CN-121989898-A - Thermal protection method and device for vehicle braking system, storage medium and vehicle

CN121989898ACN 121989898 ACN121989898 ACN 121989898ACN-121989898-A

Abstract

The invention discloses a thermal protection method and device of a vehicle braking system, a storage medium and a vehicle. The thermal protection method comprises the steps of obtaining braking state information of each tire of a vehicle, judging whether a vehicle braking system enters a locked-rotor working condition according to the braking state information, generating sinusoidal braking forces corresponding to each tire according to system parameters of the vehicle braking system when the vehicle braking system enters the locked-rotor working condition, superposing the sinusoidal braking forces corresponding to each tire and target braking forces, and then injecting the superposed sinusoidal braking forces and target braking forces into a braking motor corresponding to each tire, wherein the sinusoidal braking forces corresponding to each tire are identical in size, the sinusoidal braking forces of a left front tire and a right rear tire of the vehicle are in a first direction, the sinusoidal braking forces of the right front tire and the left rear tire of the vehicle are in a second direction, and the first direction and the second direction are opposite. The invention can realize the locked-rotor thermal protection of the vehicle braking system without affecting the braking performance of the whole vehicle and adding extra parts.

Inventors

TONG BING
HUANG MEIPENG
ZHANG XUE

Assignees

耐世特汽车系统（苏州）有限公司

Dates

Publication Date: 20260508
Application Date: 20241108

Claims (10)

1. A method of thermal protection of a vehicle braking system, the method comprising: acquiring braking state information of each tire of a vehicle, and judging whether a vehicle braking system enters a locked-rotor working condition according to the braking state information; when the vehicle braking system enters a locked-rotor working condition, generating sinusoidal braking force corresponding to each tire according to system parameters of the vehicle braking system; superposing the sinusoidal braking force and the target braking force corresponding to each tire and then injecting the superposed sinusoidal braking force and the target braking force into a braking motor corresponding to each tire; The sine braking force corresponding to each tire is of the same magnitude, the direction of the sine braking force of the left front tire and the right rear tire of the vehicle is a first direction, the direction of the sine braking force of the right front tire and the left rear tire of the vehicle is a second direction, and the first direction and the second direction are opposite.
2. The method for thermal protection of a vehicle brake system according to claim 1, wherein determining whether the vehicle brake system enters a locked-rotor condition according to the brake state information comprises: Judging whether the vehicle braking system enters a locked-rotor working condition according to the current torque and the current rotating speed of the braking motor of each tire.
3. The method according to claim 2, wherein the determining whether the vehicle brake system enters a locked-rotor condition according to the current torque and the current rotational speed of the brake motor of each tire comprises: And when the current torque of the brake motor of any tire is larger than the torque target threshold value and the current rotating speed is smaller than the rotating speed target threshold value, judging that the vehicle brake system enters the locked-rotor working condition.
4. The method for thermal protection of a vehicle brake system according to claim 1, wherein generating sinusoidal braking forces corresponding to respective tires according to system parameters of the vehicle brake system when the vehicle brake system enters a locked-rotor condition comprises: When the vehicle enters a locked-rotor working condition, generating the sinusoidal braking force with the same corresponding size of each tire according to the system parameters of the vehicle braking system; And adjusting the amplitude of the sinusoidal braking force according to the target braking force so as to enable the change of the rotation angle of the braking motor corresponding to each tire to be larger than a preset angle, wherein the rotation angle of the braking motor is the electric angle of the braking motor.
5. The method according to claim 4, wherein the adjusting the magnitude of the sinusoidal braking force according to the target braking force so that the rotational angle of the brake motor corresponding to each tire varies by more than a preset angle, further comprises: And adjusting the amplitude of the sinusoidal braking force according to the target braking force so as to enable the change of the rotation angle of the braking motor corresponding to each tire to be larger than 120 degrees.
6. The method of claim 4, wherein generating the sinusoidal braking force of the same magnitude for each tire comprises: generating the sinusoidal braking forces of a left front tire and a right rear tire of a vehicle according to system parameters of the vehicle braking system, wherein the sinusoidal braking forces of the left front tire and the right rear tire are A x Sin (wt); Generating the sinusoidal braking forces of a right front tire and a left rear tire of a vehicle according to system parameters of the vehicle braking system, wherein the sinusoidal braking forces of the right front tire and the left rear tire are-A x Sin (wt); wherein A is the amplitude of the sinusoidal braking force, w is the angular frequency of the sinusoidal braking force, and t is time.
7. The method according to claim 1, wherein the step of adding the sinusoidal braking force and the target braking force for each tire and injecting the sum into the braking motor for each tire comprises: Superposing the sinusoidal braking force and the target braking force corresponding to each tire to obtain a corresponding variable braking force signal; the variable braking force signals corresponding to the respective tires are output to the corresponding brake motors so that the brake motors alternately perform forward rotation and reverse rotation.
8. A thermal protection device of a vehicle brake system, characterized in that the thermal protection device of a vehicle brake system is used for performing the thermal protection method of a vehicle brake system according to any one of claims 1-7, the thermal protection device of a vehicle brake system comprising: the locked rotor confirming module is used for acquiring braking state information of each tire of the vehicle and judging whether a vehicle braking system enters a locked rotor working condition according to the braking state information; the braking force generation module is used for generating sinusoidal braking force corresponding to each tire according to the system parameters of the vehicle braking system when the vehicle braking system enters a locked-rotor working condition; The output module is used for superposing the sinusoidal braking force and the target braking force corresponding to each tire and then injecting the superposed sinusoidal braking force and the target braking force into the braking motor corresponding to each tire; The sine braking force corresponding to each tire is of the same magnitude, the direction of the sine braking force of the left front tire and the right rear tire of the vehicle is a first direction, the direction of the sine braking force of the right front tire and the left rear tire of the vehicle is a second direction, and the first direction and the second direction are opposite.
9. A storage medium containing computer executable instructions which, when executed by a computer processor, are for performing the thermal protection method of a vehicle brake system as claimed in any one of claims 1 to 7.
10. A vehicle comprising the thermal protection device of the vehicle braking system of claim 8.

