Vehicle curve braking control method, vehicle, system, equipment and medium

Abstract

The invention discloses a curve braking control method for a vehicle, the vehicle, a system, equipment and a medium, and the method comprises the steps that when the vehicle runs on a curve, the whole vehicle transverse acceleration and the brake pedal depth of the vehicle are obtained; determining the dynamic vertical force of the vehicle based on the transverse acceleration of the whole vehicle and the wheel parameters of the vehicle; determining a target front axle braking force and a target rear axle braking force of the vehicle based on the brake pedal depth; based on the target front axle braking force, the target rear axle braking force and the dynamic vertical force, braking force distribution is conducted, and target wheel braking force including front axle left side wheel braking force, front axle right side wheel braking force, rear axle left side wheel braking force and rear axle right side wheel braking force is obtained; and carrying out braking control on wheels of the vehicle according to the target wheel braking force so as to improve the curve braking safety of the vehicle. The problem that according to an existing method, when a vehicle runs on a curve, the sideslip risk of the vehicle can be increased when the same braking force is distributed to four wheels, and the running safety of the vehicle on the curve is low is solved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle cornering braking control method, vehicle, system, equipment and medium. Background Art

[0002] In a traditional hydraulic braking system, the master cylinder pushes brake fluid to generate hydraulic pressure, which is then transmitted to the wheel cylinders, which push the brake discs to generate braking force. Because this hydraulic transmission is hydraulic, the pressure in all four wheel cylinders and the master cylinder is the same during normal braking. Since the pressure in all four wheel cylinders is the same, the braking force applied to the left and right wheels on the same axle is the same (if the brakes on both sides of the same axle are identical and the pressure is the same, the braking force on both sides of the axle is the same).

[0003] However, when a vehicle is traveling on a curve, the curve positions and travel paths of the four wheels of the vehicle are different. Distributing the same braking force to the four wheels will increase the risk of the vehicle skidding, making the vehicle less safe when traveling on a curve. Summary of the Invention

[0004] In order to overcome the problem in the existing method that when a vehicle is traveling on a curve, the same braking force is distributed to the four wheels, which increases the risk of the vehicle skidding and makes the vehicle less safe when traveling on a curve, the present application provides a vehicle curve braking control method, vehicle, system, equipment and medium.

[0005] In a first aspect, in order to solve the above technical problems, the present application provides a vehicle cornering braking control method, comprising: When the vehicle is traveling on a curve, the vehicle's lateral acceleration and brake pedal depth are obtained; Determine the dynamic vertical force of the vehicle based on the vehicle's lateral acceleration and the vehicle's wheel parameters; determining a target front axle braking force and a target rear axle braking force of the vehicle based on the brake pedal depth; Based on the target front axle braking force, the target rear axle braking force and the dynamic vertical force, the braking force is distributed to obtain the target wheel braking force, which includes the front axle left wheel braking force, the front axle right wheel braking force, the rear axle left wheel braking force and the rear axle right wheel braking force; The vehicle's wheels are braked and controlled according to the target wheel braking force to improve the vehicle's cornering braking safety.

[0006] Furthermore, wheel parameters include front axle weight, rear axle weight, front wheel track, rear wheel track and center of gravity height; Based on the vehicle's lateral acceleration and the vehicle's wheel parameters, determine the vehicle's dynamic vertical force, including: The front axle wheel vertical force of the vehicle is calculated based on the front axle weight, front wheel track, center of gravity height and vehicle lateral acceleration. The front axle wheel vertical force includes the vertical force of the left front axle wheel and the vertical force of the right front axle wheel. The rear axle wheel vertical force of the vehicle is calculated based on the rear axle weight, rear wheel track, center of gravity height and vehicle lateral acceleration. The rear axle wheel vertical force includes the rear axle left wheel vertical force and the rear axle right wheel vertical force. The dynamic vertical force of the vehicle is generated based on the vertical force of the front axle wheels and the vertical force of the rear axle wheels.

[0007] Furthermore, determining a target front axle braking force and a target rear axle braking force of the vehicle based on the brake pedal depth includes: Obtaining a preset correspondence between brake pedal depth and total braking force; Obtaining a target total braking force that matches the brake pedal depth based on a preset corresponding relationship; The target front axle braking force and the target rear axle braking force of the vehicle are calculated based on the preset braking curve and the target total braking force of the vehicle.

