CN116373819A - Braking force distribution method, device, terminal equipment and computer storage medium - Google Patents

Abstract

The application discloses a braking force distribution method, a device, a terminal device and a computer storage medium, which are applied to a target vehicle provided with an electromechanical braking system, wherein the braking force distribution method comprises the following steps: determining the total braking force of a target vehicle, acquiring a plurality of preset braking force distribution curves, and inputting the total braking force and the plurality of braking force distribution curves into an electromechanical braking system; determining a target braking force distribution curve corresponding to the total braking force in a plurality of braking force distribution curves by an electronic mechanical braking system, and determining the total braking force of the front wheels and the total braking force of the rear wheels according to the target braking force distribution curve and the total braking force; the target vehicle is controlled to perform a braking operation based on the front wheel total braking force and the rear wheel total braking force. By adopting the method and the device, the target vehicle can have better balance in the braking process, and the occurrence of the jerk is avoided.

Description

Braking force distribution method, device, terminal equipment and computer storage medium

technical field

The present application relates to the technical field of vehicles, and in particular to a braking force distribution method, device, terminal equipment and computer-readable storage medium.

Background technique

At present, when medium and heavy-duty commercial vehicles perform braking operations during driving, the traditional mechanical braking system configured in the vehicle mainly uses the anti-drag torque of the brake motor to perform braking operations on the vehicle. During the braking operation, due to factors such as engine torque, gear change of the gearbox, or long response time of the braking system, the vehicle will exit the braking operation early, which will cause the vehicle to experience a sense of frustration during the braking process. , At the same time, it also reduces the energy recovery efficiency of the vehicle during braking. Therefore, how to prevent the vehicle from exiting the braking operation prematurely during the braking process has become a technical problem that needs to be solved urgently in the industry.

Contents of the invention

The main purpose of this application is to provide a braking force distribution method, device, terminal equipment and computer-readable storage medium, aiming to utilize the characteristics of fast response time of the electromechanical braking system, so that the target vehicle can avoid the Engine torque, transmission gear changes, or brake system response time caused by factors such as early exit from the braking operation, so that the target vehicle has a better balance during the braking process and avoids a sense of frustration.

In order to achieve the above object, the present application provides a braking force distribution method, the method is applied to a target vehicle equipped with an electromechanical braking system, and the braking force distribution method includes the following steps:

determining the total braking force of the target vehicle, and obtaining a plurality of preset braking force distribution curves, and inputting the total braking force and the plurality of braking force distribution curves into the electromechanical braking system;

determining a target braking force distribution curve corresponding to the total braking force among the plurality of braking force distribution curves by the electromechanical braking system, and determining a previous braking force distribution curve according to the target braking force distribution curve and the total braking force total wheel braking force and rear wheel total braking force;

The target vehicle is controlled to perform a braking operation based on the total braking force of the front wheels and the total braking force of the rear wheels.

Further, the step of determining the total braking force of the target vehicle includes:

detecting engine torque and generator torque of the target vehicle;

A target torque value is determined from the engine torque and the generator torque, and a total braking force of the target vehicle is determined based on the target torque value.

Further, the multiple braking force distribution curves include a first braking force distribution curve, a second braking force distribution curve and a third braking force distribution curve;

The step of determining a target braking force distribution curve corresponding to the total braking force among the plurality of braking force distribution curves by the electromechanical braking system includes:

The electromechanical braking system compares the total braking force with a plurality of preset strength intervals to obtain a comparison result, wherein the plurality of strength intervals include a first strength interval, a second strength interval and third intensity interval;

When the comparison result is that the total braking force is in the first intensity interval, the electromechanical braking system determines that the first braking force distribution curve is a target braking force distribution corresponding to the total braking force Curve, wherein, the interval range of the first strength interval is 0 to the preset first braking force strength;

or,

When the comparison result is that the total braking force is in the second intensity range, the electromechanical braking system determines that the second braking force distribution curve is the target braking force distribution curve, wherein the The interval range of the second intensity interval is from the first braking force intensity to a preset second braking force intensity, and the first braking force intensity is smaller than the second braking force intensity;

or,

When the comparison result is that the total braking force is in the third intensity interval, the electromechanical braking system determines the third braking force distribution curve as the target braking force distribution curve, wherein the The interval range of the third intensity interval is greater than or equal to the second braking force intensity.

Further, the step of determining the total braking force of the front wheels and the total braking force of the rear wheels according to the target braking force distribution curve and the total braking force includes:

When the target braking force distribution curve is the first braking force distribution curve, determine that the total braking force of the front wheels is 0, and determine that the total braking force is the total braking force of the rear wheels;

or,

When the target braking force distribution curve is the second braking force distribution curve, the total braking force of the front wheels is determined according to the second braking force distribution formula corresponding to the second braking force distribution curve and the total braking force and the total braking force of the rear wheels;

or,

When the target braking force distribution curve is the third braking force distribution curve, the total braking force of the front wheels is determined according to the third braking force distribution formula corresponding to the third braking force distribution curve and the total braking force and the total braking force of the rear wheels.

Further, before the step of comparing the total braking force with a plurality of preset intensity intervals by the electromechanical braking system to obtain the comparison result, the method further includes:

Obtaining a preset second braking force distribution curve and a third braking force distribution curve, and determining an intersection point of the second braking force distribution curve and the third braking force distribution curve;

The braking force intensity corresponding to the intersection point is determined as the second braking force intensity.

