技术领域technical field
本申请涉及车辆制动控制领域，尤其涉及一种制动控制系统、方法及车辆。The present application relates to the field of vehicle brake control, in particular to a brake control system, method and vehicle.
背景技术Background technique
商用车(Commercial Vehicle)，是在设计和技术特征上用于运送人员和货物的汽车。商用车包含了所有的载货汽车和9座以上的客车，分为客车、货车、半挂牵引车、客车非完整车辆和货车非完整车辆，共五类。在整个行业媒体中，商用车的概念主要是从其自身用途不同来定义的，习惯把商用车划分为客车和货车两大类。A commercial vehicle is an automobile used to transport people and goods in terms of design and technical characteristics. Commercial vehicles include all trucks and passenger cars with more than 9 seats, which are divided into five categories: passenger cars, trucks, semi-trailer tractors, passenger car incomplete vehicles and truck incomplete vehicles. In the entire industry media, the concept of commercial vehicles is mainly defined from their own different uses, and it is customary to divide commercial vehicles into two categories: passenger cars and trucks.
目前，在商用车领域，汽车生产厂商普遍采用气压制动的技术方案以产生制动力，该方案存在以下缺点：At present, in the field of commercial vehicles, automobile manufacturers generally adopt the technical solution of pneumatic braking to generate braking force. This solution has the following disadvantages:
(1)布置形式复杂、侵占空间大；(1) The layout is complex and occupies a large space;
(2)制动脚感差、响应时间长、噪音大；(2) Poor braking feel, long response time and loud noise;
(3)整套气制动装置成本高、不易维护；(3) The whole set of air brake device is costly and difficult to maintain;
(4)各轴制动力无法主动调节，易出现后轮先抱死触发防抱死系统；(4) The braking force of each axis cannot be adjusted actively, and it is easy to cause the rear wheel to lock first and trigger the anti-lock braking system;
(5)无法发挥驱动电机最大回收能力，制动能量回收效率低。(5) The maximum recovery capacity of the drive motor cannot be brought into play, and the braking energy recovery efficiency is low.
对此，部分厂商也尝试采用电子液压制动助力器解决上述问题，然而，发明人至少发现：相关技术中单一的电子液压制动助力器往往无法为中大型商用车提供足够的制动力，其天生存在各轴制动力不易调节的缺陷，且制动冗余能力不足。而采用多助力器方案，由于每个助力器为某个轴提供制动力，因此可以提供足够的制动力，以及主动调节各轴制动力，制动冗余能力得到一定程度的提升，大大降低对单个助力器的性能要求。然而，相关技术的采用多助力器的方案中，制动冗余能力仍有待提升。In this regard, some manufacturers have also tried to use electronic hydraulic brake boosters to solve the above problems. However, the inventors have at least found that a single electronic hydraulic brake booster in the related art is often unable to provide sufficient braking force for medium and large commercial vehicles. There are inherent defects that the braking force of each axis is not easy to adjust, and the braking redundancy is insufficient. With the multi-booster solution, since each booster provides braking force for a certain axis, it can provide sufficient braking force and actively adjust the braking force of each axis. The braking redundancy capability is improved to a certain extent, and the impact on Performance requirements for individual boosters. However, in the solution of using multiple boosters in the related art, the brake redundancy capability still needs to be improved.
发明内容Contents of the invention
本申请的一个目的是提供一种制动控制系统、方法及车辆，至少用以解决相关技术中制动冗余能力不足的技术问题。An object of the present application is to provide a braking control system, method and vehicle, at least to solve the technical problem of insufficient braking redundancy in the related art.
为实现上述目的，本申请的一些实施例提供了一种制动控制系统，所述系统包括指令分析单元、制动力分配单元、制动力控制单元；所述指令分析单元，用于在满足激活条件时，获取并分析制动信号；所述制动力分配单元，用于比较所述制动信号和预设阈值，根据比较结果确定所述制动信号所属的制动需求阶段，并根据所述制动需求阶段发出制动力分配指令；所述制动力控制单元，用于根据所述制动力分配指令，控制车辆制动装置的制动力；其中，所述车辆制动装置包括至少两个电子液压制动单元和至少两组制动器；每个所述电子液压制动单元用于至少控制一组制动器。To achieve the above purpose, some embodiments of the present application provide a brake control system, the system includes a command analysis unit, a braking force distribution unit, and a braking force control unit; the command analysis unit is used to , acquire and analyze the braking signal; the braking force distribution unit is used to compare the braking signal with a preset threshold, determine the braking demand stage to which the braking signal belongs according to the comparison result, and The braking force distribution command is issued during the braking demand stage; the braking force control unit is used to control the braking force of the vehicle braking device according to the braking force distribution command; wherein, the vehicle braking device includes at least two electronic hydraulic brakes actuating unit and at least two groups of brakes; each electronic hydraulic braking unit is used to control at least one group of brakes.
本申请的一些实施例还提供了一种制动控制方法，应用于如上所述的系统，所述方法包括：在满足激活条件时，获取并分析制动信号；比较所述制动信号和预设阈值，根据比较结果确定所述制动信号所属的制动需求阶段，并根据所述制动需求阶段发出制动力分配指令；根据所述制动力分配指令，控制车辆制动装置的制动力；其中，所述车辆制动装置包括至少两个电子液压制动单元和至少两组制动器；每个所述电子液压制动单元用于至少控制一组制动器。Some embodiments of the present application also provide a brake control method, which is applied to the above system, and the method includes: acquiring and analyzing a brake signal when the activation condition is met; comparing the brake signal with the predicted Setting a threshold, determining the braking demand stage to which the braking signal belongs according to the comparison result, and issuing a braking force distribution instruction according to the braking demand stage; controlling the braking force of the vehicle braking device according to the braking force distribution instruction; Wherein, the vehicle braking device includes at least two electronic hydraulic braking units and at least two groups of brakes; each of the electronic hydraulic braking units is used to control at least one group of brakes.
本申请的一些实施例还提供了一种车辆，所述车辆包括如上所述的系统。Some embodiments of the present application also provide a vehicle, the vehicle comprising the above-mentioned system.
相较于现有技术，本申请实施例提供的方案中，通过采用灵活的控制方法对车辆制动装置所包括的至少两个电子液压制动单元和至少两组制动器进行控制的方案，可以解决相关技术中的液压制动系统难以满足商用车制动需求的技术难题，同时充分发挥了液压制动系统所具有的机构紧凑、成本低、制动力建立更迅速、制动脚感优良，制动噪音低，舒适性好等优点，因此相比于气压制动系统具有明显的优势。此外，由于每个电子液压制动单元可以独立控制一组制动器，即实现对每个轴的制动力的控制，可以使得车辆各轴制动力主动可调，具备较强冗余制动能力，具备高效的再生制动能力。Compared with the prior art, in the solution provided by the embodiment of the present application, by using a flexible control method to control at least two electronic hydraulic braking units and at least two groups of brakes included in the vehicle braking device, it can solve the problem of The hydraulic braking system in the related art is difficult to meet the technical problems of commercial vehicle braking requirements. At the same time, the hydraulic braking system has given full play to its compact structure, low cost, faster braking force build-up, and excellent braking feel. It has the advantages of low noise and good comfort, so it has obvious advantages compared with the air brake system. In addition, since each electronic hydraulic braking unit can independently control a group of brakes, that is, to realize the control of the braking force of each axis, the braking force of each axis of the vehicle can be actively adjusted, and it has a strong redundant braking capability. Efficient regenerative braking capability.
简言之，经过验证后可以发现，与相关技术相比，本申请实施例提供的制动控制系统至少具有以下优点：In short, after verification, it can be found that compared with related technologies, the brake control system provided by the embodiment of the present application has at least the following advantages:
(1)布置紧凑，省去了大量气罐，侵占空间小；(1) The layout is compact, saving a large number of gas tanks and occupying little space;
(2)响应时间快，制动脚感优良且根据驾驶员需求可调，噪音小；(2) Fast response time, excellent braking feel and adjustable according to the driver's needs, and low noise;
(3)相比整套气制动装置，成本低，稳定性高；(3) Compared with the whole set of air brake device, the cost is low and the stability is high;
(4)能发挥驱动电机最大回收能力，充分利用再生制动；(4) It can give full play to the maximum recovery capacity of the drive motor and make full use of regenerative braking;
(5)可靠的冗余制动能力。(5) Reliable redundant braking capability.