[0008] Furthermore, the dynamic vertical force includes the vertical force of the left wheel of the front axle, the vertical force of the right wheel of the front axle, the vertical force of the left wheel of the rear axle, and the vertical force of the right wheel of the rear axle; The braking force is distributed based on the target front axle braking force, the target rear axle braking force, and the dynamic vertical force to obtain the target wheel braking force, including: Distributing the front wheel braking force based on the target front axle braking force, the vertical force of the left front axle wheel, and the vertical force of the right front axle wheel to obtain the front axle left front axle wheel braking force and the front axle right front axle wheel braking force; Distributing the rear wheel braking force based on the target rear axle braking force, the vertical force of the left rear wheel, and the vertical force of the right rear wheel to obtain the rear axle left wheel braking force and the rear axle right wheel braking force; A target wheel braking force is formed based on the front axle left wheel braking force, the front axle right wheel braking force, the rear axle left wheel braking force, and the rear axle right wheel braking force.

[0009] Furthermore, front wheel braking force distribution is performed based on the target front axle braking force, the vertical force of the left front axle wheel, and the vertical force of the right front axle wheel to obtain the front axle left front axle wheel braking force and the front axle right front axle wheel braking force, including: Calculate the front axle left wheel braking force and the front axle right wheel braking force based on the front axle right wheel vertical force, the vehicle's front axle weight, and the target front axle braking force; or The front axle left wheel braking force and the front axle right wheel braking force are calculated based on the front axle left wheel vertical force, the vehicle's front axle weight and the target front axle braking force.

[0010] Furthermore, the rear wheel braking force is distributed based on the target rear axle braking force, the vertical force of the left rear axle wheel, and the vertical force of the right rear axle wheel to obtain the rear axle left wheel braking force and the rear axle right wheel braking force, including: Calculate the rear axle left wheel braking force and the rear axle right wheel braking force based on the rear axle right wheel vertical force, the vehicle's rear axle weight, and the target rear axle braking force; or The left rear axle wheel braking force and the right rear axle wheel braking force are calculated based on the vertical force of the left rear axle wheel, the rear axle weight of the vehicle and the target rear axle braking force.

[0011] In a second aspect, the present application also provides a vehicle, applying the above-mentioned vehicle cornering braking control method.

[0012] In a third aspect, the present application further provides a vehicle cornering brake control system, comprising: An acquisition module is used to obtain the vehicle's lateral acceleration and brake pedal depth when the vehicle is traveling on a curve; a first determination module, configured to determine a dynamic vertical force of the vehicle based on the lateral acceleration of the vehicle and wheel parameters of the vehicle; a second determining module, configured to determine a target front axle braking force and a target rear axle braking force of the vehicle based on the brake pedal depth; a braking force distribution module, configured to distribute braking force based on the target front axle braking force, the target rear axle braking force, and the dynamic vertical force to obtain target wheel braking forces, the target wheel braking forces including the front axle left wheel braking force, the front axle right wheel braking force, the rear axle left wheel braking force, and the rear axle right wheel braking force; The braking control module is used to control the braking of the vehicle's wheels according to the target wheel braking force to improve the vehicle's cornering braking safety.

[0013] In a fourth aspect, the present application also provides a computing device, comprising a memory, a processor, and a program stored in the memory and running on the processor, wherein when the processor executes the program, the steps of the above-mentioned vehicle cornering braking control method are implemented.

[0014] In a fifth aspect, the present application also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes the steps of a vehicle cornering braking control method.

[0015] The beneficial effects of the present application are as follows: first, the dynamic vertical force of the vehicle is determined based on the lateral acceleration and wheel parameters of the vehicle when the vehicle is traveling on a curve, and the target front axle braking force and target rear axle braking force of the vehicle are determined based on the brake pedal depth of the vehicle. Secondly, the braking force is distributed based on the target front axle braking force, the target rear axle braking force and the dynamic vertical force to obtain target wheel braking forces including the front axle left wheel braking force, the front axle right wheel braking force, the rear axle left wheel braking force and the rear axle right wheel braking force, and the vehicle's wheels are braked and controlled according to the target braking forces to improve the vehicle's braking safety on curves. Targeted braking control can be implemented on each of the four wheels of the vehicle in a curve, reducing the risk of vehicle skidding, thereby improving the safety of the vehicle traveling on curves. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a flow chart of a vehicle cornering braking control method according to an exemplary embodiment of the present application; Figure 2 This is a design principle diagram of ETBS in an exemplary embodiment of this application; Figure 3 This is a braking force analysis diagram for a vehicle traveling on a curve; Figure 4 This is a force analysis diagram of the wheels of a vehicle traveling on a curve; Figure 5 The figure is a schematic structural diagram of a vehicle cornering brake control system according to an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0017] The following examples are provided to further explain and supplement the present application and do not constitute any limitation to the present application.

[0018] The following describes a vehicle cornering braking control method, vehicle, system, device and medium according to an embodiment of the present application in conjunction with the accompanying drawings.