Further, the target vehicle is also equipped with a front wheel braking device and a rear wheel braking device, and the third braking force distribution formula corresponding to the third braking force distribution curve and the total braking force are determined After the steps of the total braking force of the front wheels and the total braking force of the rear wheels, the method further includes:

Detecting whether the total front wheel braking force reaches a preset front wheel total braking force threshold;

If it is detected that the total braking force of the front wheels reaches the threshold value of the total braking force of the front wheels, then controlling the electromechanical braking system to compensate the front wheel braking device based on the total braking force of the front wheels;

and/or,

Detecting whether the total braking force of the rear wheels reaches a preset total braking force threshold of the rear wheels;

If it is detected that the total braking force of the rear wheels reaches the total braking force threshold of the rear wheels, the electromechanical braking system is controlled to compensate the braking device for the rear wheels based on the total braking force of the rear wheels.

Further, the target vehicle is also equipped with an energy recovery device, after the step of controlling the target vehicle to perform a braking operation based on the total braking force of the front wheels and the total braking force of the rear wheels, the method Also includes:

The energy recovery device is controlled to perform an energy recovery operation during the braking operation of the target vehicle.

In addition, in order to achieve the above object, the present application also provides a braking force distribution device, the braking force distribution device is applied to a target vehicle equipped with an electromechanical braking system, and the device includes:

A strength calculation module, configured to determine the total braking force of the target vehicle, and obtain a plurality of preset braking force distribution curves, and input the total braking force and the plurality of braking force distribution curves into the electronic mechanical system moving system;

a brake distribution module, configured to determine a target braking force distribution curve corresponding to the total braking force among the plurality of braking force distribution curves by the electromechanical braking system, and The total braking force determines the total braking force of the front wheels and the total braking force of the rear wheels;

A braking execution module, configured to control the target vehicle to perform a braking operation based on the total braking force of the front wheels and the total braking force of the rear wheels.

In addition, in order to achieve the above object, the present application also provides a terminal device, the terminal device includes: a memory, a processor, and a braking force distribution program stored in the memory and operable on the processor, the When the above-mentioned braking force distribution program is executed by the processor, the steps of the above-mentioned braking force distribution method are realized.

In addition, in order to achieve the above object, the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a braking force distribution program, and when the braking force distribution program is executed by a processor, the above-mentioned The steps of the braking force distribution method.

The braking force distribution method, device, terminal equipment, and computer-readable storage medium provided in the embodiments of the present application determine the total braking force of the target vehicle and obtain a plurality of preset braking force distribution curves, and convert the total braking force to The braking force and multiple braking force distribution curves are input to the electromechanical braking system; the electromechanical braking system determines a target braking force corresponding to the total braking force among the multiple braking force distribution curves. power distribution curve, and determine the total braking force of the front wheels and the total braking force of the rear wheels according to the target braking force distribution curve and the total braking force; based on the total braking force of the front wheels and the total braking force of the rear wheels, control The target vehicle performs a braking operation.

In this embodiment, when the terminal device is running, it first detects the target vehicle so as to determine the total braking force required by the target vehicle when performing the braking operation. The terminal device further inputs the obtained total braking force and multiple braking force distribution curves into the electromechanical braking system configured in the target vehicle. After that, the electromechanical braking system Multiple braking force distribution curves are screened, so as to determine the target braking force distribution curve corresponding to the total braking force among the multiple braking force distribution curves, and the electromechanical braking system then distributes the total braking force based on the target braking force distribution curve. Determine the total braking force of the rear wheels and the total braking force of the front wheels, and upload the total braking force of the rear wheels and the total braking force of the front wheels to the terminal device. Finally, the terminal device controls the target according to the total braking force of the rear wheels and the total braking force of the front wheels The vehicle performs a braking operation.

In this way, this application utilizes the characteristics of fast response time of the electromechanical braking system, and obtains the total braking force of the front wheels and the total braking force of the rear wheels through the distribution of the total braking force by the electromechanical braking system according to the target braking force distribution curve, so that the target During the braking process, the vehicle can avoid the situation of early exit from the braking operation caused by factors such as engine torque, transmission gear change, or long response time of the braking system, so that the target vehicle has a better performance during the braking process. Balance and avoid frustration.

Description of drawings

FIG. 1 is a schematic structural diagram of a terminal device in a hardware operating environment involved in an embodiment of the present application;

Fig. 2 is a schematic flow chart of the first embodiment of the braking force distribution method of the present application;

Fig. 3 is a schematic flow chart of the second embodiment of the braking force distribution method of the present application;

Fig. 4 is a schematic diagram of a braking force distribution curve involved in an embodiment of the braking force distribution method of the present application;

FIG. 5 is a schematic diagram of functional modules involved in an embodiment of the braking force distribution method of the present application.

The realization, functional features and advantages of the present application will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Detailed ways

It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

Referring to FIG. 1 , FIG. 1 is a schematic structural diagram of a terminal device in a hardware operating environment involved in an embodiment of the present application.

It should be noted that FIG. 1 is a schematic structural diagram of a hardware operating environment of a terminal device. The terminal device in this embodiment of the present application may be a terminal device that executes the braking force distribution method of the present application. Specifically, the terminal device may be a terminal such as a mobile terminal, a data storage control terminal, a PC or a portable computer.

