Vehicle braking control method, device and system

Abstract

The present application provides a vehicle braking control method, device, and system, which are applied to a vehicle control unit (HCU). The method detects the vehicle's current operating condition in real time. When it is detected that the vehicle's current operating condition is a braking condition, the method collects information to determine whether the actual torque of the drive motor TM is within a preset range. If the actual torque of the drive motor TM is not within the preset range, a signal prohibiting available recovery torque is generated. Based on the signal prohibiting available recovery torque, the drive motor TM is prohibited from recovering braking energy, and brakes using the brake disc B1. The available recovery torque indicated by the signal prohibiting available recovery torque is zero. The present invention can solve the problem in the prior art where, when the drive motor TM is still acting as a drive motor, braking energy is recovered, resulting in a rapid decrease in motor torque, which in turn causes the vehicle to jerk.

Description

Technical Field

[0001] The present invention relates to the field of hybrid drive technology, and more particularly to a vehicle braking control method, device and system. Background Art

[0002] With the continuous development of the automotive industry, new energy vehicles are becoming increasingly popular. Because new energy vehicles are powered by drive motors™, which can recharge the power battery during braking or coasting, most current new energy vehicle drive motors feature brake energy recovery, increasing vehicle range and improving energy efficiency.

[0003] In the prior art, when the existing vehicle stability control system (ESP) detects that the driver has applied the brakes, it controls the drive motor (TM) to recover braking energy, thereby achieving braking. However, the drive motor (TM) not only recovers braking energy but also drives the vehicle. For a brief period after the driver releases the accelerator pedal, the drive motor (TM) remains in a driving mode. During this time, if the driver applies the brake pedal, the existing vehicle stability control system (ESP) will directly control the drive motor (TM) to recover the corresponding braking energy. However, if the drive motor (TM) is still in driving mode, recovering braking energy will cause the motor torque to drop rapidly, resulting in vehicle jerking. Summary of the Invention

[0004] In view of this, the present invention provides a vehicle braking control method, device and system to solve the problem in the prior art that when the drive motor TM is still in the drive motor driving working mode, the braking energy is recovered, resulting in a rapid decrease in motor torque, thereby causing the vehicle to jerk.

[0005] In order to achieve the above objectives, this application provides the following technical solutions:

[0006] A first aspect of the present invention discloses a vehicle braking control method, which is applied to a vehicle controller HCU. The method comprises:

[0007] Real-time detection of the vehicle's current operating conditions;

[0008] When it is detected that the current operating condition of the vehicle is the braking condition, collecting whether the actual torque of the drive motor TM is within a preset range;

[0009] If the actual torque of the drive motor TM is not within the preset range, a disabling available regenerative torque signal is generated, and based on the disabling available regenerative torque signal, the drive motor TM is prohibited from recovering braking energy and the brake disc B1 is used for braking;

[0010] The available regeneration torque indicated by the signal prohibiting available regeneration torque is zero.

[0011] Optionally, if the actual torque of the drive motor TM is not within the preset range, generating a signal for disabling available regenerative torque, and disabling the drive motor TM from recovering braking energy based on the signal for disabling available regenerative torque, and performing braking using the brake disc B1, includes:

[0012] If the actual torque of the drive motor TM is not within the preset range, a prohibition signal for available recovery torque is generated and sent to the vehicle stability control system ESP, so that the vehicle stability control system ESP prohibits the drive motor TM from recovering braking energy based on the prohibition signal for available recovery torque and uses the brake disc B1 for braking.

[0013] Optionally, the method further includes:

[0014] If the actual torque of the drive motor TM is within the preset range, determining the braking torque corresponding to the braking condition, and judging whether the braking torque is greater than the target recovery torque;

[0015] If the braking torque is not greater than the target recovery torque, a first available recovery torque signal is generated according to the braking torque, and the first available recovery torque signal is sent to the vehicle stability control system ESP, so that the vehicle stability control system ESP controls the drive motor TM to recover corresponding braking energy based on the first available recovery torque signal.

[0016] Optionally, the method further includes:

[0017] If the braking torque is greater than the target recovery torque, a second available recovery torque signal is generated according to the target recovery torque, and the second available recovery torque signal is sent to the vehicle stability control system ESP, so that the vehicle stability control system ESP controls the drive motor TM to recover corresponding braking energy based on the second available recovery torque signal, and uses the brake disc B1 for braking.

