Braking method, system and equipment based on vehicle braking force distribution and medium

Abstract

The invention discloses a braking method, system and equipment based on vehicle braking force distribution and a medium, and relates to the technical field of vehicle control. The method comprises the steps that the brake pedal stroke and the vehicle type of a vehicle are obtained in real time; based on the brake pedal stroke and the vehicle type, torque recovery braking force distribution is conducted, and dynamic braking force of the vehicle is obtained; and performing braking control on the vehicle based on the dynamic braking force. The problems that according to a traditional hydraulic braking method, when the motor recovery torque is reduced, the vehicle deceleration is not linear easily when a driver steps on a brake, and the driving experience is affected are solved.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a braking method, system, device and medium based on vehicle braking force distribution. Background Technology

[0002] With the rapid development of the automotive industry, the number of vehicles powered by lithium batteries is constantly increasing. To improve vehicle range, vehicles regenerate kinetic energy when coasting or braking, converting kinetic energy into electrical energy via the motor to charge the battery while decelerating. However, many current vehicles use a rear axle motor for kinetic energy recovery. Given the relatively high torque of this recovery (especially during strong coasting), the rear axle wheel speed can drop significantly compared to the front axle wheel speed, potentially causing wheel lock-up and triggering vehicle safety functions. This can range from triggering EBD (Electronic Brakeforce Distribution) to directly activating ABS (Anti-lock Braking System), significantly impacting driving safety.

[0003] Traditional hydraulic braking primarily utilizes an electric motor to pressurize brake fluid and circulate it to the wheel cylinders to generate braking force. Once a certain slip ratio is achieved at the rear axle wheel speed, EBD (Electronic Brake Detection) intervenes, mainly to maintain pressure or slightly increase / decrease pressure to prevent excessive rear axle wheel slip. However, due to the unique characteristics of hydraulic braking, under normal circumstances, if there is no individual wheel pressure build-up request, the motor-driven brake fluid provides the same hydraulic pressure to all wheels. Therefore, after EBD is triggered, the rear axle pressure change is relatively slow. Consequently, issues arise such as... Figure 1 One of the working conditions shown is... Figure 1 The curves showing the changes in different parameters are represented by different colors. Specifically, when the driver is driving at a certain speed and then slowly presses the brake pedal to increase the depth, initially, due to the energy recovery function, the braking force is entirely provided by the motor's regenerative torque. As the regenerative torque increases, the rear axle begins to slip. Once the slip ratio threshold for EBD activation is reached, the EBD function is triggered. The EBD function is mainly to ensure rear wheel stability. After activation, the brake fluid pressure on the rear axle will follow more slowly compared to when EBD is not activated. As the pedal is pressed further, the motor's regenerative torque reaches its maximum value. After this, if the pedal depth is further increased, the additional braking force required will mainly be provided by the front axle. Furthermore, when the vehicle speed decreases to a certain value, the motor's regenerative torque will gradually begin to decrease and exit. This will result in a period where the deceleration follows more slowly or stops increasing. The driver will feel that the vehicle decelerates nonlinearly when braking, or even feel that the brakes are weak, affecting the driving experience. This phenomenon will continue until the driver continues to press the pedal until the EBD exit threshold is reached and exits, or until the driver releases the brake pedal and there is no longer a braking request. Summary of the Invention

[0004] To address the issue that traditional hydraulic braking methods often result in non-linear vehicle deceleration when the motor's regenerative torque decreases, thus affecting the driving experience, this application provides a braking method, system, device, and medium based on vehicle braking force distribution.

[0005] Firstly, in order to solve the above-mentioned technical problems, this application provides a braking method based on vehicle braking force distribution, comprising: Real-time acquisition of vehicle brake pedal travel and vehicle type; The regenerative torque braking force is distributed based on the brake pedal travel and vehicle type to obtain the vehicle's dynamic braking force. Vehicle braking control is based on dynamic braking force.

[0006] Secondly, this application also provides a braking system based on vehicle brake force distribution, comprising: The acquisition module is used to acquire the vehicle's brake pedal travel and vehicle type in real time; The brake force distribution module is used to distribute regenerative torque braking force based on brake pedal travel and vehicle type to obtain the vehicle's dynamic braking force. The braking control module is used to control the vehicle's braking based on dynamic braking force.

[0007] Thirdly, this application also provides a computing device, including a memory, a processor, and a program stored in the memory and running on the processor, wherein the processor executes the program to implement the steps of a braking method based on vehicle braking force distribution as described above.

[0008] Fourthly, this application also provides a computer-readable storage medium storing instructions that, when executed on a terminal device, cause the terminal device to perform steps of a braking method based on vehicle braking force distribution.