As shown in FIG. 1 , the terminal device may include: a processor 1001 , such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002 , a user interface 1003 , a network interface 1004 , and a memory 1005 . Wherein, the communication bus 1002 is used to realize connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WIreless-FIdelity, WI-FI) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001 .

Those skilled in the art can understand that the structure shown in FIG. 1 does not constitute a limitation on the terminal device, and may include more or less components than those shown in the figure, or combine some components, or arrange different components.

As shown in FIG. 1 , the memory 1005 as a storage medium may include an operating system, a data storage module, a network communication module, a user interface module and a braking force distribution program.

In the terminal device shown in Figure 1, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the terminal device of this application can be set in In the terminal device, the braking force distribution device invokes the braking force distribution program stored in the memory 1005 through the processor 1001, and executes the braking force distribution method provided in the embodiment of the present application.

Based on the above-mentioned terminal equipment, various embodiments of the braking force distribution method of the present application are provided.

Please refer to FIG. 2 , which is a schematic flowchart of the first embodiment of the braking force distribution method of the present application.

It should be understood that although the logic sequence is shown in the flow chart, in some cases, the braking force distribution method of the present application can of course execute the steps shown or described in a different order than here.

In this embodiment, the braking force distribution method of the present application is applied to a target vehicle equipped with an electromechanical braking system, and the braking force distribution method of the present application may include the following steps:

Step S10: determining the total braking force of the target vehicle, and obtaining a plurality of preset braking force distribution curves, and inputting the total braking force and the plurality of braking force distribution curves into the electromechanical braking system;

In this embodiment, when the terminal device is running, it first detects the target vehicle, and when it detects that the target vehicle needs to perform a braking operation, it determines the total braking force required by the target vehicle. At the same time, the terminal device reads the internally configured The storage device is used to obtain multiple braking force distribution curves preset by the technician, and the terminal device then inputs the obtained total braking force and multiple braking force distribution curves to the electromechanical braking system configured in the target vehicle.

Exemplarily, for example, when the target vehicle needs to perform a braking operation, the terminal device detects the target vehicle to determine the total braking force z required by the target vehicle. After that, the terminal device inputs the obtained total braking force z and multiple braking force distribution curves into the EMB system configured in the target vehicle.

It should be noted that, in this embodiment, the EMB (Electro Mechanical Brake-Electronic Mechanical Brake) system cancels the traditional hydraulic pipeline and wheel cylinder braking system, and the EMB system mainly uses the ECU (Electronic Control Unit-electronic control unit) drives and controls the brake motor, so that both sides of the caliper clamp the brake disc to generate braking force. Therefore, the EMB system has the characteristics of fast response time.

Further, in a feasible embodiment, the step of "determining the total braking force of the target vehicle" in the above step S10 may specifically include:

Step S101: detecting the engine torque and generator torque of the target vehicle;

In this embodiment, the terminal device first detects the target vehicle, so as to determine the engine torque of the engine in the target vehicle and the generator torque of the generator in the target vehicle.

Step S102: determining a target torque value according to the engine torque and the generator torque, and determining the total braking force of the target vehicle based on the target torque value;

In this embodiment, the terminal device sums the obtained engine torque and generator torque to obtain a target torque value, and the terminal device further determines the total braking force required by the target vehicle according to the target torque value.

Exemplarily, for example, when the terminal device determines that the vehicle needs to perform a braking operation, it detects the target vehicle so as to determine the generator torque of the generator of the target vehicle and the engine torque of the engine, and the terminal device further compares the generator torque and the engine torque The torques are summed to obtain the sum of the torques, and the sum of the torques is determined as a target torque value, and the terminal device then determines the total braking force corresponding to the target vehicle according to the target torque value.

It should be noted that, in another embodiment, when the terminal device determines that the target vehicle needs to perform a braking operation, it can also detect the brake pedal of the target vehicle, so as to determine the engine torque and power generation through the opening and closing of the brake pedal. engine torque, and then obtain the target torque value based on the engine torque and the generator torque; it can be understood that there are many processes for the terminal device to determine the braking force based on the target torque value, which is not limited in this application.

Step S20: The electromechanical braking system determines a target braking force distribution curve corresponding to the total braking force among the plurality of braking force distribution curves, and according to the target braking force distribution curve and the total braking force Power determines the total braking force of the front wheels and the total braking force of the rear wheels;

In this embodiment, when acquiring multiple braking force distribution curves and the total braking force, the electromechanical braking system screens the multiple braking force distribution curves based on the total braking force, so as to determine the difference between the multiple braking force distribution curves and The target braking force curve corresponding to the total braking force. The electromechanical braking system then distributes the total braking force according to the target braking force curve to determine the total braking force of the front wheels and the total braking force of the rear wheels of the target vehicle. The electromechanical braking system will The acquired total front wheel braking force and rear wheel total braking force are uploaded to the terminal device.

Exemplarily, for example, when acquiring multiple braking force distribution curves and the total braking force z, the EMB system screens the multiple braking force distribution curves based on the total braking force z, so as to determine the target braking force among the multiple braking force distribution curves. power curve, and determine the braking force distribution formula corresponding to the target braking force curve, after that, the EMB system distributes the total braking force z based on the braking force distribution formula, thereby determining the total front wheel braking force Ff and The rear wheel total braking force Fr corresponding to the rear driving wheel, and then, the EMB system uploads the obtained front wheel total braking force Ff and rear wheel total braking force Fr to the terminal device.