[0019] The vehicle cornering braking control method provided in the embodiments of the present application can be specifically executed by a server. It should be noted that the server can be a standalone server or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms, and is not limited here.

[0020] The existing Electronic Transmission Braking System (ETBS) uses a main controller connected to four wheel-end controllers via CAN. The main controller sends braking force requests to the four wheel-end controllers, which then directly drive the friction plates through motors to generate braking force. This structure means that the braking force on all four wheels can be freely controlled by the four wheel motors, and when braking in a corner, the braking force can be freely distributed between the left and right wheels on the same axis.

[0021] The Electric Transmission-by-Wire Brake System (ETBS, also called EMB by mainstream manufacturers) receives Ay (the vehicle's lateral acceleration signal, which is negative for left steering and positive for right steering) through the vehicle's CAN bus. ETBS can then freely control the braking force of the four wheels. (front axle left wheel braking force), (right front wheel braking force), (Braking force on the left wheel of the rear axle), (Braking force on the right wheel of the rear axle). The design principle of ETBS is as follows Figure 1 As shown, the ETBS main controller will calculate the target wheel braking force of the vehicle based on the driver's intention to step on the brake pedal (brake pedal depth). Then ETBS will calculate the wheel braking force of each of the four wheels and send the four wheel braking forces to the four wheel-end controllers respectively through the CAN (Controller Area Network) protocol. The wheel-end controller drives the motor deceleration and transmission mechanism and other actuators to apply force to the friction plate. The friction plate clamps the brake disc to generate braking force to control the corresponding wheel for braking.

[0022] See also Figure 2 , Figure 2 A vehicle cornering braking control method is shown as an exemplary embodiment of the present application. Figure 2 As shown, the present application provides a vehicle cornering braking control method, comprising: S21, when the vehicle is traveling on a curve, obtaining the vehicle's lateral acceleration and brake pedal depth; S22, determining a dynamic vertical force of the vehicle based on the lateral acceleration of the vehicle and the wheel parameters of the vehicle; S23, determining a target front axle braking force and a target rear axle braking force of the vehicle based on the brake pedal depth; S24, performing braking force distribution based on the target front axle braking force, the target rear axle braking force, and the dynamic vertical force to obtain target wheel braking forces, where the target wheel braking forces include a front axle left wheel braking force, a front axle right wheel braking force, a rear axle left wheel braking force, and a rear axle right wheel braking force; S25: braking the wheels of the vehicle according to the target wheel braking force to improve the cornering braking safety of the vehicle.

[0023] The vehicle cornering braking control method of the embodiment provided in the present application first determines the dynamic vertical force of the vehicle based on the lateral acceleration and wheel parameters of the vehicle when the vehicle is traveling on a curve, and determines the target front axle braking force and target rear axle braking force of the vehicle based on the brake pedal depth of the vehicle. Secondly, the braking force is distributed based on the target front axle braking force, the target rear axle braking force and the dynamic vertical force to obtain target wheel braking forces including the front axle left wheel braking force, the front axle right wheel braking force, the rear axle left wheel braking force and the rear axle right wheel braking force, and the vehicle wheels are braked and controlled according to the target braking forces to improve the vehicle's cornering braking safety. It can achieve targeted braking control of the four wheels of the vehicle in a curve, reduce the risk of vehicle skidding, and thus improve the safety of the vehicle traveling on a curve.

[0024] Optionally, the wheel parameters include front axle weight, rear axle weight, front wheel track, rear wheel track and center of gravity height; Based on the vehicle's lateral acceleration and the vehicle's wheel parameters, determine the vehicle's dynamic vertical force, including: The front axle wheel vertical force of the vehicle is calculated based on the front axle weight, front wheel track, center of gravity height and vehicle lateral acceleration. The front axle wheel vertical force includes the vertical force of the left front axle wheel and the vertical force of the right front axle wheel. The calculation formula for the vertical force on the left wheel of the front axle is as follows: ; in, Indicates the vertical force on the left wheel of the front axle, Indicates the front axle weight, represents the acceleration due to gravity, Indicates the center of gravity height, represents the lateral acceleration of the vehicle, Indicates the front wheel track; The calculation formula for the vertical force on the right wheel of the front axle is as follows: ; in, Indicates the vertical force on the right wheel of the front axle; The rear axle wheel vertical force of the vehicle is calculated based on the rear axle weight, rear wheel track, center of gravity height and vehicle lateral acceleration. The rear axle wheel vertical force includes the rear axle left wheel vertical force and the rear axle right wheel vertical force. The calculation formula for the vertical force on the left wheel of the rear axle is as follows: ; in, Indicates the vertical force on the left wheel of the rear axle, Rear axle weight, Indicates rear wheel track; The calculation formula for the vertical force on the right wheel of the rear axle is as follows: ; in, Indicates the vertical force on the right wheel of the rear axle; The dynamic vertical force of the vehicle is generated based on the vertical force of the front axle wheels and the vertical force of the rear axle wheels.

