Brake control method and device, storage medium, vehicle controller and vehicle

Abstract

The invention provides a brake control method and device, a storage medium, a vehicle controller and a vehicle. According to the brake control method, in the anti-lock braking process of the vehicle, the remaining amount of brake fluid in a brake master cylinder is monitored in real time, and when the remaining amount of the brake fluid is smaller than a brake fluid threshold value, a brake fluid supplementing function is started; the brake fluid supplementing function is used for supplementing the brake fluid in the reservoir into the brake master cylinder, determining a real-time brake demand corresponding to the anti-lock brake system during the operation period of the brake fluid supplementing function, controlling the driving motor to generate a motor brake torque corresponding to the real-time brake demand in response to the real-time brake demand, and controlling the motor brake torque to brake the brake master cylinder. Therefore, the braking effect of the vehicle during anti-lock braking is ensured.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a braking control method, device, storage medium, vehicle controller, and vehicle. Background Technology

[0002] The hydraulic braking system mainly includes a master cylinder, a reservoir, wheel cylinders, and a brake. The master cylinder stores brake fluid. Its braking principle is that by moving the brake piston in the master cylinder, the brake fluid in the master cylinder is pumped into each wheel cylinder, so that each wheel cylinder generates braking pressure. This braking pressure causes the brake caliper to clamp the brake disc and generate friction, thereby generating a corresponding braking force at the wheel end.

[0003] During emergency braking that activates the vehicle's anti-lock braking system (ABS), the ABS continuously adjusts the pressure in the wheel cylinders multiple times. This frequent adjustment of wheel-end braking pressure leads to a decrease in brake fluid in the master cylinder. When the brake fluid level in the master cylinder drops to a certain point, the remaining fluid may not be sufficient to meet the wheel-end braking pressure requirements. Therefore, in related technologies, brake fluid in the master cylinder is typically replenished when it falls below a certain value. However, during this replenishment process, the inlet valve between the master cylinder and the wheel cylinders is closed, meaning the wheel-end braking pressure is not adjustable. If the actual braking state of the vehicle does not match the real-time braking requirements of the ABS during this period, it will affect the vehicle's braking performance and cause braking deceleration loss. Summary of the Invention

[0004] Based on this, the present disclosure provides a braking control method, device, storage medium, vehicle controller, and vehicle. By using this braking control method, during the brake fluid replenishment period, the drive motor can be controlled to output the corresponding motor braking torque to meet the real-time braking requirements of the anti-lock braking system, thereby ensuring the vehicle braking effect and avoiding braking deceleration loss.

[0005] On one hand, the present invention provides a braking control method, the method comprising:

[0006] During the anti-lock braking process of the vehicle, the brake fluid level in the master cylinder is monitored in real time. When the brake fluid level is less than the brake fluid threshold, the brake fluid replenishment function is activated. The brake fluid replenishment function is used to replenish the brake fluid in the reservoir into the master cylinder.

[0007] During the operation of the brake fluid replenishment function, the real-time braking demand corresponding to the anti-lock braking system is determined, and in response to the real-time braking demand, the drive motor is controlled to generate the motor braking torque corresponding to the real-time braking demand.

[0008] Furthermore, in some embodiments, determining the real-time braking demand corresponding to the anti-lock braking system, and responding to the real-time braking demand by controlling the drive motor to generate a motor braking torque corresponding to the real-time braking demand, includes:

[0009] When the vehicle slip ratio is less than the lower limit of the preset slip ratio range, a real-time braking demand is generated to increase the vehicle braking force.

[0010] In response to the real-time braking demand, the drive motor is controlled to generate a motor braking torque that increases the vehicle slip ratio, and the increased vehicle slip ratio is located within the preset slip ratio range.

[0011] Furthermore, in some embodiments, controlling the drive motor to generate a motor braking torque that increases the vehicle slip ratio, wherein the increased vehicle slip ratio is within the preset slip ratio range, includes:

[0012] The drive motor is controlled to gradually increase its braking torque, and the vehicle's slip ratio is monitored in real time.

[0013] When the vehicle slip ratio increases to the preset slip ratio range, the increase in the motor braking torque is stopped.

