阅读说明：本技术 冗余制动控制方法、装置、系统、车辆和存储介质 (Redundant brake control method, device, system, vehicle and storage medium ) 是由 黄海洋 张建 刘秋铮 孙起春 袁文建 刘金波 于 2019-08-09 设计创作，主要内容包括：本发明公开了一种冗余制动控制方法、装置、系统、车辆和存储介质。该方法包括：根据车辆的初始速度和初始加速度确定车辆电动机的减速扭矩；控制车辆电动机根据所述减速扭矩减速所述车辆；当所述车辆的当前车速小于或等于阈值速度时,根据当前车速和预设车速压力关联表确定所述车辆的真空助力器的制动压力；控制所述真空助力器根据所述制动压力对车辆进行减速。本发明实施例提供的方法实现了车辆冗余制动下的制动控制,可提高车辆的稳定性,防止车辆失稳,提高了车辆驾驶的舒适性。(The invention discloses a redundant brake control method, a device, a system, a vehicle and a storage medium. The method comprises the following steps: determining a deceleration torque of a vehicle motor according to an initial speed and an initial acceleration of the vehicle; controlling a vehicle motor to decelerate the vehicle in accordance with the deceleration torque; when the current vehicle speed of the vehicle is less than or equal to the threshold speed, determining the brake pressure of a vacuum booster of the vehicle according to the current vehicle speed and a preset vehicle speed and pressure association table; and controlling the vacuum booster to decelerate the vehicle according to the brake pressure. The method provided by the embodiment of the invention realizes the brake control under the redundant braking of the vehicle, can improve the stability of the vehicle, prevents the vehicle from being unstable, and improves the comfort of the vehicle driving.)

1. A redundant braking control method, characterized by comprising:

determining a deceleration torque of a vehicle motor according to an initial speed and an initial acceleration of the vehicle;

controlling a vehicle motor to decelerate the vehicle in accordance with the deceleration torque;

when the current vehicle speed of the vehicle is less than or equal to the threshold speed, determining the brake pressure of a vacuum booster of the vehicle according to the current vehicle speed and a preset vehicle speed and pressure association table;

and controlling the vacuum booster to decelerate the vehicle according to the brake pressure.

2. The method of claim 1, wherein determining a deceleration torque of a vehicle motor based on an initial speed and an initial acceleration of the vehicle comprises:

respectively determining rolling resistance, air resistance and acceleration resistance of the vehicle according to the initial speed and the initial acceleration of the vehicle, and determining the sum of the rolling resistance, the air resistance and the acceleration resistance as comprehensive resistance;

determining the product of the comprehensive resistance and the radius of the vehicle tire as the wheel-side torque;

and determining the quotient of the wheel torque and the reduction ratio of the vehicle final reducer as the reduction torque.

3. The method according to claim 1, characterized in that, while controlling the vehicle motor to decelerate the vehicle in accordance with the deceleration torque, further comprising:

acquiring the running speed of the vehicle according to a preset period and storing the running speed as the historical running speed;

determining compensation torque according to the vehicle speed difference of the vehicle in the adjacent period of the historical driving vehicle speed;

and compensating the deceleration torque of the motor of the vehicle according to the compensation torque to generate new deceleration torque.

4. The method of claim 3, wherein determining the compensation torque based on a vehicle speed difference between adjacent cycles of the historical travel speed of the vehicle comprises:

acquiring a first vehicle speed difference between the current cycle and the previous cycle of the vehicle and a second vehicle speed difference between the previous cycle and the previous two cycles of the vehicle;

respectively determining the quotient of the first vehicle speed difference and the cycle length as a first acceleration and the quotient of the second vehicle speed difference and the cycle length as a second acceleration, and filtering the first acceleration and the second acceleration according to a preset filtering coefficient to determine an actual acceleration;

and taking the product of the difference between the initial acceleration and the actual acceleration and the compensation proportional coefficient as the compensation torque.

5. The method of claim 1, wherein said controlling said vacuum booster to decelerate the vehicle in accordance with said brake pressure comprises:

adjusting the brake pressure of the vacuum booster according to a preset period;

and decelerating the vehicle according to the adjusted brake pressure.

6. The method of claim 1, wherein while controlling the vacuum booster to decelerate the vehicle in accordance with the brake pressure, further comprising:

attenuating the deceleration torque of the vehicle motor according to a preset period, and taking the attenuated deceleration torque as an attenuation control torque;

controlling the vehicle motor to effect deceleration of the vehicle in accordance with the damping control torque.

7. A redundant brake control apparatus, comprising:

a torque determination module for determining a deceleration torque of a vehicle motor according to an initial speed and an initial acceleration of the vehicle;

a motor deceleration module for controlling a vehicle motor to decelerate the vehicle in accordance with the deceleration torque;

the pressure determining module is used for determining the brake pressure of a vacuum booster of the vehicle according to the current vehicle speed and a preset vehicle speed pressure association table when the current vehicle speed of the vehicle is less than or equal to a threshold speed;

and the vacuum pump deceleration module is used for controlling the vacuum booster to decelerate the vehicle according to the brake pressure.

