Clamping force control method and device, electronic equipment and storage medium

Abstract

The invention provides a clamping force control method and device, electronic equipment and a storage medium. The method comprises the following steps: in response to a received brake signal, searching a target caliper clamping force of a vehicle corresponding to the brake signal from a mapping relationship between the brake signal and the target caliper clamping force of the vehicle; acquiring current state information of the vehicle; based on the target caliper clamping force of the vehicle and the whole vehicle longitudinal acceleration and the whole vehicle lateral acceleration in the current state information of the vehicle, the target caliper clamping force distributed to the target wheel is obtained; based on the target caliper clamping force of the target wheel, motor current is obtained according to the mapping relation between the target caliper clamping force and the motor current; and the motor end output torque of the target wheel is obtained, the difference between the motor end output torque of the target wheel and the torque corresponding to the motor end resistance corresponding to the motor current is obtained, and the motor end torque corresponding to the target caliper clamping force of the target wheel is obtained.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle caliper clamping force control technology, and in particular to a clamping force control method, device, electronic device and storage medium. Background Technology

[0002] In related clamping force control schemes, after the clamping force sensor in the caliper receives the braking signal, the resistance of the strain gauge built into the clamping force sensor changes with the change of the braking signal. By converting the resistance change of the strain gauge into an electrical signal, and then converting the electrical signal into a digital signal, the magnitude of the caliper clamping force is obtained. However, in the process of using the clamping force sensor to obtain the caliper clamping force, the measurement accuracy of the clamping force sensor is affected by temperature and the service life of the clamping force sensor, resulting in inaccurate magnitude of the caliper clamping force obtained by the clamping force sensor, which in turn leads to low accuracy of caliper clamping force control. Summary of the Invention

[0003] This disclosure provides a clamping force control method, apparatus, electronic device, and storage medium.

[0004] According to a first aspect of this disclosure, a clamping force control method is provided, comprising:

[0005] In response to receiving a braking signal, the target caliper clamping force of the vehicle corresponding to the braking signal is found from the mapping relationship between the braking signal and the target caliper clamping force of the vehicle.

[0006] Obtain vehicle current status information, which includes vehicle longitudinal acceleration and vehicle lateral acceleration. The vehicle longitudinal acceleration includes the vehicle's current longitudinal acceleration and the longitudinal acceleration that will be superimposed on the vehicle. The vehicle lateral acceleration includes the vehicle's current lateral acceleration and the lateral acceleration that will be superimposed on the vehicle.

[0007] Based on the target caliper clamping force of the vehicle and the vehicle's longitudinal acceleration and lateral acceleration in the vehicle's current state information, the target caliper clamping force allocated to the target wheel is obtained;

[0008] Based on the clamping force of the target caliper on the target wheel, the motor current is obtained according to the mapping relationship between the clamping force of the target caliper and the motor current;

[0009] Obtain the motor-end output torque of the target wheel, and subtract the motor-end output torque of the target wheel from the torque corresponding to the motor-end resistance corresponding to the motor current to obtain the motor-end torque corresponding to the target caliper clamping force of the target wheel.

[0010] In some embodiments of this disclosure, obtaining the vehicle's current status information includes:

[0011] Acquire the vehicle's current caliper clamping force, vehicle mass, vehicle current yaw rate, vehicle target yaw rate, vehicle current speed, vehicle current longitudinal acceleration, and vehicle current lateral acceleration;

[0012] The difference between the target caliper clamping force and the current caliper clamping force of the vehicle is compared with the vehicle mass to obtain the vehicle's compensated longitudinal acceleration; and the difference between the target yaw rate and the current yaw rate of the vehicle is multiplied by the vehicle's current speed to obtain the vehicle's compensated lateral acceleration.

[0013] The vehicle's current longitudinal acceleration is summed with the vehicle's compensated longitudinal acceleration to obtain the overall vehicle longitudinal acceleration; and the vehicle's current lateral acceleration is summed with the vehicle's compensated lateral acceleration to obtain the overall vehicle lateral acceleration. In some embodiments of this disclosure, the target caliper clamping force allocated to the target wheel is obtained based on the target caliper clamping force of the vehicle and the overall vehicle longitudinal and lateral acceleration in the vehicle's current state information, including:

[0014] The lateral acceleration of the vehicle is integrated over time to obtain the lateral velocity of the vehicle.

[0015] Obtain the turning radius of the vehicle, and multiply the vehicle mass by the square of the lateral velocity of the vehicle to obtain the first product;

[0016] The lateral force of the vehicle is obtained by comparing the first product with the turning radius of the vehicle.

[0017] Obtain the load on the front axle and the load on the rear axle of the vehicle, and determine the lateral force on the front axle and the lateral force on the rear axle of the vehicle according to the ratio of the load on the front axle to the load on the rear axle of the vehicle.

[0018] The lateral acceleration of the front axle of the vehicle is obtained by comparing the total lateral force of the front axle of the vehicle with the mass of the vehicle; and the lateral acceleration of the rear axle of the vehicle is obtained by comparing the total lateral force of the rear axle of the vehicle with the mass of the vehicle.

[0019] Adjust the longitudinal acceleration of the vehicle, the lateral acceleration of the front axle and the lateral acceleration of the rear axle, and distribute the target caliper clamping force of the vehicle between the left wheel of the front axle, the right wheel of the front axle, the left wheel of the rear axle and the right wheel of the rear axle to obtain the target caliper clamping force distributed to the target wheel.

[0020] In some embodiments of this disclosure, the motor-end output torque of the target wheel is obtained, and the difference between the motor-end output torque of the target wheel and the torque corresponding to the motor-end resistance corresponding to the motor current is calculated to obtain the motor-end torque corresponding to the target caliper clamping force of the target wheel, including:

[0021] Obtain the motor-end output torque, motor-end moment of inertia, motor-end torque coefficient, motor-end frictional torque, and motor-end viscosity coefficient of the target wheel.

[0022] The motor angular acceleration of the target wheel is obtained by multiplying the motor current corresponding to the clamping force of the target caliper of the target wheel with the torque coefficient of the motor end and the moment of inertia of the motor end.

[0023] Multiply the moment of inertia at the motor end by the angular acceleration of the motor to obtain a second product; and multiply the viscosity coefficient at the motor end by the integral of the angular acceleration of the motor over time to obtain a third product;

[0024] The sum of the second product and the third product is added to the torque corresponding to the frictional force at the motor end to obtain the torque corresponding to the motor end resistance corresponding to the motor current.

[0025] The difference between the motor output torque of the target wheel and the torque corresponding to the motor resistance corresponding to the motor current is used to obtain the motor end torque corresponding to the target caliper clamping force of the target wheel.

[0026] In some embodiments of this disclosure, after obtaining the motor-end output torque of the target wheel, and subtracting the motor-end output torque of the target wheel from the torque corresponding to the motor-end resistance corresponding to the motor current to obtain the motor-end torque corresponding to the target caliper clamping force of the target wheel, the clamping force control method provided in this disclosure further includes:

[0027] When the first difference between the target deceleration corresponding to the clamping force of the target caliper on the target wheel and the current deceleration of the target wheel is not less than the closed-loop control state jump threshold, the closed-loop control is activated.

[0028] Obtain closed-loop control parameters, including proportional gain, integral gain, and derivative gain;

[0029] Obtain the integral of the first difference with respect to time over a preset time period and the derivative of the first difference with respect to time.

[0030] Multiplying the proportional gain by the first difference yields a fourth product; multiplying the integral gain by the integral of the first difference over time within a preset time period yields a fifth product; and multiplying the differential gain by the differential of the first difference over time yields a sixth product.

[0031] The sum of the fourth and fifth products is added to the sixth product to obtain the braking torque for closed-loop control.