附图说明Description of drawings
图1为本申请实施例二提供的一种制动力分配模块进行制动力分配的效果示意图；Fig. 1 is a schematic diagram of the effect of a braking force distribution module provided in Embodiment 2 of the present application for the distribution of braking force;
图2为本申请实施例二提供的另一种制动力分配模块进行制动力分配的效果示意图Fig. 2 is a schematic diagram of the effect of another braking force distribution module provided in Embodiment 2 of the present application to perform braking force distribution
图3为本申请实施例二中制动力分配模块进行制动力分配的示例性流程图；Fig. 3 is an exemplary flow chart of the braking force distribution performed by the braking force distribution module in Embodiment 2 of the present application;
图4为本申请实施例三提供的一种车辆制动装置的示例性结构示意图；Fig. 4 is an exemplary structural schematic diagram of a vehicle braking device provided in Embodiment 3 of the present application;
图5为本申请实施例四提供的一种车辆制动装置的示例性结构示意图；Fig. 5 is a schematic structural diagram of an exemplary vehicle braking device provided in Embodiment 4 of the present application;
图6为本申请实施例五提供的一种车辆制动装置的示例性结构示意图；Fig. 6 is a schematic structural diagram of an exemplary vehicle braking device provided in Embodiment 5 of the present application;
图7为本申请实施例六提供的一种车辆制动装置的示例性结构示意图；FIG. 7 is a schematic structural diagram of a vehicle braking device provided in Embodiment 6 of the present application;
图8为本申请实施例七提供的一种车辆制动装置的示例性结构示意图；Fig. 8 is a schematic structural diagram of an exemplary vehicle braking device provided in Embodiment 7 of the present application;
图9为本申请实施例八提供的一种车辆制动装置的示例性结构示意图；FIG. 9 is a schematic structural diagram of a vehicle braking device provided in Embodiment 8 of the present application;
图10为本申请实施例十提供的一种车辆制动控制设备的示例性结构示意图。Fig. 10 is a schematic structural diagram of a vehicle braking control device provided in Embodiment 10 of the present application.
具体实施方式Detailed ways
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.
在本文中使用以下术语。The following terms are used in this document.
ABS，制动防抱死系统，英文全称Antilock Brake System。作用是在汽车制动时，自动控制制动器制动力的大小，使车轮不被抱死，处于边滚边滑的状态，以保证车轮与地面的附着力在最大值。ABS, anti-lock braking system, English full name Antilock Brake System. The function is to automatically control the braking force of the brake when the car is braking, so that the wheels are not locked and are in a state of rolling and sliding, so as to ensure the adhesion between the wheels and the ground at the maximum.
ESC，电子稳定控制系统，是一种让车辆沿着驾驶员所希望的方向行驶的系统，其作用是提高车辆操控安全系数和驾驶便利性。ESC, electronic stability control system, is a system that allows the vehicle to drive in the direction desired by the driver, and its function is to improve the safety factor of vehicle handling and driving convenience.
ECU，电子控制单元，是指由集成电路组成的用于实现对数据的分析处理发送等一系列功能的控制装置，在汽车上广泛应用。ECU, electronic control unit, refers to a control device composed of integrated circuits used to realize a series of functions such as data analysis, processing and sending, and is widely used in automobiles.
实施例一Embodiment one
本申请实施例一提供了一种制动控制系统，所述制动控制系统可以控制车辆制动装置。其中，所述系统包括指令分析单元、制动力分配单元、制动力控制单元；Embodiment 1 of the present application provides a braking control system, which can control a vehicle braking device. Wherein, the system includes a command analysis unit, a braking force distribution unit, and a braking force control unit;
所述指令分析单元，用于在满足激活条件时，获取并分析制动信号；The instruction analysis unit is used to obtain and analyze the braking signal when the activation condition is met;
所述制动力分配单元，用于比较所述制动信号和预设阈值，根据比较结果确定所述制动信号所属的制动需求阶段，并根据所述制动需求阶段发出制动力分配指令；The braking force distribution unit is configured to compare the braking signal with a preset threshold, determine the braking demand phase to which the braking signal belongs according to the comparison result, and issue a braking force distribution command according to the braking demand phase;
所述制动力控制单元，用于根据所述制动力分配指令，控制车辆制动装置的制动力；其中，所述车辆制动装置包括至少两个电子液压制动单元和至少两组制动器；每个所述电子液压制动单元用于至少控制一组制动器。The braking force control unit is used to control the braking force of the vehicle braking device according to the braking force distribution command; wherein, the vehicle braking device includes at least two electronic hydraulic braking units and at least two groups of brakes; each Each of the electro-hydraulic brake units is used to control at least one group of brakes.
需要说明的是，在满足激活条件时，所述制动控制系统才启动执行相应的操作，否则，车辆的各轴可以直接响应所述制动信号。It should be noted that the brake control system starts to perform corresponding operations only when the activation conditions are satisfied, otherwise, each axle of the vehicle can directly respond to the brake signal.
在一些例子中，所述激活条件可以是车辆的速度。比如当车辆的速度小于预定速度阈值而处于低速行驶时，所述制动控制系统不启动，此时，各轴可以直接响应所述制动信号。In some examples, the activation condition may be the speed of the vehicle. For example, when the speed of the vehicle is lower than a predetermined speed threshold and the vehicle is running at a low speed, the braking control system is not activated, and at this time, each axis can directly respond to the braking signal.
在一些例子中，所述制动信号的来源可以是驾驶员的踏板输入，还可以是车载控制单元等上层线控的输入，此处不作具体限定。In some examples, the source of the brake signal may be the driver's pedal input, or the input of the upper-level remote control such as the vehicle control unit, which is not specifically limited here.
在一些例子中，所述制动力分配单元根据所述制动需求阶段发出制动力分配指令可以按照“I”曲线分配前轴和/或后轴的制动力。In some examples, the braking force distribution unit may distribute the braking force of the front axle and/or the rear axle according to the "I" curve according to the braking force distribution command issued by the braking demand stage.
其中，所述制动力分配单元，用于根据当前驱动电机再生制动能力，控制所述电子液压制动单元提供液压力，比如，若驱动电机当前状态所能够产生的电制动力不足以满足驾驶员发出的制动信号表征的制动需求，所述制动力分配单元可以根据驾驶员发出的制动信号表征的制动需求和当前驱动电机已产生的制动力两者的差值计算需要补充的液压力并发送至所述电子液压制动单元，以使所述电子液压制动单元提供合适的液压力；所述制动器，用于将所述液压力转换为制动力。也就是说，所述车辆制动装置中的电子液压制动单元可以根据所述制动力分配指令，输出合适的液压力，进而所述制动器将所述液压力转换为所需的制动力。Wherein, the braking force distribution unit is used to control the electronic hydraulic braking unit to provide hydraulic pressure according to the current regenerative braking capability of the driving motor. The braking demand represented by the braking signal sent by the driver, the braking force distribution unit can calculate the supplementary braking force based on the difference between the braking demand represented by the braking signal sent by the driver and the braking force generated by the current drive motor The hydraulic pressure is sent to the electronic hydraulic braking unit, so that the electronic hydraulic braking unit can provide appropriate hydraulic pressure; the brake is used to convert the hydraulic pressure into braking force. That is to say, the electronic hydraulic braking unit in the vehicle braking device can output an appropriate hydraulic pressure according to the braking force distribution command, and then the brake converts the hydraulic pressure into a required braking force.
在一些例子的调节液压力的过程中，ECU可以向助力电机发送电信号，使电机输出设定转矩。In the process of adjusting the hydraulic pressure in some examples, the ECU can send an electrical signal to the booster motor to make the motor output a set torque.
在一些例子的调节液压力的过程中，可以使用液压力传感器，位移传感器，电机位置传感器分别对应监测主缸液压力、齿条位移、电机转速信号。In the process of adjusting the hydraulic pressure in some examples, a hydraulic pressure sensor, a displacement sensor, and a motor position sensor can be used to monitor the hydraulic pressure of the master cylinder, rack displacement, and motor speed signals respectively.
在一些例子中，所述电子液压制动单元可以包括一个或多个出油口，所述出油口可以连接两组制动器的进油口。In some examples, the electronic hydraulic braking unit may include one or more oil outlets, and the oil outlets may be connected to the oil inlets of two groups of brakes.
在一些例子中，对于三轴车及三轴以上的车辆，可以使用两个或两个以上的电子液压制动单元，每个电子液压制动单元与车辆的其中一轴或多个轴上的制动器相连接。In some examples, for vehicles with three or more axles, two or more electronic hydraulic braking units can be used, and each electronic hydraulic braking unit is connected to one or more axles of the vehicle. The brake is connected.
在一些例子中，在电子液压制动单元与制动器之间可以串联有ABS或者ESC。In some examples, ABS or ESC may be connected in series between the electronic hydraulic brake unit and the brake.
需要说明的是，本申请实施例提供的系统，主要应用于商用车等大型车辆。It should be noted that the system provided in the embodiment of the present application is mainly applied to large vehicles such as commercial vehicles.
