The invention relates to a method of determining an actuator braking torque limit for a plurality of actuators (104), where each actuator (104) is operable to apply a braking torque on a wheel (102) of a vehicle (100), the method comprising: for each actuator (104), determining an actuator braking torque limit for each actuator (104); determining an actuator braking torque capability range based on the actuator-specific torque capacity and a current operating state of the actuator (104); determining, for each wheel (102) of the vehicle (100), a road condition braking torque capability range based on an estimated transverse wheel force acting on the wheel (102), an estimated coefficient of friction (218) between a tire surface of the wheel (102) and a road surface, and a vertical wheel force (220) acting on the wheel (102); and for each actuator (104), determining an actuator braking torque upper limit (228) and an actuator braking torque lower limit (230) based on the actuator braking torque capability range and the road condition braking torque capability range.
本发明涉及一种确定多个致动器(104)的致动器制动扭矩极限的方法,其中每个致动器(104)可操作以在车辆(100)的车轮(102)上施加制动扭矩,所述方法包括:针对每个致动器(104),基于致动器特定的扭矩容量和致动器(104)的当前操作状态来确定致动器制动扭矩能力范围;针对车辆(100)的每个车轮(102),基于作用在车轮(102)上的估计的横向车轮力、车轮(102)的轮胎表面与道路表面之间的估计的摩擦系数(218)以及作用在车轮(102)上的垂直车轮力(220)来确定道路条件制动扭矩能力范围;以及针对每个致动器(104),基于所述致动器制动扭矩能力范围和所述道路条件制动扭矩能力范围来确定致动器制动扭矩上限(228)和致动器制动扭矩下限(230)。
Method of determining actuator brake torque limit
确定致动器制动扭矩极限的方法
2024-12-13
Patent
Electronic Resource
Chinese
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |