than a first threshold, the target torque adjustment mode is to reduce the torque;

[0037] When the vehicle's braking control mode is to prohibit reduction and the wheel deceleration difference is greater than or equal to the first threshold and less than the second threshold, the target torque adjustment mode is to maintain the torque;

[0038] When the vehicle's braking control mode is to prohibit reduction and the wheel deceleration difference is greater than or equal to the first threshold and greater than or equal to the second threshold, the target torque adjustment mode is to increase the torque;

[0039] When the vehicle's braking control mode is normal control and the wheel deceleration difference is less than a second threshold, the target torque adjustment mode is to maintain the torque;

[0040] When the braking control mode of the vehicle is normal control and the wheel deceleration difference is greater than or equal to the second threshold, the target torque adjustment method is to increase the torque.

[0041] In this way, adjusting the braking torque of the rear wheels according to the wheel deceleration difference can reduce delay, increase response speed, and thereby improve the vehicle's braking stability and braking efficiency, thereby enhancing the user experience.

[0042] In a second aspect, an embodiment of the present application provides a brake control device, the brake control device comprising:

[0043] an acquiring unit, configured to acquire speed information of a first front wheel and a first rear wheel of the vehicle, the first front wheel and the first rear wheel being located on the same side of the vehicle; and;

[0044] A processing unit for:

[0045] determining a target torque adjustment mode and a braking torque adjustment amount for the first rear wheel, the target torque adjustment mode and the braking torque adjustment amount being determined based on speed information of the first front wheel and the first rear wheel, the target torque adjustment mode being one of increasing torque, decreasing torque, and maintaining torque; and

[0046] According to the target torque adjustment mode and the brake torque adjustment amount, the motor of the vehicle and the wheel cylinder of the vehicle are controlled to adjust the brake torque of the first rear wheel.

[0047] In a possible implementation of the second aspect, the speed information of the first front wheel and the first rear wheel includes one or more of the wheel speeds of the first front wheel and the first rear wheel, the wheel decelerations of the first front wheel and the first rear wheel, and a wheel deceleration difference, where the wheel deceleration difference is the difference between the wheel deceleration of the first front wheel and the wheel deceleration of the first rear wheel.

[0048] In yet another possible implementation of the second aspect, the processing unit is further configured to:

[0049] When the target torque adjustment mode is to increase the torque, the first target feedback torque is determined according to the braking torque adjustment amount and the current braking torque of the motor;

[0050] When the first target feedback torque is greater than or equal to the maximum allowable feedback torque, the motor is controlled to increase the braking torque on the first rear wheel and the wheel cylinder is controlled to maintain the brake hydraulic pressure unchanged. The braking torque adjustment range of the motor is greater than or equal to the maximum allowable feedback torque.

[0051] When the first target feedback torque is less than the maximum allowable feedback torque, the motor is controlled to keep the current braking torque on the first rear wheel unchanged and the wheel cylinder is controlled to increase the braking hydraulic pressure.

[0052] In yet another possible implementation of the second aspect, the processing unit is further configured to:

[0053] When the target torque adjustment mode is torque reduction, determining the second target feedback torque according to the braking torque adjustment amount and the current braking torque of the motor;

[0054] When the second target feedback torque is less than or equal to 0, the motor is controlled to reduce the braking torque on the first rear wheel and the wheel cylinder is controlled to maintain the brake hydraulic pressure unchanged. The braking torque adjustment range of the motor is less than or equal to 0.

[0055] When the second target feedback torque is greater than 0, the motor is controlled to keep the current braking torque on the first rear wheel unchanged and the wheel cylinder is controlled to reduce the braking hydraulic pressure.

[0056] In another possible implementation of the second aspect, the processing unit is further configured to control the motor to maintain the current braking torque on the first rear wheel unchanged and to control the wheel cylinder to maintain the braking hydraulic pressure unchanged when the target torque adjustment mode is to maintain the torque.

[0057] In another possible implementation of the second aspect, the acquiring unit is further configured to acquire the vehicle speed and the vehicle deceleration;

[0058] The processing unit is also used to:

[0059] determining a braking mode of the vehicle, wherein the braking mode of the vehicle is determined based on a braking depth of the vehicle and a braking depth change rate of the vehicle;

[0060] When the vehicle speed, the vehicle deceleration, the vehicle braking mode, the wheel deceleration of the first rear wheel and the slip ratio of the first rear wheel meet the preset conditions, the step of "determining the target torque adjustment method and braking torque adjustment amount for the first rear wheel" is executed.

[0061] In yet another possible implementation of the second aspect, the processing unit is further configured to:

[0062] determining a braking control mode of the vehicle, where the braking control mode of the vehicle is determined based on the braking mode of the vehicle, vehicle dynamics control (VDC) state information of the first rear wheel, and anti-lock braking system (ABS) state information of the first rear wheel and the first front wheel;

[0063] When the brake control mode is in the reduction prohibition state, the brake torque of the first rear wheel is prohibited from being reduced;

[0064] When the brake control mode is the normal control, the braking torque of the first rear wheel is not restricted from decreasing.

[0065] In yet another possible implementation of the second aspect, when the braking mode of the vehicle is emergency braking, when the VDC of the first rear wheel is not activated and the ABS of the first rear wheel is not activated, the braking control mode of the vehicle is reduction prohibited;

[0066] When the braking mode of the vehicle is gentle braking, when the VDC of the first rear wheel is not activated and the ABS of the first rear wheel is not activated and the ABS of the first front wheel is activated, the braking control mode of the vehicle is inhibit reduction;

[0067] When the braking mode of the vehicle is gentle braking, when the VDC of the first rear wheel is not activated, the ABS of the first rear wheel is not activated, and the ABS of the first front wheel is not activated, the braking control mode of the vehicle is normal control.

[0068] In yet another possible implementation of the second aspect, the target torque adjustment method is determined according to a braking control mode and a wheel deceleration difference of the vehicle.

[0069] In another possible implementation of the second aspect, when the vehicle's braking control mode is to prohibit reduction and the wheel deceleration difference is less than a first threshold, the target torque adjustment mode is to reduce the torque;

[0070] When the vehicle's braking control mode is to prohibit reduction and the wheel deceleration difference is greater than or equal to the first threshold and less than the second threshold, the target torque adjustment mode is to maintain the torque;

[0071] When the vehicle's braking control mode is to prohibit reduction and the wheel deceleration difference is greater than or equal to the first threshold and greater than or equal to the second threshold, the target torque adjustment mode is to increase the torque;

[0072] When the vehicle's braking control mode is normal control and the wheel deceleration difference is less than a second threshold, the target torque adjustment mode is to maintain the torque;

[0073] When the braking control mode of the vehicle is normal control and the wheel deceleration difference is greater than or equal to the second threshold, the target torque adjustment method is to increase the torque.

[0074] In a third aspect, an embodiment of the present application provides a braking control device, which includes a processor and a memory; a program is stored in the memory, and the processor executes the program to enable the braking control device to implement any method described in the first aspect.

[0075] Optionally, the brake control device further includes a communication interface, where the communication interface is used to receive and / or send data, and / or the communication interface is used to provide input and / or output for the processor.

[0076] It should be noted that the above embodiments are described using a processor (or general-purpose processor) that executes a method by calling a computer instruction. In specific implementations, the processor may also be a dedicated processor, in which case the computer instructions are pre-loaded into the processor. Alternatively, the processor may include both a dedicated processor and a general-purpose processor.

[0077] Optionally, the processor and the memory may also be integrated into one device, that is, the processor and the memory may also be integrated together.

[0078] In a fourth aspect, the present application provides a vehicle comprising a first front wheel, a first rear wheel, a wheel cylinder, a motor and the aforementioned brake control device, wherein the first front wheel and the first rear wheel are located on the same side of the vehicle, so that the vehicle can implement the method described in any one of the aforementioned first aspects.