[0025] In the embodiment provided by the present application, the vertical force of the left front axle wheel and the vertical force of the right front axle wheel are calculated based on the front axle weight, the front wheel track, the center of gravity height and the lateral acceleration of the whole vehicle, and the vertical force of the left rear axle wheel and the vertical force of the right rear axle wheel are calculated based on the rear axle weight, the rear wheel track, the center of gravity height and the lateral acceleration of the whole vehicle, forming a dynamic vertical force, which facilitates the subsequent targeted braking force distribution to the four wheels of the vehicle based on the dynamic vertical force, thereby improving the accuracy of braking control based on the target wheel braking force obtained by distribution, and thus improving the vehicle's cornering braking safety.

[0026] See also Figure 3 , Figure 3 This is a braking force analysis diagram of a vehicle traveling on a curve, such as Figure 3 As shown, when the vehicle is traveling on a curve, the vehicle is braked. At this time, the vehicle is affected by resistance (m*Ax, m represents the vehicle weight, unit is kilograms, Ax represents the overall resistance coefficient) and gravity (m*g, g represents the acceleration of gravity, unit is meter per square second). The front axle wheels of the vehicle are also affected by the front axle vertical force (Fn_F, unit is Newton), and the rear axle wheels of the vehicle are also affected by the rear axle vertical force (Fn_R, unit is Newton). Figure 3 In the figure, L_R is the distance from the rear axle to the center of gravity, in meters; L_F is the distance from the front axle to the center of gravity, in meters; h is the height of the center of gravity, in meters.

[0027] The specific force conditions of the rear axle wheels of the vehicle are as follows: Figure 4 (rear axle) shown, Figure 4 In (rear axle), B_R represents the rear wheel track, in meters; m_R represents the rear axle weight, in kilograms; Ay represents the vehicle's lateral acceleration, as measured by the inertial sensor, in meters per second squared; g represents the acceleration due to gravity, in meters per second squared; h represents the height of the center of gravity, in meters; Fn_RL represents the vertical force on the left rear axle wheel, in Newtons; and Fn_RR represents the vertical force on the right rear axle wheel, in Newtons. When the vehicle brakes and decelerates in a curve, the vertical forces on the coaxial left and right wheels are related to the vehicle's Ay. Therefore, the vertical forces on the left and right rear axle wheels add up to the vertical force on the front axle, and the torque on the rear axle Ay is equal to the difference between the vertical moments on the left and right front axle wheels: ; It can be deduced from the above formula: ; .

[0028] The specific force conditions of the front axle wheels of the vehicle are as follows: Figure 4 (front axle) shown, Figure 4 In (front axle), B_F represents the front wheel track in meters; m_F represents the front axle weight in kilograms; Ay represents the vehicle's lateral acceleration as measured by the inertial sensor in meters per second squared; g represents the acceleration due to gravity in meters per second squared; h represents the center of gravity height in meters; Fn_FL represents the vertical force on the left front axle wheel in Newtons; and Fn_FR represents the vertical force on the right front axle wheel in Newtons. When the vehicle brakes and decelerates around a curve, the vertical forces on the coaxial left and right wheels are related to the vehicle's Ay. Therefore, the sum of the vertical forces on the left and right front axle wheels equals the front axle weight, and the torque generated on the front axle Ay equals the difference between the vertical moments on the left and right front axle wheels: ; It can be deduced from the above formula: ; .

[0029] Optionally, determining a target front axle braking force and a target rear axle braking force of the vehicle based on the brake pedal depth includes: Obtaining a preset correspondence between brake pedal depth and total braking force; Obtaining a target total braking force that matches the brake pedal depth based on a preset corresponding relationship; The target front axle braking force and the target rear axle braking force of the vehicle are calculated based on the preset braking curve and the target total braking force of the vehicle.

[0030] In the embodiment provided by the present application, a target total braking force matching the brake pedal depth is determined based on a preset corresponding relationship, and calculations are performed based on the vehicle's preset braking curve and the target total braking force to obtain the vehicle's target front axle braking force and target rear axle braking force, thereby facilitating subsequent targeted braking force distribution to the vehicle's four wheels based on the target front axle braking force and the target rear axle braking force, thereby improving the accuracy of braking control based on the distributed target wheel braking force, and thereby improving the vehicle's cornering braking safety.