本领域技术人员可以理解，基于单电子液压制动单元方案本身存在各轴制动力不易调节的缺陷，基于多电子液压制动单元提出的方案本身具备强大的制动冗余能力，符合汽车电子功能安全的设计理念。本申请实施例中，由于每个所述电子液压制动单元用于至少控制一组制动器。比如一个电子液压制动单元控制前轴，另一个电子液压制动单元控制后轴，从而主动调节各轴制动力，加之搭配良好的控制算法，可以实现多轴制动力精细分配；此外，还可以通过监测驱动电机能量回收能力，采用最优电、液制动力协调分配控制，最大程度提升整车能量回收率，具有良好的经济效益。Those skilled in the art can understand that the solution based on the single electronic hydraulic braking unit itself has the defect that the braking force of each axis is not easy to adjust. Safe design concept. In the embodiment of the present application, since each electronic hydraulic braking unit is used to control at least one group of brakes. For example, one electronic hydraulic braking unit controls the front axle, and another electronic hydraulic braking unit controls the rear axle, so as to actively adjust the braking force of each axle, coupled with a good control algorithm, it can realize fine distribution of multi-axis braking force; in addition, it can also By monitoring the energy recovery capacity of the driving motor, the optimal electric and hydraulic braking force is coordinated and distributed to control the energy recovery rate of the vehicle to the greatest extent, which has good economic benefits.
不难发现，与相关技术相比，本申请实施例提供的制动控制系统中，通过采用灵活的控制方法对车辆制动装置所包括的至少两个电子液压制动单元和至少两组制动器进行控制的方案，可以解决相关技术中的液压制动系统难以满足商用车制动需求的技术难题，同时充分发挥了液压制动系统所具有的机构紧凑、成本低、制动力建立更迅速、制动脚感优良，制动噪音低，舒适性好等优点，因此相比于气压制动系统具有明显的优势。此外，由于每个电子液压制动单元可以独立控制一组制动器，即实现对每个轴的制动力的控制，可以使得车辆各轴制动力主动可调，具备较强冗余制动能力，具备高效的再生制动能力。It is not difficult to find that, compared with related technologies, in the brake control system provided by the embodiment of the present application, at least two electronic hydraulic brake units and at least two groups of brakes included in the vehicle brake device are controlled by using a flexible control method. The control scheme can solve the technical problem that the hydraulic braking system in the related art is difficult to meet the braking requirements of commercial vehicles. Excellent foot feel, low braking noise, good comfort and other advantages, so it has obvious advantages compared with the pneumatic braking system. In addition, since each electronic hydraulic braking unit can independently control a group of brakes, that is, to realize the control of the braking force of each axis, the braking force of each axis of the vehicle can be actively adjusted, and it has a strong redundant braking capability. Efficient regenerative braking capability.
简言之，经过验证后可以发现，与相关技术相比，本申请实施例提供的制动控制系统至少具有以下优点：In short, after verification, it can be found that compared with related technologies, the braking control system provided by the embodiment of the present application has at least the following advantages:
(1)布置紧凑，省去了大量气罐，侵占空间小；(1) The layout is compact, saving a large number of gas tanks and occupying little space;
(2)响应时间快，制动脚感优良且根据驾驶员需求可调，噪音小；(2) Fast response time, excellent braking feel and adjustable according to the driver's needs, and low noise;
(3)相比整套气制动装置，成本低，稳定性高；(3) Compared with the whole set of air brake device, the cost is low and the stability is high;
(4)能发挥驱动电机最大回收能力，充分利用再生制动；(4) It can give full play to the maximum recovery capacity of the drive motor and make full use of regenerative braking;
(5)可靠的冗余制动能力。(5) Reliable redundant braking capability.
实施例二Embodiment two
本申请实施例二是在实施例一的基础上作了进一步改进，在本申请实施例二中，所述制动力分配单元可以包括比较模块和制动力分配模块；所述预设阈值包括第一减速度阈值和第二减速度阈值，所述第一减速度阈值小于所述第二减速度阈值；Embodiment 2 of the present application is further improved on the basis of Embodiment 1. In Embodiment 2 of the present application, the braking force distribution unit may include a comparison module and a braking force distribution module; the preset threshold includes the first a deceleration threshold and a second deceleration threshold, the first deceleration threshold being less than the second deceleration threshold;
所述比较模块，具体用于当所述制动信号小于所述第一减速度阈值时，确定所述制动信号所属的制动需求阶段为低制动需求阶段；或者，当所述制动信号大于所述第一减速度阈值且小于所述第二减速度阈值时，确定所述制动信号所属的制动需求阶段为中制动需求阶段；或者，当所述制动信号大于所述第二减速度阈值时，确定所述制动信号所属的制动需求阶段为高制动需求阶段；The comparison module is specifically configured to determine that the braking demand phase to which the braking signal belongs is a low braking demand phase when the braking signal is smaller than the first deceleration threshold; or, when the braking When the signal is greater than the first deceleration threshold and less than the second deceleration threshold, it is determined that the braking demand phase to which the braking signal belongs is a medium braking demand phase; or, when the braking signal is greater than the When the second deceleration threshold is reached, it is determined that the braking demand phase to which the braking signal belongs is a high braking demand phase;
所述制动力分配模块，具体用于当所述制动需求阶段为低制动需求阶段时，发出将目标制动力全部分配至所述车辆制动装置的驱动轴、并且进行电制动的制动力分配指令，此时，完全所述驱动轴完全由电制动，可以基于所述电制动的制动力的基础上进行能量回收；或者，当所述制动需求阶段为中制动需求阶段时，发出对非驱动轴液压制动以及所述驱动轴电制动相结合的制动力分配指令，此时，驱动轴的电制动和非驱动轴的液压制动同时存在，如此，可以基于当前电制动的制动力的基础上进行能量回收；或者，当所述制动需求阶段为高制动需求阶段时，发出控制电制动以预设速度退出，启动液压制动的补偿机制，随着电制动的完全退出，驱动轴和非驱动轴的制动力均由液压制动实现的制动力分配指令，此时，液压制动慢慢取代驱动轴的电制动直至所述驱动轴的电制动力完全消失。在驱动轴的制动力完全由液压制动力实现之前，可以基于所存在的电制动的基础上进行能量回收。The braking force distribution module is specifically configured to issue a braking command to distribute all the target braking force to the drive shaft of the vehicle braking device and perform electric braking when the braking demand phase is a low braking demand phase. Power distribution command, at this time, the drive shaft is completely electric braked, and energy recovery can be performed on the basis of the braking force of the electric brake; or, when the braking demand stage is the medium braking demand stage , issue a braking force distribution command combining the hydraulic braking of the non-driving shaft and the electric braking of the driving shaft. At this time, the electric braking of the driving shaft and the hydraulic braking of the non-driving shaft exist simultaneously. In this way, based on Energy recovery is performed on the basis of the braking force of the current electric brake; or, when the braking demand stage is a high braking demand stage, a compensation mechanism is issued to control the electric brake to exit at a preset speed and start the hydraulic brake, With the complete exit of the electric brake, the braking force of the drive shaft and the non-drive shaft are all distributed by the hydraulic brake. At this time, the hydraulic brake gradually replaces the electric brake of the drive shaft until the drive shaft The electric braking force completely disappears. Energy recuperation can be based on the existing electric braking before the braking force of the drive shaft is fully realized by the hydraulic braking force.
由以上可知，所述车辆制动装置可以包括驱动轴和非驱动轴，一个车辆至少包括一个驱动轴，电制动的驱动轴可以进行能量回收。It can be known from the above that the vehicle brake device may include a drive shaft and a non-drive shaft, and a vehicle includes at least one drive shaft, and the electric braking drive shaft may perform energy recovery.
可以参见图1至图3所示，图1和图2分别为本申请实施例中动力分配模块进行制动力分配的效果示意图；图3为本申请实施例中力分配模块进行制动力分配的示例性流程图。Please refer to Fig. 1 to Fig. 3, Fig. 1 and Fig. 2 are schematic diagrams showing the effect of braking force distribution by the power distribution module in the embodiment of the present application; Fig. 3 is an example of braking force distribution by the force distribution module in the embodiment of the present application sex flow chart.
具体地说，若车辆的速度大于预定速度阈值且相应的功能模块使能而满足激活条件(所述车辆的速度对应图中“车速”，所述预定速度阈值对应图中的“设定车速阈值”)，则当所述制动信号表征的制动需求小于所述第一减速度阈值，即设定减速度阈值A时，确定所述制动信号所属的制动需求阶段为低制动需求阶段，比如为A阶段，此时，将发出将目标制动力全部分配至所述车辆制动装置的驱动轴、并且进行电制动的制动力分配指令，以进行能量回收。Specifically, if the speed of the vehicle is greater than the predetermined speed threshold and the corresponding function module is enabled to meet the activation condition (the speed of the vehicle corresponds to "vehicle speed" in the figure, and the predetermined speed threshold corresponds to "set speed threshold" in the figure "), then when the braking demand represented by the braking signal is less than the first deceleration threshold, that is, when the deceleration threshold A is set, it is determined that the braking demand stage to which the braking signal belongs is low braking demand stage, such as stage A, at this time, a braking force distribution command is issued to distribute all the target braking force to the drive shaft of the vehicle braking device and perform electric braking for energy recovery.
