Vehicle braking control method, device, controller and vehicle

Abstract

The present disclosure relates to a control method, device, controller and vehicle for vehicle braking. The control method for vehicle braking is applied to a vehicle, the vehicle includes a hydraulic braking system and a motor braking system, the method includes: obtaining the opening information of the brake pedal; if it is determined according to the opening information that the hydraulic braking system and the motor braking system need to brake simultaneously, and the wheels of the vehicle are not locked, then according to the opening information, the hydraulic braking system is controlled to output a first braking torque, and the motor braking system is controlled to output a second braking torque; according to the opening information, the second braking torque is updated in real time, and the motor braking system is controlled to output the updated second braking torque. In this way, the motor braking system can be controlled in real time to output the second braking torque updated according to the current opening information. Since the motor braking system reacts quickly, the braking torque can be adjusted quickly, thereby improving the vehicle's response speed to the brake pedal, which is convenient for shortening the braking distance.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular, to a vehicle braking control method, device, controller and vehicle. Background Art

[0002] During vehicle driving, the vehicle has large inertia and requires a high reliability of the braking system.

[0003] In the prior art, vehicles are usually braked using a hydraulic system. However, the hydraulic system uses hydraulic oil to achieve the movement of corresponding components, and the braking response speed is slow, which can easily lead to a long braking distance for the vehicle due to untimely response. Summary of the invention

[0004] The purpose of the present disclosure is to provide a vehicle braking control method, device, controller and vehicle to shorten the braking distance of the vehicle.

[0005] In order to achieve the above object, the present disclosure provides a vehicle braking control method, which is applied to a vehicle, and the method comprises:

[0006] Obtain the brake pedal opening information;

[0007] If it is determined according to the opening information that the hydraulic brake system and the motor brake system need to brake simultaneously and the wheels of the vehicle are not locked, the hydraulic brake system is controlled to output a first braking torque and the motor brake system is controlled to output a second braking torque according to the opening information;

[0008] The second braking torque is updated in real time according to the opening information, and the motor brake system is controlled to output the updated second braking torque.

[0009] Optionally, updating the second braking torque in real time according to the opening information includes:

[0010] Determining a target total braking torque according to the opening information;

[0011] Inputting the braking parameters of the vehicle into a motor braking ratio prediction model to obtain a braking ratio of the motor braking system output by the motor braking ratio prediction model;

[0012] The second braking torque is updated in real time according to the target total braking torque and the braking ratio.

[0013] Optionally, the braking parameter includes at least one of the following:

[0014] The opening information, the SOC value of the power battery of the vehicle and the current speed of the vehicle.

[0015] Optionally, after the step of obtaining the opening information of the brake pedal, the method further includes:

[0016] If it is determined according to the opening information that the hydraulic brake system and the motor brake system need to brake simultaneously and the wheels of the vehicle are locked, the real-time operating state parameters of the vehicle are input into a braking torque prediction model to obtain target braking torques of the hydraulic brake system and the motor brake system respectively output by the braking torque prediction model;

[0017] The hydraulic brake system and the motor brake system are controlled to brake according to their respective target braking torques.

[0018] Optionally, the real-time operating status parameter includes at least one of the following:

[0019] The current vehicle speed of the vehicle, the current angular velocity of the vehicle, the brake pressure of the hydraulic brake system, the current slip ratio of the vehicle, the mass of the vehicle, and the radius of the wheel.

[0020] Optionally, determining, according to the opening information, that the hydraulic brake system and the motor brake system need to brake simultaneously includes:

[0021] determining the braking intensity according to the opening information;

[0022] When the braking intensity exceeds a preset intensity threshold, it is determined that the hydraulic braking system and the motor braking system need to perform braking simultaneously.

[0023] Optionally, determining, according to the opening information, that the hydraulic brake system and the motor brake system need to brake simultaneously includes:

[0024] determining the braking intensity according to the opening information;

[0025] Determining the SOC value of the power battery of the vehicle;

[0026] When the SOC value is less than a saturation threshold and the braking intensity exceeds a preset intensity threshold, it is determined that the hydraulic braking system and the motor braking system need to brake simultaneously.