Further, in a feasible embodiment, the multiple braking force distribution curves include a first braking force distribution curve, a second braking force distribution curve and a third braking force distribution curve, and in the above step S20 "by the electronic mechanical The braking system determines the "target braking force distribution curve" corresponding to the total braking force among the multiple braking force distribution curves, which may specifically include:

Step S201: The electromechanical braking system compares the total braking force with a plurality of preset strength intervals to obtain a comparison result, wherein the plurality of strength intervals include the first strength interval, the second strength interval, and the second strength interval. Intensity interval and third intensity interval;

Step S202: When the comparison result is that the total braking force is in the first intensity range, the electromechanical braking system determines that the first braking force distribution curve is the target corresponding to the total braking force Braking force distribution curve, wherein the range of the first intensity interval is from 0 to the first braking force intensity, and the specific value of the first braking force intensity is 0.2;

Step S203: When the comparison result is that the total braking force is in the first intensity range, the electromechanical braking system determines that the first braking force distribution curve is the target corresponding to the total braking force Braking force distribution curve, wherein the range of the first strength interval is from 0 to a preset first braking force strength;

Step S204: When the comparison result is that the total braking force is in the third intensity range, the electromechanical braking system determines that the third braking force distribution curve is the target braking force distribution curve, wherein , the interval range of the third intensity interval is greater than or equal to the second braking force intensity;

Exemplarily, for example, please refer to FIG. 4, which is a schematic diagram of a braking force distribution curve involved in an embodiment of the braking force distribution method of the present application. The EMB system first obtains the first braking force distribution curve and the second braking force distribution curve sent by the terminal device. The power distribution curve and the third braking force distribution curve. At the same time, the EMB system obtains the preset first braking force intensity k1 and determines that the specific value of the first braking force intensity k1 is 0.2, and the second value greater than the first braking force intensity k1 Braking force intensity k2, after that, based on the first braking force intensity k1 and the second braking force intensity k2, the EMB system determines that the range of the first intensity interval is 0 to 0.2, the interval range of the second interval intensity is 0.2 to k2, and the third interval The interval range of the interval intensity is greater than or equal to k2, and then the EMB system compares the total braking force z with the first intensity interval, the second intensity interval and the third intensity interval to obtain the comparison result;

After that, when the EMB system determines that the total braking force z is less than 0.2, the EMB system determines that the total braking force z is in the first intensity range, and determines that the first braking force distribution curve corresponding to the first intensity range is the target braking force distribution curve;

or,

When the EMB system determines that the comparison result is that the total braking force z is less than k2 but greater than or equal to 0.2, the EMB system determines that the total braking force z is in the second intensity interval, and determines the second braking force distribution curve corresponding to the second intensity interval as the target Braking force distribution curve;

or,

When the EMB system determines that the total braking force z is greater than or equal to k2, the EMB system determines that the total braking force z is in the third intensity interval, and determines that the third braking force distribution curve corresponding to the first intensity interval is the target braking force distribution curve .

It should be noted that, in this embodiment, the value of the first braking force intensity k1 mainly considers the safety of the target vehicle during braking, that is, when the total braking force is lower than the first braking force intensity k1, The EMB system can distribute the total braking force to a single drive wheel without locking the single drive wheel.

Further, in a feasible embodiment, the step of "determining the total braking force of the front wheels and the total braking force of the rear wheels according to the target braking force distribution curve and the total braking force" in the above step S20 may specifically include :

Step S205: When the target braking force distribution curve is the first braking force distribution curve, determine that the total braking force of the front wheels is 0, and determine that the total braking force is the total braking force of the rear wheels;

In this embodiment, when the electromechanical braking system determines that the target braking force distribution curve is the first braking force distribution curve, it determines the first braking force distribution formula corresponding to the first braking force distribution curve, and according to the first braking force distribution The formula determines that the total braking force is all distributed to the rear driving wheels, so that the total braking force of the front wheels is determined to be 0, and the total braking force of the rear wheels is equal to the total braking force.

Step S206: When the target braking force distribution curve is the second braking force distribution curve, determine the front wheel according to the second braking force distribution formula corresponding to the second braking force distribution curve and the total braking force the total braking force and the total braking force of said rear wheels;

In this embodiment, when the electromechanical braking system determines that the target braking force distribution curve is the second braking force distribution curve, it determines the second braking force distribution formula corresponding to the second braking force distribution curve, and at the same time, the electromechanical braking system Based on the second braking force distribution formula, the total braking force is preferentially distributed as the total braking force of the rear wheels, and the remaining total braking force after distribution is distributed as the total braking force of the front wheels.

Step S207: When the target braking force distribution curve is the third braking force distribution curve, determine the front wheel according to the third braking force distribution formula corresponding to the third braking force distribution curve and the total braking force the total braking force and the total braking force of said rear wheels;

In this embodiment, when the electromechanical braking system determines that the target braking force distribution curve is the third braking force distribution curve, it determines the third braking force distribution formula corresponding to the third braking force distribution curve, and the electromechanical braking system is further based on The third braking force distribution formula distributes the total braking force into the total braking force of the front wheels and the total braking force of the rear wheels.