[0009] The beneficial effects of this application are: based on the real-time acquisition of the vehicle's brake pedal travel and vehicle type, the regenerative torque braking force is distributed so that the distributed vehicle's dynamic braking force can always maintain a dynamic linear change, and the vehicle is subjected to targeted dynamic braking control based on the dynamic braking force, so as to ensure that the vehicle can always maintain dynamic linear braking even if the motor's regenerative torque decreases after EBD is triggered, thereby improving the feeling of insufficient braking after EBD is triggered and enhancing the driver's braking and deceleration experience. Attached Figure Description

[0010] Figure 1 A schematic diagram of EBD activation without braking force distribution for the traditional hydraulic braking method; Figure 2This is a schematic flowchart illustrating a braking method based on vehicle braking force distribution, which is an exemplary embodiment of this application. Figure 3 This is a schematic flowchart illustrating the application of the braking method based on vehicle braking force distribution in an exemplary embodiment of this application; Figure 4 This is a schematic diagram of the EBD activation of braking force distribution corresponding to the braking method based on vehicle braking force distribution in this application. Figure 5 This is a schematic diagram illustrating the structure of a braking system based on vehicle braking force distribution, as shown in an exemplary embodiment of this application. Figure 6 This is a schematic diagram of the structure of a computer system in a computing device according to an embodiment of this application. Detailed Implementation

[0011] The following embodiments are further explanations and supplements to this application and do not constitute any limitation on this application.

[0012] The following describes, with reference to the accompanying drawings, a braking method, system, device, and medium based on vehicle braking force distribution according to an embodiment of this application.

[0013] The braking method based on vehicle braking force distribution provided in this application embodiment can be specifically executed by a server. It should be noted that the server can be an independent server, or it can be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms. No limitation is imposed here.

[0014] Please see Figure 2 , Figure 2 A braking method based on vehicle braking force distribution is illustrated in an exemplary embodiment of this application, such as... Figure 2 As shown, this application provides a braking method based on vehicle braking force distribution, including: S21, real-time acquisition of vehicle brake pedal travel and vehicle type; S22 distributes regenerative torque braking force based on brake pedal travel and vehicle type to obtain the vehicle's dynamic braking force; S23 controls vehicle braking based on dynamic braking force.

[0015] The braking method based on vehicle braking force distribution provided in this application distributes regenerative torque braking force based on real-time acquired vehicle brake pedal travel and vehicle type. This ensures that the distributed dynamic braking force of the vehicle maintains a dynamic linear change, and targeted dynamic braking control is applied to the vehicle based on the dynamic braking force. This guarantees that even after EBD triggering, the vehicle maintains dynamic linear braking, thereby improving the feeling of insufficient braking after EBD triggering and enhancing the driver's braking and deceleration experience. The vehicle's brake pedal travel and vehicle type are collected in real-time at preset intervals.

[0016] Optionally, the regenerative torque braking force distribution is performed based on the brake pedal travel and vehicle type to obtain the vehicle's dynamic braking force, including: The driver's required braking force is calculated based on the brake pedal travel. Based on the vehicle type, the regenerative torque braking force is distributed according to the driver's required braking force and the brake pedal travel, thus obtaining the vehicle's dynamic braking force.

[0017] In the embodiment provided in this application, the driver's required braking force is calculated based on the brake pedal travel, and the regenerative braking force is distributed according to the vehicle type based on the driver's required braking force and the brake pedal travel. This ensures that the distributed dynamic braking force of the vehicle can always maintain a dynamic linear change. In this way, even if the motor's regenerative torque decreases after the vehicle is triggered by EBD, linear braking can still be performed based on the dynamic braking force, thereby improving the feeling of insufficient braking after EBD is triggered and enhancing the driver's braking and deceleration experience.

[0018] In this embodiment, the driver's required braking force is calculated based on the brake pedal travel, and the corresponding calculation formula is: a = k2*S Fx = m*a Where Fx represents the driver's required braking force, m represents the vehicle's total mass, a represents the target deceleration, k2 represents the travel deceleration conversion coefficient, and S represents the brake pedal travel; meanwhile, S = k1*V, k1 represents the voltage-travel conversion coefficient, and V is the pedal travel voltage collected by the pedal displacement sensor.

[0019] Optionally, based on the vehicle type, the regenerative torque braking force is distributed according to the driver's required braking force and the brake pedal travel to obtain the vehicle's dynamic braking force, including: When the vehicle type is a rear-wheel drive vehicle, obtain the regenerative torque of the rear axle motor corresponding to the brake pedal travel, as well as the vehicle's EBD system status; When the EBD system is inactive, the front and rear axle braking forces are distributed based on the rear axle motor recovery torque and the vehicle's specifications to obtain the vehicle's dynamic braking force. After the EBD system is activated and the rear axle motor recovers torque to its maximum value, obtain the target brake fluid pressure when the EBD system is deactivated. The dynamic braking force of the vehicle is obtained by distributing the braking force between the front and rear axles based on the target brake fluid pressure and the recovery torque of the rear axle motor.