[0079] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed by a brake control device, the brake control device implements the method described in any one of the first aspects above.

[0080] In a sixth aspect, the present application provides a computer program product, which includes computer instructions. When the instructions are executed by a brake control device, the brake control device implements the method described in any one of the first aspects above.

[0081] Optionally, the computer program product may be a software installation package or an image file. When the aforementioned method is required, the computer program product may be obtained and executed on a computing device.

[0082] The beneficial effects of the technical solutions provided in the second to sixth aspects of this application can refer to the beneficial effects of the technical solution in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0083] The following is a brief introduction to the drawings used in describing the embodiments.

[0084] Figure 1 This is a schematic diagram of the architecture of a braking system provided in an embodiment of the present application;

[0085] Figure 2 This is a schematic diagram of the architecture of a vehicle provided in an embodiment of the present application;

[0086] Figure 3This is a flow chart of a braking control method provided in an embodiment of the present application;

[0087] Figure 4 This is a schematic diagram of a preset condition provided in an embodiment of the present application;

[0088] Figure 5 1 is a flow chart of a method for determining a target torque adjustment method provided in an embodiment of the present application;

[0089] Figure 6 This is a schematic diagram of a flow chart for determining a vehicle's braking control mode provided by an embodiment of the present application;

[0090] Figure 7 This is a flow chart of a regulation method provided in an embodiment of the present application;

[0091] Figure 8 is a structural schematic diagram of a brake control device provided in an embodiment of the present application;

[0092] Figure 9 This is a structural diagram of another braking control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0093] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0094] The following is an introduction to the system architecture used in the embodiments of this application. It should be noted that the system architecture and business scenarios described in this application are intended to more clearly illustrate the technical solutions of this application and do not constitute a limitation on the technical solutions provided by this application. It is understood by those skilled in the art that with the evolution of the system architecture and the emergence of new business scenarios, the technical solutions provided by this application are equally applicable to similar technical problems.

[0095] See Figure 1 , Figure 1 This is a schematic diagram of the architecture of a braking system provided in an embodiment of the present application, which includes a brake pedal 101, a brake pedal displacement sensor 102, a battery management controller 103, a front motor controller 104, a rear motor controller 105, a left front wheel 106, a right front wheel 107, a left rear wheel 108, a right rear wheel 109, a wheel speed sensor 110, a data processing module 111, a VDC functional module 112, an ABS functional module 113, an iEBD functional module 114 and a hydraulic control actuator 115.

[0096] The brake pedal 101 is connected to a brake pedal displacement sensor 102 , and the brake pedal displacement sensor 102 collects the braking depth of the brake pedal 101 and transmits the collected braking depth to the data processing module 111 .

[0097] The battery management controller 103 transmits the maximum allowable charging power of the battery to the data processing module 111 .

[0098] The front motor controller 104 transmits the maximum regenerative torque of the front motor to the data processing module 111 .

[0099] The rear motor controller 105 transmits the maximum feedback torque of the left / right rear motor to the data processing module 111 .

[0100] The wheel speed sensor 110 collects the wheel speeds of the left front wheel 106 , the right front wheel 107 , the left rear wheel 108 and the right rear wheel 109 respectively, and transmits the collected wheel speeds of each wheel to the data processing module 111 .

[0101] Data processing module 111 processes the received braking depth to obtain the braking depth change rate. It also processes the received wheel speeds to obtain the wheel deceleration, vehicle speed, and wheel slip ratio for each wheel. It also processes the received maximum regenerative torque for the left and right rear motors to obtain the maximum allowable regenerative torque for each motor. Data processing module 111 transmits the wheel deceleration, vehicle speed, wheel slip ratio, braking depth, braking depth change rate, and maximum allowable regenerative torque for each motor to the iEBD functional module 114.

[0102] The VDC functional module 112 transmits the VDC status information of each round to the iEBD functional module 114 .

[0103] The ABS function module 113 transmits the ABS status information of each wheel to the iEBD function module 114 .

[0104] The iEBD functional module 114 controls the operation state of the iEBD functional module 114 based on the received wheel deceleration, vehicle speed, slip rate of each wheel, braking depth, braking depth change rate, maximum allowable feedback torque of the left / right rear motor, VDC status information of each wheel and ABS status information of each wheel, and outputs the left / right rear motor target feedback torque and / or solenoid valve control signal according to the operation state of the iEBD functional module 114, transmits the left / right rear motor target feedback torque to the rear motor controller 105 and / or transmits the solenoid valve control signal to the hydraulic control actuator 115.

[0105] The rear motor controller 105 adjusts and controls the braking torque of the left rear wheel 108 and the right rear wheel 109 according to the target feedback torque of the left / right rear motor.

[0106] Hydraulic control actuator 115 regulates the wheel cylinder brake hydraulic pressure of left and right rear wheels 108 and 109 based on received solenoid valve control signals. Simultaneously, iEBD module 114 coordinates and controls the braking force of left and right rear wheels 108 and 109 based on received VDC and ABS status information for each wheel. This prevents issues such as low braking efficiency or braking instability caused by rear wheels locking before the front wheels, thereby improving vehicle braking safety.

[0107] Optionally, the iEBD function module 114 includes an iEBD trigger submodule 1141 , an iEBD mode selection submodule 1142 , an iEBD state control submodule 1143 and a braking force electro-hydraulic distribution submodule 1144 .

[0108] The iEBD triggering submodule 1141 is configured to determine the activation state of the EBD subsystem, i.e., iEBD, based on the vehicle's speed, vehicle deceleration, braking mode, rear wheel deceleration, and rear wheel slip rate. iEBD triggering submodule 1141 is also configured to determine the vehicle's braking mode based on the vehicle's braking depth and the rate of change of the braking depth.

[0109] The iEBD mode selection submodule 1142 is used to determine the iEBD braking control mode according to the vehicle's braking mode, the VDC status information of each wheel, and the ABS status information of each wheel.

[0110] The iEBD state control submodule 1143 is configured to determine a target torque adjustment method for the first rear wheel. For example, the iEBD state control submodule 1143 determines the target torque adjustment method for the first rear wheel based on the difference between the wheel deceleration of the first front wheel and the wheel deceleration of the first rear wheel. The first front wheel and the first rear wheel are located on the same side of the vehicle, for example, the first front wheel is the left front wheel and the first rear wheel is the left rear wheel. Alternatively, the iEBD state control submodule 1143 executes the step of "determining the target torque adjustment method and braking torque adjustment amount for the first rear wheel" if the vehicle speed, vehicle deceleration, braking mode, wheel deceleration of the first rear wheel, and slip ratio of the first rear wheel meet preset conditions. Furthermore, the iEBD state control submodule 1143 determines the target torque adjustment method for the first rear wheel based on the vehicle's braking control mode and the difference between the wheel deceleration of the first front wheel and the wheel deceleration of the first rear wheel.

[0111] Braking force electro-hydraulic distribution submodule 1144 is configured to control the motor and wheel cylinder to adjust the braking torque of the first rear wheel based on the target torque adjustment method and the braking torque adjustment amount. Optionally, braking force electro-hydraulic distribution submodule 1144 outputs target feedback torques and / or solenoid valve control signals for the left / right rear motors based on the target torque adjustment method and the braking torque adjustment amount.

[0112] See Figure 2 , Figure 2 This is a schematic diagram of the architecture of a vehicle provided in an embodiment of the present application. Figure 2 As shown, the vehicle 20 includes a first front wheel 201 , a first rear wheel 202 , a wheel cylinder 203 , a motor 204 and a brake control device 205 .