[0014] Furthermore, in some embodiments, controlling the drive motor to generate a motor braking torque that increases the vehicle slip ratio, wherein the increased vehicle slip ratio is within the preset slip ratio range, includes:

[0015] The drive motor is controlled to generate a preset braking torque, and the vehicle slip ratio is monitored in real time.

[0016] When the vehicle slip ratio exceeds the upper limit of the preset slip ratio range, the current hydraulic braking force is reduced to bring the vehicle slip ratio within the preset slip ratio range.

[0017] Furthermore, in some embodiments, the real-time monitoring of the brake fluid level in the master cylinder and the activation of the brake fluid replenishment function when the brake fluid level is less than a brake fluid threshold includes:

[0018] Real-time monitoring of the travel of the brake cylinder piston within the master cylinder;

[0019] The remaining brake fluid level in the brake cylinder is determined based on the travel distance.

[0020] Furthermore, in some embodiments, before activating the brake fluid replenishment function when the brake fluid level is less than the brake fluid threshold, the method further includes:

[0021] Get vehicle speed;

[0022] The brake fluid threshold is determined based on the vehicle speed.

[0023] Furthermore, in some embodiments, the method further includes:

[0024] In response to the disabling of the brake fluid replenishment function, the current hydraulic braking force is adjusted to match the requested braking force corresponding to the driver's braking request based on the hydraulic braking system, and the motor braking torque is canceled.

[0025] On the other hand, the present invention provides a braking control device, comprising:

[0026] The brake fluid replenishment module is used to monitor the brake fluid level in the master cylinder in real time during the anti-lock braking process of the vehicle. When the brake fluid level is less than the brake fluid threshold, the brake fluid replenishment function is activated to replenish the brake fluid in the reservoir into the master cylinder.

[0027] The brake compensation module is used to determine the real-time braking demand corresponding to the anti-lock braking system during the operation of the brake fluid replenishment function, and in response to the real-time braking demand, control the drive motor to generate the motor braking torque corresponding to the real-time braking demand.

[0028] On the other hand, the present invention provides a storage medium storing a computer program adapted to be loaded by a processor and to execute the steps of the above-described method.

[0029] On the other hand, the present invention also provides a vehicle controller, comprising: a processor and a memory; wherein the memory stores computer-readable instructions adapted to be loaded by the processor and to execute the steps of the method described above.

[0030] On the other hand, the present invention also provides a vehicle including the above-described braking control device or vehicle controller.

[0031] According to the braking control method provided by the present invention, when the vehicle triggers the anti-lock braking system and performs anti-lock braking based on the hydraulic braking system, the brake fluid level in the master cylinder is monitored in real time. When the brake fluid level is less than the brake fluid threshold, the brake fluid replenishment function is activated to replenish the brake fluid in the reservoir into the master cylinder. During the brake fluid replenishment, the motor braking torque output by the drive motor is controlled to meet the real-time braking requirements of the anti-lock braking system, thereby enhancing the vehicle braking effect and avoiding the vehicle braking deceleration loss problem caused by the unadjustable wheel-end braking pressure during brake fluid replenishment, thus improving vehicle handling and safety.

[0032] It should be understood that the description in the Summary of the Invention is not intended to limit the key or essential features of the embodiments of the present invention, nor is it intended to restrict the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0033] Figure 1 A schematic flowchart of a braking control method provided in an embodiment of the present invention;

[0034] Figure 2 A schematic diagram of braking force variation provided in an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of the structure of a braking control device provided in an embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of the structure of a vehicle controller provided in an embodiment of the present invention. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0038] In the description of one or more embodiments of the present invention, the term "comprising" and similar terms should be understood as open-ended inclusion, i.e., "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0039] The hydraulic braking system mainly includes a master cylinder, a reservoir, wheel cylinders, and a brake. The master cylinder stores brake fluid. Its braking principle is that by moving the brake piston in the master cylinder, the brake fluid in the master cylinder is pumped into each wheel cylinder, so that each wheel cylinder generates braking pressure. This braking pressure causes the brake caliper to clamp the brake disc and generate friction, thereby generating a corresponding braking force at the wheel end.

[0040] During emergency braking, the anti-lock braking system (ABS) is easily activated. The main function of ABS is to prevent wheel lock-up during emergency braking by adjusting the braking pressure on the wheels, thereby improving vehicle handling and stability. During ABS operation, the braking pressure on the wheels is frequently adjusted to avoid wheel lock-up and maximize braking effectiveness.