[0027] Optionally, after determining the SOC value of the power battery of the vehicle, the method further includes:

[0028] When the SOC value is less than the saturation threshold and the braking intensity is less than or equal to the preset intensity threshold, the motor brake system is controlled to perform braking according to the opening information.

[0029] A second aspect of the present disclosure provides a vehicle braking control device, which is applied to a vehicle, wherein the vehicle includes a hydraulic braking system and a motor braking system, and the device includes:

[0030] An acquisition module is configured to acquire the opening information of the brake pedal;

[0031] a control module configured to control the hydraulic braking system to output a first braking torque and control the motor braking system to output a second braking torque according to the opening information if it is determined according to the opening information that the hydraulic braking system and the motor braking system need to brake simultaneously and the wheels of the vehicle are not locked;

[0032] The control module is further configured to update the second braking torque in real time according to the opening information, and control the motor brake system to output the updated second braking torque.

[0033] Optionally, the control module is configured to update the second braking torque in real time according to the opening information in the following manner:

[0034] Determining a target total braking torque according to the opening information;

[0035] Inputting the braking parameters of the vehicle into a motor braking ratio prediction model to obtain a braking ratio of the motor braking system output by the motor braking ratio prediction model;

[0036] The second braking torque is updated in real time according to the target total braking torque and the braking ratio.

[0037] Optionally, the device further comprises:

[0038] a calculation module configured to input the real-time operating state parameters of the vehicle into a braking torque prediction model after the acquisition module acquires the opening information of the brake pedal, if it is determined according to the opening information that the hydraulic brake system and the motor brake system need to brake simultaneously and the wheels of the vehicle are locked, so as to obtain the target braking torques of the hydraulic brake system and the motor brake system respectively output by the braking torque prediction model;

[0039] The control module is further configured to control the hydraulic brake system and the motor brake system to brake respectively according to target braking torques corresponding to the hydraulic brake system and the motor brake system.

[0040] Optionally, the device further comprises:

[0041] The braking mode determination module is configured to determine the braking intensity according to the opening information; and when the braking intensity exceeds a preset intensity threshold, determine that the hydraulic braking system and the motor braking system need to brake simultaneously.

[0042] Optionally, the device further comprises:

[0043] a braking mode determination module, configured to determine a braking intensity according to the opening information;

[0044] Determining the SOC value of the power battery of the vehicle;

[0045] When the SOC value is less than a saturation threshold and the braking intensity exceeds a preset intensity threshold, it is determined that the hydraulic braking system and the motor braking system need to brake simultaneously.

[0046] Optionally, the control module is also configured to control the motor brake system to brake according to the opening information after the braking mode determination module determines the SOC value of the power battery of the vehicle, when the SOC value is less than the saturation threshold and the braking intensity is less than or equal to the preset intensity threshold.

[0047] A third aspect of the present disclosure provides a controller, comprising:

[0048] a memory having a computer program stored thereon;

[0049] A processor, wherein when the program is executed by the processor, the steps of the method provided in the first aspect of the present disclosure can be implemented.

[0050] A fourth aspect of the present disclosure provides a vehicle, comprising a hydraulic brake system and a motor brake system, and the controller provided by the third aspect of the present disclosure.

[0051] Through the above technical solution, if it is determined according to the opening information that the hydraulic brake system and the motor brake system need to brake simultaneously, and the wheels of the vehicle are not locked, the hydraulic brake system is controlled to output the first braking torque according to the opening information of the brake pedal, and the motor brake system is controlled to output the second braking torque, so as to achieve the braking of the vehicle. At the same time, the second braking torque can be updated in real time according to the opening information, and the motor brake system can be controlled to output the updated second braking torque. Since the motor brake system reacts quickly, the braking torque can be adjusted quickly, thereby improving the response speed of the vehicle to the brake pedal, which is convenient for shortening the braking distance.