[0113] The vehicle 20 is an electric vehicle, that is, the vehicle 20 is driven by the motor 204 .

[0114] The first front wheel 201 and the first rear wheel 202 are located on the same side of the vehicle 20. For example, the first front wheel 201 is the left front wheel and the first rear wheel 202 is the left rear wheel. For another example, the first front wheel 201 is the right front wheel and the first rear wheel 202 is the right rear wheel.

[0115] The wheel cylinder 203 is used to adjust the braking torque of the first rear wheel 202 through the braking hydraulic pressure.

[0116] The motor 204 is used to drive the vehicle 20 and to adjust the braking torque of the first rear wheel 202. Optionally, the number of motors of the vehicle 20 is not limited, and the vehicle may include 1 motor, 2 motors, 3 motors, or 4 motors, or may include more motors.

[0117] The brake control device 205 is a module with data processing and control capabilities, used to process data related to the vehicle 20 and control the vehicle 20 to perform related functions. For example, the brake control device 205 can determine the target torque adjustment method and braking torque adjustment amount for the first rear wheel 202, and control the motor 204 and the wheel cylinder 203 to adjust the braking torque of the first rear wheel 202 based on the target torque adjustment method and braking torque adjustment amount.

[0118] As a possible implementation, the brake control device 205 can be a physical device. For example, the brake control device 205 can include one or more of the following modules: a central processing unit (CPU), a microprocessor unit (MPU), an application specific-integrated circuit (ASIC), a field programmable gate array (FPGA), a complex programmable logic device (CPLD), a coprocessor (to assist the CPU in completing corresponding processing and applications), a microcontroller unit (MCU), and / or an electronic control unit (ECU). Of course, the above description is based on the example that the brake control device 205 is an on-board device. In some solutions, the brake control device 205 can be a physical device installed outside the vehicle, such as a server, cloud, or host. As a possible implementation, the brake control device 205 can be a software module, such as a virtual machine, software, program code, or container.

[0119] As mentioned in the aforementioned embodiment, the brake control device 205 can be disposed outside the vehicle. It should be understood that when the brake control device 205 is disposed outside the vehicle 20, the vehicle 20 and the brake control device 205 can be communicatively connected, for example, directly connected via a wired communication method, such as a tangible medium such as a metal wire or optical fiber, or indirectly connected via a wireless communication method, such as ultra-wideband (UWB) technology, long-term evolution (LTE) communication technology, fifth-generation mobile networks (5G or 5G technology), global system for mobile communications (GSM), general packet radio service (GPRS), or universal mobile telecommunications system (UMTS).

[0120] Optionally, the above is an exemplary vehicle provided for ease of understanding of the present invention and is not intended to limit the application scenarios of the present invention. The present invention is also applicable to similar devices with both traveling and data processing capabilities, such as logistics robots.

[0121] Furthermore, this application does not limit the purpose, classification, or model of the vehicle 20. For example, the vehicle 20 may be an electric passenger car, an electric bus, an electric truck, an electric rescue vehicle, or an electric special vehicle (e.g., an electric mud tanker, an electric oil tanker, an electric water truck, or an electric fire truck).

[0122] As a possible implementation, the present embodiment can obtain speed information of the first front wheel 201 and the first rear wheel 202 of the vehicle 20 through the brake control device 205, determine a target torque adjustment method and a braking torque adjustment amount for the first rear wheel 202, and control the motor 204 and the wheel cylinder 203 to adjust the braking torque of the first rear wheel 202 based on the target torque adjustment method and the braking torque adjustment amount. The target torque adjustment method and the braking torque adjustment amount are determined based on at least the speed information of the first front wheel 201 and the first rear wheel 202. For example, the target torque adjustment method for the first rear wheel 202 is determined based on the vehicle's braking control mode and the difference between the wheel deceleration of the first front wheel 201 and the wheel deceleration of the first rear wheel 202. In this way, adjusting the braking torque of the first rear wheel 202 based on the wheel deceleration difference and using the wheel deceleration difference as a control variable can reduce latency, increase response speed, and thereby improve the vehicle's braking stability and braking efficiency, thereby enhancing the user experience.

[0123] Furthermore, when adjusting the braking torque, the brake control device 205 can prioritize controlling the motor 204 for adjustment. When the adjustment range of the motor 204 is exceeded, the wheel cylinder 203 is combined for adjustment. For example, controlling the motor 204 for adjustment while the wheel cylinder 203 remains unchanged is equivalent to prioritizing the motor 204 to adjust the braking torque of the first rear wheel 202. Due to the motor's fast response speed and high adjustment accuracy, the vehicle's braking response speed can be effectively improved, thereby improving the vehicle's braking stability and efficiency, and enhancing the user experience. Furthermore, the energy generated by the motor's reverse braking can be used to charge the battery, recovering some braking energy, improving energy utilization, and effectively enhancing the vehicle's economic efficiency.

[0124] The method of the embodiment of the present application is described in detail below.

[0125] See Figure 3 , Figure 3 is a flow chart of a braking control method provided in an embodiment of the present application. Optionally, the method can be applied to a vehicle including a braking system, for example, the method can be applied to a vehicle including a braking system. Figure 1 The braking system of the vehicle is shown. Optional, Figure 3 The braking control method shown can be executed by the iEBD functional module, for example Figure 1 The iEBD functional module 114 shown. Optionally, Figure 3 The brake control method shown may be executed by a brake control device, e.g. Figure 2 The brake control device 205 is shown.

[0126] like Figure 3 The braking control method shown may include multiple steps in steps S301-S303. It should be understood that for the sake of convenience, this application describes the steps S301-S303 in this order, and is not intended to limit execution to the above order. The embodiments of this application do not limit the order of execution, execution time, number of executions, etc. of the above one or more steps. Steps S301-S303 are as follows:

[0127] Step S301: The brake control device obtains speed information of the first front wheel and the first rear wheel of the vehicle.

[0128] A brake control device is a device with data processing, communication, and control capabilities, used to control the vehicle's braking process. It may be located inside the vehicle, or it may be a processing module integrated into the vehicle, such as an MDC or MCU. It may also be located outside the vehicle, such as on a server, cloud, or host. It may also be a virtual device, such as a virtual machine, software, program code, or container.

[0129] When the brake control device is installed on a vehicle, it can also be said that the brake control method is executed by the vehicle. Specifically, when the brake control device is installed on the vehicle, it can be a functional module, for example, the brake control device can be an iEBD functional module, and the iEBD functional module can be integrated into the vehicle's central domain controller.

[0130] The vehicle is a device provided by the present application as an example, which has the ability to travel and process data. For example, the vehicle includes but is not limited to electric vehicles of different models such as electric cars, electric trucks, electric buses, and electric vans. Optionally, the vehicle includes a first front wheel, a first rear wheel, a wheel cylinder, a motor, and a brake control device, wherein the first front wheel and the first rear wheel are located on the same side of the vehicle, for example Figure 2 The vehicle 20 shown. Optionally, the vehicle includes a braking system, such as Figure 1 Braking system shown.

[0131] The first front wheel and the first rear wheel are located on the same side of the vehicle, for example, the first front wheel is the left front wheel, and the first rear wheel is the left rear wheel. For another example, the first front wheel is the right front wheel, and the first rear wheel is the right rear wheel.

[0132] Optionally, the speed information of the first front wheel and the first rear wheel includes one or more of the wheel speeds of the first front wheel and the first rear wheel, wheel decelerations of the first front wheel and the first rear wheel, and a wheel deceleration difference. The wheel deceleration difference is the difference between the wheel deceleration of the first front wheel and the wheel deceleration of the first rear wheel.