Description

Thermal protection method and device for vehicle braking system, storage medium and vehicle Technical Field The embodiment of the invention relates to the technical field of vehicle braking systems, in particular to a thermal protection method and device for a vehicle braking system, a storage medium and a vehicle. Background With the development and popularization of vehicle technology, the safety of vehicles is also becoming more important, and the braking system of vehicles plays a vital role in improving the safety of vehicles. In the prior art, an electromechanical brake system (Electronic Mechanical Brake, EMB) is one of the hot spots studied in the current drive-by-wire chassis field, and the EMB pushes friction plates to squeeze a brake disc through a motor and a transmission mechanism to realize a vehicle braking function. However, the functional attribute of the braking system determines that the braking motor of the EMB needs to work at a high frequency under the locked-rotor working condition of zero rotation speed and large torque, so that the power device of the EMB system is thermally damaged under the locked-rotor working condition of large torque, further the braking performance of the vehicle is affected, and the safety of the vehicle is caused. Disclosure of Invention The invention provides a thermal protection method and device for a vehicle braking system, a storage medium and a vehicle, so as to realize locked-rotor thermal protection of the vehicle braking system and improve the safety of the vehicle braking system. In a first aspect, an embodiment of the present invention provides a method for thermally protecting a vehicle brake system, the method comprising: acquiring braking state information of each tire of the vehicle, and judging whether a vehicle braking system enters a locked-rotor working condition according to the braking state information; When the vehicle braking system enters a locked-rotor working condition, generating sinusoidal braking force corresponding to each tire according to system parameters of the vehicle braking system; superposing the sinusoidal braking force and the target braking force corresponding to each tire and then injecting the superposed sinusoidal braking force and the target braking force into a braking motor corresponding to each tire; The sine braking force corresponding to each tire is of the same magnitude, the direction of the sine braking force of the left front tire and the right rear tire of the vehicle is a first direction, the direction of the sine braking force of the right front tire and the left rear tire of the vehicle is a second direction, and the first direction and the second direction are opposite. Optionally, the judging whether the vehicle braking system enters the locked-rotor working condition according to the braking state information includes: judging whether the vehicle braking system enters a locked-rotor working condition according to the current torque and the current rotating speed of the braking motor of each tire. Optionally, the determining whether the vehicle braking system enters the locked-rotor working condition according to the current torque and the current rotation speed of the braking motor of each tire includes: And when the current torque of the brake motor of any tire is larger than the torque target threshold value and the current rotating speed is smaller than the rotating speed target threshold value, judging that the vehicle brake system enters the locked-rotor working condition. Optionally, when the vehicle braking system enters a locked-rotor working condition, generating sinusoidal braking forces corresponding to each tire according to system parameters of the vehicle braking system, including: When the vehicle enters a locked-rotor working condition, generating the sinusoidal braking force with the same corresponding size of each tire according to the system parameters of the vehicle braking system; And adjusting the amplitude of the sinusoidal braking force according to the target braking force so as to enable the change of the rotation angle of the braking motor corresponding to each tire to be larger than a preset angle, wherein the rotation angle of the braking motor is the electric angle of the braking motor. Optionally, the adjusting the amplitude of the sinusoidal braking force according to the target braking force, so that the rotation angle of the braking motor corresponding to each tire changes by more than a preset angle, further includes: And adjusting the amplitude of the sinusoidal braking force according to the target braking force so as to enable the change of the rotation angle of the braking motor corresponding to each tire to be larger than 120 degrees. Optionally, the generating the sinusoidal braking force corresponding to each tire and having the same size includes: generating the sinusoidal braking forces of a left front tire and a right rear tire of a vehicle according to