[0018] Optionally, the method further includes:

[0019] When it is detected that the vehicle is in a coasting state, a third available recovery torque signal is sent to the vehicle stability control system ESP, so that the vehicle stability control system ESP controls the drive motor TM to recover corresponding braking energy based on the third available recovery torque signal.

[0020] A second aspect of the present invention discloses a vehicle brake control device, which is applied to a vehicle controller HUC. The device comprises:

[0021] Real-time detection unit, used to detect the current operating conditions of the vehicle in real time;

[0022] a collecting unit, configured to collect information on whether the actual torque of the driving motor TM is within a preset range when detecting that the current operating condition of the vehicle is the braking condition;

[0023] a first control unit configured to generate a signal for disabling available regenerative torque if the actual torque of the drive motor TM is not within the preset range, and to disable the drive motor TM from recovering braking energy and from using the brake disc B1 for braking based on the signal for disabling available regenerative torque;

[0024] The available regeneration torque indicated by the signal prohibiting available regeneration torque is zero.

[0025] Optionally, the first control unit includes:

[0026] The first control subunit is configured to generate a signal for disabling available recovery torque if the actual torque of the drive motor TM is not within the preset range, and send the signal to the vehicle stability control system ESP, so that the vehicle stability control system ESP prohibits the drive motor TM from recovering braking energy based on the signal for disabling available recovery torque and utilizes the brake disc B1 for braking.

[0027] Optionally, the device further includes:

[0028] a determination unit, configured to determine, if the actual torque of the drive motor TM is within the preset range, a braking torque corresponding to the braking condition, and determine whether the braking torque is greater than the target recovery torque;

[0029] a second control unit for generating a first available recovery torque signal based on the braking torque if the braking torque is not greater than the target recovery torque, and sending the first available recovery torque signal to the vehicle stability control system ESP, so that the vehicle stability control system ESP controls the drive motor TM to recover corresponding braking energy based on the first available recovery torque signal.

[0030] Optionally, the device further includes:

[0031] a third control unit for generating a second available recovery torque signal according to the target recovery torque if the braking torque is greater than the target recovery torque, and sending the second available recovery torque signal to the vehicle stability control system ESP, so that the vehicle stability control system ESP controls the drive motor TM to recover corresponding braking energy based on the second available recovery torque signal and uses the brake disc B1 for braking.

[0032] A third aspect of the present invention discloses a vehicle braking control system, the braking control system comprising a vehicle controller HCU and a vehicle stability control system ESP;

[0033] The vehicle controller HCU is configured to detect the vehicle's current operating condition in real time; when detecting that the vehicle's current operating condition is the braking condition, collect information to determine whether the actual torque of the drive motor TM is within a preset range; if the actual torque of the drive motor TM is not within the preset range, generate a signal to prohibit available regenerative torque, and transmit the signal to a vehicle stability control system ESP;

[0034] The vehicle stability control system ESP is configured to receive the signal for disabling the available regenerative torque and, based on the signal for disabling the available regenerative torque, disabling the drive motor TM from recovering corresponding braking energy and utilizing the brake disc B1 for braking;

[0035] The available regeneration torque indicated by the signal prohibiting available regeneration torque is zero.

[0036] Compared with the prior art, the present invention has the following advantages:

[0037] The vehicle braking control method, device and system provided by the present invention, when detecting that the current operating condition of the vehicle is a braking condition, collects the actual torque of the drive motor TM and determines whether the collected actual torque of the drive motor TM is within a preset range. If the actual torque of the drive motor TM is not within the preset range, it means that the drive motor TM is currently still in the driving working mode of driving the vehicle. At this time, a prohibition of available recovery torque signal is generated to prohibit the drive motor TM from recovering braking energy based on the generated prohibition of available recovery torque signal, and brakes using the brake disc B1 to avoid a rapid decrease in the vehicle motor torque, thereby solving the problem of vehicle jerking. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0039] Figure 1 An example diagram of the change in the driving torque of the drive motor TM after the driver releases the accelerator pedal and then steps on the brake pedal within a short period of time, provided by an embodiment of the present invention;

[0040] Figure 2 A hybrid system architecture diagram provided by an embodiment of the present invention;

[0041] Figure 3 A schematic structural diagram of a vehicle braking control system provided by an embodiment of the present invention;

[0042] Figure 4 A schematic flow chart of a vehicle braking control method provided by an embodiment of the present invention;

[0043] Figure 5 An example diagram of torque recovery of a conventional drive motor TM provided by an embodiment of the present invention, provided that the driver applies the brake within a short period of time after releasing the accelerator pedal.