[0052] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0054] Figure 1 is a flow chart of a vehicle braking control method provided by an exemplary embodiment of the present disclosure;

[0055] Figure 2 is a flow chart of a vehicle braking control method provided by another exemplary embodiment of the present disclosure;

[0056] Figure 3 is a block diagram of a vehicle braking control device provided by an exemplary embodiment of the present disclosure;

[0057] Figure 4 is a block diagram of a controller provided by an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0058] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0059] In the present disclosure, unless otherwise stated, directional words such as "front" and "rear" are usually defined according to the direction of the vehicle in normal driving state, with the front direction of the vehicle being the front and the rear direction being the rear. The terms "first", "second" and the like are used to distinguish one element from another, without specifying the order and importance. In addition, when the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0060] As described in the background art, the hydraulic system uses hydraulic oil to realize the actions of corresponding components, and the braking response speed is slow, which may easily lead to a long braking distance of the vehicle due to untimely response.

[0061] In view of this, the present disclosure provides a vehicle braking control method, device, controller and vehicle to reduce wheel locking during braking.

[0062] Figure 1 : is a flow chart of a vehicle braking control method provided by an exemplary embodiment of the present disclosure. Figure 1 The present disclosure provides a vehicle braking control method, which may include steps S11 to S13.

[0063] In step S11 , the opening information of the brake pedal is acquired.

[0064] For example, the brake pedal opening information can be obtained through the brake pedal position sensor. The brake pedal opening information can represent the braking strength of the current vehicle, and the braking mode can be determined based on the braking torque range and braking strength that can be provided by the hydraulic braking system and the motor braking system. The braking mode can include braking through the hydraulic braking system alone, braking through the motor braking system alone, and braking by the hydraulic braking system and the motor braking system at the same time, so that the vehicle's braking torque can meet the braking strength requirements.

[0065] The braking intensity is the ratio of the vehicle's deceleration to the vehicle's gravity acceleration. Since the braking intensity is positively correlated with the opening of the brake pedal, in this example, after obtaining the opening information, the braking intensity can be determined based on the proportional coefficient of the brake pedal opening and the braking intensity and the opening information.

[0066] In step S12, if it is determined according to the opening information that the hydraulic brake system and the motor brake system need to brake simultaneously and the wheels of the vehicle are not locked, the target total braking torque of the vehicle can be determined according to the opening information, and the target total braking torque can be distributed to the hydraulic brake system and the motor brake system, thereby determining the first braking torque of the hydraulic brake system and the second braking torque of the motor brake system. Subsequently, the hydraulic brake system can be controlled to output the first braking torque, and the motor brake system can be controlled to output the second braking torque to achieve braking.

[0067] In step S13, the second braking torque is updated in real time according to the opening information, and the motor brake system is controlled to output the updated second braking torque.

[0068] In this way, the second braking torque can be adjusted in real time according to the opening information. Since the motor braking system responds quickly, the braking torque can be adjusted quickly, thereby improving the vehicle's response speed to the brake pedal and shortening the braking distance.

[0069] Specifically, after controlling the hydraulic braking system to output the first braking torque and controlling the motor braking system to output the second braking torque, if the opening of the brake pedal changes slightly, that is, the change in the target total braking torque does not exceed the range of the maximum braking torque that the motor braking system can provide, the motor braking system can quickly respond to the action of the brake pedal to adjust the second braking torque it outputs, so as to improve the vehicle's maneuverability and shorten the braking distance.

[0070] Of course, if the opening of the brake pedal changes greatly, that is, the change range of the target total braking torque exceeds the range of the maximum braking torque that the motor brake system can provide, the motor brake system can quickly respond to the action of the brake pedal within its range, and the hydraulic brake system can respond according to the updated first braking torque, so that the braking torque provided by the hydraulic brake system and the motor brake system meets the braking requirements. In this way, the response speed to the action of the brake pedal can be maximized.

[0071] Exemplarily, updating the second braking torque in real time according to the opening information may include:

[0072] According to the opening information, the target total braking torque is determined.

[0073] For example, the braking intensity may be determined according to the opening information, and then the target total braking torque may be determined according to the braking intensity.

[0074] The braking parameters of the vehicle are input into the motor braking ratio prediction model to obtain the braking ratio of the motor braking system output by the motor braking ratio prediction model; and the second braking torque is updated in real time according to the target total braking torque and the braking ratio. That is, the target total braking torque is multiplied by the braking ratio to obtain the updated second braking torque.

[0075] In this way, the second braking torque can be updated in real time to quickly respond to the opening of the brake pedal, thereby shortening the braking distance of the vehicle.