[0031] In an exemplary embodiment provided in the present application, a preset braking curve of the vehicle is a correspondence between the target total braking force and the front axle braking force in a two-dimensional coordinate system, forming an inclined straight line with a slope of β.

[0032] When the driver brakes the vehicle on a curve, when the driver steps on the brake pedal, the ETBS will determine the preset correspondence between the brake pedal depth and the total braking force based on the table (calibration quantity), and then determine the matching target total braking force (Fb). Then, according to the vehicle's preset braking curve, the target total braking force is distributed to the front and rear axles of the vehicle, obtaining the vehicle's target front axle braking force (Fb_F) and target rear axle braking force (Fb_R). The corresponding calculation formulas are: Fb_F=Fb*β, Fb_R=Fb*(1-β).

[0033] Optionally, the dynamic vertical force includes a vertical force of a left wheel on the front axle, a vertical force of a right wheel on the front axle, a vertical force of a left wheel on the rear axle, and a vertical force of a right wheel on the rear axle; The target wheel braking force is obtained by distributing the braking force based on the target front axle braking force, the target rear axle braking force, and the dynamic vertical force, including: Distributing the front wheel braking force based on the target front axle braking force, the vertical force of the left front axle wheel, and the vertical force of the right front axle wheel to obtain the front axle left front axle wheel braking force and the front axle right front axle wheel braking force; Distributing the rear wheel braking force based on the target rear axle braking force, the vertical force of the left rear wheel, and the vertical force of the right rear wheel to obtain the rear axle left wheel braking force and the rear axle right wheel braking force; A target wheel braking force is formed based on the front axle left wheel braking force, the front axle right wheel braking force, the rear axle left wheel braking force, and the rear axle right wheel braking force.

[0034] In the embodiment provided by the present application, the front wheel braking force is distributed based on the target front axle braking force, the vertical force of the left wheel of the front axle and the vertical force of the right wheel of the front axle to obtain the front axle left wheel braking force and the front axle right wheel braking force, and the rear wheel braking force is distributed based on the target rear axle braking force, the vertical force of the left wheel of the rear axle and the vertical force of the right wheel of the rear axle to obtain the rear axle left wheel braking force and the rear axle right wheel braking force to form the target wheel braking force. This can achieve targeted braking control of the four wheels of the vehicle in a curve based on the target wheel braking force, so as to reduce the risk of vehicle skidding, thereby improving the safety of the vehicle driving in curves.

[0035] Optionally, distributing the front wheel braking force based on the target front axle braking force, the vertical force of the left front axle wheel, and the vertical force of the right front axle wheel to obtain the front axle left front axle wheel braking force and the front axle right front axle wheel braking force includes: Calculate the front axle left wheel braking force and the front axle right wheel braking force based on the front axle right wheel vertical force, the vehicle's front axle weight, and the target front axle braking force; The calculation formulas for the braking force of the left and right front axle wheels are as follows: ; ; in, represents the first ratio, Indicates the vertical force on the right wheel of the front axle, Indicates the front axle weight, represents the acceleration due to gravity, Indicates the center of gravity height, represents the lateral acceleration of the vehicle, Indicates the front wheel track. Indicates the braking force of the right wheel on the front axle. represents the target front axle braking force, Indicates the braking force of the left wheel on the front axle; or, Calculate the front axle left wheel braking force and the front axle right wheel braking force based on the front axle left wheel vertical force, the vehicle's front axle weight, and the target front axle braking force; The calculation formulas for the braking force of the left and right front axle wheels are as follows: ; ; in, represents the second ratio, Indicates the vertical force on the left wheel of the front axle.

[0036] In the embodiment provided by the present application, the front axle left wheel braking force and the front axle right wheel braking force can be obtained by performing calculations based on the vertical force of the front axle right wheel, the front axle weight of the vehicle and the target front axle braking force, or by performing calculations based on the vertical force of the front axle left wheel, the front axle weight of the vehicle and the target front axle braking force, so as to facilitate subsequent targeted braking control of the left and right wheels of the front axle of the vehicle based on the front axle left wheel braking force and the front axle right wheel braking force, thereby improving the control accuracy of the left and right wheels of the front axle of the vehicle and improving the vehicle's cornering braking safety.