[0041] However, during anti-lock braking (ABS), frequent adjustments to wheel braking pressure cause brake fluid to flow into the reservoir during decompression. This leads to a continuous decrease in brake fluid in the master cylinder. When the brake fluid level in the master cylinder drops to a certain point, it becomes insufficient to apply the required braking pressure to the wheels, affecting braking performance. Therefore, when the brake fluid level in the master cylinder falls below a certain value, brake fluid from the reservoir can be drawn into the master cylinder to replenish it. During this period, the inlet valve between the master cylinder and the wheel cylinders is closed, meaning the wheel-end braking pressure is not adjustable. If the actual braking state of the vehicle does not match the real-time braking requirements of the ABS, it will affect the vehicle's braking performance and cause braking deceleration loss.

[0042] Based on this, the present invention proposes a braking control method. This method can monitor the brake fluid level in the master cylinder in real time when the vehicle triggers the anti-lock braking system and performs anti-lock braking based on the hydraulic braking system. When the brake fluid level is less than the brake fluid threshold, the brake fluid replenishment function is activated to replenish the brake fluid in the reservoir into the master cylinder. During the brake fluid replenishment, the motor braking torque output by the drive motor is controlled to meet the real-time braking requirements of the anti-lock braking system, thereby enhancing the vehicle braking effect and avoiding the vehicle braking deceleration loss problem caused by the unadjustable wheel-end braking pressure during brake fluid replenishment, thus improving vehicle handling and safety.

[0043] Please see Figure 1 This is a schematic flowchart of a braking control method provided in an embodiment of the present invention. The following section focuses on... Figure 1 The process shown will be described in detail. The braking control method may specifically include the following steps:

[0044] Step S102: During the anti-lock braking process of the vehicle, the brake fluid level in the master cylinder is monitored in real time. When the brake fluid level is less than the brake fluid threshold, the brake fluid replenishment function is activated. The brake fluid replenishment function is used to replenish the brake fluid in the reservoir into the master cylinder.

[0045] When a vehicle brakes suddenly on a road surface with a low coefficient of friction, the anti-lock braking system is easily triggered to protect the wheels from locking up, reduce the risk of loss of vehicle control, and improve the vehicle's braking performance.

[0046] In this embodiment of the invention, during vehicle braking, the remaining brake fluid in the master cylinder of the hydraulic braking system is monitored in real time by a sensor. When the remaining brake fluid in the master cylinder is less than the brake fluid threshold, the brake fluid replenishment function is activated to replenish the brake fluid stored in the reservoir into the master cylinder, thereby ensuring the braking effect of the hydraulic braking system.

[0047] The brake fluid threshold is a safe threshold to ensure that the wheel-end braking pressure boosting requirement is met. When the brake fluid level in the master cylinder is lower than this safe threshold, the hydraulic braking system is at risk of failing to meet the wheel-end braking pressure boosting requirement.

[0048] Optionally, the brake fluid threshold can be a preset fixed threshold or a variable threshold calculated based on the real-time vehicle operating status.

[0049] In one feasible implementation, brake fluid in the reservoir can be replenished into the brake master cylinder by an electric motor-hydraulic pump.

[0050] Step S104: During the operation of the brake fluid replenishment function, determine the real-time braking demand corresponding to the anti-lock braking system, and in response to the real-time braking demand, control the drive motor to generate the motor braking torque corresponding to the real-time braking demand.

[0051] Understandably, during brake fluid replenishment, the brake fluid inlet valve between the master cylinder and wheel cylinders is closed, resulting in unadjustable brake pressure within the wheel cylinders, meaning the wheel-end braking force is not adjustable. If, during brake fluid replenishment, the vehicle's actual braking force does not match the real-time braking demand of the anti-lock braking system (ABS), the braking torque output from the drive motor is controlled to meet the ABS's real-time braking requirements. This enhances the vehicle's braking effect and avoids brake deceleration loss due to the unadjustable wheel-end braking pressure during brake fluid replenishment.

[0052] In this embodiment of the invention, during brake fluid replenishment, the real-time braking requirements of the anti-lock braking system are met by controlling the motor braking torque output by the drive motor, thereby enhancing the vehicle braking effect, avoiding the vehicle braking deceleration loss caused by the unadjustable wheel-end braking pressure during brake fluid replenishment, improving vehicle handling and safety, and also enabling regenerative braking based on the motor braking torque to recover braking energy and improve energy utilization.