在一些例子中，所述驱动轴可以是前轴；然而，在一些其他例子中，所述驱动轴可以为后轴，本申请实施例对此不作具体限定。In some examples, the drive shaft may be a front axle; however, in some other examples, the drive shaft may be a rear axle, which is not specifically limited in this embodiment of the present application.
具体地说，当所述制动信号表征的制动需求进一步增大，直到所述制动信号表征的制动需求大于所述第一减速度阈值且小于所述第二减速度阈值，即设定减速度阈值B时，所述制动需求阶段为中制动需求阶段，比如为B阶段，此时，驱动电机提供的电制动已不能满足所述制动信号表征的制动需求，对非驱动轴发出液压制动以及驱动轴电制动相结合的制动力分配指令，具体地，驱动轴的电制动的制动力维持目标制动力，非驱动轴的液压制动的制动力会不断上升，直到满足信号表征的制动需求。即，在此阶段，非驱动轴开始有目标液压力且以液压制动的形式实现。Specifically, when the braking demand represented by the braking signal further increases until the braking demand represented by the braking signal is greater than the first deceleration threshold and less than the second deceleration threshold, that is, set When the deceleration threshold B is fixed, the braking demand stage is the medium braking demand stage, such as the B stage. At this time, the electric braking provided by the drive motor can no longer meet the braking demand represented by the braking signal. The non-driving shaft issues a braking force distribution command combining hydraulic braking and electric braking of the driving shaft. Specifically, the braking force of the electric braking of the driving shaft maintains the target braking force, and the braking force of the hydraulic braking of the non-driving shaft will continue to increase. Rising until the braking demand represented by the signal is met. That is, at this stage, the non-driven axle starts to have the target hydraulic pressure and achieves it in the form of hydraulic braking.
具体地说，当所述制动信号表征的制动需求再进一步增大，直到所述制动信号表征的制动需求大于所述第二减速度阈值时，所述制动需求阶段为高制动需求阶段，比如为C阶段，此时，发出控制电制动以预设速度退出，启动液压制动的补偿机制，随着电制动的完全退出，驱动轴和非驱动轴的制动力均由液压制动实现的制动力分配指令。即，在此阶段，电制动会以一定速度退出，为了保证制动过程的平顺性，设计了液压制动的补偿机制，随着电制动的完全退出，驱动轴和非驱动轴的目标制动力都由液压制动实现。Specifically, when the braking demand represented by the braking signal further increases until the braking demand represented by the braking signal is greater than the second deceleration threshold, the braking demand stage is a high braking period. The dynamic demand stage, such as the C stage, at this time, the control electric brake is issued to exit at a preset speed, and the compensation mechanism of the hydraulic brake is activated. With the complete exit of the electric brake, the braking force of the driving shaft and the non-driving shaft are equal. Braking force distribution commands realized by hydraulic brakes. That is, at this stage, electric braking will exit at a certain speed. In order to ensure the smoothness of the braking process, a compensation mechanism for hydraulic braking is designed. With the complete exit of electric braking, the target of the driving shaft and non-driving shaft Braking force is realized by hydraulic brake.
进一步地，在一些例子中，所述第一减速度阈值的大小可以通过相关人员根据经验设定一固定值；也可以由所述系统根据所述车辆的当前速度，结合当前电机转速等影响所述制动力大小的参考因素值进行自动实时计算以得到所述第一减速度阈值的大小，此时，所述第一减速度阈值的大小为非固定值。Further, in some examples, the size of the first deceleration threshold can be set as a fixed value by relevant personnel based on experience; it can also be determined by the system according to the current speed of the vehicle, combined with the current motor speed and other influences. The reference factor value of the magnitude of the braking force is automatically calculated in real time to obtain the magnitude of the first deceleration threshold. At this time, the magnitude of the first deceleration threshold is a non-fixed value.
进一步地，在一些例子中，所述第二减速度阈值的大小可以通过相关人员根据经验设定一固定值；也可以由所述系统根据所述车辆的当前速度，车轮的滑移状态等参考因素值进行自动实时计算以得到所述第二减速度阈值的大小；还可以预先根据踏板开度和制动力形成对应于不同踏板开度对应于不同制动力的对应关系，并根据所述对应关系查表确定所述第二减速度阈值的大小。Further, in some examples, the size of the second deceleration threshold can be set as a fixed value by relevant personnel based on experience; it can also be referenced by the system according to the current speed of the vehicle, the slip state of the wheels, etc. The factor value is automatically calculated in real time to obtain the size of the second deceleration threshold; it is also possible to form a corresponding relationship corresponding to different pedal openings corresponding to different braking forces according to the pedal opening and braking force in advance, and according to the corresponding relationship Look up a table to determine the size of the second deceleration threshold.
进一步地，若车辆的速度小于预定速度阈值而处于低速行驶而不满足激活条件时，所述制动控制系统不启动，此时，各轴可以直接响应所述制动信号。Further, if the speed of the vehicle is lower than a predetermined speed threshold and the vehicle is running at a low speed and does not satisfy the activation condition, the braking control system is not activated, and at this time, each axis can directly respond to the braking signal.
值得一提的是，在一些例子中，在根据比较结果确定所述制动信号所属的制动需求阶段的过程中，若出现异常，则所述系统可以自动关闭，此时，各轴可以直接响应所述制动信号。It is worth mentioning that, in some examples, in the process of determining the braking demand stage to which the braking signal belongs according to the comparison result, if an abnormality occurs, the system can be automatically shut down. At this time, each axis can directly responsive to the braking signal.
进一步地，在本申请一些实施例中，若出现某个电子液压制动单元发生故障或者失效，则所述系统可以执行安全策略，以保证行车安全。具体地，所述系统还可以包括安全控制单元；所述安全控制单元，用于当检测到驱动轴的制动力大于预警阈值时，降低所述车辆制动装置的驱动轴的制动力。也就是说，在制动过程中，当检测到驱动轴的制动力过大使车辆有抱死倾向时，可以主动降低所述车辆制动装置的驱动轴制动力，从而可以避免车轮抱死而容易导致车辆甩尾或侧翻的危险工况，提高整车安全性。Further, in some embodiments of the present application, if a certain electronic hydraulic braking unit fails or fails, the system can implement a safety strategy to ensure driving safety. Specifically, the system may further include a safety control unit; the safety control unit is configured to reduce the braking force of the drive shaft of the vehicle braking device when it is detected that the braking force of the drive shaft is greater than an early warning threshold. That is to say, during the braking process, when it is detected that the braking force of the drive shaft is too high to make the vehicle tend to lock, the braking force of the drive shaft of the vehicle braking device can be actively reduced, thereby avoiding wheel lock and easy Dangerous working conditions that cause the vehicle to drift or roll over, and improve the safety of the vehicle.
不难发现，与相关技术相比，本申请实施例提供的制动控制系统，由于优先采用电制动而不使用液压，因此可以随时根据实际的制动信号控制撤回电制动的撤回与否，从而可以实现在除了电制动力完全撤回之后的以外的各个阶段进行能量回收，因此电机能量的效率较高。可见，本申请实施例提供的制动控制系统，在制动过程中可以在很大程度上充分发挥驱动电机能量回收的能力，提高整车的经济性。It is not difficult to find that, compared with related technologies, the brake control system provided by the embodiment of the present application, because the electric brake is preferred instead of the hydraulic pressure, it can control whether to withdraw the electric brake at any time according to the actual brake signal. , so that energy recovery can be realized at all stages except after the electric braking force is completely withdrawn, so the efficiency of the motor energy is relatively high. It can be seen that the brake control system provided by the embodiment of the present application can give full play to the energy recovery capability of the drive motor to a large extent during the braking process and improve the economy of the entire vehicle.
实施例三Embodiment Three
本申请实施例中，提供了一种制动控制系统中的车辆制动装置。在该例子中，所述电子液压制动单元的数量为两个，所述制动器的数量为两组。In an embodiment of the present application, a vehicle braking device in a braking control system is provided. In this example, the number of the electronic hydraulic brake units is two, and the number of the brakes is two groups.