[0133] Exemplarily, the speed information of the first front wheel and the first rear wheel can be the difference in wheel decelerations of the front and rear wheels on the same side, for example, the difference between the wheel deceleration of the left front wheel and the wheel deceleration of the left rear wheel. It can also be the wheel deceleration of the first front wheel and the wheel deceleration of the first rear wheel, and the brake control device further calculates the difference in wheel decelerations of the front and rear wheels. It can also be the wheel speed of the first front wheel and the wheel speed of the first rear wheel, and the brake control device further calculates the wheel deceleration of the first front wheel and the wheel deceleration of the first rear wheel. The brake control device further calculates the difference in wheel decelerations of the front and rear wheels.

[0134] In one possible embodiment, the vehicle is equipped with wheel speed sensors that can respectively collect the wheel speeds of the left front wheel, right front wheel, left rear wheel, and right rear wheel. The brake control device can then process the collected wheel speeds to obtain the wheel deceleration of each wheel. Furthermore, the brake control device can determine the difference in wheel deceleration between the front and rear wheels on the same side based on the wheel deceleration of each wheel.

[0135] Step S302: The brake control device determines the target torque adjustment method and the brake torque adjustment amount for the first rear wheel.

[0136] The target torque adjustment mode and the braking torque adjustment amount are determined at least according to speed information of the first front wheel and the first rear wheel.

[0137] Alternatively, if the speed information acquired by the brake control device regarding the first front wheel and the first rear wheel is the wheel speed of the first front wheel and the wheel speed of the first rear wheel, the brake control device calculates the wheel deceleration of the first front wheel and the wheel deceleration of the first rear wheel, and further calculates the difference between the wheel decelerations of the first front wheel and the first rear wheel. Furthermore, the brake control device determines a target torque adjustment method and a brake torque adjustment amount for the first rear wheel based at least on the difference between the wheel decelerations of the first front wheel and the first rear wheel.

[0138] Alternatively, if the speed information acquired by the brake control device regarding the first front wheel and the first rear wheel is the wheel deceleration of the first front wheel and the wheel deceleration of the first rear wheel, the brake control device may calculate the difference between the wheel decelerations of the first front wheel and the first rear wheel. Furthermore, the brake control device may determine a target torque adjustment method and a brake torque adjustment amount for the first rear wheel based at least on the difference between the wheel decelerations of the first front wheel and the first rear wheel.

[0139] Optionally, if the speed information of the first front wheel and the first rear wheel obtained by the braking control device is the difference between the wheel decelerations of the first front wheel and the first rear wheel, the braking control device determines the target torque adjustment method and braking torque adjustment amount for the first rear wheel at least based on the difference between the wheel decelerations of the first front wheel and the first rear wheel.

[0140] The target torque adjustment mode is one of increasing the torque, decreasing the torque, and maintaining the torque.

[0141] In a possible implementation manner, the brake control device adjusts the braking torque of the first rear wheel according to the wheel deceleration difference and determines a target torque adjustment method for the first rear wheel.

[0142] Optionally, the brake control device performs the step of "determining the target torque adjustment method and braking torque adjustment amount for the first rear wheel" (i.e., step S302) when the vehicle speed, vehicle deceleration, vehicle braking mode, wheel deceleration of the first rear wheel, and slip ratio of the first rear wheel meet preset conditions. Alternatively, the brake control device performs the step of "determining the target torque adjustment method and braking torque adjustment amount for the first rear wheel" when iEBD is activated. The brake control device processes the received wheel speeds to obtain the vehicle speed, vehicle deceleration, and slip ratio of each wheel.

[0143] For example, see Figure 4 , Figure 4 This is a schematic diagram of a preset condition provided in an embodiment of the present application.

[0144] In one possible implementation, the preset condition includes the vehicle speed (e.g., denoted as V) being greater than a vehicle speed threshold (e.g., denoted as V min ), the vehicle's deceleration (for example, denoted as a) is less than the deceleration threshold (for example, denoted as a limit ), the rear wheel deceleration (for example, denoted as a rw ) is less than the wheel deceleration threshold corresponding to the vehicle's braking mode and the rear wheel slip rate (for example, denoted as S r) is greater than the slip ratio threshold corresponding to the vehicle's braking mode. The vehicle speed threshold, deceleration threshold, wheel deceleration threshold, and slip ratio threshold corresponding to the braking mode are all preset values. These thresholds may be related to vehicle performance, wheel size, wheel performance, vehicle weight, and vehicle size. Optionally, the slip ratio threshold may be an interpolated slip ratio threshold value calculated by calculating vehicle speed v minus slip ratio s.

[0145] For example, the wheel deceleration threshold corresponding to the vehicle's braking mode includes an emergency braking wheel deceleration threshold (for example, denoted as a rwlimit_P ) and the slow braking wheel deceleration threshold (e.g., denoted as a rwlimit_m ), the slip rate threshold corresponding to the braking mode of the vehicle includes an emergency braking slip rate threshold (for example, denoted as S limit_P ) and the smooth braking slip rate threshold (e.g., denoted as S limit_m ).

[0146] like Figure 4 As shown, when the vehicle speed is greater than the speed threshold (ie V>V min ), the vehicle's deceleration is less than the deceleration threshold (i.e. a<a limit ), the vehicle's braking mode is emergency braking, and the wheel deceleration of the first rear wheel is less than the emergency braking wheel deceleration threshold (i.e., a rw <a rwlimit_P ) and the slip rate of the first rear wheel is greater than the emergency braking slip rate threshold (ie S r >S limit_P In the case of , it is considered that the vehicle speed, vehicle deceleration, vehicle braking mode, wheel deceleration of the first rear wheel and slip ratio of the first rear wheel meet the preset conditions (it can also be said that iEBD is activated). Or, when the vehicle speed is greater than the speed threshold (i.e. V>V min ), the vehicle's deceleration is less than the deceleration threshold (i.e. a<a limit ), the vehicle's braking mode is not emergency braking (i.e., the vehicle's braking mode is gentle braking), and the wheel deceleration of the first rear wheel is less than the gentle braking wheel deceleration threshold (i.e., a rw <a rwlimit_m ) and the slip rate of the first rear wheel is greater than the smooth braking slip rate threshold (ie S r >S limit_m In the case of the vehicle speed, vehicle deceleration, vehicle braking mode, first rear wheel deceleration, and first rear wheel slip ratio meeting the pre-set conditions (iEBD is also considered activated). In all other cases, the pre-set conditions are considered unmet, and step S302 cannot be executed. The brake control device continues to determine the pre-set conditions. In this way, the braking level is divided into gentle braking and emergency braking during control. During normal braking, the slip ratio entry threshold is interpolated based on the vehicle speed-slip ratio combination, thereby enhancing adaptability to operating conditions.

[0147] The above mentioned braking mode of the vehicle, a possible implementation method for determining the braking mode of the vehicle is introduced below.

[0148] In a possible implementation, the brake control device may determine a braking mode of the vehicle. Optionally, the braking mode of the vehicle is determined based on a braking depth of the vehicle and a rate of change of the braking depth of the vehicle.

[0149] For example, the vehicle can collect the braking depth through the brake pedal displacement sensor, and the brake control device processes the braking depth (for example, denoted as b) to obtain the braking depth change rate (for example, denoted as b rate ). Further, the braking control device compares the braking depth with a braking depth threshold (for example, denoted as b limit ), the braking depth change rate is compared with the braking depth change rate threshold (for example, denoted as b rate_limit ) to obtain the braking mode of the vehicle. For example, when the braking depth is greater than the braking depth threshold and the braking depth change rate is greater than the braking depth change rate threshold (i.e. b>b limit And b rate >b rate_limit ), the vehicle's braking mode is emergency braking. When the braking depth is less than or equal to the braking depth threshold or the braking depth change rate is less than or equal to the braking depth change rate threshold (i.e. b≤b limit or b rate ≤b rate_limit ), the vehicle's braking mode is smooth braking.