[0032] In some embodiments of this disclosure, after obtaining the motor-end output torque of the target wheel, and subtracting the motor-end output torque of the target wheel from the torque corresponding to the motor-end resistance corresponding to the motor current to obtain the motor-end torque corresponding to the target caliper clamping force of the target wheel, the clamping force control method provided in this disclosure further includes:

[0033] Get vehicle status;

[0034] Determine whether the vehicle status is stationary, parked, or whether the vehicle stability function is activated.

[0035] If the judgment result is yes, then the closed-loop control is not activated;

[0036] If the judgment result is negative, then obtain the target deceleration corresponding to the target caliper clamping force of the target wheel and the current deceleration of the target wheel.

[0037] According to a second aspect of this disclosure, a clamping force control device is provided, comprising:

[0038] The first lookup unit is configured to, in response to receiving a braking signal, look up the target caliper clamping force of the vehicle corresponding to the braking signal from the mapping relationship between the braking signal and the target caliper clamping force of the vehicle.

[0039] The first acquisition unit is used to acquire the current state information of the vehicle. The current state information of the vehicle includes the longitudinal acceleration of the whole vehicle and the lateral acceleration of the whole vehicle. The longitudinal acceleration of the whole vehicle includes the current longitudinal acceleration of the vehicle and the longitudinal acceleration that will be superimposed on the vehicle. The lateral acceleration of the whole vehicle includes the current lateral acceleration of the vehicle and the lateral acceleration that will be superimposed on the vehicle.

[0040] The second acquisition unit is used to acquire the target caliper clamping force allocated to the target wheel based on the target caliper clamping force of the vehicle and the vehicle longitudinal acceleration and vehicle lateral acceleration in the vehicle's current state information.

[0041] The second search unit is used to obtain the motor current based on the target caliper clamping force of the target wheel and the mapping relationship between the target caliper clamping force and the motor current.

[0042] The third acquisition unit is used to acquire the motor end output torque of the target wheel, and to obtain the motor end torque corresponding to the target caliper clamping force of the target wheel by subtracting the motor end output torque of the target wheel from the motor end resistance corresponding to the motor current.

[0043] According to a third aspect of this disclosure, an electronic device is provided, comprising:

[0044] At least one processor; and

[0045] A memory that is communicatively connected to at least one processor; wherein,

[0046] The memory stores instructions that can be executed by at least one processor, such that the at least one processor is able to perform the method described in the first aspect above.

[0047] According to a fourth aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions, wherein the computer instructions are used to cause a computer to perform the method of the first aspect described above.

[0048] According to a fourth aspect of this disclosure, a vehicle is provided, including at least one of the clamping force control device of the second aspect, the electronic device of the third aspect, or the storage medium of the fourth aspect.

[0049] This disclosure provides a clamping force control method, apparatus, electronic device, and storage medium. The clamping force control method includes: in response to receiving a braking signal, searching for the target caliper clamping force of the vehicle corresponding to the braking signal from the mapping relationship between the braking signal and the target caliper clamping force of the vehicle; acquiring the current state information of the vehicle, which includes the longitudinal acceleration and lateral acceleration of the vehicle, the longitudinal acceleration including the current longitudinal acceleration of the vehicle and the longitudinal acceleration to be superimposed on the vehicle, and the lateral acceleration including the current lateral acceleration of the vehicle and the lateral acceleration to be superimposed on the vehicle; acquiring the target caliper clamping force allocated to the target wheel based on the target caliper clamping force of the vehicle and the longitudinal acceleration and lateral acceleration of the vehicle in the current state information of the vehicle; obtaining the motor current based on the target caliper clamping force of the target wheel according to the mapping relationship between the target caliper clamping force and the motor current; acquiring the motor end output torque of the target wheel, and subtracting the motor end output torque of the target wheel from the torque corresponding to the motor end resistance corresponding to the motor current to obtain the motor end torque corresponding to the target caliper clamping force of the target wheel.

[0050] According to the scheme disclosed herein, in response to receiving a braking signal, the target caliper clamping force corresponding to the braking signal is found from the mapping relationship between the braking signal and the target caliper clamping force of the vehicle, thereby realizing the conversion between the braking signal and the target caliper clamping force of the vehicle, eliminating the dependence on the clamping force sensor which is susceptible to temperature and service life. By acquiring the vehicle's current state information, including the vehicle's longitudinal acceleration and lateral acceleration, the target caliper clamping force allocated to the target wheel is obtained based on the vehicle's target caliper clamping force and the vehicle's longitudinal acceleration and lateral acceleration in the vehicle's current state information. Based on the target caliper clamping force of the target wheel, the corresponding motor current is found from the mapping relationship between the target caliper clamping force and the motor current; the output torque of the motor end of the target wheel is obtained; the difference between the output torque of the motor end of the target wheel and the torque corresponding to the motor end resistance corresponding to the motor current is obtained to get the motor end torque corresponding to the target caliper clamping force of the target wheel. By obtaining the motor end torque corresponding to the target caliper clamping force based on the more accurate motor current corresponding to the target caliper clamping force, the accuracy of caliper clamping force control can be improved.

[0051] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0052] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0053] Figure 1 This is a schematic flowchart of the clamping force control method provided in the embodiments of this disclosure;

[0054] Figure 2 This is a flowchart illustrating the method for obtaining current vehicle status information provided in an embodiment of this disclosure;

[0055] Figure 3 This is a schematic diagram of a method for obtaining the clamping force of a target caliper assigned to a target wheel, provided in an embodiment of this disclosure.

[0056] Figure 4 This is a flowchart illustrating the method for determining the motor-end torque corresponding to the target caliper clamping force of the target wheel according to an embodiment of this disclosure.

[0057] Figure 5 A schematic flowchart illustrating the method for closed-loop control of braking torque provided in an embodiment of this disclosure;

[0058] Figure 6 A flowchart illustrating the clamping force control method provided as an application example of this disclosure;

[0059] Figure 7 This is a schematic diagram of the clamping force control device provided in the embodiments of this disclosure;

[0060] Figure 8 A schematic block diagram of an example electronic device provided for embodiments of this disclosure. Detailed Implementation

[0061] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0062] The present disclosure provides a clamping force control method that can be applied to vehicles equipped with an Electromechanical Brake (EMB) system. The method can be executed by the EMB in the vehicle.

[0063] like Figure 1 As shown, the clamping force control method provided in this embodiment includes the following steps:

[0064] Step 101: In response to receiving a braking signal, find the target caliper clamping force of the vehicle corresponding to the braking signal from the mapping relationship between the braking signal and the target caliper clamping force of the vehicle.

[0065] In one embodiment, the braking signal may be either brake pedal displacement or brake pedal force, and this is not limited in this disclosure.

[0066] In one embodiment, the brake pedal displacement can be obtained using a displacement sensor.

[0067] In one embodiment, the brake pedal force can be obtained through a pressure sensor.

[0068] In one embodiment, the target caliper clamping force of the vehicle corresponding to the braking signal can be found from a mapping table between the braking signal and the target caliper clamping force of the vehicle.

[0069] In one embodiment, the target caliper clamping force of the vehicle corresponding to the braking signal can also be found from the mapping curve between the braking signal and the target caliper clamping force of the vehicle.

[0070] In one embodiment, the target caliper clamping force of the vehicle corresponding to the braking signal can also be found from the mapping relationship array between the braking signal and the target caliper clamping force of the vehicle.

[0071] Step 102: Obtain the current vehicle status information;

[0072] In one embodiment, the vehicle's current state information includes the vehicle's longitudinal acceleration and lateral acceleration.

[0073] In one embodiment, the vehicle longitudinal acceleration is used to indicate acceleration in the vehicle's direction of travel.