如图4所示，所述电子液压制动单元包括第一电子液压制动单元1和第二电子液压制动单元2；两组所述制动器包括两个左制动器和两个右制动器，分别为左制动器3、右制动器4、左制动器5和右制动器6；As shown in Figure 4, the electronic hydraulic braking unit includes a first electronic hydraulic braking unit 1 and a second electronic hydraulic braking unit 2; the two groups of brakes include two left brakes and two right brakes, respectively Left brake 3, right brake 4, left brake 5 and right brake 6;
所述第一电子液压制动单元1分别和一个右制动器、一个左制动器连接，具体和所述右制动器4、所述左制动器3连接；The first electronic hydraulic brake unit 1 is respectively connected to a right brake and a left brake, specifically connected to the right brake 4 and the left brake 3;
所述第二电子液压制动单元2分别和另一个左制动器、另一个右制动器连接，具体和所述左制动器5、所述右制动器6连接。The second electronic hydraulic brake unit 2 is respectively connected to another left brake and another right brake, specifically to the left brake 5 and the right brake 6 .
具体地说，在一些例子中，所述左制动器3可以为前轴左制动器，所述右制动器4可以为前轴右制动器，所述左制动器5可以为后轴左制动器，所述右制动器6可以为后轴右制动器，所述左制动器3和所述右制动器4所在的前轴为驱动轴，所述左制动器5和所述右制动器6所在的后轴为非驱动轴。Specifically, in some examples, the left brake 3 may be a front axle left brake, the right brake 4 may be a front axle right brake, the left brake 5 may be a rear axle left brake, and the right brake 6 may be a rear axle left brake. It can be a rear axle right brake, the front axle where the left brake 3 and the right brake 4 are located is a drive axle, and the rear axle where the left brake 5 and the right brake 6 are located is a non-drive axle.
具体地说，第一电子液压制动单元1通过主缸出油口A，经过制动油管连接至右制动器4的进油口D，并且，第一电子液压制动单元1通过主缸出油口B，经过制动油管连接至左制动器3的进油口C。Specifically, the first electronic hydraulic brake unit 1 is connected to the oil inlet D of the right brake 4 through the oil outlet A of the master cylinder through the brake oil pipe, and the first electronic hydraulic brake unit 1 is connected to the oil inlet D of the right brake 4 through the master cylinder. Port B is connected to the oil inlet C of the left brake 3 through the brake oil pipe.
第二电子液压制动单元2通过主缸出油口F，经过制动油管连接至右制动器6的进油口H，并且，第二电子液压制动单元2通过主缸出油口E，经过制动油管连接至左制动器5的进油口G。The second electronic hydraulic brake unit 2 is connected to the oil inlet H of the right brake 6 through the oil outlet F of the master cylinder through the brake oil pipe, and the second electronic hydraulic brake unit 2 is connected to the oil inlet H of the right brake 6 through the oil outlet E of the master cylinder. The brake oil pipe is connected to the oil inlet G of the left brake 5 .
在一些例子中，所述制动器可以为但不限于：鼓式制动器、盘式制动器。In some examples, the brakes may be, but not limited to: drum brakes, disc brakes.
在一些例子中，所述第一电子液压制动单元1可以包括壳体、踏板感觉模拟器、液压力传感器、位移传感器、油位传感器、电子控制单元、助力电机、传动机构、制动主缸、油壶。In some examples, the first electronic hydraulic brake unit 1 may include a housing, a pedal feeling simulator, a hydraulic pressure sensor, a displacement sensor, an oil level sensor, an electronic control unit, a booster motor, a transmission mechanism, and a brake master cylinder. , Oil pot.
其中，所述踏板感觉模拟器用于接收驾驶员发出的制动请求，模拟踏板感，其可以包括U型叉、推杆、踏板感觉弹簧。Wherein, the pedal feeling simulator is used to receive a braking request from the driver and simulate the pedal feeling, which may include a U-shaped fork, a push rod, and a pedal feeling spring.
其中，所述液压力传感器用于监测主缸制动液的液压。Wherein, the hydraulic pressure sensor is used to monitor the hydraulic pressure of the master cylinder brake fluid.
其中，所述位移传感器用于监测推杆位移。Wherein, the displacement sensor is used to monitor the displacement of the push rod.
其中，所述油位传感器用于监测油壶制动液的油位。Wherein, the oil level sensor is used to monitor the oil level of the brake fluid in the oil pot.
其中，所述电子控制单元用于控制助力电机的扭矩、转速。Wherein, the electronic control unit is used to control the torque and rotational speed of the booster motor.
在一些例子中，所述第二电子液压制动单元2包括的部件可以和第一电子液压制动单元1所包括的部件相同。在一些其他例子中，所述第二电子液压制动单元2包括的部件相比于第一电子液压制动单元1，可以缺少踏板感觉模拟器、位移传感器。In some examples, the components included in the second electronic hydraulic braking unit 2 may be the same as those included in the first electronic hydraulic braking unit 1 . In some other examples, compared with the components included in the first electronic hydraulic braking unit 1 , the second electronic hydraulic braking unit 2 may lack a pedal feeling simulator and a displacement sensor.
需要说明的是，本申请实施例中不对所述第一电子液压制动单元1和所述第二电子液压制动单元2的供电方式做具体限定，比如可以是从整车取电。所述第一电子液压制动单元1分别和整车、第二电子液压制动单元2建立通讯连接。比如可以是CAN通讯，具体地线束设计及通讯协议可以根据实际需求灵活设计，本申请实施例不作具体限定。It should be noted that, in the embodiment of the present application, there is no specific limitation on the power supply mode of the first electro-hydraulic braking unit 1 and the second electro-hydraulic braking unit 2 , for example, power may be obtained from the whole vehicle. The first electronic hydraulic braking unit 1 establishes communication connections with the whole vehicle and the second electronic hydraulic braking unit 2 respectively. For example, it may be CAN communication. Specifically, the wiring harness design and communication protocol may be flexibly designed according to actual requirements, which are not specifically limited in this embodiment of the present application.
实施例四Embodiment Four
本申请实施例四是与实施例三并列的实施例，实施例三是两个电子液压制动单元控制双轴车的技术方案，本申请实施例四是两个电子液压制动单元控制多轴车的技术方案。也就是说，在申请实施例四中，所述电子液压制动单元的数量为两个，所述制动器的数量为三组。Embodiment 4 of this application is an embodiment in parallel with Embodiment 3. Embodiment 3 is a technical solution for two electronic hydraulic braking units to control a two-axle vehicle. Embodiment 4 of this application is two electronic hydraulic braking units to control a multi-axle vehicle. Technical scheme of the car. That is to say, in Embodiment 4 of the application, the number of the electronic hydraulic braking units is two, and the number of the brakes is three groups.
为便于理解，以下以两个电子液压制动单元控制三轴车为例进行说明。For ease of understanding, the following uses two electro-hydraulic brake units to control a three-axle vehicle as an example.
如图5所示，所述电子液压制动单元包括第一电子液压制动单元1和第二电子液压制动单元2；三组所述制动器包括三个左制动器和三个右制动器，分别为左制动器3、右制动器4、左制动器5和右制动器6以及左制动器7、右制动器8；As shown in Figure 5, the electronic hydraulic braking unit includes a first electronic hydraulic braking unit 1 and a second electronic hydraulic braking unit 2; the three groups of brakes include three left brakes and three right brakes, respectively Left brake 3, right brake 4, left brake 5, right brake 6, left brake 7, right brake 8;
所述第一电子液压制动单元1分别和一个右制动器、一个左制动器连接，具体和所述右制动器4、所述左制动器3连接；The first electronic hydraulic brake unit 1 is respectively connected to a right brake and a left brake, specifically connected to the right brake 4 and the left brake 3;
所述第二电子液压制动单元2经过三通分流分别和右制动器8、右制动器6连接，以及经过三通分流分别和另外两个左制动器、另外两个右制动器连接，具体和左制动器7、左制动器5连接。The second electronic hydraulic brake unit 2 is respectively connected to the right brake 8 and the right brake 6 through a three-way shunt, and is respectively connected to the other two left brakes and the other two right brakes through a three-way shunt, specifically to the left brake 7 , the left brake 5 is connected.
具体地说，在一些例子中，所述左制动器3可以为前轴左制动器，所述右制动器4可以为前轴右制动器，所述左制动器5可以为后轴左制动器，所述右制动器6可以为后轴右制动器，所述左制动器7可以为中轴左制动器，所述右制动器8可以为中轴右制动器，所述左制动器3和所述右制动器4所在的前轴为驱动轴，所述左制动器5、所述右制动器6所在的后轴以及所述左制动器7、所述右制动器8所在的中轴为非驱动轴。Specifically, in some examples, the left brake 3 may be a front axle left brake, the right brake 4 may be a front axle right brake, the left brake 5 may be a rear axle left brake, and the right brake 6 may be a rear axle left brake. It can be a rear axle right brake, the left brake 7 can be a middle axle left brake, the right brake 8 can be a middle axle right brake, and the front axle where the left brake 3 and the right brake 4 are located is a drive shaft, The rear axle where the left brake 5 and the right brake 6 are located and the middle axle where the left brake 7 and the right brake 8 are located are non-drive axles.