[0037] Optionally, performing rear wheel braking force distribution based on the target rear axle braking force, the vertical force of the left rear axle wheel, and the vertical force of the right rear axle wheel to obtain the rear axle left rear axle wheel braking force and the rear axle right rear axle wheel braking force includes: The rear axle left wheel braking force and the rear axle right wheel braking force are calculated based on the rear axle right wheel vertical force, the rear axle weight of the vehicle, and the target rear axle braking force; The calculation formulas for the braking force of the left rear axle wheel and the right rear axle wheel are as follows: ; ; in, represents the third ratio, Indicates the vertical force on the right wheel of the rear axle, Rear axle weight, represents the acceleration due to gravity, Indicates the center of gravity height, represents the lateral acceleration of the vehicle, Indicates the rear wheel track, Indicates the braking force of the right wheel on the rear axle. represents the target rear axle braking force, Indicates the braking force of the left wheel on the rear axle; or, The left rear axle wheel braking force and the right rear axle wheel braking force are calculated based on the vertical force of the left rear axle wheel, the rear axle weight of the vehicle, and the target rear axle braking force; The calculation formulas for the braking force of the left rear axle wheel and the right rear axle wheel are as follows: ; ; in, represents the fourth ratio, Indicates the vertical force on the left wheel of the rear axle.

[0038] In the embodiment provided by the present application, the left rear axle wheel braking force and the right rear axle wheel braking force can be obtained by calculating based on the vertical force of the right rear axle wheel, the rear axle weight of the vehicle and the target rear axle braking force, or by calculating based on the vertical force of the left rear axle wheel, the rear axle weight of the vehicle and the target rear axle braking force, so as to facilitate the subsequent targeted braking control of the left and right rear axle wheels of the vehicle based on the left rear axle wheel braking force and the right rear axle wheel braking force, thereby improving the control accuracy of the left and right rear axle wheels of the vehicle and improving the vehicle's cornering braking safety.

[0039] A vehicle in an embodiment of the present application applies the above-mentioned vehicle cornering braking control method.

[0040] See also Figure 5 , Figure 5 A vehicle cornering brake control system is shown as an exemplary embodiment of the present application. Figure 5 As shown, the present application provides a vehicle cornering braking control system 500, comprising: An acquisition module 501 is used to acquire the vehicle's lateral acceleration and brake pedal depth when the vehicle is traveling on a curve; A first determination module 502 is configured to determine a dynamic vertical force of the vehicle based on the vehicle lateral acceleration and the vehicle wheel parameters; A second determining module 503 is configured to determine a target front axle braking force and a target rear axle braking force of the vehicle based on the brake pedal depth; a braking force distribution module 504 for distributing braking forces based on the target front axle braking force, the target rear axle braking force, and the dynamic vertical force to obtain target wheel braking forces, where the target wheel braking forces include the front axle left wheel braking force, the front axle right wheel braking force, the rear axle left wheel braking force, and the rear axle right wheel braking force; The braking control module 505 is used to control the braking of the vehicle's wheels according to the target wheel braking force to improve the vehicle's cornering braking safety.

[0041] The vehicle cornering brake control system 500 of this embodiment provided herein first determines the vehicle's dynamic vertical force based on the vehicle's lateral acceleration and wheel parameters acquired by the acquisition module 501 when the vehicle is traveling on a curve, using a first determination module 502. A second determination module 503 determines the vehicle's target front axle braking force and target rear axle braking force based on the vehicle's brake pedal depth acquired by the acquisition module 501. Next, a braking force distribution module 504 distributes braking forces based on the target front axle braking force, target rear axle braking force, and dynamic vertical force to obtain target wheel braking forces, including the front axle left wheel braking force, the front axle right wheel braking force, the rear axle left wheel braking force, and the rear axle right wheel braking force. A braking control module 505 controls the vehicle's wheels according to the target braking forces to improve the vehicle's cornering braking safety. This allows for targeted braking control of each of the vehicle's four wheels on a curve, reducing the risk of vehicle skidding and thereby improving the vehicle's cornering safety.

[0042] Optionally, the wheel parameters include front axle weight, rear axle weight, front wheel track, rear wheel track and center of gravity height; The first determining module 502 is specifically configured to: The front axle wheel vertical force of the vehicle is calculated based on the front axle weight, front wheel track, center of gravity height and vehicle lateral acceleration. The front axle wheel vertical force includes the vertical force of the left front axle wheel and the vertical force of the right front axle wheel. The rear axle wheel vertical force of the vehicle is calculated based on the rear axle weight, rear wheel track, center of gravity height and vehicle lateral acceleration. The rear axle wheel vertical force includes the rear axle left wheel vertical force and the rear axle right wheel vertical force. The dynamic vertical force of the vehicle is generated based on the vertical force of the front axle wheels and the vertical force of the rear axle wheels.

[0043] Optionally, the second determining module 503 is specifically configured to: Obtaining a preset correspondence between brake pedal depth and total braking force; Obtaining a target total braking force that matches the brake pedal depth based on a preset corresponding relationship; The target front axle braking force and the target rear axle braking force of the vehicle are calculated based on the preset braking curve and the target total braking force of the vehicle.