[0053] It should be noted that during emergency braking, excessive braking pressure at the wheel ends can cause wheel lock-up. Wheel lock-up not only affects braking performance but also poses a risk of loss of vehicle control. The Anti-lock Braking System (ABS) is used to control the vehicle's slip ratio within a predefined range, preventing wheel lock-up while achieving optimal braking performance.

[0054] In one embodiment, during ABS activation, the ABS system monitors the vehicle slip ratio in real time. When the vehicle slip ratio is less than the lower limit of a preset slip ratio range, it generates a real-time braking demand to increase the vehicle braking force. In response to the real-time braking demand, it controls the drive motor to generate a motor braking torque that increases the vehicle slip ratio and controls the increased vehicle slip ratio to be within the preset slip ratio range.

[0055] The preset slip ratio range is the vehicle slip ratio range in which the vehicle has the best braking effect.

[0056] During braking with the ABS system activated, the ABS system controls the increase or decrease of braking force based on the vehicle's slip ratio, ensuring the slip ratio remains within a preset range. This prevents vehicle lock-up while achieving optimal braking performance. For example, when the vehicle slip ratio exceeds the upper limit of the preset slip ratio range, the braking pressure is reduced to decrease the slip ratio; conversely, when the slip ratio is below the lower limit, the braking pressure is increased to increase the slip ratio. During brake fluid replenishment, the inlet valve between the master cylinder and wheel cylinders is closed, preventing an increase in braking pressure within the wheel cylinders. During this period, if the vehicle slip ratio is below the lower limit of the preset slip ratio range, increasing wheel-end braking pressure cannot increase the slip ratio. In this embodiment, when the vehicle slip ratio is less than the lower limit of the preset slip ratio range, a real-time braking demand is generated to increase the vehicle braking force. In response to the real-time braking demand, the drive motor is controlled to generate a motor braking torque that increases the vehicle slip ratio, and the increased vehicle slip ratio is controlled to be within the preset slip ratio range to ensure the vehicle braking effect and avoid braking deceleration loss.

[0057] Please see Figure 2 This is a schematic diagram illustrating the change in vehicle braking force according to an embodiment of the present invention. Figure 2 As shown, where F request F regen For regenerative braking force, F hydraulic For hydraulic braking force, F vehicle The actual braking force of the vehicle is the sum of the hydraulic braking force and the regenerative braking force, as shown in Figure F. request -T shows the relationship between the requested braking force and time, Figure Fregen -T shows the relationship between regenerative braking force and time, Figure F hydraulic -T shows the relationship between hydraulic braking force and time, Figure F vehicle -T indicates the relationship between the vehicle's actual braking force and time. Figure 4 In the process, the vehicle begins braking at time 0, and the anti-lock braking system (ABS) is triggered after an emergency increase in hydraulic braking force. From time 0 to time t1, the ABS repeatedly adjusts the hydraulic braking force to prevent the vehicle from locking up. At time t1, the brake fluid level in the master cylinder is less than the brake fluid threshold, and the brake fluid replenishment function is activated. At this time, the hydraulic braking force remains unchanged. During the brake fluid replenishment period, since the vehicle's slip ratio does not meet the preset slip ratio range, the drive motor generates regenerative braking force to compensate for the current hydraulic braking force, so that the vehicle's slip ratio is within the preset slip ratio range, ensuring the vehicle's braking effect. At time t2, the brake fluid replenishment ends, the motor braking torque is gradually canceled, and the hydraulic braking force is increased, causing the regenerative braking force to decrease. Then, the ABS adjusts the hydraulic braking force to control the vehicle's slip ratio within the preset slip ratio range, preventing the vehicle from locking up and ensuring the braking effect.

[0058] In one embodiment, the drive motor is controlled to generate a motor braking torque that increases the vehicle slip ratio. The increased vehicle slip ratio is located within a preset slip ratio range. Specifically, during brake fluid replenishment, the drive motor is controlled to gradually increase the motor braking torque and the vehicle slip ratio is monitored in real time. When the vehicle slip ratio increases to the preset slip ratio range, the increase of the motor braking torque is stopped.