Exemplarily, for example, as shown in FIG. 4 , when the EMB system determines that the target braking force distribution curve is the first braking force distribution curve, it determines that the first braking force distribution formula corresponding to the first braking force distribution curve is: Ff=0 , Fr=G·z; the EMB system further determines that the current total braking force z can be fully distributed to the rear driving wheels according to the first braking force distribution formula, so that the total rear wheel braking force Fr=G· is determined based on the first braking force distribution formula z, and determine that the total front wheel braking force Ff is 0;

or,

When the EMB system determines that the target braking force distribution curve is the second braking force distribution curve, the second braking force distribution formula corresponding to the second braking force distribution curve is determined as: Ff=G·z-k1·G, Fr=k1·G ; At this time, the EMB system determines that if the total braking force is all distributed to the rear wheels, the braking force generated by the rear axle will exceed the specified value, which will cause safety hazards in the braking process of the target vehicle. Fr=k1 G included in the braking force distribution formula first determines the total braking force Fr of the rear wheels, and then, the EMB system determines the remaining braking force based on the total braking force z and the total braking force Fr of the rear wheels, and transfers the remaining braking force G·z-k1·G is determined as the total front wheel braking force Fr;

or,

When the EMB system determines that the target braking force distribution curve is the third braking force distribution curve, the third braking force distribution formula corresponding to the third braking force distribution curve is determined as: Ff+Fr=G z, Ff/Fr=(b+ z·hg)/(a-z·hg); the EMB system further distributes the total braking force z as the front The total wheel braking force Ff and the rear wheel total braking force Fr.

It should be noted that, in this embodiment, in the Ff/Fr=(b+z·hg)/(a-z·hg) contained in the third braking force distribution formula, a is the distance from the center of mass of the target vehicle to the front of the target vehicle. The distance value of the wheel axle, similarly, b is the distance value from the center of mass of the target vehicle to the rear wheel axle of the target vehicle, similarly, hg is the height of the center of mass of the target vehicle; in addition, in each braking force distribution formula, G is included to represent the distance of the target vehicle total mass.

Further, in a feasible embodiment, the target vehicle is also equipped with a front wheel braking device and a rear wheel braking device. After the above step S207, the braking force distribution method of the present application may further include:

Step A10: detecting whether the total braking force of the front wheels reaches a preset threshold value of the total braking force of the front wheels;

Step A20: If it is detected that the total braking force of the front wheels reaches the threshold value of the total braking force of the front wheels, then controlling the electromechanical braking system to compensate the front wheel braking device based on the total braking force of the front wheels ;

Step A30: Detecting whether the total braking force of the rear wheels reaches a preset total braking force threshold of the rear wheels;

Step A40: If it is detected that the total braking force of the rear wheels reaches the threshold value of the total braking force of the rear wheels, then controlling the electromechanical braking system to compensate the braking device for the rear wheels based on the total braking force of the rear wheels ;

Exemplarily, for example, after the EMB system distributes the total front wheel braking force Ff and the rear wheel total braking force Fr, the terminal device obtains the threshold value of the total front wheel braking force and the total rear wheel braking force preset by the technician, and the terminal device Then compare the total front wheel braking force Ff with the front wheel total braking force threshold to determine whether the front wheel total braking force Ff reaches the front wheel total braking force threshold, and the terminal device then determines that the front wheel total braking force Ff reaches the front wheel total braking force threshold. When the total braking force threshold is reached, the EMB system is invoked to compensate the front wheel braking device configured in the target vehicle based on the total front wheel braking force Ff;

Similarly, the terminal device compares the total rear wheel braking force Fr with the rear wheel total braking force threshold to determine whether the rear wheel total braking force Fr reaches the rear wheel total braking force threshold, and the terminal device then judges that the rear wheel total braking force When Fr reaches the total rear wheel braking force threshold, the EMB system is invoked to compensate the rear wheel braking device configured in the target vehicle based on the rear wheel total braking force Fr.

Step S30: controlling the target vehicle to perform a braking operation based on the total braking force of the front wheels and the total braking force of the rear wheels;

In this embodiment, after the terminal device obtains the total braking force of the front wheels and the total braking force of the rear wheels uploaded by the electromechanical braking system, the terminal device The wheel brake device and the rear wheel brake device are controlled so that the target vehicle performs a braking operation.

Exemplarily, for example, after determining the total front wheel braking force Ff and the rear wheel total braking force Fr, the terminal device controls the brake motor configured on the front wheel axle of the target vehicle to perform a braking operation according to the front wheel total braking force Ff, and at the same time , the terminal device controls the brake motors arranged on the rear wheel axles of the target vehicle to perform braking operations according to the total rear wheel braking force Fr, so that the target vehicles are driven to perform braking operations through each brake motor.

Further, in a feasible embodiment, the target vehicle is also equipped with an energy recovery device. After the above step S30, the braking force distribution method of the present application may further include:

Step B10: controlling the energy recovery device to perform an energy recovery operation during the braking operation of the target vehicle;

Exemplarily, for example, the terminal device detects the target vehicle, and when it detects that the target vehicle enters the braking operation, it controls the energy recovery device configured in the target vehicle based on the total front wheel braking force Ff on the front wheel axle of the target vehicle and the total rear wheel braking force Fr on the rear axle perform energy recovery operations.

