The invention relates to an EMB braking deviation control and braking error correction method, device and equipment and a medium, and the method comprises the steps that a total braking force command of a target vehicle is obtained to generate a braking force command of each wheel of the target vehicle; the deviation parameter of the target vehicle is obtained, and whether braking deviation happens to the target vehicle or not is judged based on the braking force instruction and the deviation parameter of each wheel; if braking deviation occurs, the target differential yaw moment of the target vehicle is calculated, braking stability control and error estimation operation are carried out on the target vehicle according to the total braking force command, the target differential yaw moment and the deviation parameter, a braking error coefficient is obtained, and parameters of an EMB controller of the target vehicle are corrected through the braking error coefficient. And controlling the target vehicle to brake by using the corrected EMB controller. Therefore, the problems that an existing EMB controller lacks physical connection of the left side and the right side of a vehicle, and braking deviation possibly occurs under the conditions of faults, braking abrasion and the like are solved.

    本申请涉及一种EMB制动跑偏控制与制动误差修正方法、装置、设备及介质,其中,方法包括:获取目标车辆的总制动力命令,以生成目标车辆的每个轮的制动力指令;获取目标车辆的跑偏量参数,并基于每个轮的制动力指令和跑偏量参数,判断目标车辆是否发生制动跑偏;如果发生制动跑偏,则计算目标车辆的目标差动横摆力矩,并根据总制动力命令、目标差动横摆力矩和跑偏量参数对目标车辆执行制动稳定性控制和误差估算操作,得到制动误差系数,且利用制动误差系数修正目标车辆的EMB控制器的参数,以利用修正后的EMB控制器控制目标车辆进行制动。由此,解决了现有EMB控制器缺乏车辆左右两侧物理连接,在故障、制动磨损等情况下可能出现制动跑偏等问题。


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    Title :

    EMB brake deviation control and brake error correction method, device, equipment and medium


    Additional title:

    EMB制动跑偏控制与制动误差修正方法、装置、设备及介质


    Contributors:
    ZHANG JUNFENG (author) / ZHANG JUNZHI (author) / HE CHENGKUN (author) / MA RUIHAI (author)

    Publication date :

    2024-04-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF



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