[0020] In the embodiment provided in this application, firstly, when the vehicle type is a rear-wheel drive vehicle, the regenerative braking torque of the rear axle motor corresponding to the brake pedal travel and the vehicle's EBD system status are obtained; when the EBD system status is inactive, the front and rear axle braking forces are distributed based on the rear axle motor regenerative braking torque and the vehicle's specifications to obtain the vehicle's dynamic braking force, so as to ensure that the regenerative braking capability of the rear axle motor is fully utilized under normal braking (EBD inactive), and the optimal front and rear axle braking force distribution is performed according to the vehicle parameters, thereby maximizing energy recovery efficiency while maintaining braking stability. Secondly, when the EBD system is activated and the rear axle motor's regenerative torque reaches its maximum value, the target braking hydraulic pressure when the EBD system is deactivated is obtained. Based on the target braking hydraulic pressure and the rear axle motor's regenerative torque, the front and rear axle braking forces are distributed to obtain the vehicle's dynamic braking force. In this way, the hydraulic pressure is used to accurately and collaboratively supplement the braking force required after the rear axle motor's regenerative torque begins to decrease. Ultimately, this allows the vehicle to achieve a reasonable, smooth, and safe distribution of dynamic braking force between the front and rear axles in any braking scenario (whether it is normal energy recovery or emergency stability control). This balances recovery economy, driving smoothness, and driving safety, enabling the vehicle to maintain dynamic linear braking at all times, thereby improving the driving braking experience.

[0021] In an exemplary embodiment provided in this application, when the vehicle type is a front-wheel drive vehicle, the specific steps for the distribution of regenerative torque braking force are the same as those for a rear-wheel drive vehicle. The only difference is that the calculation method for the front axle braking force (front axle hydraulic braking force) corresponding to the rear-wheel drive vehicle is the same as the calculation method for the rear axle braking force (rear axle hydraulic braking force) corresponding to the front-wheel drive vehicle, and the calculation method for the rear axle braking force (rear axle hydraulic braking force and rear axle electric braking force) corresponding to the rear-wheel drive vehicle is the same as the calculation method for the front axle braking force (front axle hydraulic braking force and front axle electric braking force) corresponding to the front-wheel drive vehicle.

[0022] Optionally, the dynamic braking force is the rear axle braking force; the front and rear axle braking forces are distributed based on the rear axle motor recovery torque and the vehicle's specifications to obtain the vehicle's dynamic braking force, and the corresponding calculation formula is as follows: Fx Total = Fx RA =Fx EM = T EM * R Among them, Fx Total Fx represents the total braking force.RA Fx represents the rear axle braking force. EM T represents the power of an electric motor. EM This represents the motor wheel-end torque corresponding to the regenerative torque of the rear axle motor, where R represents the effective tire radius.

[0023] In the embodiment provided in this application, the front and rear axle braking forces are distributed based on the regenerative torque of the rear axle motor and the vehicle's specifications to obtain the vehicle's dynamic braking force. This ensures that the regenerative braking capability of the rear axle motor is fully utilized under normal braking (EBD not activated), and the optimal front and rear axle braking force is distributed according to the vehicle parameters. This maximizes energy recovery efficiency while maintaining braking stability, enabling the vehicle to maintain dynamic linear braking at all times, thereby improving the driving braking experience.

[0024] Optionally, the front and rear axle braking forces are distributed based on the target brake fluid pressure and the regenerative torque of the rear axle motor to obtain the vehicle's dynamic braking force, including: Obtain the periodic variation parameters of the regenerative torque of the rear axle motor; Based on the periodic variation parameters, the target brake fluid pressure, the regenerative torque of the rear axle motor, and the vehicle's specifications, the hydraulic braking force distribution between the front and rear axles is obtained, resulting in the hydraulic braking force of the front axle and the hydraulic braking force of the rear axle. The recovery torque of the rear axle motor is updated based on the periodically changing parameters to obtain the motor power of the rear axle motor. The vehicle's dynamic braking force is formed by the front axle hydraulic braking force, the rear axle hydraulic braking force, and the rear axle electric braking force.

[0025] In the embodiment provided in this application, the hydraulic braking force is distributed between the front and rear axles based on the periodic variation parameters of the rear axle motor's regenerative torque, the target braking hydraulic pressure, the rear axle motor's regenerative torque, and the vehicle's specifications. This results in front axle hydraulic braking force and rear axle hydraulic braking force. The rear axle motor's regenerative torque is then updated based on the periodic variation parameters to obtain the rear axle motor's braking force, thus forming the vehicle's dynamic braking force. In this way, the hydraulic pressure precisely and collaboratively replenishes the braking force required after the rear axle motor's regenerative torque begins to decrease. Ultimately, this allows the vehicle to achieve a reasonable, smooth, and safe distribution of dynamic braking force between the front and rear axles in any braking scenario (whether it's normal energy recovery or emergency stability control). This balances regenerative braking economy, driving smoothness, and driving safety, enabling the vehicle to maintain dynamic linear braking at all times, thereby improving the driving braking experience.

