Braking control method and system, vehicle, storage medium and chip

1 . A method for braking control of a vehicle that is a four-wheeled vehicle, the method comprising:

receiving, by a respective rim baking unit among a plurality of rim braking units in the vehicle, a control instruction from a central control unit to control a braking motor corresponding to the respective rim breaking unit, wherein the vehicle comprises a front axle motor, a first rear axle motor corresponding to a left rear wheel and a second rear axle motor corresponding to a right rear wheel, and two front wheels of the vehicle are each correspondingly provided with a rim braking unit from the plurality of rim braking units; and

adjusting, in response to a braking state update instruction, at least one braking state of at least one of the braking motor or a target drive motor according to the braking state update instruction,

wherein the target drive motor comprises at least one of: the front axle motor, the first rear axle motor or the second rear axle motor, and

wherein the braking state update instruction comprises at least one of: a braking instruction, a vehicle tracking control triggering instruction, or a vehicle dynamic control triggering instruction;

wherein adjusting, in response to the braking state update instruction, the at least one braking state according to the braking state update instruction comprises:

in response to the braking instruction, in a case where a required braking force to which the braking instruction corresponds is determined to be greater than a preset threshold, controlling two braking motors to which the two front wheels respectively correspond to generate braking forces to satisfy the required braking force; and

in a case where braking forces generated by the two braking motors fail to satisfy the required braking force, controlling the first rear axle motor and/or the second rear axle motor to generate a negative torque to achieve the required braking force.

2 . The method according to claim 1 , wherein adjusting, in response to the braking state update instruction, the at least one braking state according to the braking state update instruction, further comprises:

in response to the braking instruction, in a case where a required braking force to which the braking instruction corresponds is determined to be smaller than a preset threshold, according to an ideal braking force distribution curve, determining a first braking force and a second braking force, a sum of the first braking force and the second braking force being equal to the required braking force;

controlling two braking motors respectively corresponding to the two front wheels to generate the first braking force; and

controlling the first rear axle motor and/or the second rear axle motor to generate the second braking force.

3 . The method according to claim 1 , wherein adjusting, in response to the braking state update instruction, the at least one braking state according to the braking state update instruction, further comprises:

determining, in response to the vehicle tracking control triggering instruction, a reference speed of the vehicle and a four-wheel slip rate according to wheel speeds of the two front wheels and axle speeds of the first rear axle motor and the second rear axle motor; and

according to the reference speed of the vehicle and the four-wheel slip rate, adjusting at least one of braking forces generated by two braking motors respectively corresponding to the two front wheels to suppress front wheel slippage, or torque generated by at least one of the first rear axle motor or the second rear axle motor to suppress rear wheel slippage.

4 . The method according to claim 1 , wherein adjusting, in response to the braking state update instruction, the at least one braking state according to the braking state update instruction, further comprises:

in response to the vehicle dynamic control triggering instruction, determining a yaw angle of the vehicle, determining a reference speed of the vehicle, and a four-wheel slip rate according to wheel speeds of the two front wheels and axle speeds of the first rear axle motor and the second rear axle motor;

determining a braking torque required for each wheel based on the reference speed of the vehicle, the four-wheel slip rate, the yaw angle of the vehicle, and a target yaw velocity; and

controlling two braking motors respectively corresponding to the two front wheels to generate braking forces to satisfy braking torques respectively corresponding to the two front wheels, and controlling at least one of the first rear axle motor or the second rear axle motor to generate negative torque to satisfy braking torques respectively corresponding to the left rear wheel and the right rear wheel.

5 . The method according to claim 1 , wherein the braking state update instruction further comprises a parking instruction; the rim braking unit is further connected with a parking mechanism, the rim braking unit is further configured to control the parking mechanism, the parking mechanism comprises a parking ratchet pawl, a reduction gear, and a parking solenoid valve or a parking motor;

adjusting, in response to the braking state update instruction, the at least one braking state according to the braking state update instruction, comprises:

determining, in response to the parking instruction, a required parking braking force based on vehicle weight and a hill angle;

controlling two braking motors corresponding to the two front wheels to generate braking forces to satisfy a parking braking force; and

controlling the parking solenoid valve or the parking motor to clamp the parking ratchet pawl on the reduction gear to form a permanent parking force.

6 . The method according to claim 1 , wherein the central control unit comprises a main control unit and a redundant control unit, adjusting, in response to the braking state update instruction, the at least one braking state according to the braking state update instruction, comprises:

in a case where the main control unit is determined not to fail, adjusting, by the main control unit in response to a braking state update instruction, the at least one braking state of at least one of the braking motor or a target-driving motor according to the braking state update instruction; and

in a case where the main control unit fails and the redundant control unit does not fail, adjusting, by the redundant control unit in response to the braking state update instruction, the at least one braking state of at least one of the braking motor or the target drive motor according to the braking state update instruction.

7 . The method according to claim 1 , wherein adjusting, in response to the braking state update instruction, the at least one braking state according to the braking state update instruction comprises:

determining a failure condition of the rim braking unit in response to the braking state update instruction; and

adjusting the at least one braking state of at least one of the braking motor or the target drive motor according to the failure condition and the braking state update instruction.

8 . A non-transitory computer-readable storage medium having computer program instructions stored thereon, wherein the computer program instructions, when executed by a processor, implement the steps of the method according to claim 1 .

9 . A chip, comprising a processor and an interface; wherein the processor is configured to read instructions to implement the method according to claim 1 .

10 . A braking control system, wherein the braking control system is arranged in a vehicle, the vehicle is a four-wheeled vehicle, the braking control system comprises:

a central control unit;

rim braking units;

braking motors;

a front axle motor; and

a first rear axle motor corresponding to a left rear wheel and a second rear axle motor corresponding to a right rear wheel, wherein

two front wheels of the vehicle are each correspondingly provided with one of the rim braking units and one or the braking motors, each of the rim braking units is configured to receive a control instruction from the central control unit to control a respective braking motor corresponding a respective rim breaking unit that receives the control instruction,

the central control unit is configured to adjust, in response to a braking state update instruction, at least one braking state of at least one of the braking motors or a target drive motor according to the braking state update instruction,

the target drive motor comprises at least one of: the front axle motor, the first rear axle motor or the second rear axle motor, and

the braking state update instruction comprises at least one of: a braking instruction, a vehicle tracking control triggering instruction, or a vehicle dynamic control triggering instruction;

wherein adjust, in response to the braking state update instruction, the at least one braking state according to the braking state update instruction comprises:

in response to the braking instruction, in a case where a required braking force to which the braking instruction corresponds is determined to be greater than a preset threshold, control two braking motors to which the two front wheels respectively correspond to generate braking forces to satisfy the required braking force; and

in a case where braking forces generated by the two braking motors fail to satisfy the required braking force, control the first rear axle motor and/or the second rear axle motor to generate a negative torque to achieve the required braking force.

11 . The braking control system according to claim 10 , wherein adjust, in response to the braking state update instruction, braking state(s) of the respective braking motor and/or the target drive motor according to the braking state update instruction comprises:

in response to the braking instruction, in a case where a required braking force to which the braking instruction corresponds is determined to be greater than a preset threshold, preferentially controlling two braking motors to which the two front wheels respectively correspond to generate braking forces to satisfy the required braking force; and

in a case where braking forces generated by the two braking motors fail to satisfy the required braking force, controlling the first rear axle motor and/or the second rear axle motor to generate a negative torque to complement the required braking force.

12 . The braking control system according to claim 10 , wherein adjust, in response to the braking state update instruction, braking state(s) of the respective braking motor and/or the target drive motor according to the braking state update instruction, further comprises:

in response to the braking instruction, in a case where a required braking force to which the braking instruction corresponds is determined to be smaller than a preset threshold, according to an ideal braking force distribution curve, determine a first braking force and a second braking force, a sum of the first braking force and the second braking force being equal to the required braking force;

control two braking motors respectively corresponding to the two front wheels to generate the first braking force; and

control the first rear axle motor and/or the second rear axle motor to generate the second braking force.

13 . The braking control system according to claim 10 , wherein adjust, in response to the braking state update instruction, braking state(s) of the respective braking motor and/or the target drive motor according to the braking state update instruction, further comprises:

determine, in response to the vehicle tracking control triggering instruction, a reference speed of the vehicle and a four-wheel slip rate according to wheel speeds of the two front wheels and axle speeds of the first rear axle motor and the second rear axle motor; and

according to the reference speed of the vehicle and the four-wheel slip rate, adjust braking forces generated by two braking motors respectively corresponding to the two front wheels to suppress front wheel slippage, and/or adjusting a torque(s) generated by the first rear axle motor and/or the second rear axle motor to suppress rear wheel slippage.

14 . The braking control system according to claim 10 , wherein adjust, in response to the braking state update instruction, a negative torque(s) to satisfy braking torques respectively corresponding to the left rear wheel and the right rear wheel.

15 . The braking control system according to claim 10 , wherein the braking state update instruction further comprises a parking instruction; each of the rim braking units is further connected with a parking mechanism, each of the rim braking units is further configured to control the parking mechanism, the parking mechanism comprises a parking ratchet pawl, a reduction gear, and a parking solenoid valve or a parking motor;

adjust, in response to the braking state update instruction, braking state(s) of the respective braking motor and/or the target drive motor according to the braking state update instruction, comprises:

determine, in response to the parking instruction, a required parking braking force based on vehicle weight and a hill angle;

control two braking motors corresponding to the front wheels to generate braking forces to satisfy a parking braking force; and

control the parking solenoid valve or the parking motor to clamp the parking ratchet pawl on the reduction gear to form a permanent parking force.

16 . The braking control system according to claim 10 , wherein the central control unit comprises a main control unit and a redundant control unit, adjust, in response to the braking state update instruction, braking state(s) of the respective braking motor and/or the target drive motor according to the braking state update instruction, comprises:

in a case where the main control unit is determined not to fail, adjust, by the main control unit in response to a braking state update instruction, the braking state(s) of the respective braking motor and/or a target-driving motor according to the braking state update instruction; and

in a case where the main control unit fails and the redundant control unit does not fail, adjust, by the redundant control unit in response to the braking state update instruction, the braking state(s) of the respective braking motor and/or the target drive motor according to the braking state update instruction.

17 . A vehicle, comprising:

a processor; and

a memory for storing processor-executable instructions,

wherein the processor is configured to adjust, in response to a braking state update instruction, at least one braking state of at least one of a braking motor or a target drive motor according to the braking state update instruction,

wherein the target drive motor comprises at least one of: a front axle motor, a first rear axle motor or a second rear axle motor, and

the braking state update instruction comprises at least one of: a braking instruction, a vehicle tracking control triggering instruction, or a vehicle dynamic control triggering instruction;

wherein adjust, in response to the braking state update instruction, the at least one braking state according to the braking state update instruction comprises:

in response to the braking instruction, in a case where a required braking force to which the braking instruction corresponds is determined to be greater than a preset threshold, control two braking motors to which the two front wheels respectively correspond to generate braking forces to satisfy the required braking force; and

in a case where braking forces generated by the two braking motors fail to satisfy the required braking force, control the first rear axle motor and/or the second rear axle motor to generate a negative torque to achieve the required braking force.