[0044] Figure 6 An example diagram of torque recovery of the drive motor TM disclosed in the present invention, provided in an embodiment of the present invention, if the driver steps on the brake within a short period of time after the driver releases the accelerator pedal;

[0045] Figure 7 A schematic structural diagram of a vehicle braking control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0047] In this application, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0048] According to the above background technology, the drive motor TM is still in the driving mode for a short time after the driver releases the accelerator pedal. During this period, if the driver steps on the brake, the vehicle stability control system ESP will control the drive motor TM to recover braking energy. However, at this time, the drive motor TM is still in the driving mode. If the braking energy is recovered, the torque of the drive motor TM will drop rapidly, causing the vehicle to jerk. Figure 1 shown.

[0049] from Figure 1 As can be seen from the dotted line in , within a short period of time after the driver releases the accelerator pedal, if the driver steps on the brake, the driving torque of the drive motor TM will quickly drop from positive torque to negative torque, causing the vehicle to jerk.

[0050] Therefore, the present invention provides a vehicle braking control method, device and system. When it is detected that the current operating condition of the vehicle is a braking condition, the actual torque of the drive motor TM is collected, and it is determined whether the collected actual torque of the drive motor TM is within a preset range. If the actual torque of the drive motor TM is not within the preset range, it means that the drive motor TM is currently still in a driving working mode of driving the vehicle. At this time, a prohibition signal for available recovery torque is generated, so that the drive motor TM is prohibited from recovering braking energy based on the generated prohibition signal for available recovery torque, and the brake disc B1 is used for braking, thereby Figure 1 As can be seen from the solid line, the driving torque of the drive motor TM can be effectively prevented from rapidly dropping from positive torque to negative torque, thereby solving the problem of vehicle jerking.

[0051] See also Figure 2 , shows a hybrid system architecture diagram provided by an embodiment of the present invention. The hybrid system is composed of a generator GM, an engine ICE, a brake disc B1, a drive motor TM, a clutch C1, a synchronizer S1, a first gear G2, a second gear G3, a differential, a reduction gear G1 and corresponding peripheral circuits.

[0052] In the embodiment of the present application, in the hybrid system architecture diagram above, the generator GM is directly connected to the engine ICE through a first-stage reduction gear; the drive motor TM is directly connected to the differential via a reduction gear G1. The engine GM drives the vehicle through the clutch C1, and the synchronizer S1 realizes two gears, G2 and G3.

[0053] See also Figure 3 , shows a structural schematic diagram of a vehicle braking control system provided by the present invention, which includes a vehicle controller HCU and a vehicle stability system ESP.

[0054] The vehicle controller HCU is used to detect the vehicle's current operating condition in real time; when it is detected that the vehicle's current operating condition is the braking condition, it collects information to determine whether the actual torque of the drive motor TM is within a preset range; if the actual torque of the drive motor TM is not within the preset range, it generates a signal prohibiting the use of regenerative torque, and sends the signal prohibiting the use of regenerative torque to the vehicle stability control system ESP.

[0055] a vehicle stability control system ESP, configured to receive the signal for disabling available regenerative torque, and based on the signal for disabling available regenerative torque, disabling the drive motor TM from recovering corresponding braking energy, thereby performing braking using the brake disc B1;

[0056] The available regeneration torque indicated by the signal prohibiting available regeneration torque is zero.

[0057] Optionally, the vehicle controller HCU provided by the present invention is also used to: if the actual torque of the drive motor TM is within the preset range, determine the braking torque corresponding to the braking condition, and judge whether the braking torque is greater than the target recovery torque; if the braking torque is not greater than the target recovery torque, generate a first available recovery torque signal according to the braking torque, and send the first available recovery torque signal to the vehicle stability control system ESP, so that the vehicle stability control system ESP controls the drive motor TM to recover the corresponding braking energy based on the first available recovery torque signal.

[0058] Optionally, the vehicle controller HCU provided by the present invention is also used to: if the braking torque is greater than the target recovery torque, generate a second available recovery torque signal according to the target recovery torque, and send the second available recovery torque signal to the vehicle stability control system ESP, so that the vehicle stability control system ESP controls the drive motor TM to recover the corresponding braking energy based on the second available recovery torque signal, and uses the brake disc B1 for braking.