[0026] Optionally, the periodic variation parameters include the braking force limit portion per cycle and the change in motor regenerative torque per cycle; the specification parameters include the brake disc friction coefficient, the front axle brake disc radius, the rear axle brake disc radius, the effective tire radius, and the correction coefficient when the motor regenerative torque portion is converted into hydraulic pressure; the dynamic braking force includes the front axle hydraulic braking force, the rear axle hydraulic braking force, and the rear axle electric motor braking force. Based on periodically varying parameters, target brake fluid pressure, rear axle motor recovery torque, and vehicle specifications, the front and rear axle hydraulic braking forces are distributed to obtain the front and rear axle hydraulic braking forces, including: When the absolute value of the regenerative torque of the rear axle motor is greater than 0, the hydraulic braking forces of the front and rear axles are calculated based on the periodic variation parameters, the target brake fluid pressure, and the vehicle's specifications. The corresponding calculation formulas are as follows: Fx FA =2μ*p FA *π*r FA 2 p FA =p+Δp EBD Fx RA液 =2μ*p RA *π*r RA 2 p RA =p-Δp EBD +fac*Δp 电 Among them, Fx FA The front axle hydraulic braking force is represented by μ, and the brake disc friction coefficient is represented by r. FA Δp represents the radius of the front axle brake disc, p represents the target brake fluid pressure, and Δp represents the target brake fluid pressure. EBD Fx represents the braking force limitation per cycle. RA液 Indicates the hydraulic braking force of the rear axle, r RA This indicates the radius of the rear axle brake disc, and fac represents the correction factor when the motor recovers torque and converts it into hydraulic pressure. This indicates the hydraulic braking force corresponding to the change in motor recovery torque per cycle. This represents the change in motor recovery torque per cycle, and R represents the effective radius of the tire.

[0027] In the embodiment provided in this application, when the absolute value of the regenerative torque of the rear axle motor is greater than 0, it indicates that the vehicle is still in motion. At this time, the hydraulic braking forces of the front and rear axles are calculated based on the periodic change parameters, the target hydraulic pressure of the brake, and the vehicle's specifications. This allows the calculated hydraulic braking forces of the front and rear axles to be accurately and synergistically supplemented with the braking force required after the regenerative torque of the rear axle motor begins to decrease. This enables the vehicle to maintain dynamic and stable linear braking while in motion, thereby improving the driving braking experience.

[0028] In this embodiment, fac is only activated when the hydraulic braking force starts to build up pressure from zero. This is because during the initial pressure build-up phase, the hydraulic braking force response is slower than the motor's regenerative torque; adding this correction can improve the insufficient response of the actually distributed braking force. The value of fac decays to 1 over the duration of the activation switch, for example, linearly decaying from an initial value of 1.3 to 1 over 0.3 seconds, depending on the actual vehicle performance.

[0029] Optionally, the specifications include the brake disc friction coefficient, the front axle brake disc radius, and the rear axle brake disc radius; the dynamic braking force includes the front axle hydraulic braking force and the rear axle hydraulic braking force. Based on periodically varying parameters, target brake fluid pressure, rear axle motor recovery torque, and vehicle specifications, the front and rear axle hydraulic braking forces are distributed to obtain the front and rear axle hydraulic braking forces, including: When the rear axle motor recovery torque is equal to 0, the hydraulic braking forces of the front and rear axles are calculated based on the target brake fluid pressure and specifications to obtain the second front axle hydraulic braking force and the second rear axle hydraulic braking force. The corresponding calculation formulas are as follows: F xFA =2μ*p*π*r FA 2 F xRA液 =2μ*p*π*r RA 2 Among them, F xFA The front axle hydraulic braking force is represented by μ, the brake disc friction coefficient is represented by p, and the target brake fluid pressure is represented by r. FA F represents the radius of the front axle brake disc. xRA液 Indicates the hydraulic braking force of the rear axle, r RA This indicates the radius of the rear axle brake disc.

[0030] In the embodiment provided in this application, when the regenerative torque of the rear axle motor is equal to 0, it indicates that the vehicle is already in a safe low speed state (e.g., less than 7 km / h). At this time, the hydraulic braking force of the front and rear axles is calculated based on the target hydraulic pressure and specification parameters to obtain the second front axle hydraulic braking force and the second rear axle hydraulic braking force. This allows the calculated two hydraulic pressures to accurately and synergistically supplement the braking force required after the regenerative torque of the rear axle motor begins to decrease, enabling the vehicle to maintain dynamic and stable linear braking at low speeds until the braking ends. This allows the vehicle to stop smoothly and at a constant speed, thereby improving the driving braking experience.

