CN-116039589-B - Brake control method, device, equipment and storage medium

CN116039589BCN 116039589 BCN116039589 BCN 116039589BCN-116039589-B

Abstract

The invention discloses a braking control method, a device, equipment and a storage medium, wherein the method comprises the steps of determining a corresponding ideal braking force distribution curve based on the current vehicle quality; and distributing the wheel braking force to a corresponding bridge control module according to the ideal braking force distribution curve, wherein the bridge control module is used for controlling the corresponding EMB module to generate braking force according to the distributed wheel braking force so as to brake the vehicle. When the vehicle is braked, the invention matches the ideal braking force distribution curve based on the current vehicle mass, and determines the wheel braking force of each wheel according to the braking strength request information and the ideal braking force distribution curve, and can adjust the wheel braking force according to the current vehicle mass, so that the front and rear wheel braking forces of the vehicle are in the optimal state, the braking distance is shortened, and the braking stability of the vehicle is improved.

Inventors

ZHOU XIANYONG
ZHOU XIAOXUE
YANG ZHAO
LI TINGTING
GUO LISHU

Assignees

浙江吉利控股集团有限公司
浙江吉利远程新能源商用车集团有限公司
浙江远程商用车研发有限公司

Dates

Publication Date: 20260508
Application Date: 20230106

Claims (7)

1. A brake control method, characterized in that the method comprises: Determining a corresponding ideal braking force distribution curve based on the current vehicle mass; determining the wheel braking force of each wheel according to the geometric parameters of the vehicle, the braking strength request information and the current vehicle mass, wherein the geometric parameters comprise the distance from the geometric center of the vehicle to the front axle of the vehicle, the distance from the geometric center of the vehicle to the rear axle of the vehicle, the front-rear wheel track and the gravity center height; the wheel braking force is distributed to a corresponding bridge control module according to the ideal braking force distribution curve, and the bridge control module is used for controlling a corresponding EMB module to generate braking force according to the distributed wheel braking force so as to brake the vehicle; before the corresponding ideal braking force distribution curve is determined based on the current vehicle mass, the method further comprises: When a current vehicle runs to a flat road section and receives a vehicle quality identification signal, acquiring vehicle parameters, wherein the vehicle parameters comprise driving torque, transmission efficiency, main transmission ratio, wheel radius, rolling resistance coefficient, wind resistance coefficient, windward area, vehicle speed and quality increase coefficient; determining the current vehicle mass according to the vehicle parameters through a vehicle longitudinal dynamics equation; the brake strength request information is determined by the current opening degree and the opening degree change rate of the brake pedal.
2. The method of claim 1, wherein the wheel braking forces include a front wheel braking force and a rear wheel braking force, and wherein determining the wheel braking force for each wheel based on the geometric parameter, the brake strength request information, and the current vehicle mass comprises: Determining a front wheel normal reaction force and a rear wheel normal reaction force when the vehicle brakes according to the geometric parameters, the current vehicle mass and the braking strength request information; and determining the front wheel braking force of the vehicle according to the front wheel normal counterforce, and determining the rear wheel braking force of the vehicle according to the rear wheel normal counterforce.
3. The method of claim 1, wherein upon receiving the vehicle mass identification signal, prior to acquiring the vehicle parameter, further comprising: detecting a switching signal output by a quality measurement switch arranged on a vehicle; and when the duration time of the switch signal is longer than the preset duration time, determining that the switch signal is a vehicle quality identification signal.
4. The method of any one of claims 1 or 2, wherein the bridge control modules include a front bridge control module and a rear bridge control module, the distributing the wheel braking force to the corresponding bridge control module according to the ideal braking force distribution curve comprising: And distributing the wheel braking force to a front axle control module and a rear axle control module according to the ideal braking force distribution curve.
5. A brake control apparatus, characterized in that the apparatus comprises: A first determination module for determining a corresponding ideal braking force distribution curve based on a current vehicle mass; the second determining module is used for determining the wheel braking force of each wheel according to the geometric parameters of the vehicle, the braking strength request information and the current vehicle mass, wherein the geometric parameters comprise the distance from the geometric center of the vehicle to the front axle of the vehicle, the distance from the geometric center of the vehicle to the rear axle of the vehicle, the front-rear wheel track and the gravity center height; The distribution module is used for distributing the wheel braking force to the corresponding bridge control module according to the ideal braking force distribution curve, and the bridge control module is used for controlling the corresponding EMB module to generate braking force according to the distributed wheel braking force so as to brake the vehicle; The first determining module is further used for obtaining vehicle parameters when the current vehicle runs to a flat road section and receives a vehicle quality identification signal, determining the current vehicle quality according to the vehicle parameters through a vehicle longitudinal dynamics equation, wherein the vehicle parameters comprise driving torque, transmission efficiency, main transmission ratio, wheel radius, rolling resistance coefficient, wind resistance coefficient, windward area, vehicle speed and quality increase coefficient; the brake strength request information is determined by the current opening degree and the opening degree change rate of the brake pedal.
6. A brake control apparatus comprising a memory, a processor and a brake control program stored on the memory and operable on the processor, the brake control program being configured to implement the steps of the brake control method as claimed in any one of claims 1 to 4.
7. A storage medium having stored thereon a brake control program which, when executed by a processor, implements the steps of the brake control method according to any one of claims 1 to 4.

