Vehicle braking control method and device, storage medium and vehicle

Abstract

The invention relates to a vehicle braking control method and device, a storage medium and a vehicle. The method comprises the following steps: obtaining the current speed information of the vehicle when the vehicle is braked, and determining whether the vehicle meets a locking control condition or not according to the speed information; when it is determined that the vehicle meets the locking control condition, obtaining a first braking torque applied to the vehicle through a hub motor of the vehicle and a second braking torque applied to the vehicle through a hydraulic braking device of thevehicle; circularly executing a torque adjusting strategy according to a preset torque adjusting amplitude until it is determined that the locking trend is eliminated in order to make the vehicle controlled to be kept in a non-locking state for braking, wherein the torque adjusting strategy comprises preferentially adjusting the first braking torque and adjusting the second braking torque according to the adjusting result of the first braking torque.

Description

technical field [0001] The present disclosure relates to the field of vehicle control, in particular, to a method, device, storage medium and vehicle for controlling braking of a vehicle. Background technique [0002] With the development of the automobile industry, users have higher and higher requirements for automobile safety, especially in the field of braking safety technology. When the vehicle brakes, if the braking force is too large, it will cause the vehicle to lock up. When the vehicle is locked, it will adversely affect the directional stability and controllability of the vehicle, thus posing a serious threat to the vehicle and personal safety. [0003] Normally, when the vehicle is braking, the wheel braking force can be controlled by the anti-lock brake control system to prevent the wheels from locking, for example, the hydraulic braking torque can be redistributed when the wheel locking is detected Feedback torque with the motor, and use the hub motor to adjus...

AI Technical Summary

Problems solved by technology

[0002] With the development of the automobile industry, users have higher and higher requirements for automobile safety, especially in the field of braking safety technology. When the vehicle brakes, if the braking force is too large, it will cause the vehicle to lock up. When the vehicle is locked, it will adversely affect the directional stability and controllability of the vehicle, thus posing a serious threat to the vehicle and personal safety

[0003] Normally, when the vehicle is braking, the wheel braking force can be controlled by the anti-lock brake control system to prevent the wheels from locking, for example, the hydraulic braking torque can be redistributed when the wheel locking is detected Feedback torque with the motor, and use the hub motor to adjust the braking torque of the wheel to achieve the function of anti-lock braking control of the wheel. However, when the hydraulic braking torque is redistributed, the braking torque will suddenly become smaller, causing the driver to have The illusion of vehicle acceleration, and will make the vehicle braking torque fluctuate greatly, resulting in poor vehicle comfort and strong subjective feelings of the driver

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