Braking force distribution method of vehicle, vehicle and computer readable storage medium

Abstract

The invention provides a braking force distribution method of a vehicle, the vehicle and a computer readable storage medium, and the braking force distribution method of the vehicle comprises the steps that firstly, in response to a vehicle control signal of the vehicle, vehicle state information of the vehicle is obtained; then, a target braking mode corresponding to the vehicle state information is determined according to the vehicle state information; then, under the condition that the target braking mode is executed, wheel parameters of all wheels of the vehicle are obtained, and the target braking force of all the wheels is distributed according to the multiple wheel parameters; therefore, according to the embodiment of the invention, the wheel parameters of all the wheels can be monitored, different target braking forces are distributed to the corresponding wheels according to different wheel parameters, the specific condition of braking force distribution of all the wheels is considered, and the braking effect of the vehicle can be better.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a method for distributing braking force to a vehicle, a vehicle, and a computer-readable storage medium. Background Technology

[0002] In related technologies, existing brake force distribution is based on vehicle speed data, gear data, throttle opening data, brake opening data, shift frequency data, braking frequency data, and parking frequency data, along with a pre-built road condition recognition model, to identify the current road conditions. When the brake pedal opening is detected to be greater than the brake opening threshold, the brake force distribution rules are determined according to the current road conditions. That is, the brake force distribution is determined based on vehicle driving data, brake opening data, and the current road conditions. However, the brake force distribution does not truly take into account the specific situation of the four wheels. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a method for distributing braking force to a vehicle, a vehicle, and a computer-readable storage medium, designed to appropriately distribute braking force to each wheel.

[0004] In a first aspect, embodiments of this application provide a method for distributing braking force to a vehicle, the method comprising: In response to the vehicle control signal of the vehicle, the vehicle status information of the vehicle is acquired; Determine the target braking mode corresponding to the vehicle status information based on the vehicle status information; When the target braking mode is executed, the wheel parameters of each wheel of the vehicle are obtained, and the target braking force of each wheel is allocated according to the multiple wheel parameters.

[0005] According to some embodiments of this application, obtaining the vehicle status information of the vehicle in response to the vehicle control signal of the vehicle includes one of the following: In response to the braking signal from the vehicle's brake pedal, the vehicle's state information is acquired, wherein the braking signal from the brake pedal is generated when the control opening value of the brake pedal is greater than a preset opening value. In response to a signal indicating that the accelerator pedal of the vehicle has been released, the vehicle status information of the vehicle is acquired.

[0006] According to some embodiments of this application, determining the target braking mode corresponding to the vehicle state information based on the vehicle state information includes one of the following: When the vehicle status information indicates that the vehicle is in a parking state, the target braking mode is determined to be a parking braking mode. In the parking state, the vehicle gear is in parking gear or neutral, the soft switch of the electronic parking brake system is activated, the wheel speed of the vehicle is zero, or the vehicle is in automatic parking function. When the vehicle status information indicates that the vehicle is in a driving state, the target braking mode is determined to be a driving braking mode, wherein, in the driving state, the vehicle gear is in forward or reverse gear, the soft switch of the electronic parking brake system is in an inactive state, and the wheel speed of the vehicle is greater than zero.

[0007] According to some embodiments of this application, when executing the target braking mode, obtaining wheel parameters of each wheel of the vehicle and allocating target braking force to each wheel according to multiple wheel parameters includes: When the parking brake mode is executed, the wheel status of each wheel in the vehicle is monitored; When the wheel state indicates that the wheel has a motion trend, obtain the wheel's motion trend parameters; The vehicle's overall braking force and braking force distribution coefficient are determined based on the motion trend parameters of the wheels. The target braking force for each wheel is obtained by allocating the total vehicle braking force and the braking force distribution coefficient.

[0008] According to some embodiments of this application, determining the vehicle's overall braking force and braking force distribution coefficient based on the motion trend parameters of the wheels includes: Determine the force acting on the motion trend, and determine the vehicle's braking force based on the force acting on the motion trend; Determine the direction of motion trend, and determine the braking force distribution coefficient of the vehicle based on the direction of motion trend.

[0009] According to some embodiments of this application, when executing the target braking mode, obtaining wheel parameters of each wheel of the vehicle and allocating target braking force to each wheel according to multiple wheel parameters includes: When the service braking mode is executed, the locking force of each wheel in the vehicle is calculated; The maximum braking force of the vehicle is calculated based on the locking clamping force of all the wheels. The target braking force is distributed to each of the wheels according to the maximum braking force of the vehicle.

[0010] According to some embodiments of this application, the distribution of the target braking force to each of the wheels based on the maximum braking force of the vehicle includes one of the following: The minimum braking force required for the vehicle to avoid obstacles is determined. When the minimum braking force is less than the maximum braking force, the total vehicle braking force is determined between the minimum braking force and the maximum braking force based on the pedal depth and pedal speed. The target braking force of each wheel is then distributed based on the total vehicle braking force and the vehicle's operating state. Determine the minimum braking force required for the vehicle to avoid obstacles. When the minimum braking force is greater than or equal to the maximum braking force, control the front wheels to output the corresponding locking clamping force and control the rear wheels to output a clamping force less than the corresponding locking clamping force. The braking force of the vehicle is determined based on the pedal depth and pedal speed. When the braking force of the vehicle is greater than or equal to the maximum braking force, the front wheels are controlled to output the corresponding locking clamping force, and the clamping force output by the rear wheels is controlled to be less than the corresponding locking clamping force.

[0011] According to some embodiments of this application, after distributing the target braking force to each of the wheels according to the maximum braking force of the vehicle, the vehicle braking force distribution method further includes: Obtain vehicle parameters; The electric motor power and braking force of each wheel are allocated according to the vehicle parameters and the target braking force, wherein the electric motor power is determined by the motor status and / or battery charge, and the braking force is determined by the target braking force of the wheel and the electric motor power.

[0012] Secondly, embodiments of this application provide a controller, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the vehicle braking force distribution method described in the first aspect when running the computer program.

[0013] Thirdly, embodiments of this application provide a vehicle including a controller as described in the second aspect above.

[0014] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions for performing the braking force distribution method for a vehicle as described in the first aspect above.

[0015] Fifthly, embodiments of this application provide a computer program product, including a computer program or computer instructions, characterized in that the computer program or computer instructions are stored in a computer-readable storage medium, a processor of a computer device reads the computer program or computer instructions from the computer-readable storage medium, and the processor executes the computer program or computer instructions, causing the computer device to perform the vehicle braking force distribution method as described in the first aspect above.

[0016] According to the technical solution of this application embodiment, at least the following beneficial effects are achieved: First, in response to the vehicle control signal, this application embodiment acquires the vehicle status information; then, it determines the target braking mode corresponding to the vehicle status information; next, when executing the target braking mode, it acquires the wheel parameters of each wheel of the vehicle and allocates the target braking force to each wheel according to the multiple wheel parameters. Therefore, this application embodiment can monitor the wheel parameters of each wheel and allocate different target braking forces to the corresponding wheels according to the different wheel parameters, taking into account the specific situation of the braking force allocation of each wheel, thus making the vehicle braking effect better.

[0017] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0018] The accompanying drawings are used to provide a further understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0019] Figure 1 This is a flowchart of a vehicle braking force distribution method provided in one embodiment of this application; Figure 2 yes Figure 1 A flowchart of a sub-step of one embodiment of step S110; Figure 3 yes Figure 1 A flowchart of a sub-step of another embodiment of step S110; Figure 4 yes Figure 1 A flowchart of a sub-step of one embodiment of step S120; Figure 5 yes Figure 1 A flowchart of a sub-step of another embodiment of step S120; Figure 6 yes Figure 1A flowchart of a sub-step of one embodiment of step S130; Figure 7 yes Figure 6 A flowchart of a sub-step of one embodiment of step S130; Figure 8 yes Figure 1 A flowchart of a sub-step of another embodiment of step S130; Figure 9 yes Figure 8 A flowchart of a sub-step of one embodiment of step S830; Figure 10 yes Figure 8 A flowchart of a sub-step of another embodiment of step S830; Figure 11 yes Figure 8 A flowchart of a sub-step in another embodiment of step S830; Figure 12 This is a flowchart of the distribution of motor power and braking force according to one embodiment of this application; Figure 13 This is an overall flowchart of a vehicle braking force distribution method provided in one embodiment of this application; Figure 14 This is a flowchart of a method for distributing braking force of a vehicle in parking brake mode, provided in one embodiment of this application; Figure 15 This is a flowchart of a method for distributing braking force of a vehicle in service braking mode, provided in one embodiment of this application; Figure 16 This is a schematic diagram of a controller for performing a braking force distribution method for a vehicle, provided in one embodiment of this application. Detailed Implementation

[0020] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0021] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0022] In the description of this application, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0023] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0024] In some cases, existing brake force distribution is based on vehicle speed data, gear data, throttle opening data, brake opening data, shift frequency data, braking frequency data, and parking frequency data, along with a pre-built road condition recognition model, to identify the current road conditions. When the brake pedal opening is detected to be greater than the brake opening threshold, the brake force distribution rules are determined according to the current road conditions. That is, the brake force distribution is determined based on vehicle driving data, brake opening data, and the current road conditions. However, the brake force distribution does not truly take into account the specific conditions of the four wheels.

[0025] Based on the above, this application proposes a method for distributing braking force to a vehicle, a vehicle, and a computer-readable storage medium, which aims to appropriately distribute the braking force to each wheel.

[0026] The various embodiments of the vehicle braking force distribution method of this application will be further described below with reference to the accompanying drawings.

[0027] like Figure 1 As shown, Figure 1 This is a flowchart of a vehicle braking force distribution method according to an embodiment of this application. The vehicle braking force distribution method includes, but is not limited to, steps S110, S120, and S130.

[0028] Step S110: In response to the vehicle control signal of the vehicle, obtain the vehicle status information of the vehicle; Step S120: Determine the target braking mode corresponding to the vehicle status information based on the vehicle status information; Step S130: When the target braking mode is executed, obtain the wheel parameters of each wheel of the vehicle, and allocate the target braking force to each wheel according to the multiple wheel parameters.

[0029] In one embodiment, when the system receives a vehicle control signal, such as a signal triggered by the driver pressing the brake pedal or a braking command issued by the autonomous driving system, it first collects the vehicle's current core state information in real time. This information includes, but is not limited to, key data such as vehicle speed, acceleration, steering angle, load distribution, battery charge, and estimated current road surface adhesion coefficient. Then, the system analyzes and judges the collected vehicle state information according to preset control logic and mapping rules, and selects the target braking mode that best suits the current vehicle state from a variety of preset braking modes (such as parking braking mode and service braking mode), ensuring that the braking operation meets driving needs while taking into account safety and economy. During the initiation and execution of the target braking mode, the system continuously monitors the real-time wheel parameters of each wheel of the vehicle, specifically covering the motion trend, rotational speed, wheel speed acceleration, slip ratio, and other data of each wheel. Subsequently, the system performs comprehensive calculations on multiple wheel parameters through algorithms, and rationally allocates the target braking force of each wheel in combination with the requirements of the target braking mode, vehicle dynamics characteristics, and road conditions, so that the braking force output of each wheel matches its own state and the overall driving state of the vehicle, ultimately achieving a smooth, efficient, and safe braking effect.

[0030] It should be noted that the embodiments of this application can monitor the wheel parameters of each wheel and allocate different target braking forces to the corresponding wheels according to the different wheel parameters. Taking into account the specific situation of the braking force distribution of each wheel, the vehicle braking effect can be better.

[0031] It should be noted that the acquisition of vehicle status information in response to the vehicle control signal in step S110 above may specifically include, but is not limited to, the following: Figure 2 and Figure 3 The two implementation scenarios are as follows: like Figure 2 As shown, Figure 2 yes Figure 1 A flowchart illustrating the sub-steps of one embodiment of step S110. Step S110 may include, but is not limited to, steps S210 and S220.

[0032] Step S210: When the control opening value of the brake pedal is greater than the preset opening value, a brake pedal braking signal is received from the brake pedal. Step S220: In response to the braking signal from the vehicle's brake pedal, obtain the vehicle's status information.

[0033] In one embodiment, the system monitors the control opening value of the brake pedal in real time. This opening value directly reflects the depth to which the driver depresses the brake pedal. Simultaneously, the system has preset opening thresholds corresponding to different braking demands, i.e., preset opening values. When the detected control opening value of the brake pedal exceeds this preset value, it means that the driver has issued a clear and sufficiently strong braking demand. At this time, the vehicle's braking signal acquisition module is triggered, thereby receiving the brake pedal braking signal transmitted from the brake pedal. After successfully receiving the braking signal, the system immediately initiates the vehicle status information acquisition process. Through onboard sensors, controllers, and other devices, it acquires key vehicle status information in real time, such as the vehicle's current speed, acceleration, steering state, load distribution, wheel speed, and estimated road surface adhesion coefficient, providing accurate data support for subsequent braking control processes such as braking mode selection and braking force distribution.

[0034] It is understood that the aforementioned preset opening value can be pre-set, and the embodiments of this application do not specifically limit the size of the preset opening value.

[0035] like Figure 3 As shown, Figure 3 yes Figure 1 A flowchart of a sub-step of another embodiment of step S110. Step S110 may include, but is not limited to, steps S310 and S320.

[0036] Step S310: When the accelerator pedal of the vehicle is released, receive the accelerator pedal release signal. Step S320: In response to the accelerator pedal release signal, obtain the vehicle status information.

[0037] In one embodiment, the vehicle control system continuously monitors the accelerator pedal's operating status in real time. A pedal position sensor precisely captures changes in the accelerator pedal's travel to determine if the driver has released the accelerator. When the accelerator pedal returns from its depressed position to its initial undepressed position (i.e., fully released), the sensor immediately generates and sends an accelerator pedal release signal. The system receives this signal and confirms the driver's intention to interrupt power output and prepare for deceleration. After successfully responding to this accelerator pedal release signal, the system initiates a vehicle status information acquisition program. Through various onboard sensors and control modules, it acquires key status data in real time, such as the vehicle's current speed, acceleration, wheel speed, current gear, and estimated road surface adhesion coefficient. This provides comprehensive and accurate data support for subsequent braking control, power adjustment, and other operations, ensuring a smooth transition of vehicle driving status and consistent execution of control logic.

[0038] It should be noted that the determination of the target braking mode corresponding to the vehicle status information based on the vehicle status information in step S120 above may include, but is not limited to, the following: Figure 4 and Figure 5 The two implementation scenarios are as follows: like Figure 4 As shown, Figure 4 yes Figure 1 A flowchart illustrating the sub-steps of one embodiment of step S120. Step S120 may include, but is not limited to, steps S410 and S420.

[0039] Step S410: Determine that the vehicle is in a parking state based on the vehicle status information. In the parking state, the vehicle gear is in parking gear or neutral gear, the soft switch of the electronic parking brake system is activated, the wheel speed of the vehicle is zero, or the vehicle is in automatic parking function. Step S420: Set the target braking mode to parking brake mode.

[0040] In one embodiment, the vehicle control system first collects and integrates various vehicle status information, and then verifies and comprehensively judges this information one by one according to preset parking status determination conditions: if the vehicle speed is detected to be zero, the vehicle gear is in parking gear or neutral gear, the soft switch of the electronic parking brake system is activated, the wheel speed drops to zero, or the vehicle is engaged and in automatic parking function operation state, and any combination of the above conditions is met, the system will clearly determine that the vehicle is currently in a parking state; after confirming that the vehicle is in a parking state, the control system will directly determine the corresponding target braking mode as the parking brake mode according to the preset braking mode matching rules, so as to provide stable parking brake protection for the vehicle and prevent the vehicle from moving unexpectedly in a stationary state.

[0041] like Figure 5 As shown, Figure 5 yes Figure 1 A flowchart of the sub-steps of another embodiment of step S120. Step S120 may include, but is not limited to, steps S510 and S520.

[0042] Step S510: Determine that the vehicle is in driving status based on the vehicle status information. In driving status, the vehicle is in forward or reverse gear, the soft switch of the electronic parking brake system is inactive, and the wheel speed of the vehicle is greater than zero. Step S520: Set the target braking mode to the service braking mode.

[0043] In one embodiment, the vehicle control system aggregates various status data of the vehicle in real time and then performs comprehensive verification based on preset driving status judgment criteria: when the vehicle speed is not zero, the vehicle is in drive or reverse gear, the soft switch of the electronic parking brake system is inactive, and the wheel speed is greater than zero, the system will clearly determine that the vehicle is currently in driving status when the above conditions are met; based on this judgment result, the control system will directly determine the target braking mode as the driving braking mode according to the preset braking mode matching logic, ensuring that subsequent braking operations can adapt to the dynamic requirements of the vehicle during driving, and providing mode support for smooth and safe driving braking.

[0044] In addition, such as Figure 6 As shown, Figure 6 yes Figure 1 A flowchart of the sub-steps of one embodiment of step S130. Regarding the step S130 above, in the case of executing the target braking mode, obtaining the wheel parameters of each wheel of the vehicle and allocating the target braking force to each wheel according to the multiple wheel parameters, it may include, but is not limited to, steps S610, S620, S630 and S640.

[0045] Step S610: When the parking brake mode is activated, monitor the wheel status of each wheel in the vehicle. Step S620: When the wheel state indicates that the wheel has a motion trend, obtain the wheel's motion trend parameters; Step S630: Determine the vehicle's overall braking force and braking force distribution coefficient based on the wheel motion trend parameters; Step S640: The target braking force of each wheel is obtained by allocating the braking force of the whole vehicle and the braking force distribution coefficient.

[0046] In one embodiment, during the vehicle's parking brake mode, the control system continuously monitors the wheel status of each wheel in real time, focusing on capturing state feedback related to whether the wheels exhibit rolling, slipping, or other motion trends. When state signals of one or more wheels, such as wheel speed changes or wheel-end force feedback, are detected, indicating a potential for wheel movement, the system immediately initiates a motion trend parameter acquisition process to obtain key parameters such as the wheel's direction of motion, potential speed, and magnitude of force. Subsequently, the control system combines the acquired wheel motion trend parameters with basic information such as vehicle load distribution and road surface adhesion to calculate the total vehicle braking force that can effectively suppress vehicle movement using a preset algorithm, while determining a braking force distribution coefficient suitable for the current state. Finally, based on the calculated total vehicle braking force and braking force distribution coefficient, the total braking force is precisely divided and distributed to each wheel to obtain the target braking force corresponding to each wheel, ensuring that targeted braking force output prevents wheel movement trends and maintains the vehicle's stable parking state.

[0047] In addition, such as Figure 7 As shown, Figure 7 yes Figure 6 A flowchart of the sub-steps of one embodiment of step S130. Regarding the determination of the vehicle's overall braking force and braking force distribution coefficient based on the wheel motion trend parameters in step S630, this may include, but is not limited to, steps S710 and S720.

[0048] Step S710: Determine the motion trend force, and determine the vehicle's overall braking force based on the motion trend force; Step S720: Determine the direction of motion trend and determine the vehicle's braking force distribution coefficient based on the direction of motion trend.

[0049] In one embodiment, when the vehicle is in parking braking mode and a wheel movement trend is detected, the control system first calculates the magnitude of the force driving the wheel to generate the movement trend based on the collected wheel movement trend parameters, i.e., the movement trend force. Then, using this movement trend force as the core basis, combined with auxiliary information such as vehicle load and road adhesion coefficient, the system uses a preset algorithm to deduce the total vehicle braking force that can completely counteract the force and prevent the vehicle from moving, ensuring that the total braking force is sufficient to suppress the movement trend. At the same time, the system identifies the direction of the wheel's movement trend from the movement trend parameters, such as forward slippage, backward slippage, or single-sided wheel offset trend, and matches the corresponding braking force distribution logic according to the direction to determine the braking force distribution coefficient between each wheel. Finally, by combining the total vehicle braking force with the braking force distribution coefficient, the system achieves precise distribution of braking force, ensuring the stability and effectiveness of parking braking.