[0059] Optionally, the vehicle controller HCU provided by the present invention is also used to: when it is detected that the vehicle's operating condition is a coasting condition, send a third available recovery torque signal to the vehicle stability control system ESP, so that the vehicle stability control system ESP controls the drive motor TM to recover corresponding braking energy based on the third available recovery torque signal.

[0060] Based on the vehicle braking control system and hybrid system provided by the above embodiments of the present invention, the embodiments of the present invention accordingly disclose a vehicle braking control method, such as Figure 4 FIG. 1 is a flow chart of a braking control method provided by an embodiment of the present invention, wherein the braking control method is applied to Figure 3 The vehicle controller HCU in the braking control system shown in the figure specifically includes the following steps:

[0061] S401: Detect the current operating condition of the vehicle in real time.

[0062] S402: When it is detected that the current operating condition of the vehicle is a braking condition, the real torque of the driving motor TM is collected.

[0063] In an embodiment of the present application, the current operating condition of the vehicle is detected in real time by the vehicle controller HCU. When it is detected that the driver has stepped on the brake pedal, it can be determined that the current operating condition of the vehicle is a braking condition, and the actual torque of the drive motor TM is collected through the vehicle stability control system ESP.

[0064] S403: Determine whether the actual torque of the drive motor TM is within a preset range; if the actual torque of the drive motor TM is not within the preset range, execute step S404; if the actual torque of the drive motor TM is within the preset range, execute step S405.

[0065] During the specific execution of step S403, after the vehicle controller HCU collects the actual torque of the drive motor TM through the vehicle stability control system ESP, it determines whether the collected actual torque of the drive motor TM is within the preset range; if the collected actual torque of the drive motor TM is not within the preset range, it means that the drive motor TM is still in the driving working mode of driving the vehicle. In order to avoid the vehicle stability control system ESP controlling the drive motor TM to recover braking energy, step S404 is executed to send a signal prohibiting available recovery torque to the vehicle stability control system ESP, prohibiting the vehicle stability control system ESP from controlling the drive motor TM to recover braking energy, avoiding a rapid decrease in the vehicle motor torque, thereby solving the problem of vehicle jerking.

[0066] If the collected actual torque of the driving motor TM is within the preset range, it means that the driving motor TM has completed the driving working mode of driving the vehicle, and the braking energy can be recovered, and then step S405 can be executed.

[0067] It should be noted that the preset range may be -25 Nm to 25 Nm, and may be set according to actual conditions, and is not limited in the present embodiment.

[0068] S404 : Generate a signal for prohibiting the available regenerative torque, and prohibit the drive motor TM from recovering braking energy and from using the brake disc B1 for braking based on the signal for prohibiting the available regenerative torque.

[0069] During the specific execution of step S404, when the vehicle controller HCU determines that the actual torque collected from the drive motor TM is not within the preset range, it generates a prohibition signal for recoverable torque and sends a prohibition signal for available recovery torque to the vehicle stability control system ESP, so that the vehicle stability control system ESP prohibits the drive motor TM from recovering braking energy based on the prohibition signal for available recovery torque and uses the brake disc B1 for braking.

[0070] In an embodiment of the present application, when the vehicle controller HCU determines that the real torque indicated by the collected real torque signal of the drive motor TM is greater than zero, the vehicle stability control system ESP sends a prohibition signal for available recovery torque to the vehicle stability control system ESP; after receiving the prohibition signal for available recovery torque sent by the vehicle controller HCU, the vehicle stability control system ESP prohibits the drive motor TM from recovering braking energy based on the received prohibition signal for available recovery torque, but since it is currently in a braking condition, braking can be performed through the brake disc B1 in the hybrid system.

[0071] For example, Figure 5 As shown in FIG, within a short period of time after the driver releases the accelerator pedal, if the driver steps on the brake and the actual torque of the drive motor TM is less than XNm (-25Nm), the CRBS in the vehicle stability control system ESP expects the drive motor TM energy recovery torque to drop rapidly from positive torque to negative torque, causing the vehicle to jerk. Therefore, the vehicle braking control method provided by the present invention is as follows: Figure 6 As shown, in the above situation, the vehicle controller HCU sends a signal prohibiting available recovery torque to the vehicle stability control system ESP; after receiving the signal prohibiting available recovery torque sent by the vehicle controller HCU, the vehicle stability control system ESP prohibits the drive motor TM from recovering braking energy based on the received signal prohibiting available recovery torque. In this way, even if there is still recovery torque at this time, the CRBS in the vehicle stability control system ESP will not control the drive motor TM to recover braking torque, thereby avoiding impact, that is, preventing the vehicle from jerking.