In this embodiment, when the terminal device is running, it first detects the target vehicle, and when it detects that the target vehicle needs to perform a braking operation, it determines the total braking force required by the target vehicle. At the same time, the terminal device reads the internally configured The storage device is used to obtain multiple braking force distribution curves preset by technicians, and the terminal equipment then inputs the obtained total braking force and multiple braking force distribution curves into the electromechanical braking system configured in the target vehicle, and then the electromechanical braking system When the braking system acquires multiple braking force distribution curves and the total braking force, the multiple braking force distribution curves are screened based on the total braking force, so as to determine the target braking force curve corresponding to the total braking force among the multiple braking force distribution curves , the electro-mechanical braking system then distributes the total braking force according to the target braking force curve to determine the total front-wheel braking force and rear-wheel total braking force of the target vehicle. The total braking force of the wheels is uploaded to the terminal device. Finally, after the terminal device obtains the total braking force of the front wheels and the total braking force of the rear wheels uploaded by the electromechanical braking system, the terminal device compares the The front wheel braking device and the rear wheel braking device in the target vehicle are controlled so that the target vehicle performs a braking operation.

In this way, this application utilizes the characteristics of fast response time of the electromechanical braking system, thereby adopting the method of distributing the total braking force by the electromechanical braking system according to the target braking force distribution curve to obtain the total braking force of the front wheels and the total braking force of the rear wheels, In the braking process, the target vehicle can avoid the situation of early exit from the braking operation due to factors such as engine torque, transmission gear change or long response time of the braking system, so that the target vehicle has a better braking performance during the braking process. Good balance to avoid frustration.

Further, please refer to FIG. 3 , which is a schematic flowchart of a second embodiment of the braking force distribution method of the present application.

Based on the above first embodiment of the braking force distribution method of the present application, a second embodiment of the braking force distribution method of the present application is proposed here.

Before the above step S201, the braking force distribution method of the present application may also include:

Step C10: Obtaining a preset second braking force distribution curve and a third braking force distribution curve, and determining an intersection point of the second braking force distribution curve and the third braking force distribution curve;

In this embodiment, the electromechanical braking system first obtains the second braking force distribution curve and the third braking force distribution curve preset by the technician, and then the electromechanical braking system determines the second braking force distribution curve and the third braking force distribution curve. The intersection point of power distribution curves in the same coordinate system.

Step C20: determining the braking force intensity corresponding to the intersection point as the second braking force intensity;

In this embodiment, the electromechanical braking system determines the corresponding braking force intensity at the intersection point, and determines the corresponding braking force intensity at the intersection point as the second braking force intensity.

Exemplarily, for example, as shown in FIG. 4, the EMB system first obtains the second braking force distribution curve and the third braking force distribution curve preset by the technician, and converts the second braking force distribution curve and the third braking force distribution curve into (that is, the curve I in Fig. 4) is integrated under the same coordinate system, after that, the EMB system is based on the second braking force distribution formula corresponding to the second braking force distribution curve: Ff=G·z-k1·G, Fr=k1· G, and the third braking force distribution formula: Ff+Fr=G z, Ff/Fr=(b+z hg)/(a-z hg), determine the second braking force distribution curve and the third braking force distribution curve The intersection point O (that is, K2 in FIG. 4 ) in the same coordinate system, and then the braking force value corresponding to the intersection point O is determined as the second braking force intensity k2.

In this embodiment, the electromechanical braking system first obtains the second braking force distribution curve and the third braking force distribution curve preset by the technician, and then the electromechanical braking system determines the second braking force distribution curve and the third braking force distribution curve. The intersection point of the power distribution curve in the same coordinate system, and finally, the electromechanical braking system determines the corresponding braking force intensity at the intersection point, and determines the corresponding braking force intensity at the intersection point as the second braking force intensity.

In this way, the present application integrates the second braking force distribution curve and the third braking force distribution curve in the same coordinate system to determine the intersection point of the second braking force distribution curve and the third braking force distribution curve, and the corresponding The method of determining the braking force intensity as the second braking force intensity can obtain the second braking force intensity more accurately, and then divide multiple intensity intervals based on the second braking force intensity, so that the EMB system can better allocate based on multiple intensity intervals total braking force.

Further, in order to achieve the above purpose, the present application also provides a braking force distribution device, the braking force distribution device is applied to a target vehicle equipped with an electro-mechanical braking system, please refer to Figure 5, which is the A schematic diagram of the functional modules involved in an embodiment of the braking force distribution method, as shown in Figure 5, the device includes:

A strength calculation module 10, configured to determine the total braking force of the target vehicle, and obtain a plurality of preset braking force distribution curves, and input the total braking force and a plurality of the braking force distribution curves into the electronic mechanical Braking System;

A brake distribution module 20, configured to determine a target braking force distribution curve corresponding to the total braking force among a plurality of braking force distribution curves by the electromechanical braking system, and and the total braking force determine the total braking force of the front wheels and the total braking force of the rear wheels;

A braking execution module 30, configured to control the target vehicle to perform a braking operation based on the total braking force of the front wheels and the total braking force of the rear wheels.

Further, the intensity calculation module 10 includes:

a torque detection unit for detecting engine torque and generator torque of the target vehicle;

A braking calculation unit for determining a target torque value based on the engine torque and the generator torque, and determining a total braking force of the target vehicle based on the target torque value.