[0076] Exemplarily, the braking parameter may include at least one of the following: opening information, an SOC value of a power battery of the vehicle, and a current speed of the vehicle.

[0077] For example, the motor braking ratio prediction model can be based on a fuzzy control algorithm. By inputting the braking parameters into the motor braking ratio prediction model, the braking ratio of the motor braking system can be obtained in real time. At the same time, the target total braking torque can also be determined in real time according to the opening information. In this way, the second braking torque of the motor braking system can be determined in real time according to the target total braking torque and the braking ratio. At the same time, the motor braking system responds quickly and can respond quickly according to the corresponding control signal to respond quickly to the action of the brake pedal.

[0078] Exemplarily, the method may further include: if it is determined according to the opening information that the hydraulic brake system and the motor brake system need to brake simultaneously and the wheels of the vehicle are locked, inputting the real-time operating state parameters of the vehicle into a braking torque prediction model to obtain target braking torques of the hydraulic brake system and the motor brake system respectively output by the braking torque prediction model;

[0079] According to the target braking torques corresponding to the hydraulic brake system and the motor brake system respectively, the hydraulic brake system and the motor brake system are controlled to brake respectively.

[0080] In this way, in the case of wheel locking, the braking torque prediction model can be used to determine in real time the target braking torques corresponding to the hydraulic braking system and the electric braking system, respectively, and control the hydraulic braking system and the electric braking system to brake, so that the current slip rate of the wheel is close to the ideal slip rate, thereby increasing the friction between the wheel and the ground and reducing the braking distance of the vehicle.

[0081] Exemplarily, the real-time operating status parameter includes at least one of the following:

[0082] The vehicle's current speed, the vehicle's current angular velocity, the brake pressure of the hydraulic brake system, the vehicle's current slip ratio, the vehicle's mass, and the radius of the wheels.

[0083] For example, the current speed of the vehicle may include the current speed of the front wheels of the vehicle and the current speed of the rear wheels of the vehicle.

[0084] Exemplarily, the current angular velocity of the vehicle may be the current angular velocity of the vehicle body.

[0085] For example, the current angular velocity may be detected by an angular velocity sensor, or the current angular velocity of the vehicle may be determined based on the steering angle information of the vehicle steering wheel and the wheel speed information of the vehicle wheels.

[0086] Exemplarily, the brake pressure of the hydraulic brake system may include the pressure of the master cylinder of the hydraulic brake system and the pressure of the wheel cylinder of the hydraulic brake system.

[0087] For example, the current slip ratio of the vehicle may include the current slip ratio of the front wheels of the vehicle and the current slip ratio of the rear wheels of the vehicle.

[0088] Exemplarily, the braking torque prediction model can be based on a model predictive control algorithm. By inputting real-time operating status parameters into the braking torque prediction model, the braking torque corresponding to the hydraulic braking system and the motor braking system can be directly obtained, thereby improving the calculation speed and avoiding complex hierarchical control (i.e., first calculating the braking torque of the front and rear axles of the vehicle, and then calculating the braking torque for the front and rear axles of the vehicle separately). It can improve the response speed of the vehicle and reduce the time of wheel locking, so as to shorten the braking distance of the vehicle.

[0089] For example, determining that the hydraulic brake system and the motor brake system need to brake simultaneously according to the opening information may include:

[0090] The braking intensity is determined based on the opening information.

[0091] It can be understood that the braking intensity is positively correlated with the opening of the brake pedal, and therefore the braking intensity can be determined based on the opening information.

[0092] When the braking intensity exceeds a preset intensity threshold, it is determined that the hydraulic braking system and the motor braking system need to brake simultaneously.

[0093] The preset strength threshold represents the maximum braking torque that the motor brake system can provide. When the braking strength exceeds the preset strength threshold, the braking torque that the motor brake system can provide cannot meet the braking strength requirement, so it is determined that the hydraulic brake system and the motor brake system need to brake simultaneously.

[0094] For example, determining that the hydraulic brake system and the motor brake system need to brake simultaneously according to the opening information may include:

[0095] Determine the braking intensity based on the opening information;

[0096] Determine the SOC value of the vehicle's power battery;

[0097] When the SOC value is less than the saturation threshold and the braking intensity exceeds the preset intensity threshold, it is determined that the hydraulic braking system and the motor braking system need to brake simultaneously.