[0031] Please see Figure 3 , Figure 3 This is a schematic flowchart illustrating the application of the braking method based on vehicle braking force distribution provided in an exemplary embodiment of this application, as shown below. Figure 3 As shown, the application steps of the braking method based on vehicle braking force distribution in this application are as follows: Taking a rear-wheel-drive vehicle as an example, when the regenerative torque of the rear axle reaches its maximum value and begins to decrease, the reduced portion of the regenerative torque is allocated to the hydraulic braking force of the rear axle to ensure that the overall braking force of the rear axle does not suddenly decrease. Because the overall braking force of the rear axle remains unchanged, even under EBD activation, the slip ratio of the rear axle will not change significantly, maintaining rear wheel stability. On the other hand, to meet the driver's braking needs, although the overall braking force of the rear axle is limited after EBD activation, the front axle still has some margin. Therefore, the portion of braking force lost by the rear axle due to the limitation during EBD activation is allocated to the front axle to fully utilize the front axle's braking capacity and meet the driver's needs. With this allocation method, the target braking force is essentially unaffected, meeting the driver's needs, and deceleration follows well. The specific process is as follows: Phase 1, Initial Braking Phase: The motor can meet the braking force requirement corresponding to the brake pedal opening: F xTotal =F xRA =F xEM =T EM *R; Phase Two: As the brake pedal opening increases, EBD is activated. After the motor's regenerative torque reaches its maximum value, it becomes insufficient to meet the demand, requiring hydraulic braking intervention: F xTotal =F xFA +F xRA =F xFA +F xRA液 +F xRA电 Therefore, the hydraulic braking force can be approximately calculated as follows: when EBD is not activated, the hydraulic pressure on the front and rear axles is the same: F xFA =2μ*p*π*r FA 2 FxRA液 =2μ*p*π*r RA 2 After EBD is activated, the total braking force of the rear axle is limited; on the other hand, the rate of increase in braking force of the rear axle is limited, therefore p RA =p-Δp EBD +fac*Δp 电 That is, F xRA液 =2μ*p RA *π*r RA 2 The corresponding front axle hydraulic pressure is p. FA =p+Δp EBD That is, F xFA =2μ*p FA *π*r FA 2 , Motor recovery of partial braking force: F xRA电 =F xEM =(T EM -ΔT EM )*R; where p FA The hydraulic braking force after front axle redistribution; p RA This refers to the hydraulic braking force after the rear axle is redistributed.

[0032] Phase 3: As the motor's regenerative torque completely dissipates and the system fully switches back to hydraulic braking, formula F is still used. xFA =2μ*p FA *π*r FA 2 F xRA液 =2μ*p RA *π*r RA 2 At this time, ΔT EM and T EM All become 0. If EBD is still active, Δp EBD It has a value, otherwise Δp EBD When F is 0, F xFA =2μ*p*π*r FA 2 F xRA液 =2μ*p*π*r RA 2 .

[0033] The diagram illustrating the activation of EBD (Electronic Braking Force Distribution) after applying the above-described braking method based on vehicle brake force distribution is shown below. Figure 4 As shown, Figure 4 In the diagram, the curves representing the changes of different parameters are represented by different colors.

[0034] In addition, the braking method based on vehicle brake force distribution in this application should be noted in the following aspects: First, after EBD is triggered on the rear axle, the conversion of motor regenerative torque is not limited to the condition where motor regenerative torque decreases. If the rear axle already has some hydraulic braking force, the hydraulic braking force distribution can also be reduced, and the reduced hydraulic force can be allocated to the motor, increasing the motor's regenerative torque and achieving flexible distribution. Second, the front and rear axle brake force distribution after EBD activation is not limited to traditional hydraulic control braking systems; it also applies to EMB (Electro-Mechanical Brake System) braking systems, only replacing hydraulic braking force with mechanical braking force driven by a motor. Third, it is not limited to rear-wheel drive vehicle configurations. For vehicles with front axle regenerative braking, when front axle braking force is limited under certain conditions, a similar distribution can be performed, allocating it to the rear axle to fully utilize the rear axle's braking capacity.

[0035] In summary, the braking method based on vehicle braking force distribution in this application aims to achieve better distribution of target braking force when EBD is activated under normal braking conditions, so as to give the driver a better feeling of deceleration when pressing the brake pedal, while avoiding the problem of insufficient braking.

[0036] Please see Figure 5 , Figure 5 A braking system based on vehicle braking force distribution is shown as an exemplary embodiment of this application, such as Figure 5 As shown, this application provides a braking system 500 based on vehicle brake force distribution, comprising: The acquisition module 501 is used to acquire the vehicle's brake pedal travel and vehicle type in real time; Braking force distribution module 502 is used to distribute regenerative torque braking force based on brake pedal travel and vehicle type to obtain the vehicle's dynamic braking force; Braking control module 503 is used to control the vehicle's braking based on dynamic braking force.