Further, the multiple braking force distribution curves include a first braking force distribution curve, a second braking force distribution curve and a third braking force distribution curve;

Brake distribution module 20, comprising:

A curve screening unit, configured to compare the total braking force with a plurality of preset intensity intervals by the electromechanical braking system to obtain a comparison result, wherein the plurality of intensity intervals include the first intensity interval , the second intensity interval and the third intensity interval;

The first determining unit is configured to determine, by the electromechanical braking system, that the first braking force distribution curve is consistent with the total braking force when the comparison result is that the total braking force is in the first intensity range. A target braking force distribution curve corresponding to power, wherein the range of the first intensity interval is from 0 to a preset first intensity of braking force;

A second determining unit, configured to determine, by the electromechanical braking system, the second braking force distribution curve as the target braking force when the comparison result is that the total braking force is in the second intensity range distribution curve, wherein, the interval range of the second intensity range is from the first braking force intensity to a preset second braking force intensity, and the first braking force intensity is smaller than the second braking force intensity;

A third determining unit, configured to determine, by the electromechanical braking system, the third braking force distribution curve as the target braking force when the comparison result is that the total braking force is in the third intensity range The distribution curve, wherein, the interval range of the third strength interval is greater than or equal to the second braking force strength.

Further, the brake distribution module 20 also includes:

A first distribution unit, configured to determine that the total braking force of the front wheels is 0 when the target braking force distribution curve is the first braking force distribution curve, and determine that the total braking force is the total braking force of the rear wheels;

The second distribution unit is configured to determine according to the second braking force distribution formula corresponding to the second braking force distribution curve and the total braking force when the target braking force distribution curve is the second braking force distribution curve The total braking force of the front wheels and the total braking force of the rear wheels;

The third distribution unit is configured to determine according to the third braking force distribution formula corresponding to the third braking force distribution curve and the total braking force when the target braking force distribution curve is the third braking force distribution curve The total braking force of the front wheels and the total braking force of the rear wheels.

Further, the brake distribution module 20 also includes:

a curve acquisition unit, configured to acquire a preset second braking force distribution curve and a third braking force distribution curve, and determine an intersection point between the second braking force distribution curve and the third braking force distribution curve;

An intersection obtaining unit, configured to determine the braking force intensity corresponding to the intersection point as the second braking force intensity.

Further, the target vehicle is also equipped with a front wheel brake device and a rear wheel brake device, and the brake distribution module 20 also includes:

a first detection unit, configured to detect whether the total braking force of the front wheels reaches a preset threshold value of the total braking force of the front wheels;

The first compensation unit is configured to control the electromechanical braking system to brake the front wheels based on the total front wheel braking force if it is detected that the total front wheel braking force reaches the threshold The moving device is compensated;

a second detection unit, configured to detect whether the total braking force of the rear wheels reaches a preset total braking force threshold of the rear wheels;

The second compensation unit is configured to control the electromechanical braking system to brake the rear wheels based on the total rear wheel braking force if it is detected that the total rear wheel braking force reaches the threshold The moving device compensates.

Further, the target vehicle is also equipped with an energy recovery device, a braking execution module 30, including:

An energy recovery unit, configured to control the energy recovery device to perform an energy recovery operation when the target vehicle performs the braking operation.

In addition, the present application also provides a terminal device, which has a braking force distribution program that can run on a processor, and when the terminal device executes the braking force distribution program, any one of the above embodiments can be realized. Steps in the braking force distribution method.

The specific embodiments of the terminal device of the present application are basically the same as the above embodiments of the braking force distribution method, and will not be repeated here.

In addition, the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a braking force distribution program, and when the braking force distribution program is executed by a processor, the above-mentioned any one of the above embodiments can be realized. Describe the steps of the braking force distribution method.

The specific embodiments of the computer-readable storage medium of the present invention are basically the same as the above-mentioned embodiments of the braking force distribution method, and will not be repeated here.

It should be noted that, as used herein, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or system comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or system. Without further limitations, an element defined by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, method, article or system comprising that element.

The serial numbers of the above embodiments of the present application are for description only, and do not represent the advantages and disadvantages of the embodiments.

Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product in essence or the part that contributes to the prior art, and the computer software product is stored in a storage medium (such as ROM/RAM) as described above. , magnetic disk, optical disk), including several instructions to make a terminal device (which can be a terminal device that executes the braking force distribution method of the present application, and the terminal device can specifically be a mobile terminal, a data storage control terminal, a PC or a portable Terminals such as computers) execute the methods described in the various embodiments of the present application.

The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structures or equivalent process transformations made by using the description of the application and the accompanying drawings are directly or indirectly used in other related technical fields. , are all included in the patent protection scope of the present application in the same way.

Claims (10)

1. A method of distributing braking force, the method being applied to a target vehicle equipped with an electromechanical brake system, the method comprising the steps of:

determining the total braking force of the target vehicle, acquiring a plurality of preset braking force distribution curves, and inputting the total braking force and the braking force distribution curves into the electromechanical braking system;

determining, by the electro-mechanical brake system, a target braking force distribution curve corresponding to the total braking force among a plurality of the braking force distribution curves, and determining a front wheel total braking force and a rear wheel total braking force according to the target braking force distribution curve and the total braking force;

the target vehicle is controlled to perform a braking operation based on the front wheel total braking force and the rear wheel total braking force.