[0098] In this solution, when the SOC value of the power battery is less than the saturation threshold and the braking intensity exceeds the preset intensity threshold, it is determined that the hydraulic braking system and the motor braking system need to brake simultaneously so that the braking torque provided by the hydraulic braking system and the motor braking system can meet the braking requirements.

[0099] Exemplarily, the method may further include: when the SOC value is less than a saturation threshold and the braking intensity is less than or equal to a preset intensity threshold, controlling the motor brake system to brake according to the opening information.

[0100] In this solution, when the SOC value of the power battery is less than the saturation threshold and the braking intensity is less than or equal to the preset intensity threshold, the braking torque provided by the motor braking system can meet the braking requirements, and there is no risk of overcharging the power battery. At this time, the motor braking system can be controlled to brake according to the opening information, which can not only improve the speed of the braking response, but also realize energy recovery, so as to improve the cruising mileage of the vehicle.

[0101] Figure 2 FIG. 1 is a flow chart of a vehicle braking control method provided by another exemplary embodiment of the present disclosure. Figure 2 , the method may include steps S21 to S32.

[0102] In step S21, the opening information of the brake pedal is obtained;

[0103] In step S22, it is determined whether the SOC value of the power battery is less than a saturation threshold, and a first determination result is generated;

[0104] If the first judgment result is negative, the SOC value of the power battery is greater than or equal to the saturation threshold. If the motor brake system is used for braking, the power battery is at risk of overcharging. To protect the power battery, step S23 is executed to control the hydraulic brake system for braking.

[0105] When the first judgment result is yes, the SOC value of the power battery is less than the saturation threshold, and the motor braking system can be used for braking.

[0106] In step S24, the braking intensity is determined based on the opening information.

[0107] It should be noted that although Figure 2 It is shown that step S24 is performed after step S22, but the present disclosure is not limited thereto. The present disclosure is not intended to limit the execution order of step S24 and step S22, and the two steps can also be performed simultaneously, or step S24 can be performed first and then step S22.

[0108] In step S25, it is determined whether the braking intensity exceeds a preset intensity threshold, and a second determination result is generated.

[0109] When the second judgment result is no, the braking intensity is less than or equal to the preset intensity threshold. Since the preset intensity threshold represents the maximum braking torque that the motor braking system can provide, the braking torque that the motor braking system can provide can meet the braking requirements. Therefore, step S26 is executed to control the motor braking system to brake, so as to increase the speed of braking response and realize energy recovery, so as to improve the cruising mileage of the vehicle.

[0110] When the second judgment result is yes, the braking intensity is greater than the preset intensity threshold, and the hydraulic braking system and the motor braking system are required to brake at the same time.

[0111] In step S27, it is determined whether the wheels are locked, and a third determination result is generated.

[0112] When the third judgment result is no, step S28 to step S30 are executed.

[0113] In step S28 , a first braking torque of the hydraulic brake system and a second braking torque of the motor brake system are determined according to the braking intensity.

[0114] In step S29, the hydraulic brake system is controlled to output a first braking torque, and the motor brake system is controlled to output a second braking torque, so as to achieve vehicle braking.

[0115] In step S30, the second braking torque is updated in real time according to the opening information, and the motor brake system is controlled to output the updated second braking torque, so that the motor brake system can quickly respond to the action of the brake pedal to shorten the braking distance.

[0116] When the third judgment result is yes, step S31 and step S32 are executed.

[0117] In step S31, the real-time operating state parameters of the vehicle are input into the braking torque prediction model to obtain the target braking torques of the hydraulic braking system and the motor braking system output by the braking torque prediction model;

[0118] The real-time operating state parameters may include the current speed of the front wheels of the vehicle, the current speed of the rear wheels of the vehicle, the current angular velocity of the vehicle, the pressure of the master cylinder of the hydraulic brake system, the pressure of the wheel cylinder of the hydraulic brake system, the current slip rate of the front wheels of the vehicle, the current slip rate of the rear wheels of the vehicle, the mass of the vehicle, and the radius of the wheels. The braking torque prediction model may be based on a model predictive control algorithm.