具体地说，第二电子液压制动单元2通过主缸出油口F，经过三通分流分别连接至右制动器8的进油口J和右制动器6的进油口H。并且，第二电子液压制动单元2通过主缸出油口E，经过三通分流分别连接至左制动器7的进油口I和左制动器5的进油口G。Specifically, the second electronic hydraulic brake unit 2 is respectively connected to the oil inlet J of the right brake 8 and the oil inlet H of the right brake 6 through the oil outlet F of the master cylinder through a three-way branch. Moreover, the second electronic hydraulic brake unit 2 is respectively connected to the oil inlet I of the left brake 7 and the oil inlet G of the left brake 5 through the oil outlet E of the master cylinder through a three-way branch.
实施例五Embodiment five
本申请实施例五是与实施例三并列的实施例，实施例三是两个电子液压制动单元控制双轴车辆的技术方案，本申请实施例五是多个电子液压制动单元控制多轴车的技术方案。具体地说，在申请实施例五中，所述电子液压制动单元的数量为三个，所述制动器的数量为三组。Embodiment 5 of this application is an embodiment parallel to Embodiment 3. Embodiment 3 is a technical solution for two electronic hydraulic braking units to control a two-axle vehicle. Embodiment 5 of this application is a plurality of electronic hydraulic braking units to control a multi-axle vehicle. Technical scheme of the car. Specifically, in the fifth embodiment of the application, the number of the electronic hydraulic braking units is three, and the number of the brakes is three groups.
为便于理解，以下以三个电子液压制动单元控制三轴车为例进行说明。如图6所示，所述电子液压制动单元包括第一电子液压制动单元1、第二电子液压制动单元2和第三电子液压制动单元9；三组所述制动器包括三个左制动器和三个右制动器，分别为左制动器3、右制动器4、左制动器5和右制动器6以及左制动器7、右制动器8；For ease of understanding, the following uses three electro-hydraulic brake units to control a three-axle vehicle as an example. As shown in Figure 6, the electronic hydraulic braking unit includes a first electronic hydraulic braking unit 1, a second electronic hydraulic braking unit 2 and a third electronic hydraulic braking unit 9; the three groups of brakes include three left Brake and three right brakes, namely left brake 3, right brake 4, left brake 5, right brake 6, left brake 7, right brake 8;
所述第一电子液压制动单元1分别和一个右制动器、一个左制动器连接，具体和所述右制动器4、所述左制动器3连接；The first electronic hydraulic brake unit 1 is respectively connected to a right brake and a left brake, specifically connected to the right brake 4 and the left brake 3;
所述第二电子液压制动单元2分别和另一个左制动器、另一个右制动器连接，具体和所述左制动器5、右制动器6连接；The second electronic hydraulic brake unit 2 is respectively connected to another left brake and another right brake, specifically to the left brake 5 and the right brake 6;
所述第三电子液压制动单元9分别和三个左制动器中剩余的所述左制动器、三个右制动器中剩余的右制动器连接，具体和所述左制动器7、右制动器8连接。The third electronic hydraulic braking unit 9 is respectively connected to the remaining left brakes of the three left brakes and the remaining right brakes of the three right brakes, specifically to the left brake 7 and the right brake 8 .
具体地说，在一些例子中，所述左制动器3可以为后轴左制动器，所述右制动器4可以为后轴右制动器，所述左制动器5可以为前轴左制动器，所述右制动器6可以为前轴右制动器，所述左制动器7可以为中轴左制动器，所述右制动器8可以为中轴右制动器，所述左制动器3、所述右制动器4所在的后轴以及所述左制动器7和所述右制动器8所在的中轴为非驱动轴，所述左制动器5和所述右制动器6所在的前轴为驱动轴。Specifically, in some examples, the left brake 3 may be a rear axle left brake, the right brake 4 may be a rear axle right brake, the left brake 5 may be a front axle left brake, and the right brake 6 may be a rear axle right brake. It can be the right brake of the front axle, the left brake 7 can be the left brake of the central axle, the right brake 8 can be the right brake of the central axle, the rear axle where the left brake 3 and the right brake 4 are located and the left The central axis where the brake 7 and the right brake 8 are located is a non-drive shaft, and the front shaft where the left brake 5 and the right brake 6 are located is a drive shaft.
不难发现，本申请实施例五提供的图5与实施例三提供的图3的主要区别在于：增加了电子液压制动单元的数量。具体地，本申请实施例五中，相较于图3提供的技术方案额外增加了电子液压制动单元9。具体地，电子液压制动单元9通过主缸出油口K经过制动油管连接至左制动器7的进油口I，并且，电子液压制动单元9通过主缸出油口L经过制动油管连接至右制动器的进油口J。It is not difficult to find that the main difference between Fig. 5 provided in Embodiment 5 of the present application and Fig. 3 provided in Embodiment 3 is that the number of electronic hydraulic braking units is increased. Specifically, in the fifth embodiment of the present application, compared with the technical solution provided in FIG. 3 , an additional electro-hydraulic braking unit 9 is added. Specifically, the electronic hydraulic brake unit 9 is connected to the oil inlet I of the left brake 7 through the master cylinder oil outlet K through the brake oil pipe, and the electronic hydraulic brake unit 9 is passed through the master cylinder oil outlet L through the brake oil pipe Connect to inlet J of the right brake.
实施例六Embodiment six
本申请实施例六是在实施例三的基础上作出的改进。本申请实施例六与实施例三的主要区别在于：本申请实施例提供的车辆制动装置还可以包括ABS和/或ESC。Embodiment 6 of the present application is an improvement made on the basis of Embodiment 3. The main difference between the sixth embodiment of the present application and the third embodiment is that: the vehicle brake device provided in the embodiment of the present application may also include ABS and/or ESC.
如图7所示，所述第一电子液压制动单元1通过所述ABS和/或ESC，分别和所述一个右制动器、所述一个左制动器连接，具体和所述右制动器4、所述左制动器3连接；As shown in Figure 7, the first electronic hydraulic brake unit 1 is connected to the one right brake and the one left brake respectively through the ABS and/or ESC, specifically to the right brake 4, the left brake 3 connection;
所述第二电子液压制动单元2通过所述ABS和/或ESC，分别和所述另一个右制动器、所述另一个左制动器连接，具体和所述左制动器5、右制动器6连接。The second electronic hydraulic brake unit 2 is respectively connected to the other right brake and the other left brake, specifically the left brake 5 and the right brake 6 through the ABS and/or ESC.
具体地说，在一些例子中，所述左制动器3可以为后轴左制动器，所述右制动器4可以为后轴右制动器，所述左制动器5可以为前轴左制动器，所述右制动器6可以为前轴右制动器，所述左制动器3和所述右制动器4所在的后轴为非驱动轴，所述左制动器5和所述右制动器6所在的前轴为驱动轴。Specifically, in some examples, the left brake 3 may be a rear axle left brake, the right brake 4 may be a rear axle right brake, the left brake 5 may be a front axle left brake, and the right brake 6 may be a rear axle right brake. It can be the right brake of the front axle, the rear axle where the left brake 3 and the right brake 4 are located is a non-drive axle, and the front axle where the left brake 5 and the right brake 6 are located is a drive axle.
具体地说，第一电子液压制动单元1通过主缸出油口A，经过制动油管接入ABS和/或ESC10的其中一个进油口M，第二电子液压制动单元2通过主缸出油口E，经制动油管接入ABS和/或ESC10的另一个进油口N；ABS和/或ESC10的出油口P连接左制动器3的进油口C，ABS和/或ESC10的出油口O连接右制动器4的进油口D，ABS和/或ESC10的出油口Q连接左制动器5的进油口G，ABS和/或ESC10的出油口连接右制动器6进油口H。Specifically, the first electronic hydraulic brake unit 1 is connected to one of the oil inlet M of ABS and/or ESC10 through the brake oil pipe through the oil outlet A of the master cylinder, and the second electronic hydraulic brake unit 2 is connected through the master cylinder The oil outlet E is connected to another oil inlet N of ABS and/or ESC10 through the brake oil pipe; the oil outlet P of ABS and/or ESC10 is connected to the oil inlet C of the left brake 3, and the oil inlet of ABS and/or ESC10 Oil outlet O is connected to oil inlet D of right brake 4, oil outlet Q of ABS and/or ESC10 is connected to oil inlet G of left brake 5, and oil outlet of ABS and/or ESC10 is connected to oil inlet of right brake 6 H.
需要说明的是，本申请实施例四还可以是在实施二和/或实施例三的基础上作出的改进。It should be noted that Embodiment 4 of the present application may also be an improvement on the basis of Embodiment 2 and/or Embodiment 3.