[0150] In one possible embodiment, the target torque adjustment method is determined by the brake control device according to the vehicle's brake control mode and the wheel deceleration difference between the first front wheel and the first rear wheel. Specifically, the brake control device obtains the wheel deceleration difference between the first front wheel and the first rear wheel (for example, denoted as a diff ) is compared with a preset front and rear wheel deceleration difference threshold value to obtain a target torque adjustment mode. Optionally, the preset front and rear wheel deceleration difference threshold value may be related to vehicle performance, vehicle weight, and vehicle size, etc. The preset front and rear wheel deceleration difference threshold value includes a first threshold value and a second threshold value. Optionally, the first threshold value is a preset minimum front and rear wheel deceleration difference, denoted as a diff_down The second threshold is the preset maximum front and rear wheel deceleration difference, denoted as a diff_up .

[0151] For example, see Figure 5 , Figure 5 This is a flow chart of a method for determining a target torque adjustment method provided in an embodiment of the present application.

[0152] like Figure 5 As shown, when the braking control mode of the vehicle is to prohibit reduction, if the difference between the wheel deceleration of the first front wheel and the first rear wheel is less than the first threshold value (ie, a diff <a diff_down ), the target torque adjustment mode is to reduce the torque. When the vehicle's braking control mode is to prohibit reduction, and the difference between the wheel deceleration of the first front wheel and the first rear wheel is greater than or equal to the first threshold (i.e., a diff ≥a diff_down ), and the difference between the wheel decelerations of the first front wheel and the first rear wheel is less than the second threshold (i.e., a diff <a diff_up ), the target torque adjustment mode is to maintain the torque. When the vehicle's braking control mode is to prohibit reduction, and the difference between the wheel deceleration of the first front wheel and the first rear wheel is greater than or equal to the first threshold (i.e., a diff ≥a diff_down ), and the difference between the wheel decelerations of the first front wheel and the first rear wheel is greater than or equal to the second threshold (i.e., a diff ≥a diff_up ), the target torque adjustment method is to increase the torque. It should be noted that the vehicle's braking control mode of prohibiting reduction is a rough result. When the difference in wheel deceleration between the first front wheel and the first rear wheel is less than the first threshold, it means that the braking effect has been achieved. The braking torque can be appropriately reduced to minimize resource waste.

[0153] Optionally, when the braking control mode of the vehicle is not to prohibit reduction (ie, the braking control mode of the vehicle is normal control), the difference between the wheel deceleration of the first front wheel and the first rear wheel is less than the second threshold value (ie, a diff <a diff_up ), the target torque adjustment mode is to maintain the torque. When the vehicle's braking control mode is not to prohibit reduction (i.e., the vehicle's braking control mode is normal control), the difference between the wheel deceleration of the first front wheel and the first rear wheel is greater than or equal to the second threshold (i.e., a diff ≥a diff_up ), the target torque adjustment method is to increase the torque.

[0154] The above mentioned vehicle braking control mode, the following introduces a possible implementation method for determining the vehicle braking control mode.

[0155] For example, see Figure 6 , Figure 6 This is a flow chart of determining a vehicle's braking control mode provided in an embodiment of the present application.

[0156] In one possible implementation, the vehicle's brake control mode is determined by a brake control device based on the vehicle's brake mode, VDC status information of the first rear wheel, and ABS status information of the first rear wheel and the first front wheel. When the brake control mode is set to "disable reduction," the braking torque of the first rear wheel is prohibited from being reduced. When the brake control mode is set to "normal control," the braking torque of the first rear wheel is not restricted from being reduced, i.e., the first rear wheel is controlled according to normal braking logic.

[0157] For example, Figure 6 As shown, when the braking mode of the vehicle is emergency braking, if the VDC of the first rear wheel is not activated and the ABS of the first rear wheel is not activated, the braking control mode of the vehicle is reduction prohibited.

[0158] When the vehicle's braking mode is not emergency braking (i.e., the vehicle's braking mode is smooth braking), if the VDC of the first rear wheel is not activated, the ABS of the first rear wheel is not activated, and the ABS of the first front wheel is activated, the vehicle's braking control mode is prohibited from reducing.

[0159] When the vehicle's braking mode is not emergency braking (i.e., the vehicle's braking mode is gentle braking), if the VDC of the first rear wheel is not activated, the ABS of the first rear wheel is not activated, and the ABS of the first front wheel is not activated, the vehicle's braking control mode is normal control. In other cases, it is considered that there is no need to control the vehicle's braking through EBD, that is, EBD control is exited.

[0160] In one possible implementation, the braking torque adjustment amount is determined by the braking control device based on at least the speed information of the first front wheel and the first rear wheel. For example, the braking control device determines how much braking torque needs to be adjusted, for example, how much braking torque needs to be increased or how much braking torque needs to be reduced.

[0161] Step S303: The brake control device controls the vehicle's motor and the vehicle's wheel cylinder to adjust the brake torque of the first rear wheel according to the target torque adjustment mode and the brake torque adjustment amount.

[0162] It should be noted that the motor's driving torque is typically recorded as a positive value, while the motor's braking torque and regenerative torque are recorded as negative values. The motor's braking torque is adjustable from the maximum allowable regenerative torque to 0. The maximum allowable regenerative torque is calculated based on the vehicle's maximum regenerative torque from the rear motor controller.

[0163] In one possible implementation, when the target torque adjustment mode is torque increase, the brake control device determines a first target feedback torque based on the brake torque adjustment amount and the current brake torque of the motor. When the first target feedback torque is greater than or equal to the maximum allowable feedback torque, the motor is controlled to increase the brake torque applied to the first rear wheel and the wheel cylinder is controlled to maintain the brake fluid pressure unchanged. When the first target feedback torque is less than the maximum allowable feedback torque, the motor is controlled to maintain the current brake torque applied to the first rear wheel unchanged and the wheel cylinder is controlled to increase the brake fluid pressure. In this case, the brake control device only uses the lower limit of the brake torque adjustment range when making the comparison; the brake torque adjustment range of the motor is greater than or equal to the maximum allowable feedback torque.

[0164] In another possible embodiment, when the target torque adjustment mode is torque reduction, the brake control device determines a second target feedback torque based on the brake torque adjustment amount and the current brake torque of the motor. When the second target feedback torque is less than or equal to 0, the motor is controlled to reduce the brake torque on the first rear wheel and the wheel cylinder is controlled to maintain the brake fluid pressure unchanged. When the second target feedback torque is greater than 0, the motor is controlled to maintain the current brake torque on the first rear wheel unchanged and the wheel cylinder is controlled to reduce the brake fluid pressure. In this case, the brake control device only uses the upper limit of the brake torque adjustment range when making the comparison; the brake torque adjustment range of the motor is less than or equal to 0.

[0165] In another possible implementation, when the target torque adjustment mode is to maintain torque, the brake control device controls the motor to maintain the current braking torque on the first rear wheel unchanged and controls the wheel cylinder to maintain the braking hydraulic pressure unchanged.

[0166] For example, see Figure 7 , Figure 7 It is a flow chart of an adjustment method provided in an embodiment of the present application.

[0167] like Figure 7 As shown, when the target torque adjustment mode is to increase the torque, the brake control device calculates the first target feedback torque (for example, T) that the motor corresponding to the first rear wheel needs to adjust to when the increased braking torque adjustment amount of the first rear wheel is all adjusted by the motor corresponding to the first rear wheel. tar1 The braking control device compares the first target feedback torque with the maximum allowable feedback torque of the motor (for example, denoted as T fb_max ) to determine the adjustment method for the braking torque of the first rear wheel.

[0168] For example, when the target torque adjustment mode is to increase the torque, when the first target feedback torque is greater than or equal to the maximum allowable feedback torque (ie, T tar1 ≥T fb_max), the brake control device controls the motor to increase the braking torque on the first rear wheel and controls the wheel cylinder to maintain the brake fluid pressure unchanged. The first target feedback torque is greater than or equal to the maximum allowable feedback torque; in other words, the absolute value of the first target feedback torque is less than the absolute value of the maximum allowable feedback torque. At this point, the motor can fully utilize the entire braking torque adjustment amount to increase the braking torque, eliminating the need for the wheel cylinder to adjust the brake fluid pressure.

[0169] For example, when the target torque adjustment mode is to increase the torque, when the first target feedback torque is less than the maximum allowable feedback torque (ie, T tar1 <T fb_max ), the brake control device controls the motor to keep the current braking torque on the first rear wheel unchanged and controls the wheel cylinder to increase the braking hydraulic pressure. Among them, the first target feedback torque is less than the maximum allowable feedback torque, that is, the absolute value of the first target feedback torque is greater than the absolute value of the maximum allowable feedback torque. At this time, the motor cannot adjust the braking torque to increase the braking torque for all the braking torque adjustment amounts, so the wheel cylinder is required to adjust the braking hydraulic pressure to increase the braking hydraulic pressure. Or optionally, the motor can increase the braking torque to the maximum allowable feedback torque or increase it by a small part, and the remaining part is adjusted by the wheel cylinder to increase the braking hydraulic pressure. Optionally, the brake control device can flexibly control the motor and the wheel cylinder to adjust the braking torque of the first rear wheel according to actual conditions, and the braking torque adjustment amount adjusted by the motor and the wheel cylinder is equal to the braking torque adjustment amount that needs to be adjusted determined by the vehicle.

[0170] like Figure 7 As shown, when the target torque adjustment mode is to reduce the torque, the brake control device calculates the second target feedback torque (for example, denoted as T) that the motor corresponding to the first rear wheel needs to adjust to when the increased braking torque adjustment amount of the first rear wheel is all adjusted by the motor corresponding to the first rear wheel based on the current braking torque of the motor corresponding to the first rear wheel. tar2 The braking control device compares the second target feedback torque with 0 to determine the adjustment method of the braking torque.

[0171] For example, when the target torque adjustment mode is to reduce the torque, when the second target feedback torque is less than or equal to 0 (ie, T tar2 ≤0), the brake control device controls the motor to reduce the braking torque on the first rear wheel and controls the wheel cylinder to maintain the brake fluid pressure unchanged. The second target feedback torque is less than or equal to 0, meaning that the motor's braking torque remains less than 0 even after the reduction. In this case, the motor can fully utilize the entire braking torque adjustment amount to reduce the braking torque, eliminating the need for the wheel cylinder to adjust the brake fluid pressure.

[0172] For example, when the target torque adjustment mode is to reduce the torque, when the second target feedback torque is greater than 0 (ie, T tar2 >0), the brake control device controls the motor to maintain the current braking torque on the first rear wheel unchanged and controls the wheel cylinder to reduce the brake hydraulic pressure. Among them, the second target feedback torque is greater than 0, that is, the motor needs to adjust the braking torque to greater than 0. Since the braking torque adjustment range of the motor is less than or equal to 0, the motor cannot adjust the braking torque to reduce the braking torque at this time. The wheel cylinder needs to adjust the brake hydraulic pressure to reduce the braking hydraulic pressure. Since braking energy can be recovered when braking through the motor, the braking torque of the motor here remains unchanged, and part of the braking energy can be recovered to improve energy utilization.

[0173] like Figure 7 As shown, when the target torque adjustment mode is to maintain torque, the motor is controlled to maintain the current braking torque on the first rear wheel unchanged and the wheel cylinder is controlled to maintain the braking hydraulic pressure unchanged.

[0174] exist Figure 3 In the illustrated embodiment, the brake control device is capable of determining a target torque adjustment method and a braking torque adjustment amount for the first rear wheel, and controlling the motor and wheel cylinder to adjust the braking torque of the first rear wheel based on the target torque adjustment method and the braking torque adjustment amount. The target torque adjustment method and the braking torque adjustment amount are determined based on at least the speed information of the first front wheel and the first rear wheel. For example, the target torque adjustment method for the first rear wheel is determined based on the vehicle's braking control mode and the difference between the wheel deceleration of the first front wheel and the wheel deceleration of the first rear wheel. In this way, adjusting the braking torque of the first rear wheel based on the wheel deceleration difference and using the wheel deceleration difference as a control variable can reduce latency, increase response speed, and thereby improve the vehicle's braking stability and efficiency, enhancing the user experience.

[0175] Furthermore, when adjusting the braking torque, the present application can prioritize controlling the motor for adjustment. When the motor's adjustment range is exceeded, the wheel cylinder is combined for adjustment. For example, controlling the motor for adjustment while the wheel cylinder remains unchanged is equivalent to prioritizing the motor to adjust the braking torque of the first rear wheel. Due to the motor's fast response speed and high adjustment accuracy, it can effectively improve the vehicle's braking response speed, thereby improving the vehicle's braking stability and braking efficiency, and enhancing the user experience. In addition, the energy generated by the motor's reverse braking can be used to charge the battery, recovering some braking energy, improving energy utilization, and effectively improving the economy of the entire vehicle.

[0176] The above describes in detail the method of the embodiment of the present application. The following provides an apparatus of the embodiment of the present application.

[0177] See Figure 8 , Figure 8Schematic diagram of a brake control device according to an embodiment of the present application. The brake control device 80 may include an acquisition unit 801 and a processing unit 802. The brake control device 80 is used to implement the aforementioned brake control method, for example Figure 3 The braking control method in the illustrated embodiment.

[0178] It should be noted that the division of the above-mentioned multiple units is merely a logical division based on function and does not limit the specific structure of the brake control device 80. In a specific implementation, some functional modules may be subdivided into more small functional modules, and some functional modules may be combined into a single functional module.

[0179] In a possible implementation, the acquiring unit 801 is configured to acquire speed information of a first front wheel and a first rear wheel of the vehicle, where the first front wheel and the first rear wheel are located on the same side of the vehicle;

[0180] The processing unit 802 is configured to:

[0181] A target torque adjustment mode and a braking torque adjustment amount for the first rear wheel are determined, and based on the target torque adjustment mode and the braking torque adjustment amount, the vehicle's motor and wheel cylinder are controlled to adjust the braking torque of the first rear wheel. The target torque adjustment mode and the braking torque adjustment amount are determined based on speed information of the first front wheel and the first rear wheel, and the target torque adjustment mode is selected from the group consisting of increasing torque, decreasing torque, and maintaining torque.

[0182] In one possible implementation, the speed information of the first front wheel and the first rear wheel includes one or more of the wheel speeds of the first front wheel and the first rear wheel, the wheel decelerations of the first front wheel and the first rear wheel, and a wheel deceleration difference, where the wheel deceleration difference is the difference between the wheel deceleration of the first front wheel and the wheel deceleration of the first rear wheel.

[0183] In a possible implementation, the processing unit 802 is further configured to:

[0184] When the target torque adjustment mode is to increase the torque, the first target feedback torque is determined according to the braking torque adjustment amount and the current braking torque of the motor;

[0185] When the first target feedback torque is greater than or equal to the maximum allowable feedback torque, the motor is controlled to increase the braking torque on the first rear wheel and the wheel cylinder is controlled to maintain the brake hydraulic pressure unchanged. The braking torque adjustment range of the motor is greater than or equal to the maximum allowable feedback torque.