[0050] In addition, such as Figure 8 As shown, Figure 8 yes Figure 1 A flowchart of a sub-step of another embodiment of step S130. Regarding the step S130 above, in the case of executing the target braking mode, obtaining the wheel parameters of each wheel of the vehicle and allocating the target braking force to each wheel according to the multiple wheel parameters may include, but is not limited to, steps S810, S820 and S830.

[0051] Step S810: When the service braking mode is executed, calculate the locking force of each wheel in the vehicle. Step S820: Calculate the maximum braking force of the vehicle based on the locking clamping force of all wheels; Step S830: Distribute the target braking force to each wheel according to the vehicle's maximum braking force.

[0052] In one embodiment, when the vehicle is in service braking mode, the control system first combines the real-time state parameters of each wheel and, through a preset mechanical model and algorithm, calculates the locking force corresponding to each wheel when it is about to lock up, i.e., the critical locking force at which the wheel just reaches the adhesion limit and avoids locking and slipping. Then, the system aggregates the locking force data of all wheels and calculates the maximum braking force that the vehicle can withstand under the current operating conditions. Finally, based on the maximum braking force, the system uses a reasonable allocation algorithm to accurately distribute the maximum braking force to each wheel, determining the target braking force corresponding to each wheel. This ensures both overall braking efficiency and prevents individual wheels from locking up due to excessive braking force, ensuring stability and safety during the service braking process.

[0053] It should be noted that the target braking force distributed to each wheel based on the vehicle's maximum braking force in step S830 above may specifically include, but is not limited to, the following: Figure 9 , Figure 10 and Figure 11 The three implementation scenarios are as follows: like Figure 9 As shown, Figure 9 yes Figure 8 A flowchart illustrating the sub-steps of one embodiment of step S830. Step S830 may include, but is not limited to, steps S910, S920, and S930.

[0054] Step S910: Determine the minimum braking force required for the vehicle to avoid the obstacle; Step S920: When the minimum braking force is less than the maximum braking force, determine the vehicle braking force between the minimum and maximum braking forces based on the pedal depth and pedal speed. Step S930: Distribute the target braking force to each wheel according to the overall vehicle braking force and the vehicle's operating status.

[0055] In one embodiment, when the vehicle is in service braking mode and an obstacle avoidance scenario is involved, the control system first combines key information such as the current driving speed, distance to the obstacle, and road surface adhesion coefficient, and calculates the minimum braking force to ensure the vehicle can avoid the obstacle in time using a safety distance model and braking dynamics algorithm. This braking force is the minimum braking output threshold required to avoid a collision. Subsequently, the system compares the calculated minimum braking force with the previously determined maximum braking force of the vehicle. If the minimum braking force is less than the maximum braking force, it means that the current braking capacity is sufficient to meet the obstacle avoidance requirements. At this time, the system will collect the brake pedal depressing depth and depressing speed in real time, and dynamically determine the vehicle braking force within the range of minimum and maximum braking force according to a preset mapping rule, which is suitable for the driver's operating intention and obstacle avoidance requirements. Finally, the system combines the vehicle braking force and the current operating state of the vehicle, and uses a braking force distribution algorithm to reasonably distribute the vehicle braking force to each wheel, and determine the target braking force for each wheel. This ensures the braking effect required for obstacle avoidance and maintains the driving stability of the vehicle during braking, avoiding risks such as wheel lock-up and sideslip.

[0056] like Figure 10 As shown, Figure 10 yes Figure 8 A flowchart of a sub-step of another embodiment of step S830. Step S830 may include, but is not limited to, steps S1010 and S1020.

[0057] Step S1010: Determine the minimum braking force required for the vehicle to avoid the obstacle; Step S1020: When the minimum braking force is greater than or equal to the maximum braking force, control the front wheel to output the corresponding locking clamping force, and control the rear wheel to output a clamping force less than the corresponding locking clamping force.

[0058] In one embodiment, when the vehicle is in driving braking mode and faces obstacle avoidance requirements, the control system first integrates key data such as the current driving speed, the distance to the obstacle, and the road surface adhesion coefficient. It then calculates the minimum braking force required to avoid a collision using an obstacle avoidance safety algorithm. This braking force is the critical braking requirement for completing the obstacle avoidance maneuver. Subsequently, the system compares this minimum braking force with the maximum braking force of the vehicle previously determined based on the locking clamping force of each wheel. If the minimum braking force is determined to be greater than or equal to the maximum braking force, it indicates that the current braking capacity of the vehicle has reached its limit, and it is necessary to optimize the braking force distribution to ensure driving stability during the obstacle avoidance process. At this time, the control system will control the front wheels to output their corresponding locking clamping force according to a preset safety distribution strategy, while controlling the rear wheels to output a clamping force lower than their corresponding locking clamping force. This prevents the rear wheels from locking up before the front wheels due to excessive braking force, which could cause the vehicle to fishtail and lose control. While fully meeting the obstacle avoidance braking requirements, the system ensures the vehicle's attitude stability and driving safety during the braking process.

[0059] like Figure 11 As shown, Figure 11 yes Figure 8 A flowchart of a sub-step of another embodiment of step S830. Step S830 may include, but is not limited to, steps S1110 and S1120.