8. A redundant brake control system, comprising:

one or more processors;

a memory for storing one or more programs;

at least one motor for outputting a deceleration torque;

at least one vacuum booster for outputting a deceleration pressure;

when executed by the one or more processors, cause the one or more processors to implement a redundant braking control method according to any one of claims 1-6.

9. A vehicle, characterized by comprising:

one or more controllers;

a memory for storing one or more programs;

at least one motor for outputting a deceleration torque to decelerate the vehicle;

at least one vacuum booster for outputting a deceleration pressure to decelerate the vehicle;

when executed by the one or more controllers, cause the one or more controllers to implement the redundant braking control method of any of claims 1-6.

10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out a redundant braking control method according to any one of claims 1-6.

Technical Field

The embodiment of the invention relates to the technical field of automation control, in particular to a redundant braking control method, a device, a system, a vehicle and a storage medium.

Background

With the increasing market share of electric automobiles year by year, the related technology of electric automobiles is rapidly developed, in the field of electric automobiles, a redundant braking system of the electric automobiles is responsible for receiving braking commands sent by an upper-layer automatic driving controller through a vehicle-mounted bus to brake the automobiles, and the safety and the stability of the redundant braking system of the electric automobiles become important guarantees for the safety of the automobiles.

Disclosure of Invention

The invention provides a redundant braking control method, a device, a system, a vehicle and a storage medium, which are used for realizing redundant braking of an electric vehicle, improving the stability and the safety of the vehicle and improving the comfort level of vehicle driving.

In a first aspect, an embodiment of the present invention provides a redundant braking control method, where the method includes:

determining a deceleration torque of a vehicle motor according to an initial speed and an initial acceleration of the vehicle;

controlling a vehicle motor to decelerate the vehicle in accordance with the deceleration torque;

when the current vehicle speed of the vehicle is less than or equal to the threshold speed, determining the brake pressure of a vacuum booster of the vehicle according to the current vehicle speed and a preset vehicle speed and pressure association table;

and controlling the vacuum booster to decelerate the vehicle according to the brake pressure.

In a second aspect, an embodiment of the present invention further provides a redundant brake control apparatus, including:

a torque determination module for determining a deceleration torque of a vehicle motor according to an initial speed and an initial acceleration of the vehicle;

a motor deceleration module for controlling a vehicle motor to decelerate the vehicle in accordance with the deceleration torque;

the pressure determining module is used for determining the brake pressure of a vacuum booster of the vehicle according to the current vehicle speed and a preset vehicle speed pressure association table when the current vehicle speed of the vehicle is less than or equal to a threshold speed;

and the vacuum pump deceleration module is used for controlling the vacuum booster to decelerate the vehicle according to the brake pressure. In a third aspect, an embodiment of the present invention further provides a redundant brake control system, where the system includes:

one or more processors;

a memory for storing one or more programs;

at least one motor for outputting a deceleration torque;

at least one vacuum booster for outputting a deceleration pressure;

when executed by the one or more processors, cause the one or more processors to implement a redundant braking control method according to any of the embodiments of the present invention.

In a fourth aspect, an embodiment of the present invention further provides a vehicle, where the vehicle includes:

one or more controllers;

a memory for storing one or more programs;

at least one motor for outputting a deceleration torque to decelerate the vehicle;

at least one vacuum booster for outputting a deceleration pressure to decelerate the vehicle;

when the one or more programs are executed by the one or more controllers, the one or more controllers are caused to implement a redundant braking control method according to any of the embodiments of the present invention.

In a fifth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the redundant braking control method according to any of the embodiments of the present invention.

According to the technical scheme of the embodiment of the invention, the deceleration torque of the vehicle motor is determined according to the initial speed and the initial acceleration of the vehicle, the vehicle motor is controlled to decelerate the vehicle according to the deceleration torque, when the current vehicle speed of the vehicle is less than or equal to the threshold speed, the brake pressure of the vacuum booster of the vehicle is determined according to the correlation change of the current vehicle speed and the preset vehicle speed pressure, and the vacuum booster is controlled to decelerate the vehicle according to the brake pressure, so that the vehicle deceleration under a redundant brake system of the vehicle is realized, the vehicle instability can be prevented, and the safety and the stability of the vehicle are improved.

Drawings

FIG. 1 is a flow chart of a redundant braking control method according to an embodiment of the present invention;

FIG. 2 is a flowchart of a redundant braking control method according to a second embodiment of the present invention;

FIG. 3 is a diagram illustrating a redundant braking control method according to a second embodiment of the present invention;

fig. 4 is a schematic structural diagram of a redundant brake control device according to a third embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a redundant brake control system according to a fourth embodiment of the present invention;

FIG. 6 is an exemplary diagram of a redundant brake control system provided in accordance with a fourth embodiment of the present invention;

fig. 7 is a schematic structural diagram of a vehicle according to a fifth embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only a part of the structures related to the present invention, not all of the structures, are shown in the drawings, and furthermore, embodiments of the present invention and features of the embodiments may be combined with each other without conflict.