[0074] In one embodiment, the vehicle longitudinal acceleration includes the vehicle’s current longitudinal acceleration and the longitudinal acceleration that will be superimposed on the vehicle.

[0075] In one embodiment, the longitudinal acceleration to be superimposed on the vehicle can be obtained by comparing the target caliper clamping force with the current caliper clamping force.

[0076] In one embodiment, the vehicle lateral acceleration includes the vehicle's current lateral acceleration and the lateral acceleration that will be superimposed on the vehicle.

[0077] In one embodiment, the vehicle’s current longitudinal acceleration and current lateral acceleration can be obtained by an inertial measurement unit (IMU).

[0078] In one embodiment, the lateral acceleration to be superimposed on the vehicle can be obtained by comparing the target yaw rate of the vehicle with the current yaw rate of the vehicle.

[0079] Step 103: Based on the target caliper clamping force of the vehicle and the longitudinal acceleration and lateral acceleration of the vehicle in the current state information of the vehicle, obtain the target caliper clamping force allocated to the target wheel;

[0080] In one embodiment, the clamping force of the target caliper on the vehicle is equal to the sum of the clamping forces of the target calipers on all wheels.

[0081] In one embodiment, based on the target caliper clamping force of the vehicle and the longitudinal acceleration of the vehicle in the current state information of the vehicle, the longitudinal acceleration of the front axle and the longitudinal acceleration of the rear axle of the vehicle are determined, and then the target caliper clamping force allocated to the front axle and the target caliper clamping force of the rear axle of the vehicle are obtained.

[0082] In one embodiment, the target caliper clamping force allocated to the target wheel is obtained based on the target caliper clamping force of the vehicle and the vehicle's lateral acceleration in the vehicle's current state information.

[0083] Step 104: Based on the target caliper clamping force of the target wheel, obtain the motor current according to the mapping relationship between the target caliper clamping force and the motor current;

[0084] In one embodiment, the motor current corresponding to the target caliper clamping force of the target wheel refers to the motor current required to obtain the target caliper clamping force of the target wheel.

[0085] In one embodiment, based on the target caliper clamping force of the target wheel, the motor current corresponding to the target caliper clamping force of the target wheel can be found from the mapping table between the target caliper clamping force and the motor current.

[0086] In one embodiment, based on the target caliper clamping force of the target wheel, the motor current corresponding to the target caliper clamping force of the target wheel can also be found from the mapping relationship curve between the target caliper clamping force and the motor current.

[0087] In one embodiment, based on the target caliper clamping force of the target wheel, the motor current corresponding to the target caliper clamping force of the target wheel can also be found from the mapping relationship array between the target caliper clamping force and the motor current.

[0088] Step 105: Obtain the motor end output torque of the target wheel, and subtract the motor end output torque of the target wheel from the torque corresponding to the motor end resistance corresponding to the motor current to obtain the motor end torque corresponding to the target caliper clamping force of the target wheel.

[0089] In one embodiment, the output torque of the motor end of the target wheel can be obtained by the motor power and motor speed of the target wheel.

[0090] In one embodiment, the torque corresponding to the motor end resistance includes the torque corresponding to the motor friction force, the torque corresponding to the viscous resistance between the non-rigid connection parts of the motor, and the torque corresponding to the rotational inertia required by the rotating parts of the motor.

[0091] In one embodiment, the rotating components of the motor include at least a motor rotor, a ball screw, and a main reduction gear.

[0092] In one embodiment, the motor end torque corresponding to the target caliper clamping force of the target wheel is obtained by subtracting the output torque of the motor end of the target wheel from the torque corresponding to the motor end resistance corresponding to the motor current. The motor end torque corresponding to the target caliper clamping force can be obtained from the motor current, eliminating the dependence on the clamping force sensor which is susceptible to temperature and service life.

[0093] The clamping force control method provided in this disclosure includes: in response to receiving a braking signal, searching for the target caliper clamping force of the vehicle corresponding to the braking signal from a mapping relationship between the braking signal and the target caliper clamping force of the vehicle; acquiring current vehicle state information, the current vehicle state information including the vehicle's longitudinal acceleration and lateral acceleration, the vehicle's longitudinal acceleration including the vehicle's current longitudinal acceleration and the longitudinal acceleration to be superimposed on the vehicle, the vehicle's lateral acceleration including the vehicle's current lateral acceleration and the lateral acceleration to be superimposed on the vehicle; acquiring the target caliper clamping force allocated to the target wheel based on the vehicle's target caliper clamping force and the vehicle's longitudinal acceleration and lateral acceleration in the vehicle's current state information; obtaining the motor current based on the target caliper clamping force of the target wheel according to the mapping relationship between the target caliper clamping force and the motor current; acquiring the motor end output torque of the target wheel, and subtracting the motor end output torque of the target wheel from the torque corresponding to the motor end resistance corresponding to the motor current to obtain the motor end torque corresponding to the target caliper clamping force of the target wheel.

[0094] According to the scheme disclosed herein, in response to receiving a braking signal, the target caliper clamping force corresponding to the braking signal is found from the mapping relationship between the braking signal and the target caliper clamping force of the vehicle, thereby realizing the conversion between the braking signal and the target caliper clamping force of the vehicle, eliminating the dependence on the clamping force sensor which is susceptible to temperature and service life. By acquiring the vehicle's current state information, including the vehicle's longitudinal acceleration and lateral acceleration, the target caliper clamping force allocated to the target wheel is obtained based on the vehicle's target caliper clamping force and the vehicle's longitudinal acceleration and lateral acceleration in the vehicle's current state information. Based on the target caliper clamping force of the target wheel, the corresponding motor current is found from the mapping relationship between the target caliper clamping force and the motor current. The output torque of the motor at the target wheel is obtained, and the difference between this output torque and the torque corresponding to the motor resistance of the motor current is calculated to obtain the motor torque corresponding to the target caliper clamping force. By using a more accurate motor current corresponding to the target caliper clamping force to obtain the motor torque, the accuracy of caliper clamping force control is improved.

[0095] In one embodiment, such as Figure 2 As shown, the current vehicle status information is obtained, including:

[0096] Step 201: Obtain the vehicle's current caliper clamping force, vehicle mass, vehicle's current yaw rate, vehicle's target yaw rate, vehicle's current speed, vehicle's current longitudinal acceleration, and vehicle's current lateral acceleration;

[0097] In one embodiment, the current caliper clamping force of the vehicle can be obtained through a pressure sensor at the caliper end.

[0098] In one embodiment, the current yaw rate of the vehicle refers to the angular velocity of the yaw angle already exhibited in the vehicle.

[0099] In one embodiment, the vehicle’s current yaw rate is obtained by a yaw rate sensor.

[0100] In one embodiment, the vehicle target yaw rate refers to the yaw rate that the vehicle will achieve under the action of the vehicle target caliper clamping force.

[0101] In one embodiment, the target yaw rate of the vehicle can be obtained by an angle sensor on the vehicle steering wheel.

[0102] In one embodiment, wheel speed is obtained by a wheel speed sensor, and the current vehicle speed is obtained by determining the wheel speed, wheel diameter, and wheel transmission ratio.

[0103] In one embodiment, the vehicle’s current longitudinal acceleration and current lateral acceleration can be obtained via an IMU.

[0104] Step 202: Compare the difference between the target caliper clamping force and the current caliper clamping force of the vehicle with the vehicle mass to obtain the vehicle's compensated longitudinal acceleration; and multiply the difference between the target yaw rate and the current yaw rate of the vehicle with the vehicle's current speed to obtain the vehicle's compensated lateral acceleration.

[0105] In one embodiment, vehicle compensated longitudinal acceleration refers to the longitudinal acceleration that needs to be applied in addition to the vehicle's current caliper clamping force in order to achieve the vehicle's target caliper clamping force.

[0106] In one embodiment, vehicle compensated lateral acceleration refers to the lateral acceleration that needs to be applied on top of the vehicle's current yaw rate in order to achieve the vehicle's target yaw rate.

[0107] Step 203: Summing the current longitudinal acceleration of the vehicle with the compensated longitudinal acceleration of the vehicle to obtain the overall longitudinal acceleration of the vehicle; and summing the current lateral acceleration of the vehicle with the compensated lateral acceleration of the vehicle to obtain the overall lateral acceleration of the vehicle.

[0108] In one embodiment, the longitudinal acceleration of the vehicle is obtained by summing the current longitudinal acceleration of the vehicle with the compensated longitudinal acceleration of the vehicle; and the lateral acceleration of the vehicle is obtained by summing the current lateral acceleration of the vehicle with the compensated lateral acceleration of the vehicle. This can be determined as the longitudinal and lateral acceleration required to achieve the target caliper clamping force and the target yaw rate of the vehicle, thus compensating for the acceleration lag problem measured by the inertial measurement unit.

[0109] In one embodiment, such as Figure 3 As shown, step 103 includes:

[0110] Step 301: Integrate the lateral acceleration of the vehicle over time to obtain the lateral velocity of the vehicle;

[0111] In one embodiment, the vehicle lateral velocity refers to the vehicle's velocity in a direction perpendicular to the vehicle's direction of travel under the clamping force of the vehicle's target caliper.

[0112] Step 302: Obtain the turning radius of the vehicle, and multiply the vehicle mass by the square of the lateral velocity of the vehicle to obtain the first product;

[0113] In one embodiment, the turning radius of a vehicle refers to the distance between the vehicle's center of mass and the vehicle's turning center.

[0114] Step 303: The first product is compared with the turning radius of the vehicle to obtain the lateral force of the whole vehicle;

[0115] In one embodiment, the vehicle lateral force is used to indicate the force on the vehicle in a direction perpendicular to the vehicle's direction of travel under the clamping force of the vehicle target caliper.

[0116] Step 304: Obtain the load on the front axle and the load on the rear axle of the vehicle, and determine the lateral force on the front axle and the lateral force on the rear axle of the vehicle according to the ratio of the load on the front axle to the load on the rear axle of the vehicle.

[0117] In one embodiment, the load on the front axle and the load on the rear axle can be obtained based on information such as the total mass of the vehicle and the position of the vehicle's center of gravity.

[0118] In one embodiment, when the load on the front axle and the load on the rear axle of the vehicle change, the lateral force on the front axle and the lateral force on the rear axle of the vehicle also change with the change in the load on the front axle and the load on the rear axle of the vehicle. For example, if the load on the front axle of the vehicle increases and the load on the rear axle of the vehicle decreases, the lateral force on the front axle of the vehicle also increases and the lateral force on the rear axle of the vehicle decreases.

[0119] Step 305: Compare the lateral force of the front axle of the vehicle with the mass of the vehicle to obtain the lateral acceleration of the front axle; and compare the lateral force of the rear axle of the vehicle with the mass of the vehicle to obtain the lateral acceleration of the rear axle.

[0120] In one embodiment, the lateral acceleration of the front axle represents the acceleration effect of the front axle during vehicle braking under the action of the vehicle's lateral force on the front axle, and the lateral acceleration of the rear axle represents the acceleration effect of the rear axle during vehicle braking under the action of the vehicle's lateral force on the rear axle.

[0121] Step 306: Adjust the longitudinal acceleration of the vehicle, the lateral acceleration of the front axle and the lateral acceleration of the rear axle, and distribute the target caliper clamping force of the vehicle to the left wheel between the front axles, the right wheel between the front axles, the left wheel between the rear axles and the right wheel between the rear axles, to obtain the target caliper clamping force distributed to the target wheels.

[0122] In one embodiment, before adjusting the longitudinal acceleration of the vehicle, the lateral acceleration of the front axle and the lateral acceleration of the rear axle, it is necessary to obtain the front axle slip ratio, the rear axle slip ratio, the vehicle steering and the vehicle steering state.

[0123] In one embodiment, the front axle slip ratio of a vehicle can be obtained by averaging the slip ratios of the left wheel and the right wheel between the front axles, and the rear axle slip ratio can be obtained by averaging the slip ratios of the left wheel and the right wheel between the rear axles.

[0124] In one embodiment, the vehicle's steering can be determined by the sign of the vehicle's lateral acceleration value. For example, a positive lateral acceleration value indicates that the vehicle is turning left, while a negative lateral acceleration value indicates that the vehicle is turning right.

[0125] In one embodiment, vehicle steering states include understeer and oversteer.

[0126] In one embodiment, understeering can be determined when the current yaw of the vehicle is in the same direction as the target yaw of the vehicle, the target yaw of the vehicle is greater than the vehicle yaw threshold, the current yaw of the vehicle is less than the target yaw of the vehicle, and the lateral acceleration of the whole vehicle is greater than the lateral acceleration threshold.

[0127] In one embodiment, oversteering can be determined when the current yaw of the vehicle is in the same direction as the target yaw of the vehicle, the target yaw of the vehicle is greater than the vehicle yaw threshold, the current yaw of the vehicle is greater than the target yaw of the vehicle, and the lateral acceleration of the whole vehicle is greater than the lateral acceleration threshold.

[0128] In one embodiment, if the slip ratio of the front axle of the vehicle is higher than that of the rear axle of the vehicle, the longitudinal acceleration of the whole vehicle is reduced, and the target caliper clamping force of the vehicle is distributed on the front axle and the rear axle of the vehicle to obtain the target caliper clamping force distributed on the front axle and the target caliper clamping force distributed on the rear axle of the vehicle.

[0129] In one embodiment, if the slip ratio of the front axle of the vehicle is lower than that of the rear axle of the vehicle, the longitudinal acceleration of the whole vehicle is increased, and the target caliper clamping force of the vehicle is distributed on the front axle and the rear axle of the vehicle to obtain the target caliper clamping force distributed on the front axle and the target caliper clamping force distributed on the rear axle of the vehicle.

[0130] In one embodiment, if the vehicle oversteers to the left, the lateral acceleration of the front axle of the vehicle is increased, the target caliper clamping force of the right wheel between the front axles of the vehicle is increased, and the target caliper clamping force of the left wheel between the front axles of the vehicle is decreased, so as to obtain the target caliper clamping force distributed to the left wheel between the front axles of the vehicle and the target caliper clamping force of the right wheel between the front axles of the vehicle.

[0131] In one embodiment, if the vehicle oversteers to the right, the lateral acceleration of the front axle of the vehicle is reduced, the target caliper clamping force of the right wheel between the front axles of the vehicle is reduced, and the target caliper clamping force of the left wheel between the front axles of the vehicle is increased, so as to obtain the target caliper clamping force distributed to the left wheel between the front axles of the vehicle and the target caliper clamping force of the right wheel between the front axles of the vehicle.

[0132] In one embodiment, if the vehicle understeers when turning left, the lateral acceleration of the rear axle of the vehicle is reduced, the clamping force of the target caliper on the left wheel between the rear axles is reduced, and the clamping force of the target caliper on the right wheel between the rear axles is increased, so as to obtain the clamping force of the target caliper on the left wheel between the rear axles and the clamping force of the target caliper on the right wheel between the rear axles of the vehicle.

[0133] In one embodiment, if the vehicle understeers when turning right, the lateral acceleration of the rear axle of the vehicle is increased, the clamping force of the target caliper on the left wheel between the rear axles is increased, and the clamping force of the target caliper on the right wheel between the rear axles is decreased, so as to obtain the clamping force of the target caliper on the left wheel between the rear axles and the clamping force of the target caliper on the right wheel between the rear axles of the vehicle.