[0059] In one embodiment, the drive motor is controlled to generate a motor braking torque that increases the vehicle slip ratio. The increased vehicle slip ratio is located within a preset slip ratio range. Specifically, the drive motor is controlled to generate a preset amount of motor braking torque, and the vehicle slip ratio is monitored in real time. When the vehicle slip ratio exceeds the upper limit of the preset slip ratio range, the current hydraulic braking force is reduced so that the vehicle slip ratio is located within the preset slip ratio range.

[0060] Understandably, in this embodiment, during brake fluid replenishment, when the vehicle slip ratio is less than the lower limit of a preset slip ratio range, the drive motor is controlled to generate a preset amount of motor braking torque to meet the real-time braking requirements of the anti-lock braking system. If the motor braking torque is too large, it may cause the vehicle slip ratio to exceed the upper limit of the preset slip ratio range. When the vehicle slip ratio exceeds the upper limit of the preset slip ratio range, the current hydraulic braking force is reduced to lower the vehicle slip ratio to the preset slip ratio range. Specifically, brake fluid in the brake wheel cylinders is released into the reservoir to reduce the vehicle wheel-end braking pressure, thereby reducing the current hydraulic braking force.

[0061] In one embodiment, the brake fluid replenishment function automatically deactivates after the brake fluid replenishment is completed. In response to the deactivation of the brake fluid replenishment function, the electric motor braking torque is gradually canceled, and the current hydraulic braking force is adjusted according to the hydraulic braking system to meet the real-time braking requirements of the anti-lock braking system, maintaining the vehicle slip ratio within a preset slip ratio range.

[0062] In this embodiment, after the brake fluid in the reservoir is pumped into the master cylinder, the brake fluid replenishment is completed, and the brake fluid replenishment function automatically deactivates. After the brake fluid replenishment function deactivates, the braking pressure in the corresponding wheel cylinder becomes adjustable. At this point, the vehicle's braking force can be adjusted by adjusting the braking pressure in the wheel cylinder, gradually reducing the electric motor braking torque. The current hydraulic braking force is adjusted according to the hydraulic braking system to meet the real-time braking requirements of the anti-lock braking system, maintaining the vehicle's slip ratio within a preset slip ratio range to continue anti-lock braking and maintain the vehicle's braking effect. For example, after the brake fluid replenishment function deactivates, the electric motor braking torque is reduced according to a preset gradient to reduce the vehicle's regenerative braking force. Simultaneously, the wheel-end braking pressure is increased through the hydraulic braking system to increase the vehicle's current hydraulic braking force, maintaining the vehicle's slip ratio within a preset slip ratio range. When the electric motor braking torque drops to 0, the vehicle's slip ratio is maintained within the preset slip ratio range only by adjusting the current hydraulic braking force.

[0063] In one embodiment, real-time monitoring of the brake fluid level in the master cylinder can be achieved by: real-time monitoring of the travel distance of the brake cylinder piston within the master cylinder, and determining the brake fluid level in the master cylinder based on the travel distance.

[0064] It is understandable that the brake cylinder piston is used to push the brake fluid from the master cylinder to the wheel cylinder. The greater the stroke of the brake cylinder piston, the less brake fluid is left in the master cylinder.

[0065] In one feasible implementation, by setting a brake cylinder piston stroke threshold, when the brake cylinder piston travels beyond the stroke threshold, and when it is determined that the brake fluid level is less than the brake fluid threshold, the brake fluid replenishment function is activated.

[0066] In one embodiment, the vehicle speed is acquired, and a brake fluid threshold is determined based on the vehicle speed.

[0067] It is understandable that braking time during vehicle braking is positively correlated with vehicle speed; the faster the vehicle speed, the longer the braking time. Correspondingly, a longer braking time indicates a longer operating time for the anti-lock braking system (ABS), and a greater demand for wheel-end braking pressure adjustment. Therefore, a larger reserve of brake fluid is needed to meet the subsequent ABS adjustment requirements. This embodiment of the invention calculates the brake fluid threshold in real time based on vehicle speed. When the brake fluid level in the master cylinder is less than the threshold, brake fluid is replenished to ensure that the braking pressure adjustment requirements of the ABS are met.