2. The braking force distribution method according to claim 1, characterized in that the step of determining the total braking force of the target vehicle includes:

Detecting an engine torque and a generator torque of the target vehicle;

a target torque value is determined from the engine torque and the generator torque, and a total braking force of the target vehicle is determined based on the target torque value.

3. The method of distributing braking force according to claim 1, wherein the plurality of braking force distribution curves includes a first braking force distribution curve, a second braking force distribution curve, and a third braking force distribution curve;

the step of determining, by the electro-mechanical brake system, a target braking force distribution curve corresponding to the total braking force among a plurality of the braking force distribution curves, includes:

the electronic mechanical braking system is used for comparing the total braking force with a plurality of preset intensity intervals to obtain a comparison result, wherein the intensity intervals comprise a first intensity interval, a second intensity interval and a third intensity interval;

when the comparison result shows that the total braking force is in the first intensity interval, the electromechanical braking system determines the first braking force distribution curve as a target braking force distribution curve corresponding to the total braking force, wherein the interval range of the first intensity interval is 0 to preset first braking force intensity;

Or,

when the comparison result shows that the total braking force is in the second intensity interval, the electromechanical braking system determines that the second braking force distribution curve is the target braking force distribution curve, wherein the interval range of the second intensity interval is from the first braking force intensity to a preset second braking force intensity, and the first braking force intensity is smaller than the second braking force intensity;

or,

and when the comparison result shows that the total braking force is in the third intensity interval, the electromechanical braking system determines the third braking force distribution curve as the target braking force distribution curve, wherein the interval range of the third intensity interval is larger than or equal to the second braking force intensity.

4. A method of distributing braking force as set forth in claim 3, wherein said step of determining a front wheel total braking force and a rear wheel total braking force from said target braking force distribution curve and said total braking force includes:

when the target braking force distribution curve is the first braking force distribution curve, determining that the total braking force of the front wheels is 0, and determining that the total braking force is the total braking force of the rear wheels;

Or,

when the target braking force distribution curve is the second braking force distribution curve, determining the total braking force of the front wheels and the total braking force of the rear wheels according to a second braking force distribution formula corresponding to the second braking force distribution curve and the total braking force;

or,

and when the target braking force distribution curve is the third braking force distribution curve, determining the total braking force of the front wheels and the total braking force of the rear wheels according to a third braking force distribution formula corresponding to the third braking force distribution curve and the total braking force.

5. The method for distributing braking force according to claim 3, wherein before the step of comparing the total braking force with a plurality of preset intensity intervals by the electromechanical braking system, respectively, the method further comprises:

acquiring a preset second braking force distribution curve and a preset third braking force distribution curve, and determining an intersection point of the second braking force distribution curve and the third braking force distribution curve;

and determining the braking force intensity corresponding to the intersection point as a second braking force intensity.

6. The method for distributing braking force according to claim 4, wherein a front wheel braking device and a rear wheel braking device are further provided in the target vehicle, and after the step of determining the front wheel total braking force and the rear wheel total braking force in accordance with the third braking force distribution formula corresponding to the third braking force distribution curve and the total braking force, the method further comprises:

Detecting whether the total braking force of the front wheels reaches a preset total braking force threshold value of the front wheels or not;

if the total braking force of the front wheels reaches the threshold value of the total braking force of the front wheels, controlling the electromechanical braking system to compensate the front wheel braking device based on the total braking force of the front wheels;

and/or that the number of the groups of groups,

detecting whether the total braking force of the rear wheels reaches a preset total braking force threshold value of the rear wheels;

and if the total braking force of the rear wheels reaches the total braking force threshold value of the rear wheels, controlling the electromechanical braking system to compensate the rear wheel braking device based on the total braking force of the rear wheels.

7. The braking force distribution method according to claim 1, characterized in that an energy recovery device is further provided in the target vehicle, and after the step of controlling the target vehicle to perform a braking operation based on the front wheel total braking force and the rear wheel total braking force, the method further comprises:

the energy recovery device is controlled to perform an energy recovery operation in the course of the target vehicle performing the braking operation.

8. A braking force distribution device, characterized in that the braking force distribution device is applied to a target vehicle equipped with an electromechanical braking system, the device comprising:

The intensity calculation module is used for determining the total braking force of the target vehicle, acquiring a plurality of preset braking force distribution curves and inputting the total braking force and the braking force distribution curves into the electromechanical braking system;

a brake distribution module for determining a target brake force distribution curve corresponding to the total brake force among a plurality of brake force distribution curves by the electromechanical brake system, and determining a front wheel total brake force and a rear wheel total brake force according to the target brake force distribution curve and the total brake force;

and a brake execution module for controlling the target vehicle to execute a brake operation based on the front wheel total braking force and the rear wheel total braking force.

9. A terminal device, characterized in that the terminal device comprises: memory, a processor and a distribution program of braking forces stored on the memory and executable on the processor, which distribution program of braking forces, when executed by the processor, realizes the steps of the method of distributing braking forces according to any one of claims 1 to 7.

10. A computer-readable storage medium, on which a distribution program of braking forces is stored, which, when executed by a processor, carries out the steps of the method of distributing braking forces according to any one of claims 1 to 7.

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