[0037] The braking system 500 based on vehicle brake force distribution provided in this application utilizes the brake force distribution module 502 to distribute regenerative torque braking force based on the vehicle's brake pedal travel and vehicle type acquired in real time by the acquisition module 501. This ensures that the distributed dynamic braking force of the vehicle can always maintain a dynamic linear change. Furthermore, the brake control module 503 uses the dynamic braking force to perform targeted dynamic braking control on the vehicle, ensuring that even if the motor's regenerative torque decreases after EBD is triggered, the vehicle can always maintain dynamic linear braking. This improves the feeling of insufficient braking after EBD is triggered and enhances the driver's braking and deceleration experience.

[0038] Optionally, the brake force distribution module 502 is specifically used for: The driver's required braking force is calculated based on the brake pedal travel. Based on the vehicle type, the regenerative torque braking force is distributed according to the driver's required braking force and the brake pedal travel, thus obtaining the vehicle's dynamic braking force.

[0039] Optionally, the brake force distribution module 502 is specifically used for: When the vehicle type is a rear-wheel drive vehicle, obtain the regenerative torque of the rear axle motor corresponding to the brake pedal travel, as well as the vehicle's EBD system status; When the EBD system is inactive, the front and rear axle braking forces are distributed based on the rear axle motor recovery torque and the vehicle's specifications to obtain the vehicle's dynamic braking force. After the EBD system is activated and the rear axle motor recovers torque to its maximum value, obtain the target brake fluid pressure when the EBD system is deactivated. The dynamic braking force of the vehicle is obtained by distributing the braking force between the front and rear axles based on the target brake fluid pressure and the recovery torque of the rear axle motor.

[0040] Optionally, the braking force distribution module 502 is specifically used to calculate the dynamic braking force of the vehicle, and the corresponding calculation formula is as follows: Fx Total = Fx RA =Fx EM = T EM * R Among them, Fx Total Fx represents the total braking force. RA Fx represents the rear axle braking force. EM T represents the power of an electric motor. EM This represents the motor wheel-end torque corresponding to the regenerative torque of the rear axle motor, where R represents the effective tire radius.

[0041] Optionally, the brake force distribution module 502 is specifically used for: Obtain the periodic variation parameters of the regenerative torque of the rear axle motor; Based on the periodic variation parameters, the target brake fluid pressure, the regenerative torque of the rear axle motor, and the vehicle's specifications, the hydraulic braking force distribution between the front and rear axles is obtained, resulting in the hydraulic braking force of the front axle and the hydraulic braking force of the rear axle. The recovery torque of the rear axle motor is updated based on the periodically changing parameters to obtain the motor power of the rear axle motor. The vehicle's dynamic braking force is formed by the front axle hydraulic braking force, the rear axle hydraulic braking force, and the rear axle electric braking force.

[0042] Optionally, the periodic variation parameters include the braking force limit portion per cycle and the change in motor regenerative torque per cycle; the specification parameters include the brake disc friction coefficient, the front axle brake disc radius, the rear axle brake disc radius, the effective tire radius, and the correction coefficient when the motor regenerative torque portion is converted into hydraulic pressure; the dynamic braking force includes the front axle hydraulic braking force, the rear axle hydraulic braking force, and the rear axle electric motor braking force. Braking force distribution module 502 is specifically used for: When the absolute value of the regenerative torque of the rear axle motor is greater than 0, the hydraulic braking forces of the front and rear axles are calculated based on the periodic variation parameters, the target brake fluid pressure, and the vehicle's specifications. The corresponding calculation formulas are as follows: Fx FA =2μ*p FA *π*r FA 2 p FA =p+Δp EBD Fx RA液 =2μ*p RA *π*r RA 2 p RA =p-Δp EBD +fac*Δp 电 Among them, Fx FA The front axle hydraulic braking force is represented by μ, and the brake disc friction coefficient is represented by r. FA Δp represents the radius of the front axle brake disc, p represents the target brake fluid pressure, and Δp represents the target brake fluid pressure. EBD Fx represents the braking force limitation per cycle. RA液 Indicates the hydraulic braking force of the rear axle, r RA This indicates the radius of the rear axle brake disc, and fac represents the correction factor when the motor recovers torque and converts it into hydraulic pressure. This indicates the hydraulic braking force corresponding to the change in motor recovery torque per cycle. This represents the change in motor recovery torque per cycle, and R represents the effective radius of the tire.