[0119] In step S32, the hydraulic brake system and the electric brake system are controlled to brake according to their respective target braking torques.

[0120] In this way, in the case of wheel locking, the target braking torque corresponding to the hydraulic braking system and the electric braking system can be determined according to the real-time operating status parameters of the vehicle, and according to the target braking torque corresponding to the hydraulic braking system and the electric braking system, the hydraulic braking system and the electric braking system are respectively controlled to brake, so that the current slip rate of the wheel is maintained near the ideal slip rate, thereby shortening the braking distance of the vehicle.

[0121] Through the solution of this example, a reasonable braking mode can be selected according to the SOC value of the power battery, the braking intensity and whether the wheels are locked, thereby improving the comfort during braking and facilitating the improvement of energy recovery efficiency.

[0122] It should be noted that all thresholds involved in the present disclosure can be calibrated in advance, and there is no restriction on the value of each threshold.

[0123] Based on the same inventive concept, the present disclosure also provides a vehicle braking control device. Figure 3 FIG. 4 is a block diagram of a vehicle braking control device 400 provided by an exemplary embodiment of the present disclosure. Figure 3 The vehicle braking control device 400 is applied to a vehicle, and the vehicle may include a hydraulic braking system and a motor braking system. The device 400 may include an acquisition module 401 and a control module 402 .

[0124] The acquisition module 401 is configured to acquire the opening information of the brake pedal;

[0125] The control module 402 is configured to control the hydraulic braking system to output a first braking torque and the motor braking system to output a second braking torque according to the opening information if it is determined according to the opening information that the hydraulic braking system and the motor braking system need to brake simultaneously and the wheels of the vehicle are not locked;

[0126] The control module 402 is also configured to update the second braking torque in real time according to the opening information, and control the motor brake system to output the updated second braking torque.

[0127] In this way, if it is determined according to the opening information that the hydraulic brake system and the motor brake system need to brake simultaneously, and the wheels of the vehicle are not locked, the hydraulic brake system is controlled to output the first braking torque and the motor brake system is controlled to output the second braking torque according to the opening information of the brake pedal, so as to achieve the braking of the vehicle. At the same time, the second braking torque can be updated in real time according to the opening information, and the motor brake system can be controlled to output the updated second braking torque. Since the motor brake system reacts quickly, the braking torque can be adjusted quickly, thereby improving the response speed of the vehicle to the brake pedal, which is convenient for shortening the braking distance.

[0128] Exemplarily, the control module 402 may be configured to update the second braking torque in real time according to the opening information in the following manner:

[0129] According to the opening information, the target total braking torque is determined;

[0130] Inputting the braking parameters of the vehicle into the motor braking ratio prediction model to obtain the braking ratio of the motor braking system output by the motor braking ratio prediction model;

[0131] The second braking torque is updated in real time according to the target total braking torque and the braking ratio.

[0132] Exemplarily, the apparatus 400 may further include:

[0133] The calculation module is configured to input the real-time running state parameters of the vehicle into the braking torque prediction model after the acquisition module acquires the opening information of the brake pedal, if it is determined according to the opening information that the hydraulic braking system and the motor braking system need to brake simultaneously and the wheels of the vehicle are locked, so as to obtain the target braking torques of the hydraulic braking system and the motor braking system respectively output by the braking torque prediction model;

[0134] The control module 402 is further configured to control the hydraulic brake system and the electric brake system to brake according to the target braking torques corresponding to the hydraulic brake system and the electric brake system respectively.

[0135] Exemplarily, the apparatus 400 may further include:

[0136] The braking mode determination module is configured to determine the braking intensity according to the opening information; and when the braking intensity exceeds a preset intensity threshold, determine that the hydraulic braking system and the motor braking system need to brake simultaneously.

[0137] Exemplarily, the apparatus 400 may further include:

[0138] A braking mode determination module is configured to determine a braking intensity according to the opening information;

[0139] Determine the SOC value of the vehicle's power battery;

[0140] When the SOC value is less than the saturation threshold and the braking intensity exceeds the preset intensity threshold, it is determined that the hydraulic braking system and the motor braking system need to brake simultaneously.