[0186] When the first target feedback torque is less than the maximum allowable feedback torque, the motor is controlled to keep the current braking torque on the first rear wheel unchanged and the wheel cylinder is controlled to increase the braking hydraulic pressure.

[0187] In a possible implementation, the processing unit 802 is further configured to:

[0188] When the target torque adjustment mode is torque reduction, determining the second target feedback torque according to the braking torque adjustment amount and the current braking torque of the motor;

[0189] When the second target feedback torque is less than or equal to 0, the motor is controlled to reduce the braking torque on the first rear wheel and the wheel cylinder is controlled to maintain the brake hydraulic pressure unchanged. The braking torque adjustment range of the motor is less than or equal to 0.

[0190] When the second target feedback torque is greater than 0, the motor is controlled to keep the current braking torque on the first rear wheel unchanged and the wheel cylinder is controlled to reduce the braking hydraulic pressure.

[0191] In a possible implementation, the processing unit 802 is further configured to control the motor to maintain the current braking torque on the first rear wheel unchanged and control the wheel cylinder to maintain the braking hydraulic pressure unchanged when the target torque adjustment mode is to maintain torque.

[0192] In a possible implementation, the acquisition unit 801 is further configured to acquire the vehicle speed and the vehicle deceleration;

[0193] The processing unit 802 is further configured to:

[0194] determining a braking mode of the vehicle, wherein the braking mode of the vehicle is determined based on a braking depth of the vehicle and a braking depth change rate of the vehicle;

[0195] When the vehicle speed, the vehicle deceleration, the vehicle braking mode, the wheel deceleration of the first rear wheel and the slip ratio of the first rear wheel meet the preset conditions, the step of "determining the target torque adjustment method and braking torque adjustment amount for the first rear wheel" is executed.

[0196] In a possible implementation, the processing unit 802 is further configured to:

[0197] determining a braking control mode of the vehicle, where the braking control mode of the vehicle is determined based on the braking mode of the vehicle, vehicle dynamics control (VDC) state information of the first rear wheel, and anti-lock braking system (ABS) state information of the first rear wheel and the first front wheel;

[0198] When the brake control mode is in the reduction prohibition state, the brake torque of the first rear wheel is prohibited from being reduced;

[0199] When the brake control mode is the normal control, the braking torque of the first rear wheel is not restricted from decreasing.

[0200] In one possible implementation,

[0201] When the braking mode of the vehicle is emergency braking, when the VDC of the first rear wheel is not activated and the ABS of the first rear wheel is not activated, the braking control mode of the vehicle is reduction prohibited;

[0202] When the braking mode of the vehicle is gentle braking, when the VDC of the first rear wheel is not activated and the ABS of the first rear wheel is not activated and the ABS of the first front wheel is activated, the braking control mode of the vehicle is inhibit reduction;

[0203] When the braking mode of the vehicle is gentle braking, when the VDC of the first rear wheel is not activated, the ABS of the first rear wheel is not activated, and the ABS of the first front wheel is not activated, the braking control mode of the vehicle is normal control.

[0204] In a possible implementation manner, the target torque adjustment manner is determined according to the vehicle's braking control mode and the wheel deceleration difference.

[0205] In one possible implementation,

[0206] When the vehicle's braking control mode is to prohibit reduction and the wheel deceleration difference is less than the first threshold, the target torque adjustment mode is to reduce the torque;

[0207] When the vehicle's braking control mode is to prohibit reduction and the wheel deceleration difference is greater than or equal to the first threshold and less than the second threshold, the target torque adjustment mode is to maintain the torque;

[0208] When the vehicle's braking control mode is to prohibit reduction and the wheel deceleration difference is greater than or equal to the first threshold and greater than or equal to the second threshold, the target torque adjustment mode is to increase the torque;

[0209] When the vehicle's braking control mode is normal control and the wheel deceleration difference is less than a second threshold, the target torque adjustment mode is to maintain the torque;

[0210] When the braking control mode of the vehicle is normal control and the wheel deceleration difference is greater than or equal to the second threshold, the target torque adjustment method is to increase the torque.

[0211] It should be noted that the above modules (acquisition unit 801 and processing unit 802) are used to execute the relevant steps of the above method. For example, acquisition unit 801 is used to execute the relevant content of step S301, and processing unit 802 is used to execute the relevant content of S302-S303.

[0212] Figure 9The figure shows a schematic diagram of the structure of another brake control device provided in an embodiment of the present application. The brake control device is a device with processing capabilities. The device here can be a physical device, such as a server (such as a rack server) or a host, or a virtual device, such as a virtual machine or a container.

[0213] like Figure 9 As shown, the brake control device 90 includes: a processor 901, a memory 902, and one or more programs, and may include a communication interface 903. It should be understood that the present application does not limit the number of processors and memories in the brake control device 90.

[0214] The processor 901 is a module for performing calculations and may include a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), a digital signal processor (DSP), a microcontroller unit (MCU), or one or more integrated circuits for controlling the execution of the above program.

[0215] The memory 902 is used to provide storage space, which can optionally store application data, user data, an operating system, and computer programs. The memory 902 may include, but is not limited to, read-only memory (ROM) or other types of static storage devices that can store static information and instructions, random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer.

[0216] The memory 902 may exist independently and be connected to the processor 901 via a bus. The memory 902 may also be integrated with the processor 901.

[0217] The communication interface 903 is used to provide information input or output for the at least one processor. And / or, the communication interface 903 can be used to receive data sent externally and / or send data externally. The communication interface 903 can be a wired link interface such as an Ethernet cable, or a wireless link interface (such as Bluetooth, universal wireless transmission, and other wireless communication technologies). Optionally, the communication interface 903 can also include a transmitter (such as a radio frequency transmitter, antenna, etc.) or a receiver coupled to the interface.

[0218] In the embodiment of the present application, the one or more programs are stored in the memory 902 in the form of program codes and are configured to be executed by the processor 901. The programs include instructions for implementing the steps in the aforementioned braking control method. Figure 3 That is, the memory 902 stores executable instructions, and the processor 901 executes the executable instructions to implement the aforementioned braking control method, for example Figure 3 That is, the memory 902 stores instructions for executing the braking control method.

[0219] Alternatively, the memory 902 stores executable instructions, and the processor 901 executes the executable instructions to respectively implement the functions of one or more units (or devices) in the aforementioned acquisition unit and processing unit, thereby realizing the braking control method.

[0220] The embodiment of the present application further provides a vehicle, the vehicle comprising a first front wheel, a first rear wheel, a wheel cylinder, a motor, and the aforementioned brake control device 80 or the aforementioned brake control device 90, the first front wheel and the first rear wheel being located on the same side of the vehicle, the vehicle being used to implement the aforementioned brake control method, for example Figure 3 The braking control method in the embodiment.

[0221] The present application also provides a computer program product including instructions. The computer program product may be a software or program product including instructions that can be run on a computing device or stored in any available medium. The computer program instructions are used to implement the aforementioned braking control method, for example, Figure 3 The braking control method in the embodiment.

[0222] The embodiment of the present application also provides a computer-readable storage medium. The computer-readable storage medium includes instructions for implementing the aforementioned braking control method, such as Figure 3 The braking control method in the embodiment.

[0223] The computer-readable storage medium may be any available medium capable of storing information in the brake control device, or a data storage device such as a data center containing one or more available media. The available media may be magnetic media (e.g., a floppy disk, a hard disk, or a magnetic tape), optical media, or semiconductor media (e.g., a solid-state drive).

[0224] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0225] The “at least one” mentioned in the embodiments of this application refers to one or more, and “plurality” refers to two or more. “At least one of the following items” or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, c can be single or multiple. “And / or” describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character “ / ” generally indicates that the previous and next associated objects are in an “or” relationship.

[0226] Furthermore, unless otherwise indicated, ordinal numbers such as "first" and "second" in the embodiments of this application are used to distinguish multiple objects and are not intended to define the order, timing, priority, or importance of the multiple objects. For example, the first target feedback torque and the second target feedback torque are used for ease of description only and do not indicate a difference in the deployment order, importance, etc. of the first target feedback torque and the second target feedback torque.

[0227] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or may be accomplished by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0228] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention 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. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the protection scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A braking control method, characterized in that: The method comprises: Obtaining speed information of a first front wheel and a first rear wheel of a vehicle, where the first front wheel and the first rear wheel are located on the same side of the vehicle; determining a target torque adjustment mode and a braking torque adjustment amount for the first rear wheel, wherein the target torque adjustment mode and the braking torque adjustment amount are determined based on at least speed information of the first front wheel and the first rear wheel, and the target torque adjustment mode is one of increasing torque, decreasing torque, and maintaining torque; According to the target torque adjustment method and the braking torque adjustment amount, the motor of the vehicle and the wheel cylinder of the vehicle are controlled to adjust the braking torque of the first rear wheel.

2. The method according to claim 1, characterized in that The speed information of the first front wheel and the first rear wheel includes one or more of the wheel speeds of the first front wheel and the first rear wheel, the wheel decelerations of the first front wheel and the first rear wheel, and a wheel deceleration difference, where the wheel deceleration difference is the difference between the wheel deceleration of the first front wheel and the wheel deceleration of the first rear wheel.

3. The method according to claim 1 or 2, characterized in that The controlling the motor of the vehicle and the wheel cylinder of the vehicle to adjust the braking torque of the first rear wheel according to the target torque adjustment mode and the braking torque adjustment amount includes: When the target torque adjustment mode is to increase the torque, determining a first target feedback torque according to the braking torque adjustment amount and the current braking torque of the motor; When the first target feedback torque is greater than or equal to the maximum allowable feedback torque, the motor is controlled to increase the braking torque applied to the first rear wheel and the wheel cylinder is controlled to maintain the brake hydraulic pressure unchanged, and the braking torque adjustment range of the motor is greater than or equal to the maximum allowable feedback torque; When the first target feedback torque is less than the maximum allowable feedback torque, the motor is controlled to maintain the current braking torque applied to the first rear wheel unchanged and the wheel cylinder is controlled to increase the braking hydraulic pressure.

4. The method according to claim 1 or 2, characterized in that The controlling the motor of the vehicle and the wheel cylinder of the vehicle to adjust the braking torque of the first rear wheel according to the target torque adjustment mode and the braking torque adjustment amount includes: When the target torque adjustment mode is torque reduction, determining a second target feedback torque according to the braking torque adjustment amount and the current braking torque of the motor; When the second target feedback torque is less than or equal to 0, the motor is controlled to reduce the braking torque on the first rear wheel and the wheel cylinder is controlled to maintain the brake hydraulic pressure unchanged, and the braking torque adjustment range of the motor is less than or equal to 0; When the second target feedback torque is greater than 0, the motor is controlled to maintain the current braking torque on the first rear wheel unchanged and the wheel cylinder is controlled to reduce the braking hydraulic pressure.

5. The method according to claim 1 or 2, characterized in that The step of controlling the motor of the vehicle and the wheel cylinder of the vehicle to adjust the braking torque of the first rear wheel according to the target torque adjustment mode and the braking torque adjustment amount includes: When the target torque adjustment mode is to maintain torque, the motor is controlled to maintain the current braking torque on the first rear wheel unchanged, and the wheel cylinder is controlled to maintain the braking hydraulic pressure unchanged.

6. The method according to claim 1, wherein The method further comprises: Obtaining the vehicle speed and the vehicle deceleration; determining a braking mode of the vehicle, wherein the braking mode of the vehicle is determined based on a braking depth of the vehicle and a rate of change of the braking depth of the vehicle; When the vehicle speed, the vehicle deceleration, the vehicle braking mode, the wheel deceleration of the first rear wheel and the slip ratio of the first rear wheel meet preset conditions, the step of "determining the target torque adjustment method and braking torque adjustment amount for the first rear wheel" is performed.

7. The method according to claim 1, characterized in that The method further comprises: determining a braking control mode of the vehicle, wherein the braking control mode of the vehicle is determined based on the braking mode of the vehicle, vehicle dynamics control (VDC) state information of the first rear wheel, and anti-lock braking system (ABS) state information of the first rear wheel and the first front wheel; When the braking control mode is in the reduction prohibited state, the braking torque of the first rear wheel is prohibited from being reduced; When the brake control mode is normal control, the braking torque of the first rear wheel is not restricted from decreasing.

8. The method according to claim 7, characterized in that When the braking mode of the vehicle is emergency braking, when the VDC of the first rear wheel is not activated and the ABS of the first rear wheel is not activated, the braking control mode of the vehicle is reduction prohibited; When the braking mode of the vehicle is gentle braking, when the VDC of the first rear wheel is not activated, the ABS of the first rear wheel is not activated, and the ABS of the first front wheel is activated, the braking control mode of the vehicle is reduction prohibited; When the braking mode of the vehicle is gentle braking, when the VDC of the first rear wheel is not activated, the ABS of the first rear wheel is not activated, and the ABS of the first front wheel is not activated, the braking control mode of the vehicle is normal control.

9. The method according to claim 1, characterized in that The target torque adjustment method is determined according to the braking control mode of the vehicle and the wheel deceleration difference.

10. The method according to claim 9, characterized in that When the braking control mode of the vehicle is to prohibit reduction and the wheel deceleration difference is less than a first threshold, the target torque adjustment mode is to reduce torque; When the braking control mode of the vehicle is to prohibit reduction and the wheel deceleration difference is greater than or equal to the first threshold and less than the second threshold, the target torque adjustment mode is to maintain torque; When the braking control mode of the vehicle is to prohibit reduction and the wheel deceleration difference is greater than or equal to the first threshold and greater than or equal to the second threshold, the target torque adjustment mode is to increase torque; When the braking control mode of the vehicle is normal control and the wheel deceleration difference is less than the second threshold, the target torque adjustment mode is maintaining torque; When the braking control mode of the vehicle is normal control and the wheel deceleration difference is greater than or equal to the second threshold, the target torque adjustment method is to increase the torque.

11. A brake control device, characterized in that: The brake control device comprises: an acquiring unit, configured to acquire speed information of a first front wheel and a first rear wheel of a vehicle, wherein the first front wheel and the first rear wheel are located on the same side of the vehicle; and A processing unit for: determining a target torque adjustment mode and a braking torque adjustment amount for the first rear wheel, wherein the target torque adjustment mode and the braking torque adjustment amount are determined based on speed information of the first front wheel and the first rear wheel, and the target torque adjustment mode is one of increasing torque, decreasing torque, and maintaining torque; and According to the target torque adjustment method and the braking torque adjustment amount, the motor of the vehicle and the wheel cylinder of the vehicle are controlled to adjust the braking torque of the first rear wheel.

12. A brake control device, characterized in that: The brake control device includes a processor and a memory, wherein a program is stored in the memory, and the processor executes the program to enable the brake control device to implement the method according to any one of claims 1 to 10.

13. A vehicle, characterized in that: The vehicle includes a first front wheel, a first rear wheel, a wheel cylinder, a motor and a brake control device as described in claim 11 or claim 12, and the first front wheel and the first rear wheel are located on the same side of the vehicle.

14. A computer-readable storage medium, characterized in that The computer-readable storage medium is used to store a computer program, wherein the computer program includes instructions for executing the method according to any one of claims 1 to 10.

Images