[0044] Optionally, the dynamic vertical force includes a vertical force of a left wheel on the front axle, a vertical force of a right wheel on the front axle, a vertical force of a left wheel on the rear axle, and a vertical force of a right wheel on the rear axle; The braking force distribution module 504 is specifically configured to: Distributing the front wheel braking force based on the target front axle braking force, the vertical force of the left front axle wheel, and the vertical force of the right front axle wheel to obtain the front axle left front axle wheel braking force and the front axle right front axle wheel braking force; Distributing the rear wheel braking force based on the target rear axle braking force, the vertical force of the left rear wheel, and the vertical force of the right rear wheel to obtain the rear axle left wheel braking force and the rear axle right wheel braking force; A target wheel braking force is formed based on the front axle left wheel braking force, the front axle right wheel braking force, the rear axle left wheel braking force, and the rear axle right wheel braking force.

[0045] Optionally, the braking force distribution module 504 is specifically configured to: Calculate the front axle left wheel braking force and the front axle right wheel braking force based on the front axle right wheel vertical force, the vehicle's front axle weight, and the target front axle braking force; or The front axle left wheel braking force and the front axle right wheel braking force are calculated based on the front axle left wheel vertical force, the vehicle's front axle weight and the target front axle braking force.

[0046] Optionally, the braking force distribution module 504 is specifically configured to: Calculate the rear axle left wheel braking force and the rear axle right wheel braking force based on the rear axle right wheel vertical force, the vehicle's rear axle weight, and the target rear axle braking force; or The left rear axle wheel braking force and the right rear axle wheel braking force are calculated based on the vertical force of the left rear axle wheel, the rear axle weight of the vehicle and the target rear axle braking force.

[0047] It should be noted that the vehicle cornering brake control system provided in the above-described embodiment and the vehicle cornering brake control method provided in the above-described embodiment are based on the same concept. The specific manner in which each module and unit performs operations has been described in detail in the method embodiments and will not be repeated here. In actual applications of the vehicle cornering brake control system provided in the above-described embodiment, the above-described functions can be assigned to different functional modules as needed, that is, the internal structure of the system can be divided into different functional modules to perform all or part of the functions described above, and this is not limited here.

[0048] A computing device according to an embodiment of the present application includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, some or all steps of the above-mentioned vehicle cornering braking control method are implemented.

[0049] Among them, the computing device can be a computer, and correspondingly, its program is computer software. The above-mentioned parameters and steps in a computing device of the present application can refer to the parameters and steps in the embodiment of a vehicle cornering braking control method above, and will not be repeated here.

[0050] In an embodiment of the present application, a computer-readable storage medium is provided, in which instructions are stored. When the instructions are executed, the steps of the above-mentioned vehicle cornering braking control method are executed.

[0051] The computer-readable storage medium may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0052] The technical solutions of the embodiments of the present disclosure may be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for causing a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method of the embodiments of the present disclosure. The aforementioned computer-readable storage medium may be a non-transitory computer-readable storage medium, including: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and other media that can store program code, or a transient computer-readable storage medium.

[0053] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. Each box in the flowchart or block diagram can represent a module, program segment or part of the code, and the above-mentioned module, program segment or part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the boxes can also occur in an order different from that marked in the accompanying drawings. For example, two boxes shown in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart and the combination of boxes in the block diagram or flowchart can be implemented using a dedicated hardware-based system that performs the specified functions or operations, or can be implemented using a combination of dedicated hardware and computer instructions.

[0054] Those skilled in the art will appreciate that the present application may be implemented as a system, method, or computer program product. Therefore, the present disclosure may be specifically implemented in the following forms: either entirely in hardware, entirely in software (including firmware, resident software, microcode, etc.), or in a combination of hardware and software, generally referred to herein as a "module" or "system." Furthermore, in some embodiments, the present application may also be implemented in the form of a computer program product in one or more computer-readable media, the computer-readable media containing computer-readable program code. Computer-readable storage media may be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof.

[0055] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0056] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle cornering braking control method, characterized in that: include: When the vehicle is traveling on a curve, obtaining the vehicle's lateral acceleration and brake pedal depth; determining a dynamic vertical force of the vehicle based on the vehicle lateral acceleration and wheel parameters of the vehicle; determining a target front axle braking force and a target rear axle braking force of the vehicle based on the brake pedal depth; performing braking force distribution based on the target front axle braking force, the target rear axle braking force, and the dynamic vertical force to obtain target wheel braking forces, the target wheel braking forces including the front axle left wheel braking force, the front axle right wheel braking force, the rear axle left wheel braking force, and the rear axle right wheel braking force; The wheels of the vehicle are braked and controlled according to the target wheel braking force to improve the cornering braking safety of the vehicle.