[0060] Step S1110: Determine the braking force of the entire vehicle based on the depth and speed of the brake pedal. Step S1120: When the vehicle braking force is greater than or equal to the maximum braking force, control the front wheels to output the corresponding locking clamping force, and control the rear wheels to output a clamping force less than the corresponding locking clamping force.

[0061] In one embodiment, when the vehicle is in service braking mode, the control system collects the brake pedal depth and speed in real time. The pedal depth directly reflects the intensity of the driver's braking demand, while the pedal speed reflects the urgency of braking. The system uses a preset mapping logic and algorithm to combine these two parameters to determine the corresponding vehicle braking force. Then, the vehicle braking force is compared with the previously calculated maximum vehicle braking force. If the vehicle braking force is determined to be greater than or equal to the maximum braking force, it means that the driver's current braking demand exceeds the vehicle's braking capacity limit. To avoid loss of vehicle control, the control system will activate the extreme braking distribution strategy: controlling the front wheels to output their corresponding locking clamping force to fully utilize the front wheel adhesion potential to maximize the braking effect, while strictly controlling the clamping force output by the rear wheels to be lower than the corresponding locking clamping force of the rear wheels, preventing the rear wheels from locking before the front wheels and causing risks such as vehicle skidding and sideslip. This ensures the stability and safety of the service braking process while meeting the driver's braking needs as much as possible.

[0062] like Figure 12 As shown, Figure 12 This is a flowchart of the distribution of motor power and braking force according to an embodiment of this application, which may include, but is not limited to, steps S1210 and S1220.

[0063] Step S1210: Obtain vehicle parameters; Step S1220: Distribute the electric motor power and braking force to each wheel according to the vehicle parameters and the target braking force. The electric motor power is determined by the motor status and / or battery charge, and the braking force is determined by the target braking force and electric motor power of the wheel.

[0064] In one embodiment, the vehicle control system first collects key vehicle parameters such as vehicle weight, center of gravity height, wheelbase, brake Cp value, and braking force distribution coefficient, while simultaneously determining the target braking force for each wheel. Then, combining these vehicle parameters and the target braking force, the braking force is calculated in parts. First, based on the motor status and / or battery charge, the available motor power for each wheel is determined to ensure that the motor power is within the motor's safe operating range. Then, by calculating the difference between the target braking force and the corresponding wheel's motor power, the required supplementary braking force for each wheel, i.e., the mechanical braking force, is obtained. Finally, the precise distribution of motor power and braking force to each wheel is achieved, fully utilizing the motor's recovery potential while supplementing braking demand with braking force, thus achieving a balance between braking effect and operating efficiency.

[0065] Based on the vehicle braking force distribution methods of the above embodiments, the overall embodiments of the vehicle braking force distribution method of this application are presented below.

[0066] like Figure 13 As shown, Figure 13 This is an overall flowchart of a vehicle braking force distribution method provided in one embodiment of this application.

[0067] In one embodiment, when a braking signal (brake pedal opening greater than a preset value) or an accelerator pedal release signal is detected, vehicle status information is acquired, including driving status and parking status. If the vehicle speed is greater than zero, the vehicle is determined to be in driving status; if the vehicle speed is zero, the vehicle is determined to be in parking status, i.e., parked status.

[0068] If the vehicle is parked, the parking brake mode is used; if the vehicle is in motion, the service brake mode is used.

[0069] like Figure 14 As shown, Figure 14 This is a flowchart of a method for distributing braking force of a vehicle in parking brake mode, provided in one embodiment of this application.

[0070] In one embodiment, if the vehicle is in a parked state (vehicle gear is in P or N, EPB soft switch is active, four-wheel speed is 0 km / h, or the vehicle is in automatic parking mode), then a parking brake mode is used. At this time, the relative motion tendency of the four wheels of the vehicle (e.g., a tendency to roll backwards) is monitored. If the four wheels do not have a motion tendency, no braking force is required. If the four wheels have a motion tendency, the direction of the motion tendency and the force acting in that direction are further obtained. Specifically, this application can calculate the magnitude of the force causing the motion tendency based on the vehicle's tilt angle and weight, and determine the braking force based on this force. Simultaneously, the braking force distribution coefficient of the vehicle is determined based on the direction of the motion tendency. For example, when the tilt angle is small, the braking force can be evenly distributed to control the clamping force output of the brake motors at the front and rear wheels. When the tilt angle exceeds a threshold, the clamping force output of the brake motor at the wheel located on the upper side of the slope is appropriately increased to ensure vehicle stability.

[0071] like Figure 15 As shown, Figure 15 This is a flowchart of a method for distributing braking force of a vehicle in service braking mode, provided in one embodiment of this application.