[0134] In one embodiment, by combining the target caliper clamping force of the vehicle, the longitudinal acceleration of the vehicle, the lateral acceleration of the front axle of the vehicle, the lateral acceleration of the rear axle of the vehicle, the vehicle steering, and the vehicle steering state, the increase or decrease demand of the target caliper clamping force for each wheel of the vehicle can be analyzed, thereby determining the target caliper clamping force allocated to each wheel.

[0135] In one embodiment, such as Figure 4 As shown, step 104 includes:

[0136] Step 401: Obtain the motor-end output torque, motor-end moment of inertia, motor-end torque coefficient, motor-end frictional torque, and motor-end viscosity coefficient of the target wheel.

[0137] In one embodiment, the moment of inertia at the motor end includes at least the moment of inertia of the motor rotor, the moment of inertia of the ball screw, and the moment of inertia of the main reduction gear.

[0138] In one embodiment, the moment of inertia at the motor end, the torque corresponding to the frictional force at the motor end, and the viscosity coefficient at the motor end can be calibrated using offline parameters.

[0139] Specifically,

[0140] In one embodiment, the frequency response between the output torque of the motor end and the motor angle of the target wheel can be obtained by open-loop frequency sweep. By adjusting the moment of inertia of the motor end, the torque corresponding to the friction force of the motor end, and the viscosity coefficient of the motor end, the frequency response obtained by open-loop frequency sweep is made consistent with the frequency response in the transfer function of the output torque of the motor end and the motor angle of the target wheel, and the adjusted moment of inertia of the motor end, the torque corresponding to the friction force of the motor end, and the viscosity coefficient of the motor end are obtained.

[0141] In one embodiment, the motor end torque coefficient refers to the conversion coefficient between motor current and motor torque.

[0142] Step 402: The motor angular acceleration of the target wheel is obtained by comparing the product of the motor current corresponding to the clamping force of the target caliper of the target wheel and the torque coefficient of the motor end with the moment of inertia of the motor end.

[0143] In one embodiment, the motor angular acceleration of the target wheel refers to the rate of change of the angle rotated by the motor shaft per unit time.

[0144] Step 403: Multiply the moment of inertia at the motor end by the angular acceleration of the motor to obtain a second product; and multiply the viscosity coefficient at the motor end by the integral of the angular acceleration of the motor over time to obtain a third product;

[0145] In one embodiment, the second product is used to indicate the torque corresponding to the moment of inertia of the rotating component at the motor end.

[0146] In one embodiment, the integral of the motor angular acceleration over time is used to indicate the motor angular velocity.

[0147] In one embodiment, the third product is used to indicate the torque corresponding to the motor end viscosity coefficient.

[0148] Step 404: Sum the sum of the second product and the third product with the torque corresponding to the frictional force at the motor end to obtain the torque corresponding to the motor end resistance corresponding to the motor current;

[0149] Step 405: Subtract the output torque of the motor end of the target wheel from the torque corresponding to the motor end resistance corresponding to the motor current to obtain the motor end torque corresponding to the clamping force of the target caliper of the target wheel.

[0150] In one embodiment, by obtaining the difference between the motor end output torque of the target wheel and the motor end resistance corresponding to the motor current, the motor end torque corresponding to the target caliper clamping force of the target wheel can be obtained. The relationship between the motor current and the motor end torque corresponding to the target caliper clamping force can be obtained. That is, in subsequent use, the motor current can be directly controlled to obtain the motor end torque corresponding to the target caliper clamping force.

[0151] In one embodiment, the motor end torque corresponding to the target caliper clamping force of the target wheel obtained in step 405 is the theoretically obtained value. However, there may be other torques corresponding to resistance at the motor end, which causes the motor end torque corresponding to the target caliper clamping force of the target wheel obtained in the aforementioned theoretical manner to not meet the accuracy of clamping force control.

[0152] In one embodiment, such as Figure 5 As shown, after step 104, the clamping force control method further includes:

[0153] Step 501: In response to the first difference between the target deceleration corresponding to the target caliper clamping force of the target wheel and the current deceleration of the target wheel being not less than the closed-loop control state jump threshold, the closed-loop control is activated.

[0154] In one embodiment, the target deceleration corresponding to the target caliper clamping force of the target wheel can be obtained by comparing the target caliper clamping force of the target wheel with the vehicle mass.

[0155] In one embodiment, the current deceleration of the target wheel can be obtained using a wheel speed sensor.

[0156] In one embodiment, the closed-loop control state transition threshold refers to the critical value at which closed-loop control can be activated.

[0157] Step 502: Obtain closed-loop control parameters;

[0158] In one embodiment, the closed-loop control parameters include proportional gain, integral gain, and derivative gain.

[0159] Step 503: Obtain the integral of the first difference with respect to time over a preset time period and the derivative of the first difference with respect to time.

[0160] In one embodiment, the preset time refers to the time between time zero and the current time.

[0161] In one embodiment, the derivative of the first difference with respect to time represents the rate of change of the error between the target deceleration and the current deceleration of the target wheel.

[0162] Step 504: Multiply the proportional gain by the first difference to obtain a fourth product; multiply the integral gain by the integral of the first difference over time within a preset time period to obtain a fifth product; and multiply the differential gain by the differential of the first difference over time period to obtain a sixth product.

[0163] Step 505: Sum the fourth product and the fifth product with the sixth product to obtain the braking torque for closed-loop control.

[0164] In one embodiment, by applying a closed-loop controlled braking torque based on the motor end torque corresponding to the target caliper clamping force of the target wheel obtained from the motor current, the actual torque of the target wheel can be obtained, which can reduce the deviation between the actual torque of the target wheel and the motor end torque corresponding to the target caliper clamping force of the allocated target wheel.

[0165] In one embodiment, after step 104, the clamping force control method further includes:

[0166] Get vehicle status;

[0167] In one embodiment, the vehicle state includes a driving state, a stationary state, a parking state, a parking state, a stability function activated state, and a stability function deactivated state.

[0168] In one embodiment, it can be determined whether the vehicle is stationary or moving based on whether the vehicle speed is zero.

[0169] In one embodiment, the vehicle's stability function activation or deactivation is determined by checking whether the Anti-lock Braking System (ABS), Traction Control System (TCS), and Vehicle Dynamic Control (VDC) are activated.

[0170] In one embodiment, the vehicle's parking status is determined by whether the Electronic Parking Brake (EPB) system is activated.

[0171] Determine whether the vehicle status is stationary, parked, or whether the vehicle stability function is activated.

[0172] If the judgment result is yes, then the closed-loop control is not activated;

[0173] If the judgment result is negative, then obtain the target deceleration corresponding to the target caliper clamping force of the target wheel and the current deceleration of the target wheel.

[0174] In one embodiment, by determining whether the vehicle is stationary, parked, or whether the vehicle's stability function is activated, it can be determined whether closed-loop control needs to be activated, thus protecting the closed-loop control system. For example, if the first difference between the target deceleration corresponding to the target caliper clamping force of the target wheel and the current deceleration of the target wheel is not less than the closed-loop control state jump threshold, but the vehicle is stationary, closed-loop control does not need to be activated.

[0175] In one embodiment, if the vehicle is in a driving state, or in a parking state where the vehicle is not in a parking state, or if the vehicle's stability function is not activated, then it is necessary to obtain the target deceleration corresponding to the target caliper clamping force of the target wheel and the current deceleration of the target wheel. Then, it is necessary to determine whether to activate the closed-loop control based on whether the first difference between the target deceleration corresponding to the target caliper clamping force of the target wheel and the current deceleration of the target wheel reaches the closed-loop control state jump threshold.