实施例七Embodiment seven
本申请实施例七是在实施例四的基础上作出的改进。本申请实施例七与实施例四的主要区别在于：本申请实施例提供的车辆制动装置还可以包括ABS和/或ESC。Embodiment 7 of the present application is an improvement made on the basis of Embodiment 4. The main difference between the seventh embodiment of the present application and the fourth embodiment is that: the vehicle brake device provided in the embodiment of the present application may also include ABS and/or ESC.
此处以所述多轴车辆具体为三轴车辆为例进行说明。Here, the multi-axle vehicle is specifically a three-axle vehicle as an example for description.
如图8所示，所述第一电子液压制动单元1通过所述ABS和/或ESC，分别和所述一个右制动器、所述一个左制动器连接，具体和所述右制动器4、所述左制动器3连接；As shown in FIG. 8 , the first electronic hydraulic brake unit 1 is respectively connected to the one right brake and the one left brake through the ABS and/or ESC, specifically to the right brake 4 , the left brake 3 connection;
所述第二电子液压制动单元2通过所述ABS和/或ESC，经过三通分流分别和另外两个左制动器、另外两个右制动器连接，具体和右制动器8、右制动器6连接，以及经过三通分流分别和左制动器7、左制动器5连接。The second electronic hydraulic brake unit 2 is connected to the other two left brakes and the other two right brakes, specifically the right brake 8 and the right brake 6 through the ABS and/or ESC through a three-way shunt, and Connect with left brake 7, left brake 5 respectively through three-way shunt.
具体地说，在一些例子中，所述左制动器3可以为后轴左制动器，所述右制动器4可以为后轴右制动器，所述左制动器5可以为前轴左制动器，所述右制动器6可以为前轴右制动器，所述左制动器7可以为中轴左制动器，所述右制动器8可以为中轴右制动器，所述左制动器3、所述右制动器4所在的后轴为非驱动轴，所述左制动器5、所述右制动器6所在的前轴以及所述左制动器7和所述右制动器8所在的中轴为驱动轴。Specifically, in some examples, the left brake 3 may be a rear axle left brake, the right brake 4 may be a rear axle right brake, the left brake 5 may be a front axle left brake, and the right brake 6 may be a rear axle right brake. It can be a front axle right brake, the left brake 7 can be a center axle left brake, the right brake 8 can be a center axle right brake, and the rear axle where the left brake 3 and the right brake 4 are located is a non-drive axle , the front axle where the left brake 5 and the right brake 6 are located and the central axis where the left brake 7 and the right brake 8 are located are drive shafts.
具体地说，第一电子液压制动单元1通过主缸出油口A，经过制动油管接入ABS和/或ESC10的其中一个进油口M，第二电子液压制动单元2通过主缸出油口E，经制动油管接入ABS和/或ESC10的另一个进油口N；Specifically, the first electronic hydraulic brake unit 1 is connected to one of the oil inlet M of ABS and/or ESC10 through the oil outlet A of the master cylinder through the brake oil pipe, and the second electronic hydraulic brake unit 2 is connected through the master cylinder The oil outlet E is connected to the other oil inlet N of ABS and/or ESC10 through the brake oil pipe;
ABS和/或ESC10的出油口P连接左制动器3的进油口C，ABS和/或ESC10的出油口O连接右制动器4的进油口D。The oil outlet P of the ABS and/or ESC10 is connected to the oil inlet C of the left brake 3, and the oil outlet O of the ABS and/or ESC10 is connected to the oil inlet D of the right brake 4.
ABS和/或ESC10的出油口Q，经过三通分流分别连接至左制动器7的进油口I和左制动器5的进油口G；ABS和/或ESC10的出油口R，经过三通分流分别连接至右制动器8的进油口J和右制动器6的进油口H。The oil outlet Q of ABS and/or ESC10 is respectively connected to the oil inlet I of the left brake 7 and the oil inlet G of the left brake 5 through a three-way shunt; the oil outlet R of ABS and/or ESC10 is passed through a three-way The split flow is respectively connected to the oil inlet J of the right brake 8 and the oil inlet H of the right brake 6 .
实施例八Embodiment Eight
本申请实施例八是在实施例七的基础上作了进一步改进，本申请实施例八和实施例七的主要区别在于：本申请实施例八在实施七提供的技术方案的基础上，增加了ABS和/或ESC的数量。也就是说，在申请实施例八中，所述ABS和/或ESC的数量为多个。Embodiment 8 of this application is further improved on the basis of Embodiment 7. The main difference between Embodiment 8 of this application and Embodiment 7 is: on the basis of the technical solution provided by Embodiment 7 of this application, an additional Amount of ABS and/or ESC. That is to say, in the eighth embodiment of the application, the number of the ABS and/or ESC is multiple.
如图9所示，以三轴车为例，若所述ABS和/或ESC的数量为两个，则所述第一电子液压制动单元1通过一ABS和/或ESC，分别和所述右制动器4、所述左制动器3连接；以及通过所述ABS和/或ESC，分别和所述左制动器5、所述右制动器6连接；As shown in Figure 9, taking a three-axle vehicle as an example, if the number of the ABS and/or ESC is two, the first electro-hydraulic brake unit 1 is connected to the The right brake 4 is connected to the left brake 3; and is connected to the left brake 5 and the right brake 6 respectively through the ABS and/or ESC;
所述第二电子液压制动单元2通过另一ABS和/或ESC，分别和所述左制动器7、所述右制动器8连接。The second electronic hydraulic brake unit 2 is connected to the left brake 7 and the right brake 8 respectively through another ABS and/or ESC.
具体地说，在一些例子中，所述左制动器3可以为前轴左制动器，所述右制动器4可以为前轴右制动器，所述左制动器5可以为后轴左制动器，所述右制动器6可以为后轴右制动器，所述左制动器7可以为中轴左制动器，所述右制动器8可以为中轴右制动器，所述左制动器3、所述右制动器4所在的前轴以及所述左制动器5和所述右制动器6所在的后轴为驱动轴，所述左制动器7和所述右制动器8所在的中轴为非驱动轴。Specifically, in some examples, the left brake 3 may be a front axle left brake, the right brake 4 may be a front axle right brake, the left brake 5 may be a rear axle left brake, and the right brake 6 may be a rear axle left brake. It can be a rear axle right brake, the left brake 7 can be a central axle left brake, the right brake 8 can be a central axle right brake, the left brake 3, the front axle where the right brake 4 is located and the left The rear axle where the brake 5 and the right brake 6 are located is a drive axle, and the middle axle where the left brake 7 and the right brake 8 are located is a non-drive axle.
不难发现，本申请实施例中，区别于实施例五提供的技术方案，额外增加的ABS和/或ESC11可与第二电子液压制动单元2单独连接，第二电子液压制动单元2通过主缸出油口E，经制动油管接入ABS和/或ESC11的进油口S，ABS和/或ESC11的出油口T和左制动器7的进油口I连接、ABS和/或ESC11的出油口U和右制动器8的进油口J连接。It is not difficult to find that in the embodiment of the present application, different from the technical solution provided in the fifth embodiment, the additional ABS and/or ESC11 can be separately connected to the second electronic hydraulic brake unit 2, and the second electronic hydraulic brake unit 2 can pass through The oil outlet E of the master cylinder is connected to the oil inlet S of ABS and/or ESC11 through the brake oil pipe, and the oil outlet T of ABS and/or ESC11 is connected to the oil inlet I of left brake 7, ABS and/or ESC11 The oil outlet U of the right brake is connected with the oil inlet J of the right brake 8.
第一电子液压制动单元1通过主缸出油口A，经过制动油管接入ABS和/或ESC10的其中一个进油口M，通过主缸出油口B，经过制动油管接入ABS和/或ESC10的另一个进油口N；ABS和/或ESC10的出油口P连接左制动器3的进油口C，ABS和/或ESC10的出油口O连接右制动器4的进油口D，ABS和/或ESC10的出油口Q连接左制动器5的进油口G，ABS和/或ESC10的出油口连接右制动器6进油口H。The first electronic hydraulic brake unit 1 is connected to one of the oil inlet M of ABS and/or ESC10 through the oil outlet A of the master cylinder through the brake oil pipe, and connected to the ABS through the oil outlet B of the master cylinder through the brake oil pipe And/or another oil inlet N of ESC10; the oil outlet P of ABS and/or ESC10 is connected to the oil inlet C of left brake 3, and the oil outlet O of ABS and/or ESC10 is connected to the oil inlet of right brake 4 D, the oil outlet Q of the ABS and/or ESC10 is connected to the oil inlet G of the left brake 5, and the oil outlet of the ABS and/or ESC10 is connected to the oil inlet H of the right brake 6.