Description

Brake control method, device, equipment and storage medium Technical Field The present invention relates to the field of vehicle braking technologies, and in particular, to a braking control method, device, equipment, and storage medium. Background The electric, intelligent and networking of the vehicle puts forward higher requirements on the safety, low carbonization and driving experience of a vehicle braking system, the current vehicle braking system mainly comprises a hydraulic braking system and a pneumatic braking system, when a driver needs to decelerate or stop, the driver presses a brake pedal to give out instructions to the braking system, the vehicle is braked by utilizing hydraulic pressure or pneumatic pressure, and when the vehicle is braked by the hydraulic braking system and the pneumatic braking system, the braking force of front wheels and rear wheels cannot be distributed according to the optimal proportion, so that the braking stability of the vehicle is low. The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art. Disclosure of Invention The invention mainly aims to provide a braking control method, a braking control device, braking control equipment and a storage medium, and aims to solve the technical problem of low vehicle braking stability in the prior art. In order to achieve the above object, the present invention provides a brake control method comprising the steps of: Determining a corresponding ideal braking force distribution curve based on the current vehicle mass; determining the wheel braking force of each wheel according to the braking strength request information and the current vehicle mass; And distributing the wheel braking force to a corresponding bridge control module according to the ideal braking force distribution curve, wherein the bridge control module is used for controlling a corresponding EMB module to generate braking force according to the distributed wheel braking force so as to brake the vehicle. Optionally, the determining the wheel braking force of each wheel according to the brake strength request information and the current vehicle mass includes: acquiring geometric parameters of the vehicle; and determining the wheel braking force of each wheel according to the geometric parameters, the braking strength request information and the current vehicle mass. Optionally, the wheel braking force includes a front wheel braking force and a rear wheel braking force, and the determining the wheel braking force of each wheel according to the geometric parameter, the braking strength request information and the current vehicle mass includes: Determining a front wheel normal reaction force and a rear wheel normal reaction force when the vehicle brakes according to the geometric parameters, the current vehicle mass and the braking strength request information; and determining the front wheel braking force of the vehicle according to the front wheel normal counterforce, and determining the rear wheel braking force of the vehicle according to the rear wheel normal counterforce. Optionally, before determining the corresponding ideal braking force distribution curve based on the current vehicle mass, the method further includes: when a vehicle quality identification signal is received, acquiring vehicle parameters; and determining the current vehicle mass according to the vehicle parameters through a vehicle longitudinal dynamics equation. Optionally, before determining the wheel braking force of each wheel according to the braking strength request information and the current vehicle mass, the method includes: acquiring the current opening of a brake pedal and the opening change rate of the brake pedal; and determining braking strength request information according to the current opening degree and the opening degree change rate. Optionally, before the vehicle quality identification signal is received and the vehicle parameter is acquired, the method further includes: detecting a switching signal output by a quality measurement switch arranged on a vehicle; and when the duration time of the switch signal is longer than the preset duration time, determining that the switch signal is a vehicle quality identification signal. Optionally, the bridge control module includes a front bridge control module and a rear bridge control module, and the distributing the wheel braking force to the corresponding bridge control module according to the ideal braking force distribution curve includes: And distributing the wheel braking force to a front axle control module and a rear axle control module according to the ideal braking force distribution curve. In addition, in order to achieve the above object, the present invention also proposes a brake control device including: A first determination module for determining a corresponding id