[0176] According to the scheme disclosed herein:

[0177] First, in response to a received braking signal, the system finds the corresponding target caliper clamping force from the mapping relationship between the braking signal and the vehicle's target caliper clamping force, thus converting the braking signal into the vehicle's target caliper clamping force. This eliminates the dependence on clamping force sensors that are susceptible to temperature and lifespan variations. Then, by acquiring the vehicle's current state information, including longitudinal and lateral acceleration, the system obtains the target caliper clamping force allocated to the target wheel based on the vehicle's target caliper clamping force and the longitudinal and lateral accelerations from the current state information. Based on the target caliper clamping force of the target wheel, the corresponding motor current is found from the mapping relationship between the target caliper clamping force and the motor current; the output torque of the motor end of the target wheel is obtained; the difference between the output torque of the motor end of the target wheel and the torque corresponding to the motor end resistance corresponding to the motor current is obtained to get the motor end torque corresponding to the target caliper clamping force of the target wheel. By obtaining the motor end torque corresponding to the target caliper clamping force based on the more accurate motor current corresponding to the target caliper clamping force, the accuracy of caliper clamping force control can be improved.

[0178] Secondly, by obtaining the difference between the motor output torque of the target wheel and the torque corresponding to the motor resistance of the motor current, the motor end torque corresponding to the clamping force of the target caliper of the target wheel can be obtained. The relationship between the motor current and the motor end torque corresponding to the clamping force of the target caliper can be obtained. That is, in subsequent use, the motor current can be directly controlled to obtain the motor end torque corresponding to the clamping force of the target caliper.

[0179] Furthermore, by applying a closed-loop controlled braking torque based on the motor end torque corresponding to the target caliper clamping force of the target wheel obtained from the motor current, the actual torque of the target wheel can be obtained, which can reduce the deviation between the actual torque of the target wheel and the motor end torque corresponding to the target caliper clamping force of the allocated target wheel.

[0180] The clamping force control method provided in this disclosure will be further explained below with specific application examples.

[0181] Figure 6 A flowchart illustrating a clamping force control method provided as an application example of this disclosure is shown below. Figure 6 As shown, the clamping force control method provided in this application example includes the following steps:

[0182] Step 601: In response to receiving a braking signal, find the target caliper clamping force of the vehicle corresponding to the braking signal from the mapping relationship between the braking signal and the target caliper clamping force of the vehicle.

[0183] Step 602: Obtain the vehicle's current caliper clamping force, vehicle mass, vehicle's current yaw rate, vehicle's target yaw rate, vehicle's current speed, vehicle's current longitudinal acceleration, and vehicle's current lateral acceleration;

[0184] Step 603: Compare the difference between the target caliper clamping force and the current caliper clamping force of the vehicle with the vehicle mass to obtain the vehicle's compensated longitudinal acceleration; and multiply the difference between the target yaw rate and the current yaw rate of the vehicle with the vehicle's current speed to obtain the vehicle's compensated lateral acceleration.

[0185] Step 604: Summing the current longitudinal acceleration of the vehicle with the compensated longitudinal acceleration of the vehicle to obtain the overall longitudinal acceleration of the vehicle; and summing the current lateral acceleration of the vehicle with the compensated lateral acceleration of the vehicle to obtain the overall lateral acceleration of the vehicle.

[0186] Step 605: Integrate the lateral acceleration of the vehicle over time to obtain the lateral velocity of the vehicle;

[0187] Step 606: Obtain the turning radius of the vehicle, and multiply the vehicle mass by the square of the lateral velocity of the vehicle to obtain the first product;

[0188] Step 607: Ratio the first product to the turning radius of the vehicle to obtain the lateral force of the entire vehicle;

[0189] Step 608: Obtain the load on the front axle and the load on the rear axle of the vehicle, and determine the lateral force on the front axle and the lateral force on the rear axle of the vehicle according to the ratio of the load on the front axle to the load on the rear axle.

[0190] Step 609: Compare the lateral force of the front axle of the vehicle with the mass of the vehicle to obtain the lateral acceleration of the front axle; and compare the lateral force of the rear axle of the vehicle with the mass of the vehicle to obtain the lateral acceleration of the rear axle.

[0191] Step 610: Adjust the longitudinal acceleration of the whole vehicle, the lateral acceleration of the front axle of the vehicle and the lateral acceleration of the rear axle of the vehicle, and distribute the target caliper clamping force of the vehicle to the left wheel between the front axles, the right wheel between the front axles, the left wheel between the rear axles and the right wheel between the rear axles, to obtain the target caliper clamping force distributed to the target wheels.

[0192] Step 611: Based on the target caliper clamping force of the target wheel, obtain the motor current according to the mapping relationship between the target caliper clamping force and the motor current;

[0193] Step 612: Obtain the motor end output torque of the target wheel, and subtract the motor end output torque of the target wheel from the motor end resistance corresponding to the motor current to obtain the motor end torque corresponding to the target caliper clamping force of the target wheel.

[0194] Step 613: In response to the first difference between the target deceleration corresponding to the target caliper clamping force of the target wheel and the current deceleration of the target wheel being not less than the closed-loop control state jump threshold, the closed-loop control is activated.

[0195] Step 614: Obtain closed-loop control parameters, including proportional gain, integral gain, and derivative gain;

[0196] Step 615: Obtain the integral of the first difference with respect to time over a preset time period and the derivative of the first difference with respect to time.

[0197] Step 616: Multiply the proportional gain by the first difference to obtain a fourth product; multiply the integral gain by the integral of the first difference over time within a preset time period to obtain a fifth product; and multiply the differential gain by the differential of the first difference over time period to obtain a sixth product.

[0198] Step 617: Sum the fourth product and the fifth product with the sixth product to obtain the braking torque for closed-loop control.

[0199] In one embodiment, after obtaining the motor end torque corresponding to the target caliper clamping force of the target wheel by subtracting the motor end output torque of the target wheel from the motor end resistance corresponding to the motor current, the clamping force control method further includes:

[0200] Get vehicle status;

[0201] Determine whether the vehicle status is stationary, parked, or whether the vehicle stability function is activated.

[0202] If the judgment result is yes, then the closed-loop control is not activated;

[0203] If the judgment result is negative, then obtain the target deceleration corresponding to the target caliper clamping force of the target wheel and the current deceleration of the target wheel.

[0204] Corresponding to the clamping force control method described above, this invention also proposes a clamping force control detection device. Since the device embodiments of this invention correspond to the method embodiments described above, details not disclosed in the device embodiments can be referred to in the method embodiments described above, and will not be repeated here.

[0205] Figure 7 This is a schematic diagram of the structure of a clamping force control device provided in an embodiment of the present disclosure, as shown below. Figure 7 As shown, the clamping force control device 700 includes:

[0206] The first lookup unit 701 is used to, in response to receiving a braking signal, look up the target caliper clamping force of the vehicle corresponding to the braking signal from the mapping relationship between the braking signal and the target caliper clamping force of the vehicle.

[0207] The first acquisition unit 702 is used to acquire the current state information of the vehicle. The current state information of the vehicle includes the longitudinal acceleration of the whole vehicle and the lateral acceleration of the whole vehicle. The longitudinal acceleration of the whole vehicle includes the current longitudinal acceleration of the vehicle and the longitudinal acceleration that will be superimposed on the vehicle. The lateral acceleration of the whole vehicle includes the current lateral acceleration of the vehicle and the lateral acceleration that will be superimposed on the vehicle.

[0208] The second acquisition unit 703 is used to acquire the target caliper clamping force allocated to the target wheel based on the target caliper clamping force of the vehicle and the longitudinal acceleration and lateral acceleration of the vehicle in the current state information of the vehicle.

[0209] The second search unit 704 is used to obtain the motor current based on the target caliper clamping force of the target wheel and the mapping relationship between the target caliper clamping force and the motor current.

[0210] The third acquisition unit 705 is used to acquire the motor end output torque of the target wheel, and to obtain the motor end torque corresponding to the target caliper clamping force of the target wheel by subtracting the motor end output torque of the target wheel from the motor end resistance corresponding to the motor current.

[0211] In one embodiment, the first acquisition unit 702 is specifically used for:

[0212] Acquire the vehicle's current caliper clamping force, vehicle mass, vehicle current yaw rate, vehicle target yaw rate, vehicle current speed, vehicle current longitudinal acceleration, and vehicle current lateral acceleration;

[0213] The difference between the target caliper clamping force and the current caliper clamping force of the vehicle is compared with the vehicle mass to obtain the vehicle's compensated longitudinal acceleration; and the difference between the target yaw rate and the current yaw rate of the vehicle is multiplied by the vehicle's current speed to obtain the vehicle's compensated lateral acceleration.

[0214] The vehicle's current longitudinal acceleration is summed with the vehicle's compensated longitudinal acceleration to obtain the overall vehicle longitudinal acceleration; and the vehicle's current lateral acceleration is summed with the vehicle's compensated lateral acceleration to obtain the overall vehicle lateral acceleration.

[0215] In one embodiment, the second acquisition unit 703 is specifically used for:

[0216] The lateral acceleration of the vehicle is integrated over time to obtain the lateral velocity of the vehicle.

[0217] Obtain the turning radius of the vehicle, and multiply the vehicle mass by the square of the lateral velocity of the vehicle to obtain the first product;

[0218] The lateral force of the vehicle is obtained by comparing the first product with the turning radius of the vehicle.

[0219] Obtain the load on the front axle and the load on the rear axle of the vehicle, and determine the lateral force on the front axle and the lateral force on the rear axle of the vehicle according to the ratio of the load on the front axle to the load on the rear axle of the vehicle.

[0220] The lateral acceleration of the front axle of the vehicle is obtained by comparing the total lateral force of the front axle of the vehicle with the mass of the vehicle; and the lateral acceleration of the rear axle of the vehicle is obtained by comparing the total lateral force of the rear axle of the vehicle with the mass of the vehicle.

[0221] Adjust the longitudinal acceleration of the vehicle, the lateral acceleration of the front axle and the lateral acceleration of the rear axle, and distribute the target caliper clamping force of the vehicle between the left wheel of the front axle, the right wheel of the front axle, the left wheel of the rear axle and the right wheel of the rear axle to obtain the target caliper clamping force distributed to the target wheel.

[0222] In one embodiment, the third acquisition unit 705 is specifically used for:

[0223] Obtain the motor-end output torque, motor-end moment of inertia, motor-end torque coefficient, motor-end frictional torque, and motor-end viscosity coefficient of the target wheel.

[0224] The motor angular acceleration of the target wheel is obtained by multiplying the motor current corresponding to the clamping force of the target caliper of the target wheel with the torque coefficient of the motor end and the moment of inertia of the motor end.

[0225] Multiply the moment of inertia at the motor end by the angular acceleration of the motor to obtain a second product; and multiply the viscosity coefficient at the motor end by the integral of the angular acceleration of the motor over time to obtain a third product;

[0226] The sum of the second product and the third product is added to the torque corresponding to the frictional force at the motor end to obtain the torque corresponding to the motor end resistance corresponding to the motor current.

[0227] The difference between the motor output torque of the target wheel and the torque corresponding to the motor resistance corresponding to the motor current is used to obtain the motor end torque corresponding to the target caliper clamping force of the target wheel.

[0228] In one embodiment, the clamping force control device 700 further includes a closed-loop control braking torque acquisition unit, which is used for:

[0229] When the first difference between the target deceleration corresponding to the clamping force of the target caliper on the target wheel and the current deceleration of the target wheel is not less than the closed-loop control state jump threshold, the closed-loop control is activated.

[0230] Obtain closed-loop control parameters, including proportional gain, integral gain, and derivative gain;

[0231] Obtain the integral of the first difference with respect to time over a preset time period and the derivative of the first difference with respect to time.

[0232] Multiplying the proportional gain by the first difference yields a fourth product; multiplying the integral gain by the integral of the first difference over time within a preset time period yields a fifth product; and multiplying the differential gain by the differential of the first difference over time yields a sixth product.

[0233] The sum of the fourth and fifth products is added to the sixth product to obtain the braking torque for closed-loop control.

[0234] In one embodiment, the clamping force control device 700 further includes a determination unit, which is used to:

[0235] Get vehicle status;

[0236] Determine whether the vehicle status is stationary, parked, or whether the vehicle stability function is activated.

[0237] If the judgment result is yes, then the closed-loop control is not activated;

[0238] If the judgment result is negative, then obtain the target deceleration corresponding to the target caliper clamping force of the target wheel and the current deceleration of the target wheel.

[0239] It should be noted that the foregoing explanation of the method embodiments also applies to the apparatus of this embodiment, and the principle is the same, so it is not limited in this embodiment.

[0240] According to embodiments of the present disclosure, the present disclosure also provides an electronic device and a non-transitory computer-readable storage medium storing computer instructions.

[0241] Specifically, this disclosure provides an electronic device, including:

[0242] At least one processor; and

[0243] A memory that is communicatively connected to at least one processor; wherein,

[0244] The memory stores instructions that can be executed by at least one processor, which enables the at least one processor to perform the steps of the clamping force control method described above.

[0245] This disclosure provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to perform the steps of the aforementioned clamping force control method.

[0246] This disclosure provides a vehicle, wherein the vehicle includes at least one of the aforementioned clamping force control device, the aforementioned electronic device, or the aforementioned storage medium.

[0247] Figure 8 A schematic block diagram of an example electronic device 800 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, in-vehicle devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0248] like Figure 8As shown, the electronic device 800 includes a computing unit 801, which can perform various appropriate actions and processes according to a computer program stored in ROM (Read-Only Memory) 802 or a computer program loaded from storage unit 808 into RAM (Random Access Memory) 803. The RAM 803 can also store various programs and data required for the operation of the device 800. The computing unit 801, ROM 802, and RAM 803 are interconnected via a bus 804. An I / O (Input / Output) interface 805 is also connected to the bus 804.

[0249] Multiple components in device 800 are connected to I / O interface 805, including: input unit 804, such as keyboard, mouse, etc.; output unit 807, such as various types of monitors, speakers, etc.; storage unit 808, such as disk, optical disk, etc.; and communication unit 809, such as network card, modem, wireless transceiver, etc. Communication unit 809 allows device 800 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0250] The computing unit 801 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, CPUs (Central Processing Units), GPUs (Graphics Processing Units), various special-purpose AI (Artificial Intelligence) computing chips, various computing units running machine learning model algorithms, DSPs (Digital Signal Processors), and any suitable processor, controller, microcontroller, etc. The computing unit 801 performs the various methods and processes described above, such as the clamping force control method. For example, in some embodiments, the clamping force control method may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 808. In some embodiments, part or all of the computer program may be loaded and / or installed on device 800 via ROM 802 and / or communication unit 809. When the computer program is loaded into RAM 803 and executed by the computing unit 801, one or more steps of the methods described above may be performed. Alternatively, in other embodiments, the computing unit 801 may be configured to perform the aforementioned clamping force control method by any other suitable means (e.g., by means of firmware).