实施例九Embodiment nine
本申请实施例九提供了一种制动控制方法，应用于如实施例一至实施例八任意一个或多个实施例提供的系统，所述方法可以包括如下步骤：Embodiment 9 of the present application provides a brake control method, which is applied to the system provided by any one or more embodiments of Embodiment 1 to Embodiment 8. The method may include the following steps:
步骤S101，在满足激活条件时，获取并分析制动信号；Step S101, when the activation condition is met, acquire and analyze the braking signal;
步骤S102，比较所述制动信号和预设阈值，根据比较结果确定所述制动信号所属的制动需求阶段，并根据所述制动需求阶段发出制动力分配指令；Step S102, comparing the braking signal with a preset threshold, determining the braking demand phase to which the braking signal belongs according to the comparison result, and issuing a braking force distribution command according to the braking demand phase;
步骤S103，根据所述制动力分配指令，控制车辆制动装置的制动力；其中，所述车辆制动装置包括至少两个电子液压制动单元和至少两组制动器；每个所述电子液压制动单元用于至少控制一组制动器。Step S103, according to the braking force distribution instruction, control the braking force of the vehicle braking device; wherein, the vehicle braking device includes at least two electronic hydraulic braking units and at least two groups of brakes; each of the electronic hydraulic braking The actuator unit is used to control at least one set of brakes.
不难发现，本申请实施例是与实施例一至实施例八任意一个或多个实施例提供的系统对应的方法实施例，上述各实施例提供的细节同样适用于本申请实施例，为避免重复，此处不再赘述。It is not difficult to find that the embodiment of this application is a method embodiment corresponding to the system provided by any one or more embodiments of Embodiment 1 to Embodiment 8. The details provided by the above embodiments are also applicable to the embodiment of this application. In order to avoid repetition , which will not be repeated here.
实施例十Embodiment ten
本申请的一些实施例还提供了一种车辆，所述车辆包括如上任意一个或多个实施例所述的系统。Some embodiments of the present application further provide a vehicle, and the vehicle includes the system described in any one or more embodiments above.
此外，本申请实施例还提供了一种车辆制动控制设备，该设备的结构如图10所示，所述设备包括用于存储计算机可读指令的存储器21和用于执行计算机可读指令的处理器22，其中，当该计算机可读指令被该处理器执行时，触发所述处理器执行所述的制动控制方法。In addition, the embodiment of the present application also provides a vehicle braking control device, the structure of which is shown in FIG. 10 , the device includes a memory 21 for storing computer-readable instructions and a A processor 22, wherein when the computer readable instructions are executed by the processor, the processor is triggered to execute the brake control method.
本申请实施例中的方法和/或实施例可以被实现为计算机软件程序。例如，本公开的实施例包括一种计算机程序产品，其包括承载在计算机可读介质上的计算机程序，该计算机程序包含用于执行流程图所示的方法的程序代码。在该计算机程序被处理单元执行时，执行本申请的方法中限定的上述功能。The methods and/or embodiments in the embodiments of the present application may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product, which includes a computer program carried on a computer-readable medium, where the computer program includes program codes for executing the methods shown in the flowcharts. When the computer program is executed by the processing unit, the above-mentioned functions defined in the method of the present application are performed.
需要说明的是，本申请所述的计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质或者是上述两者的任意组合。计算机可读介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子可以包括但不限于：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机访问存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本申请中，计算机可读介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。It should be noted that the computer-readable medium described in this application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. A computer readable medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the above. More specific examples of computer-readable storage media may include, but are not limited to, electrical connections with one or more wires, portable computer diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable Programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. In this application, a computer-readable medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
而在本申请中，计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于：无线、电线、光缆、RF等等，或者上述的任意合适的组合。In this application, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, in which computer-readable program codes are carried. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. . Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
可以以一种或多种程序设计语言或其组合来编写用于执行本申请的操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。Computer program code for carrying out the operations of this application may be written in one or more programming languages, or combinations thereof, including object-oriented programming languages—such as Java, Smalltalk, C++, and conventional A procedural programming language—such as "C" or a similar programming language. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In cases involving a remote computer, the remote computer can be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (such as through an Internet service provider). Internet connection).
附图中的流程图或框图示出了按照本申请各种实施例的设备、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，该模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或操作的专用的针对硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。The flowchart or block diagrams in the figures illustrate the architecture, functions and operations of possible implementations of devices, methods and computer program products according to various embodiments of the present application. In this regard, each block in a flowchart or block diagram may represent a module, program segment, or portion of code that contains one or more logical functions for implementing specified executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. It should also be noted that each block in the block diagrams and/or flowcharts, and combinations of blocks in the block diagrams and/or flowcharts, can be implemented by a dedicated hardware-oriented system that performs the specified functions or operations , or may be implemented by a combination of dedicated hardware and computer instructions.
作为另一方面，本申请实施例还提供了一种计算机可读介质，该计算机可读介质可以是上述实施例中描述的设备中所包含的；也可以是单独存在，而未装配入该设备中。上述计算机可读介质承载有一个或者多个计算机可读指令，所述计算机可读指令可被处理器执行以实现前述本申请的多个实施例的方法和/或技术方案的步骤。As another aspect, the embodiment of the present application also provides a computer-readable medium, which may be included in the device described in the above-mentioned embodiments; or may exist independently without being assembled into the device middle. The above-mentioned computer-readable medium carries one or more computer-readable instructions, and the computer-readable instructions can be executed by a processor to implement the steps of the methods and/or technical solutions of the aforementioned multiple embodiments of the present application.
在本申请一个典型的配置中，终端、服务网络的设备均包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。In a typical configuration of the present application, the terminal and the equipment serving the network include one or more processors (CPUs), input/output interfaces, network interfaces and memory.
内存可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。内存是计算机可读介质的示例。Memory may include non-permanent storage in computer readable media, in the form of random access memory (RAM) and/or nonvolatile memory such as read only memory (ROM) or flash RAM. Memory is an example of computer readable media.
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体，可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。Computer-readable media includes both volatile and non-volatile, removable and non-removable media, and can be implemented by any method or technology for storage of information. Information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), flash memory or other memory technology, compact disc-read-only (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cartridge Magnetic tape, tape disk storage or other magnetic storage device, or any other non-transmission medium, that can be used to store information that can be accessed by a computing device.
此外，本申请实施例还提供了一种计算机程序，所述计算机程序存储于计算机设备，使得计算机设备执行所述控制代码执行的方法。In addition, an embodiment of the present application further provides a computer program, the computer program is stored in a computer device, so that the computer device executes the method for controlling code execution.
需要注意的是，本申请可在软件和/或软件与硬件的组合体中被实施，例如，可采用专用集成电路(ASIC)、通用目的计算机或任何其他类似硬件设备来实现。在一些实施例中，本申请的软件程序可以通过处理器执行以实现上文步骤或功能。同样地，本申请的软件程序(包括相关的数据结构)可以被存储到计算机可读记录介质中，例如，RAM存储器，磁或光驱动器或软磁盘及类似设备。另外，本申请的一些步骤或功能可采用硬件来实现，例如，作为与处理器配合从而执行各个步骤或功能的电路。It should be noted that the present application can be implemented in software and/or a combination of software and hardware, for example, it can be implemented by using an application specific integrated circuit (ASIC), a general-purpose computer or any other similar hardware devices. In some embodiments, the software program of the present application can be executed by a processor to realize the above steps or functions. Likewise, the software program (including associated data structures) of the present application can be stored in a computer-readable recording medium such as RAM memory, magnetic or optical drive or floppy disk and the like. In addition, some steps or functions of the present application may be implemented by hardware, for example, as a circuit that cooperates with a processor to execute each step or function.
对于本领域技术人员而言，显然本申请不限于上述示范性实施例的细节，而且在不背离本申请的精神或基本特征的情况下，能够以其他的具体形式实现本申请。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本申请的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化涵括在本申请内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。此外，显然“包括”一词不排除其他单元或步骤，单数不排除复数。装置权利要求中陈述的多个单元或装置也可以由一个单元或装置通过软件或者硬件来实现。第一，第二等词语用来表示名称，而并不表示任何特定的顺序。It will be apparent to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, but that the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and not restrictive in all points of view, and the scope of the application is defined by the appended claims rather than the foregoing description, and it is intended that the scope of the present application be defined by the appended claims rather than by the foregoing description. All changes within the meaning and range of equivalents of the elements are embraced in this application. Any reference sign in a claim should not be construed as limiting the claim concerned. In addition, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means stated in the device claims may also be realized by one unit or device through software or hardware. The words first, second, etc. are used to denote names and do not imply any particular order.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310676590.9ACN116691621A (en) | 2023-06-08 | 2023-06-08 | Braking control system, method and vehicle |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310676590.9ACN116691621A (en) | 2023-06-08 | 2023-06-08 | Braking control system, method and vehicle |
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| CN116691621Atrue CN116691621A (en) | 2023-09-05 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310676590.9APendingCN116691621A (en) | 2023-06-08 | 2023-06-08 | Braking control system, method and vehicle |
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| CN (1) | CN116691621A (en) |
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