[0043] Optionally, the specifications include the brake disc friction coefficient, the front axle brake disc radius, and the rear axle brake disc radius; the dynamic braking force includes the front axle hydraulic braking force and the rear axle hydraulic braking force. Braking force distribution module 502 is specifically used for: When the rear axle motor recovery torque is equal to 0, the hydraulic braking forces of the front and rear axles are calculated based on the target brake fluid pressure and specifications to obtain the second front axle hydraulic braking force and the second rear axle hydraulic braking force. The corresponding calculation formulas are as follows: Fx FA =2μ*p*π*r FA 2 Fx RA液 =2μ*p*π*r RA 2 Among them, Fx FA The front axle hydraulic braking force is represented by μ, the brake disc friction coefficient is represented by p, and the target brake fluid pressure is represented by r. FA Fx represents the radius of the front axle brake disc. RA液 Indicates the hydraulic braking force of the rear axle, r RA This indicates the radius of the rear axle brake disc.

[0044] It should be noted that the braking system based on vehicle braking force distribution provided in the above embodiments and the braking method based on vehicle braking force distribution provided in the above embodiments belong to the same concept. The specific operation methods of each module and unit have been described in detail in the method embodiments and will not be repeated here. In practical applications, the braking system based on vehicle braking force distribution provided in the above embodiments can be configured to perform the above functions by different functional modules as needed, that is, the internal structure of the system can be divided into different functional modules to complete all or part of the functions described above. This is not a limitation here.

[0045] A computing device according to an embodiment of this application includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, it implements some or all of the steps of the above-described braking method based on vehicle braking force distribution.

[0046] The computing device can be a computer, and the corresponding program is computer software. The parameters and steps in the computing device described above can be referred to the parameters and steps in the embodiment of the braking method based on vehicle braking force distribution mentioned above, and will not be repeated here.

[0047] Figure 6 A schematic diagram of a computer system suitable for implementing the embodiments of this application is shown. It should be noted that... Figure 6 The computer system 600 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0048] like Figure 6As shown, the computer system 600 includes a Central Processing Unit (CPU) 601, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, based on a program stored in Read-Only Memory (ROM) 602 or a program loaded from Storage Section 608 into Random Access Memory (RAM) 603. The RAM 603 also stores various programs and data required for system operation. The CPU 601, ROM 602, and RAM 603 are interconnected via a bus 604. An Input / Output (I / O) interface 605 is also connected to the bus 604.

[0049] The following components are connected to I / O interface 605: an input section 606 including a keyboard, mouse, etc.; an output section 607 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to I / O interface 605 as needed. A removable medium 611, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 610 as needed so that computer programs read from it can be installed into storage section 608 as needed.

[0050] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 609, and / or installed from removable medium 611. When the computer program is executed by central processing unit (CPU) 601, it performs various functions defined in the system of this application.

[0051] This application embodiment provides a computer-readable storage medium storing instructions that, when executed, perform the steps of the aforementioned braking method based on vehicle braking force distribution. The computer-readable storage medium can be either transient or non-transient.

[0052] The technical solutions of this disclosure can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes one or more instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of this disclosure. The aforementioned computer-readable storage medium can be a non-transitory computer-readable storage medium, including: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks, and other media capable of storing program code; it can also be a transient computer-readable storage medium.

[0053] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

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

[0055] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0056] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A braking method based on vehicle braking force distribution, characterized in that, include: Real-time acquisition of vehicle brake pedal travel and vehicle type; Based on the brake pedal travel and the vehicle type, the regenerative torque braking force is distributed to obtain the dynamic braking force of the vehicle. The vehicle is braked based on the dynamic braking force.

2. The method according to claim 1, characterized in that, The process of distributing regenerative torque braking force based on the brake pedal travel and the vehicle type to obtain the vehicle's dynamic braking force includes: The driver's required braking force is calculated based on the brake pedal travel. According to the vehicle type, the regenerative torque braking force is distributed based on the driver's required braking force and the brake pedal travel to obtain the vehicle's dynamic braking force.

3. The method according to claim 2, characterized in that, The step of distributing regenerative torque braking force according to the vehicle type, based on the driver's required braking force and the brake pedal travel, to obtain the vehicle's dynamic braking force includes: When the vehicle type is a rear-wheel drive vehicle, obtain the rear axle motor recovery torque corresponding to the brake pedal travel, as well as the EBD system status of the vehicle; When the EBD system is inactive, the front and rear axle braking forces are distributed based on the rear axle motor recovery torque and the vehicle's specifications to obtain the vehicle's dynamic braking force. After the EBD system is in an active state and the rear axle motor recovers torque to its maximum value, the target brake fluid pressure is obtained when the EBD system is in an inactive state. The dynamic braking force of the vehicle is obtained by distributing braking force between the front and rear axles based on the target brake fluid pressure and the recovery torque of the rear axle motor.

4. The method according to claim 3, characterized in that, The dynamic braking force is the rear axle braking force; the dynamic braking force of the vehicle is obtained by distributing the front and rear axle braking forces based on the rear axle motor recovery torque and the vehicle's specifications, and the corresponding calculation formula is as follows: Fx Total = Fx RA =Fx EM = T EM * R Among them, Fx Total Fx represents the total braking force. RA Fx represents the rear axle braking force. EM T represents the power of an electric motor. EM This represents the motor wheel-end torque corresponding to the regenerative torque of the rear axle motor, where R represents the effective tire radius.

5. The method according to claim 3, characterized in that, The method of distributing braking force between the front and rear axles based on the target brake fluid pressure and the regenerative torque of the rear axle motor to obtain the vehicle's dynamic braking force includes: Obtain the periodic variation parameters of the recovery torque of the rear axle motor; Based on the periodic variation parameters, the target brake fluid pressure, the regenerative torque of the rear axle motor, and the vehicle specifications, the hydraulic braking force is distributed between the front and rear axles to obtain the front axle hydraulic braking force and the rear axle hydraulic braking force. The recovery torque of the rear axle motor is updated based on the periodic change parameters to obtain the motor power. The dynamic braking force of the vehicle is formed based on the front axle hydraulic braking force, the rear axle hydraulic braking force, and the rear axle electric braking force.

6. The method according to claim 5, characterized in that, The periodic variation parameters include the braking force limitation portion per cycle and the change in motor recovery torque per cycle; the specification parameters include the brake disc friction coefficient, front axle brake disc radius, rear axle brake disc radius, effective tire radius, and correction coefficient when the motor recovery torque portion is converted into hydraulic pressure; the dynamic braking force includes the front axle hydraulic braking force, the rear axle hydraulic braking force, and the rear axle electric motor braking force. The method of distributing hydraulic braking force between the front and rear axles based on the periodic variation parameters, the target brake fluid pressure, the regenerative torque of the rear axle motor, and the vehicle specifications, to obtain the front axle hydraulic braking force and the rear axle hydraulic braking force, includes: When the absolute value of the regenerative torque of the rear axle motor is greater than 0, the hydraulic braking forces of the front and rear axles are calculated based on the periodic variation parameters, the target brake fluid pressure, and the vehicle specifications. The corresponding calculation formulas are as follows: Fx FA =2μ*p FA *p*r FA 2 p FA =p+Δp EBD Fx RA液 =2μ*p RA *p*r RA 2 p RA =p-Δp EBD +fac*Δp 电 Among them, Fx FA The front axle hydraulic braking force is represented by μ, and the brake disc friction coefficient is represented by r. FA Δp represents the radius of the front axle brake disc, p represents the target brake fluid pressure, and Δp represents the target brake fluid pressure. EBD Fx represents the braking force limitation per cycle. RA液 Indicates the hydraulic braking force of the rear axle, r RA This indicates the radius of the rear axle brake disc, and fac represents the correction factor when the motor recovers torque and converts it into hydraulic pressure. This indicates the hydraulic braking force corresponding to the change in motor recovery torque per cycle. This represents the change in motor recovery torque per cycle, and R represents the effective radius of the tire.

7. The method according to claim 5, characterized in that, The specifications include the brake disc friction coefficient, the front axle brake disc radius, and the rear axle brake disc radius; the dynamic braking force includes the front axle hydraulic braking force and the rear axle hydraulic braking force. The method of distributing hydraulic braking force between the front and rear axles based on the periodic variation parameters, the target brake fluid pressure, the regenerative torque of the rear axle motor, and the vehicle specifications, to obtain the front axle hydraulic braking force and the rear axle hydraulic braking force, includes: When the regenerative torque of the rear axle motor is equal to 0, the hydraulic braking forces of the front and rear axles are calculated based on the target braking fluid pressure and the specification parameters to obtain the second front axle hydraulic braking force and the second rear axle hydraulic braking force. The corresponding calculation formulas are as follows: Fx FA =2μ*p*π*r FA 2 Fx RA液 =2μ*p*π*r RA 2 Among them, Fx FA The front axle hydraulic braking force is represented by μ, the brake disc friction coefficient is represented by p, and the target brake fluid pressure is represented by r. FA Fx represents the radius of the front axle brake disc. RA液 Indicates the hydraulic braking force of the rear axle, r RA This indicates the radius of the rear axle brake disc.

8. A braking system based on vehicle braking force distribution, characterized in that, include: The acquisition module is used to acquire the vehicle's brake pedal travel and vehicle type in real time; A brake force distribution module is used to distribute regenerative torque braking force based on the brake pedal travel and the vehicle type to obtain the dynamic braking force of the vehicle. A braking control module is used to control the braking of the vehicle based on the dynamic braking force.

9. A computing device, comprising a memory, a processor, and a program stored in the memory and running on the processor, characterized in that, When the processor executes the program, it implements the steps of a braking method based on vehicle braking force distribution as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on a terminal device, cause the terminal device to perform the steps of a braking method based on vehicle brake force distribution as described in any one of claims 1 to 7.

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