[0068] Please see Figure 3 This is a schematic diagram of a braking control device provided in an embodiment of the present invention. Figure 3 As shown, the brake control device 1 can be implemented as all or part of the vehicle controller through software, hardware, or a combination of both. According to some embodiments, the brake control device 1 includes a brake fluid replenishment module 11 and a brake compensation module 12, specifically including:

[0069] The brake fluid replenishment module 11 is used to monitor the brake fluid level in the master cylinder in real time during the anti-lock braking process of the vehicle. When the brake fluid level is less than the brake fluid threshold, the brake fluid replenishment function is activated. The brake fluid replenishment function is used to replenish the brake fluid in the reservoir into the master cylinder.

[0070] The brake compensation module 12 is used to determine the real-time braking demand corresponding to the anti-lock braking system during the operation of the brake fluid replenishment function, and in response to the real-time braking demand, control the drive motor to generate the motor braking torque corresponding to the real-time braking demand.

[0071] Optionally, when the braking compensation module 12 executes the real-time braking demand corresponding to the determined anti-lock braking system and, in response to the real-time braking demand, controls the drive motor to generate a motor braking torque corresponding to the real-time braking demand, it is specifically used for:

[0072] When the vehicle slip ratio is less than the lower limit of the preset slip ratio range, a real-time braking demand is generated to increase the vehicle braking force.

[0073] In response to the real-time braking demand, the drive motor is controlled to generate a motor braking torque that increases the vehicle slip ratio, and the increased vehicle slip ratio is located within the preset slip ratio range.

[0074] Optionally, when the braking compensation module 12 executes the command to control the drive motor to generate a motor braking torque that increases the vehicle slip ratio, and the increased vehicle slip ratio is within the preset slip ratio range, it is specifically used for:

[0075] The drive motor is controlled to gradually increase its braking torque, and the vehicle's slip ratio is monitored in real time.

[0076] When the vehicle slip ratio increases to the preset slip ratio range, the increase in the motor braking torque is stopped.

[0077] Optionally, when the braking compensation module 12 executes the command to control the drive motor to generate a motor braking torque that increases the vehicle slip ratio, and the increased vehicle slip ratio is within the preset slip ratio range, it is specifically used for:

[0078] The drive motor is controlled to generate a preset braking torque, and the vehicle slip ratio is monitored in real time.

[0079] When the vehicle slip ratio exceeds the upper limit of the preset slip ratio range, the current hydraulic braking force is reduced to bring the vehicle slip ratio within the preset slip ratio range.

[0080] Optionally, when performing the real-time monitoring of the brake fluid level in the master cylinder, the brake fluid replenishment module 11 is specifically used for:

[0081] Real-time monitoring of the travel of the brake cylinder piston within the master cylinder;

[0082] The remaining brake fluid level in the brake cylinder is determined based on the travel distance.

[0083] Optionally, the brake fluid replenishment module 11 is further configured to:

[0084] Get vehicle speed;

[0085] The brake fluid threshold is determined based on the vehicle speed.

[0086] Optionally, the braking compensation module 12 is further configured to:

[0087] In response to the disabling of the brake fluid replenishment function, the motor braking torque is canceled, and the current hydraulic braking force is adjusted based on the hydraulic braking system to meet the real-time braking requirements.

[0088] The above-described apparatus embodiments correspond to the method embodiments, and detailed descriptions can be found in the description of the method embodiments section, which will not be repeated here. The apparatus embodiments are derived based on the corresponding method embodiments and have the same technical effects as the corresponding method embodiments; detailed descriptions can be found in the corresponding method embodiments.

[0089] It should be noted that the braking control device proposed in this embodiment of the invention can be implemented as all or part of the vehicle controller through software, hardware, or a combination of both. For example, the braking control device can be integrated into the ABS system controller as a software module. When the vehicle triggers anti-lock braking, it monitors the vehicle's braking status and controls and executes the braking control method described above in conjunction with the ABS braking system.

[0090] The present invention also provides a storage medium that can store multiple instructions, which are adapted to be loaded by a processor and executed as in the braking control methods of the above embodiments. For the specific execution process, please refer to the detailed descriptions in the above embodiments, which will not be repeated here.

[0091] The present invention also provides a computer program product that stores at least one instruction, which is loaded by the processor and executed as the braking control method of the above embodiments. For the specific execution process, please refer to the specific description of the above embodiments, which will not be repeated here.