2. The method according to claim 1, characterized in that The wheel parameters include front axle weight, rear axle weight, front wheel track, rear wheel track and center of gravity height; The determining of the dynamic vertical force of the vehicle based on the vehicle lateral acceleration and the wheel parameters of the vehicle includes: Calculating based on the front axle weight, the front wheel track, the center of gravity height, and the vehicle lateral acceleration to obtain a front axle wheel vertical force of the vehicle, the front axle wheel vertical force including a front axle left wheel vertical force and a front axle right wheel vertical force; Calculating based on the rear axle weight, the rear wheel track, the center of gravity height, and the vehicle lateral acceleration to obtain a rear axle wheel vertical force of the vehicle, the rear axle wheel vertical force including a rear axle left wheel vertical force and a rear axle right wheel vertical force; A dynamic vertical force of the vehicle is generated based on the front axle wheel vertical force and the rear axle wheel vertical force.

3. The method according to claim 1, characterized in that The determining of the target front axle braking force and the target rear axle braking force of the vehicle based on the brake pedal depth includes: Obtaining a preset correspondence between brake pedal depth and total braking force; obtaining a target total braking force that matches the brake pedal depth based on the preset corresponding relationship; Calculation is performed based on a preset braking curve of the vehicle and the target total braking force to obtain a target front axle braking force and a target rear axle braking force of the vehicle.

4. The method according to any one of claims 1 to 3, characterized in that The dynamic vertical force includes the vertical force of the left wheel of the front axle, the vertical force of the right wheel of the front axle, the vertical force of the left wheel of the rear axle, and the vertical force of the right wheel of the rear axle; The performing braking force distribution based on the target front axle braking force, the target rear axle braking force, and the dynamic vertical force to obtain the target wheel braking force includes: Distributing the front wheel braking force based on the target front axle braking force, the front axle left wheel vertical force, and the front axle right wheel vertical force to obtain the front axle left wheel braking force and the front axle right wheel braking force; Distributing the rear wheel braking force based on the target rear axle braking force, the rear axle left wheel vertical force, and the rear axle right wheel vertical force to obtain the rear axle left wheel braking force and the rear axle right wheel braking force; A target wheel braking force is formed based on the front axle left wheel braking force, the front axle right wheel braking force, the rear axle left wheel braking force, and the rear axle right wheel braking force.

5. The method according to claim 4, characterized in that The front wheel braking force distribution based on the target front axle braking force, the front axle left wheel vertical force, and the front axle right wheel vertical force to obtain the front axle left wheel braking force and the front axle right wheel braking force includes: Calculating based on the front axle right wheel vertical force, the front axle weight of the vehicle and the target front axle braking force to obtain the front axle left wheel braking force and the front axle right wheel braking force; or, The front axle left wheel braking force and the front axle right wheel braking force are calculated based on the front axle left wheel vertical force, the front axle weight of the vehicle and the target front axle braking force.

6. The method according to claim 4, characterized in that The rear wheel braking force distribution based on the target rear axle braking force, the rear axle left wheel vertical force, and the rear axle right wheel vertical force to obtain the rear axle left wheel braking force and the rear axle right wheel braking force includes: Calculating based on the rear axle right wheel vertical force, the rear axle weight of the vehicle and the target rear axle braking force to obtain the rear axle left wheel braking force and the rear axle right wheel braking force; or, The rear axle left wheel braking force and the rear axle right wheel braking force are calculated based on the rear axle left wheel vertical force, the rear axle weight of the vehicle and the target rear axle braking force.

7. A vehicle, characterized in that: A vehicle cornering braking control method according to any one of claims 1 to 6 is applied.

8. A vehicle cornering brake control system, characterized in that: include: an acquisition module, configured to acquire the vehicle's lateral acceleration and brake pedal depth when the vehicle is traveling on a curve; a first determining module, configured to determine a dynamic vertical force of the vehicle based on the vehicle lateral acceleration and wheel parameters of the vehicle; a second determining module, configured to determine a target front axle braking force and a target rear axle braking force of the vehicle based on the brake pedal depth; a braking force distribution module, configured to distribute the braking forces based on the target front axle braking force, the target rear axle braking force, and the dynamic vertical force to obtain target wheel braking forces, wherein the target wheel braking forces include a front axle left wheel braking force, a front axle right wheel braking force, a rear axle left wheel braking force, and a rear axle right wheel braking force; The braking control module is used to control the braking of the vehicle's wheels according to the target wheel braking force to improve the vehicle's cornering braking safety.

9. A computing device comprising a memory, a processor, and a program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the steps of the vehicle cornering braking control method according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes the steps of a vehicle curve braking control method as described in any one of claims 1 to 6.

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