[0141] Exemplarily, the control module 402 can also be configured to control the motor braking system to brake according to the opening information after the braking mode determination module determines the SOC value of the vehicle's power battery, when the SOC value is less than a saturation threshold and the braking intensity is less than or equal to a preset intensity threshold.

[0142] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0143] The present disclosure also provides a vehicle, including a hydraulic braking system and a motor braking system, and a vehicle braking control device provided by the above embodiments of the present disclosure.

[0144] Figure 4 FIG. 6 is a block diagram of a controller 600 provided by an exemplary embodiment of the present disclosure. Figure 4 As shown, the controller 600 may include: a processor 601 and a memory 602. The controller 600 may also include one or more of a multimedia component 603, an input / output (I / O) interface 604, and a communication component 605.

[0145] The processor 601 is used to control the overall operation of the controller 600 to complete all or part of the steps in the above-mentioned vehicle braking control method. The memory 602 is used to store various types of data to support the operation of the controller 600, and these data may include, for example, instructions for any application or method used to operate on the controller 600, and application-related data, such as contact data, sent and received messages, pictures, audio, video, etc. The memory 602 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, referred to as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, referred to as EPROM), programmable read-only memory (Programmable Read-Only Memory, referred to as PROM), read-only memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0146] In an exemplary embodiment, the controller 600 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), microcontrollers, microprocessors or other electronic components to execute the above-mentioned vehicle braking control method.

[0147] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned vehicle braking control method are implemented. For example, the computer-readable storage medium can be the above-mentioned memory 602 including program instructions, and the above-mentioned program instructions can be executed by the processor 601 of the controller 600 to complete the above-mentioned vehicle braking control method.

[0148] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0149] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0150] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A method for controlling vehicle braking, characterized in that: Applied to a vehicle, the vehicle comprising a hydraulic brake system and a motor brake system, the method comprising: Obtain the brake pedal opening information; If it is determined according to the opening information that the hydraulic brake system and the motor brake system need to brake simultaneously, and the wheels of the vehicle are not locked, the hydraulic brake system is controlled to output a first braking torque according to the opening information, and the motor brake system is controlled to output a second braking torque; the second braking torque is updated in real time according to the opening information, and the motor brake system is controlled to output the updated second braking torque; If it is determined according to the opening information that the hydraulic brake system and the motor brake system need to brake simultaneously and the wheels of the vehicle are locked, the real-time operating status parameters of the vehicle are input into the braking torque prediction model to obtain the target braking torques of the hydraulic brake system and the motor brake system output by the braking torque prediction model; according to the target braking torques of the hydraulic brake system and the motor brake system, the hydraulic brake system and the motor brake system are controlled to brake respectively; the real-time operating status parameters include the current speed of the vehicle, the current angular velocity of the vehicle, the braking pressure of the hydraulic brake system, at least one of the current slip rate of the vehicle, the mass of the vehicle and the radius of the wheel of the vehicle; wherein the current speed of the vehicle includes the current speed of the front wheels of the vehicle and the current speed of the rear wheels of the vehicle; the current angular velocity of the vehicle is the current angular velocity of the vehicle body; the braking pressure of the hydraulic braking system includes the pressure of the master cylinder of the hydraulic braking system and the pressure of the wheel cylinder of the hydraulic braking system; the current slip rate of the vehicle includes the current slip rate of the front wheels of the vehicle and the current slip rate of the rear wheels of the vehicle; the braking torque prediction model is based on the model predictive control algorithm, and the braking torque corresponding to the hydraulic braking system and the motor braking system is directly obtained by inputting the real-time operating state parameters into the braking torque prediction model; The step of updating the second braking torque in real time according to the opening information includes: Determining a target total braking torque according to the opening information; Inputting the braking parameters of the vehicle into a motor braking ratio prediction model to obtain a braking ratio of the motor braking system output by the motor braking ratio prediction model; the braking parameters include at least one of the opening information, the SOC value of the power battery of the vehicle, and the current speed of the vehicle; updating the second braking torque in real time according to the target total braking torque and the braking ratio; Among them, after controlling the hydraulic braking system to output the first braking torque and controlling the motor braking system to output the second braking torque, if the opening change of the brake pedal is small, the motor braking system quickly responds to the action of the brake pedal to adjust the second braking torque, wherein the opening change of the brake pedal is determined to be small when the change amplitude of the target total braking torque does not exceed the range of the maximum braking torque that the motor braking system can provide.