[0092] In one embodiment, the present invention also provides Figure 4 The diagram shows the structure of the vehicle controller. Figure 4 At the hardware level, the vehicle controller includes a processor 21, an internal bus 22, a network interface 23, memory 24, and non-volatile memory 25, and may also include other hardware required for business operations. The vehicle controller can be installed in the vehicle, where the processor 21 reads the corresponding computer program from the non-volatile memory 25 into memory and then runs it to implement the aforementioned braking control method.

[0093] In one embodiment, the present invention also provides a vehicle that may include a braking control device or a vehicle controller as described above, to achieve vehicle stability control by performing a braking control method through the braking control device or the vehicle controller.

[0094] Finally, the various embodiments in this invention are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for the system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments.

[0095] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A braking control method, comprising: During the anti-lock braking process of the vehicle, the brake fluid level in the master cylinder is monitored in real time. When the brake fluid level is less than the brake fluid threshold, the brake fluid replenishment function is activated. The brake fluid replenishment function is used to replenish the brake fluid in the reservoir into the master cylinder. During the operation of the brake fluid replenishment function, the real-time braking demand corresponding to the anti-lock braking system is determined, and in response to the real-time braking demand, the drive motor is controlled to generate the motor braking torque corresponding to the real-time braking demand.

2. The method according to claim 1, wherein determining the real-time braking demand corresponding to the anti-lock braking system, and responding to the real-time braking demand by controlling the drive motor to generate a motor braking torque corresponding to the real-time braking demand, comprises: When the vehicle slip ratio is less than the lower limit of the preset slip ratio range, the anti-lock braking system generates a real-time braking demand to increase the vehicle's braking force. In response to the real-time braking demand, the drive motor is controlled to generate a motor braking torque that increases the vehicle slip ratio, and the increased vehicle slip ratio is located within the preset slip ratio range.

3. The method according to claim 2, wherein controlling the drive motor to generate a motor braking torque that increases the vehicle slip ratio, and the increased vehicle slip ratio being within the preset slip ratio range, comprises: The drive motor is controlled to gradually increase its braking torque, and the vehicle's slip ratio is monitored in real time. When the vehicle slip ratio increases to the preset slip ratio range, the increase in the motor braking torque is stopped.

4. The method according to claim 2, wherein controlling the drive motor to generate a motor braking torque that increases the vehicle slip ratio, and the increased vehicle slip ratio being within the preset slip ratio range, comprises: The drive motor is controlled to generate a preset braking torque, and the vehicle slip ratio is monitored in real time. When the vehicle slip ratio exceeds the upper limit of the preset slip ratio range, the current hydraulic braking force is reduced to bring the vehicle slip ratio within the preset slip ratio range.

5. The method according to claim 1, wherein the real-time monitoring of the brake fluid level in the master cylinder comprises: Real-time monitoring of the travel of the brake cylinder piston within the master cylinder; The remaining brake fluid level in the brake cylinder is determined based on the travel distance.

6. The method according to claim 1, further comprising, before activating the brake fluid replenishment function when the brake fluid level is less than the brake fluid threshold: Get vehicle speed; The brake fluid threshold is determined based on the vehicle speed.

7. The method according to claim 1, further comprising: In response to the disabling of the brake fluid replenishment function, the motor braking torque is canceled, and the current hydraulic braking force is adjusted based on the hydraulic braking system to meet the real-time braking requirements.

8. A braking control device, comprising: The brake fluid replenishment module is used to monitor the brake fluid level in the master cylinder in real time during the anti-lock braking process of the vehicle. When the brake fluid level is less than the brake fluid threshold, the brake fluid replenishment function is activated to replenish the brake fluid in the reservoir into the master cylinder. The brake compensation module is used to determine the real-time braking demand corresponding to the anti-lock braking system during the operation of the brake fluid replenishment function, and in response to the real-time braking demand, control the drive motor to generate the motor braking torque corresponding to the real-time braking demand.

9. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method according to any one of claims 1 to 7.

10. A vehicle controller, comprising: A processor and a memory; wherein the memory stores computer-readable instructions adapted to be loaded by the processor and to perform the steps of the method as claimed in any one of claims 1 to 7.

11. A vehicle comprising the braking control device as claimed in claim 8 or the vehicle controller as claimed in claim 10.

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