[0251] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, FPGAs (Field Programmable Gate Arrays), ASICs (Application-Specific Integrated Circuits), ASSPs (Application-Specific Standard Products), SOCs (System-on-Chips), CPLDs (Complex Programmable Logic Devices), computer hardware, firmware, software, and / or combinations thereof. These various implementations may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0252] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0253] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, RAM, ROM, EPROM (Electrically Programmable Read-Only Memory) or flash memory, optical fiber, CD-ROM (Compact Disc Read-Only Memory), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0254] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0255] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A clamping force control method, characterized in that, include: In response to receiving a braking signal, the target caliper clamping force of the vehicle corresponding to the braking signal is found from the mapping relationship between the braking signal and the target caliper clamping force of the vehicle. Obtain vehicle current status information, which includes vehicle longitudinal acceleration and vehicle lateral acceleration. The vehicle longitudinal acceleration includes the vehicle's current longitudinal acceleration and the longitudinal acceleration that will be superimposed on the vehicle. The vehicle lateral acceleration includes the vehicle's current lateral acceleration and the lateral acceleration that will be superimposed on the vehicle. Based on the target caliper clamping force of the vehicle and the vehicle's longitudinal acceleration and lateral acceleration in the vehicle's current state information, the target caliper clamping force allocated to the target wheel is obtained; Based on the clamping force of the target caliper on the target wheel, the motor current is obtained according to the mapping relationship between the clamping force of the target caliper and the motor current; Obtain the motor-end output torque of the target wheel, and subtract the motor-end output torque of the target wheel from the torque corresponding to the motor-end resistance corresponding to the motor current to obtain the motor-end torque corresponding to the target caliper clamping force of the target wheel.

2. The method according to claim 1, characterized in that, The process of obtaining the vehicle's current status information includes: Acquire the vehicle's current caliper clamping force, vehicle mass, vehicle current yaw rate, vehicle target yaw rate, vehicle current speed, vehicle current longitudinal acceleration, and vehicle current lateral acceleration; The difference between the target caliper clamping force and the current caliper clamping force of the vehicle is compared with the vehicle mass to obtain the vehicle's compensated longitudinal acceleration; and the difference between the target yaw rate and the current yaw rate of the vehicle is multiplied by the vehicle's current speed to obtain the vehicle's compensated lateral acceleration. The vehicle's current longitudinal acceleration is summed with the vehicle's compensated longitudinal acceleration to obtain the overall vehicle longitudinal acceleration; and the vehicle's current lateral acceleration is summed with the vehicle's compensated lateral acceleration to obtain the overall vehicle lateral acceleration.

3. The method according to claim 1, characterized in that, The step of obtaining the target caliper clamping force allocated to the target wheel based on the target caliper clamping force of the vehicle and the vehicle's longitudinal acceleration and lateral acceleration in the vehicle's current state information includes: The lateral acceleration of the vehicle is integrated over time to obtain the lateral velocity of the vehicle. Obtain the turning radius of the vehicle, and multiply the vehicle mass by the square of the lateral velocity of the vehicle to obtain the first product; The lateral force of the vehicle is obtained by comparing the first product with the turning radius of the vehicle. Obtain the load on the front axle and the load on the rear axle of the vehicle, and determine the lateral force on the front axle and the lateral force on the rear axle of the vehicle according to the ratio of the load on the front axle to the load on the rear axle of the vehicle. The lateral acceleration of the front axle of the vehicle is obtained by comparing the total lateral force of the front axle of the vehicle with the mass of the vehicle; and the lateral acceleration of the rear axle of the vehicle is obtained by comparing the total lateral force of the rear axle of the vehicle with the mass of the vehicle. Adjust the longitudinal acceleration of the vehicle, the lateral acceleration of the front axle and the lateral acceleration of the rear axle, and distribute the target caliper clamping force of the vehicle between the left wheel of the front axle, the right wheel of the front axle, the left wheel of the rear axle and the right wheel of the rear axle to obtain the target caliper clamping force distributed to the target wheel.

4. The method according to claim 1, characterized in that, The step of obtaining the motor terminal output torque of the target wheel, and subtracting the motor terminal output torque of the target wheel from the torque corresponding to the motor terminal resistance corresponding to the motor current, to obtain the motor terminal torque corresponding to the target caliper clamping force of the target wheel, includes: Obtain the motor-end output torque, motor-end moment of inertia, motor-end torque coefficient, motor-end frictional torque, and motor-end viscosity coefficient of the target wheel. The motor angular acceleration of the target wheel is obtained by multiplying the motor current corresponding to the clamping force of the target caliper of the target wheel with the torque coefficient of the motor end and the moment of inertia of the motor end. Multiply the moment of inertia at the motor end by the angular acceleration of the motor to obtain a second product; and multiply the viscosity coefficient at the motor end by the integral of the angular acceleration of the motor over time to obtain a third product; The sum of the second product and the third product is added to the torque corresponding to the frictional force at the motor end to obtain the torque corresponding to the motor end resistance corresponding to the motor current. The difference between the motor output torque of the target wheel and the torque corresponding to the motor resistance corresponding to the motor current is used to obtain the motor end torque corresponding to the target caliper clamping force of the target wheel.

5. The method according to claim 1, characterized in that, After obtaining the motor terminal output torque of the target wheel, and subtracting the motor terminal output torque of the target wheel from the torque corresponding to the motor terminal resistance corresponding to the motor current to obtain the motor terminal torque corresponding to the target caliper clamping force of the target wheel, the method further includes: When the first difference between the target deceleration corresponding to the target caliper clamping force of the target wheel and the current deceleration of the target wheel is not less than the closed-loop control state jump threshold, the closed-loop control is activated. Obtain closed-loop control parameters, which include proportional gain, integral gain, and derivative gain; Obtain the integral of the first difference with respect to time over a preset time period and the derivative of the first difference with respect to time. Multiplying the proportional gain by the first difference yields a fourth product; multiplying the integral gain by the integral of the first difference over time within a preset time period yields a fifth product; and multiplying the differential gain by the differential of the first difference over time yields a sixth product. The sum of the fourth and fifth products is added to the sixth product to obtain the braking torque for closed-loop control.

6. The method according to claim 1, characterized in that, After obtaining the motor terminal output torque of the target wheel, and subtracting the motor terminal output torque of the target wheel from the torque corresponding to the motor terminal resistance corresponding to the motor current to obtain the motor terminal torque corresponding to the target caliper clamping force of the target wheel, the method further includes: Get vehicle status; Determine whether the vehicle status is stationary, parked, or whether the vehicle stability function is activated. If the judgment result is yes, then the closed-loop control is not activated; If the judgment result is negative, then obtain the target deceleration corresponding to the target caliper clamping force of the target wheel and the current deceleration of the target wheel.

7. A clamping force control device, characterized in that, include: The first lookup unit is configured to, in response to receiving a braking signal, look up the target caliper clamping force of the vehicle corresponding to the braking signal from the mapping relationship between the braking signal and the target caliper clamping force of the vehicle. The first acquisition unit is used to acquire the current state information of the vehicle. The current state information of the vehicle includes the longitudinal acceleration of the whole vehicle and the lateral acceleration of the whole vehicle. The longitudinal acceleration of the whole vehicle includes the current longitudinal acceleration of the vehicle and the longitudinal acceleration that will be superimposed on the vehicle. The lateral acceleration of the whole vehicle includes the current lateral acceleration of the vehicle and the lateral acceleration that will be superimposed on the vehicle. The second acquisition unit is used to acquire the target caliper clamping force allocated to the target wheel based on the target caliper clamping force of the vehicle and the vehicle longitudinal acceleration and vehicle lateral acceleration in the vehicle's current state information. The second search unit is used to obtain the motor current based on the target caliper clamping force of the target wheel and the mapping relationship between the target caliper clamping force and the motor current. The third acquisition unit is used to acquire the motor end output torque of the target wheel, and to obtain the motor end torque corresponding to the target caliper clamping force of the target wheel by subtracting the motor end output torque of the target wheel from the motor end resistance corresponding to the motor current.

8. An electronic device, comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1 to 6.

10. A vehicle, characterized in that, It includes at least one of the clamping force control device of claim 7, the electronic device of claim 8, or the storage medium of claim 9.

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