[0072] In one embodiment, if the vehicle is in driving mode (the vehicle is in D or R gear, the EPB soft switch is inactive, and the wheel speed of all four wheels is greater than 0 km / h), then the service braking mode is used. At this point, the distance to the obstacle (vehicle or object) ahead, wheel speed, slip ratio, clamping force, and overall vehicle torque are calculated. For each wheel, the corresponding locking clamping force (i.e., the maximum clamping force that can be output without locking) is calculated independently based on its wheel speed and slip ratio. The maximum braking force of the entire vehicle is calculated based on the maximum clamping force of the four wheels. Furthermore, the minimum braking force required for obstacle avoidance is calculated based on the distance between the vehicle and the obstacle (vehicle or object) ahead and the vehicle speed. If the required minimum braking force is less than the maximum braking force of the entire vehicle, the target braking force is determined between the required minimum braking force and the maximum braking force of the entire vehicle based on the depth and speed of the brake pedal (the deeper the pedal depth and the faster the pedal speed, the closer the target braking force is to the maximum braking force of the entire vehicle). After determining the target braking force, the braking force of the four wheels is distributed according to the vehicle's operating state, such as even distribution or, during turning, the braking force of the inner wheels is greater than that of the outer wheels. If the required minimum braking force is greater than or equal to the maximum braking force of the vehicle, or if the target braking force calculated based on the brake pedal is greater than or equal to the maximum braking force of the vehicle, then control each wheel to output its locking clamping force, and ensure that the rear wheels lock up later than the front wheels, so as to ensure that the vehicle does not veer off course. For example, the clamping force of the rear wheels can be controlled to be slightly less than its locking clamping force.

[0073] In the service braking mode, after determining the braking force of the four wheels, the electric motor power and braking force of each wheel are distributed based on vehicle parameters. These vehicle parameters include: vehicle weight, center of gravity height, wheelbase, brake Cp, and braking force distribution coefficient, to obtain the required braking torque for each wheel.

[0074] Specifically, when the motor temperature is at the normal operating temperature and the battery charge is 100% or higher, the motor outputs the maximum braking torque, and the braking system supplements the insufficient torque; when the motor temperature is at the high operating temperature or the battery charge is 100%, the motor does not output braking torque, and the braking system outputs all braking torque; when the ABS condition is in operation, the motor does not output braking torque, and the braking system outputs all braking torque.

[0075] Based on the vehicle braking force distribution methods of the above embodiments, the following presents various embodiments of the controller, vehicle, computer-readable storage medium, and computer program product of this application.

[0076] like Figure 16 As shown, Figure 16 This is a schematic diagram of a controller for performing a braking force distribution method for a vehicle according to an embodiment of this application. The controller 100 implemented in this application includes: a processor 110, a memory 120, and a computer program stored in the memory 120 and executable on the processor 110, wherein... Figure 16 The example uses a processor 110 and a memory 120.

[0077] Processor 110 and memory 120 can be connected via a bus or other means. Figure 16 Taking the example of a connection between China and Israel via a bus.

[0078] Memory 120, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory 120 may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory 120 may optionally include remotely located memories 120 relative to processor 110, which can be connected to controller 100 via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0079] Those skilled in the art will understand that Figure 16 The device structure shown does not constitute a limitation on the controller 100 and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0080] exist Figure 16In the controller 100 shown, the processor 110 can be used to call the control program stored in the memory 120 to implement the vehicle braking force distribution method described above. Specifically, the non-transient software program and instructions required to implement the vehicle braking force distribution method of the above embodiment are stored in the memory 120. When executed by the processor 110, the vehicle braking force distribution method of the above embodiment is executed.

[0081] It is worth noting that since the controller 100 of this application embodiment can execute the vehicle braking force distribution method of any of the above embodiments, the specific implementation method and technical effects of the controller 100 of this application embodiment can refer to the specific implementation method and technical effects of the vehicle braking force distribution method of any of the above embodiments.

[0082] Furthermore, one embodiment of this application also provides a vehicle that includes the controller described in the above embodiment.

[0083] It is worth noting that, since the vehicle in this application embodiment includes the controller of the above embodiments, and the controller of the above embodiments is capable of executing the vehicle braking force distribution method of any of the above embodiments, the specific implementation method and technical effects of the vehicle in this application embodiment can be referred to the specific implementation method and technical effects of the vehicle braking force distribution method of any of the above embodiments.

[0084] Furthermore, one embodiment of this application provides a computer-readable storage medium storing computer-executable instructions for performing the aforementioned vehicle braking force distribution method. Exemplarily, the above-described method is executed... Figures 1 to 15 The methods and steps in the text.

[0085] It is worth noting that, since the computer-readable storage medium of this application embodiment is capable of executing the vehicle braking force distribution method of any of the above embodiments, the specific implementation method and technical effects of the computer-readable storage medium of this application embodiment can be referred to the specific implementation method and technical effects of the vehicle braking force distribution method of any of the above embodiments.

[0086] Furthermore, one embodiment of this application also provides a computer program product, including a computer program or computer instructions, which are stored in a computer-readable storage medium. A processor of a computer device reads the computer program or computer instructions from the computer-readable storage medium and executes the computer program or computer instructions, causing the computer device to perform the aforementioned vehicle braking force distribution method. Exemplarily, the above-described method is executed... Figures 1 to 15 The methods and steps in the text.

[0087] It is worth noting that, since the computer program product of this application embodiment can execute the vehicle braking force distribution method of any of the above embodiments, the specific implementation method and technical effects of the computer program product of this application embodiment can refer to the specific implementation method and technical effects of the vehicle braking force distribution method of any of the above embodiments.

[0088] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically include computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0089] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) 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, and c can be single or multiple.

[0090] In the several embodiments provided in this application, it should be understood that the disclosed systems, instruments, and methods can be implemented in other ways. For example, the instrument embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between instruments or units may be electrical, mechanical, or other forms. Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, i.e., they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0091] It should also be understood that the various implementation methods provided in this application can be combined arbitrarily to achieve different technical effects.

[0092] The above provides a detailed description of the preferred embodiments of this application. However, this application is not limited to the above-described embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of this application. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A method for distributing braking force to a vehicle, characterized in that, The method includes: In response to the vehicle control signal of the vehicle, the vehicle status information of the vehicle is acquired; Determine the target braking mode corresponding to the vehicle status information based on the vehicle status information; When the target braking mode is executed, the wheel parameters of each wheel of the vehicle are obtained, and the target braking force of each wheel is allocated according to the multiple wheel parameters.

2. The method for distributing braking force to a vehicle according to claim 1, characterized in that, The process of acquiring vehicle status information in response to a vehicle control signal includes one of the following: In response to the braking signal from the vehicle's brake pedal, the vehicle's state information is acquired, wherein the braking signal from the brake pedal is generated when the control opening value of the brake pedal is greater than a preset opening value. In response to a signal indicating that the accelerator pedal of the vehicle has been released, the vehicle status information of the vehicle is acquired.

3. The method for distributing braking force to a vehicle according to claim 1, characterized in that, Determining the target braking mode corresponding to the vehicle status information based on the vehicle status information includes one of the following: When the vehicle status information indicates that the vehicle is in a parking state, the target braking mode is determined to be a parking braking mode. In the parking state, the vehicle gear is in parking gear or neutral, the soft switch of the electronic parking brake system is activated, the wheel speed of the vehicle is zero, or the vehicle is in automatic parking function. When the vehicle status information indicates that the vehicle is in a driving state, the target braking mode is determined to be a driving braking mode, wherein, in the driving state, the vehicle gear is in forward or reverse gear, the soft switch of the electronic parking brake system is in an inactive state, and the wheel speed of the vehicle is greater than zero.

4. The method for distributing braking force to a vehicle according to claim 3, characterized in that, When the target braking mode is executed, acquiring the wheel parameters of each wheel of the vehicle and allocating the target braking force to each wheel according to the multiple wheel parameters includes: When the parking brake mode is executed, the wheel status of each wheel in the vehicle is monitored; When the wheel state indicates that the wheel has a motion trend, obtain the wheel's motion trend parameters; The vehicle's overall braking force and braking force distribution coefficient are determined based on the motion trend parameters of the wheels. The target braking force for each wheel is obtained by allocating the total vehicle braking force and the braking force distribution coefficient.

5. The method for distributing braking force to a vehicle according to claim 4, characterized in that, The step of determining the vehicle's overall braking force and braking force distribution coefficient based on the motion trend parameters of the wheels includes: Determine the force acting on the motion trend, and determine the vehicle's braking force based on the force acting on the motion trend; Determine the direction of motion trend, and determine the braking force distribution coefficient of the vehicle based on the direction of motion trend.

6. The method for distributing braking force to a vehicle according to claim 3, characterized in that, When the target braking mode is executed, acquiring the wheel parameters of each wheel of the vehicle and allocating the target braking force to each wheel according to the multiple wheel parameters includes: When the service braking mode is executed, the locking force of each wheel in the vehicle is calculated; The maximum braking force of the vehicle is calculated based on the locking clamping force of all the wheels. The target braking force is distributed to each of the wheels according to the maximum braking force of the vehicle.

7. The method for distributing braking force to a vehicle according to claim 6, characterized in that, The method of distributing the target braking force to each wheel based on the maximum braking force of the vehicle includes one of the following: The minimum braking force required for the vehicle to avoid obstacles is determined. When the minimum braking force is less than the maximum braking force, the total vehicle braking force is determined between the minimum braking force and the maximum braking force based on the pedal depth and pedal speed. The target braking force of each wheel is then distributed based on the total vehicle braking force and the vehicle's operating state. Determine the minimum braking force required for the vehicle to avoid obstacles. When the minimum braking force is greater than or equal to the maximum braking force, control the front wheels to output the corresponding locking clamping force and control the rear wheels to output a clamping force less than the corresponding locking clamping force. The braking force of the vehicle is determined based on the pedal depth and pedal speed. When the braking force of the vehicle is greater than or equal to the maximum braking force, the front wheels are controlled to output the corresponding locking clamping force, and the clamping force output by the rear wheels is controlled to be less than the corresponding locking clamping force.

8. The method for distributing braking force to a vehicle according to claim 6, characterized in that, After distributing the target braking force to each wheel according to the maximum braking force of the vehicle, the vehicle braking force distribution method further includes: Obtain vehicle parameters; The electric motor power and braking force of each wheel are allocated according to the vehicle parameters and the target braking force, wherein the electric motor power is determined by the motor status and / or battery charge, and the braking force is determined by the target braking force of the wheel and the electric motor power.

9. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, performs the braking force distribution method for a vehicle as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The device stores computer-executable instructions for performing the braking force distribution method for a vehicle as described in any one of claims 1 to 8.

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