2. The method according to claim 1, characterized in that The determining, according to the opening information, that the hydraulic brake system and the motor brake system need to brake simultaneously includes: determining the braking intensity according to the opening information; When the braking intensity exceeds a preset intensity threshold, it is determined that the hydraulic braking system and the motor braking system need to perform braking simultaneously.

3. The method according to claim 1, characterized in that The determining, according to the opening information, that the hydraulic brake system and the motor brake system need to brake simultaneously includes: determining the braking intensity according to the opening information; Determining the SOC value of the power battery of the vehicle; When the SOC value is less than a saturation threshold and the braking intensity exceeds a preset intensity threshold, it is determined that the hydraulic braking system and the motor braking system need to brake simultaneously.

4. A vehicle braking control device, characterized in that: Applied to a vehicle, the vehicle includes a hydraulic brake system and a motor brake system, and the device includes: An acquisition module is configured to acquire the opening information of the brake pedal; A control module, configured to control the hydraulic braking system to output a first braking torque and the motor braking system to output a second braking torque according to the opening information, if it is determined according to the opening information that the hydraulic braking system and the motor braking system need to brake simultaneously and the wheels of the vehicle are not locked; update the second braking torque in real time according to the opening information, and control the motor braking system to output the updated second braking torque; The calculation module is configured to input the real-time operating state parameters of the vehicle into the braking torque prediction model if it is determined according to the opening information that the hydraulic brake system and the motor brake system need to brake simultaneously and the wheels of the vehicle are locked, so as to obtain the target braking torques of the hydraulic brake system and the motor brake system respectively output by the braking torque prediction model; the control module is also configured to control the hydraulic brake system and the motor brake system to brake respectively according to the target braking torques respectively corresponding to the hydraulic brake system and the motor brake system; the real-time operating state parameters include the current speed of the vehicle, the current angular velocity of the vehicle, the hydraulic brake system at least one of the braking pressure of the hydraulic braking system, the current slip rate of the vehicle, the mass of the vehicle and the radius of the wheel of the vehicle; wherein the current speed of the vehicle includes the current speed of the front wheels of the vehicle and the current speed of the rear wheels of the vehicle; the current angular velocity of the vehicle is the current angular velocity of the vehicle body; the braking pressure of the hydraulic braking system includes the pressure of the master cylinder of the hydraulic braking system and the pressure of the wheel cylinder of the hydraulic braking system; the current slip rate of the vehicle includes the current slip rate of the front wheels of the vehicle and the current slip rate of the rear wheels of the vehicle; the braking torque prediction model is based on the model predictive control algorithm, and the braking torque corresponding to the hydraulic braking system and the motor braking system is directly obtained by inputting the real-time operating state parameters into the braking torque prediction model; The control module is configured to update the second braking torque in real time according to the opening information in the following manner: Determining a target total braking torque according to the opening information; Inputting the braking parameters of the vehicle into a motor braking ratio prediction model to obtain a braking ratio of the motor braking system output by the motor braking ratio prediction model; the braking parameters include at least one of the opening information, the SOC value of the power battery of the vehicle, and the current speed of the vehicle; updating the second braking torque in real time according to the target total braking torque and the braking ratio; Among them, after the control module controls the hydraulic braking system to output the first braking torque and controls the motor braking system to output the second braking torque, if the opening change of the brake pedal is small, the control module controls the motor braking system to quickly respond to the action of the brake pedal to adjust the second braking torque, wherein the opening change of the brake pedal is determined to be small when the change amplitude of the target total braking torque does not exceed the range of the maximum braking torque that the motor braking system can provide.

5. A controller, characterized in that: include: a memory having a computer program stored thereon; A processor, wherein when the program is executed by the processor, the steps of the method according to any one of claims 1 to 3 can be implemented.

6. A vehicle, characterized in that: It comprises a hydraulic braking system and a motor braking system, and a controller as claimed in claim 5.

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