[0072] S405: Determine the braking torque corresponding to the braking condition and judge whether the braking torque is greater than the target recovery torque; if the braking torque is not greater than the target recovery torque, execute step S406; if the braking torque is greater than the target recovery torque, execute step S407.

[0073] During the specific execution of step S405, when it is determined that the actual torque of the drive motor TM is within the preset range, it means that the drive motor TM has completed the role of driving the vehicle and can recover braking energy. However, since the ability of the drive motor TM to recover braking energy is limited, the torque corresponding to the braking energy that can be recovered by the drive motor TM is the target recovery torque; therefore, before using the drive motor TM to recover braking energy, the braking torque corresponding to the current braking condition of the vehicle can be determined first, and it can be determined whether the braking torque is greater than the target recovery torque. If the braking torque is not greater than the target recovery torque, it means that the braking energy to be recovered does not exceed the braking energy that can be recovered by the drive motor TM, and then step S406 can be executed.

[0074] If the braking torque is greater than the target recovery torque, it means that the braking energy to be recovered exceeds the braking energy that can be recovered by the drive motor TM. At this time, if the drive motor TM alone cannot achieve braking, the brake disc B1 needs to intervene, and then step S407 can be executed.

[0075] S406: Generate a first available recovery torque signal according to the braking torque, and send the first available recovery torque signal to the vehicle stability control system ESP, so that the vehicle stability control system ESP controls the drive motor TM to recover corresponding braking energy based on the first available recovery torque signal.

[0076] During the specific execution of step S406, when the vehicle controller HCU determines that the braking torque corresponding to the current braking condition of the vehicle is not greater than the target recovery torque corresponding to the drive motor TM, it indicates that the current braking condition of the vehicle is a mild braking condition, and then a first available recovery torque signal can be generated according to the braking torque corresponding to the current braking condition of the vehicle, and the generated first available recovery torque signal can be sent to the vehicle stability control system ESP; after receiving the first available recovery torque signal sent by the vehicle controller, the vehicle stability control system ESP controls the drive motor TM to recover the corresponding braking energy based on the received first available recovery torque signal.

[0077] S407: Generate a second available recovery torque signal according to the target recovery torque, and send the second available recovery torque signal to the vehicle stability control system ESP, so that the vehicle stability control system ESP controls the drive motor TM to recover corresponding braking energy based on the second available recovery torque signal, and uses the brake disc B1 for braking.

[0078] In the embodiment of the present application, when the vehicle controller HCU determines that the braking torque corresponding to the current braking condition of the vehicle is greater than the target recovery torque corresponding to the drive motor TM, it indicates that the current braking condition of the vehicle is a severe braking condition. Under this condition, braking cannot be achieved by relying solely on the drive motor TM to recover braking energy, and the intervention of the brake disc B1 is required.

[0079] During the specific execution of step S407, when the vehicle controller HCU determines that the braking torque corresponding to the vehicle's current braking condition is greater than the target recovery torque corresponding to the drive motor TM, it generates a second available recovery torque signal based on the target recovery torque corresponding to the drive motor TM and sends the generated second available recovery torque information to the vehicle stability control system ESP.

[0080] After receiving the second available recovery torque signal sent by the vehicle control unit HCU, the vehicle stability control system ESP can control the drive motor TM to recover corresponding braking energy through the received second available recovery torque signal and use the brake disc B1 for braking.

[0081] It should be noted that the braking energy recovered by the drive motor TM at this time is the maximum braking energy that the drive motor TM can recover.

[0082] S408: When it is detected that the current operating condition of the vehicle is the coasting condition, a third available recovery torque signal is sent to the vehicle stability control system ESP, so that the vehicle stability control system ESP controls the drive motor TM to recover corresponding braking energy based on the third available recovery torque signal.

[0083] The available regeneration torque indicated by the third available regeneration torque signal is smaller than the torque indicated by the first available regeneration torque signal.

[0084] During the specific execution of step S408, the vehicle controller HCU detects that the driver has released the accelerator and does not step on the brake pedal. It can be determined that the vehicle's current operating condition is a coasting condition, and the vehicle stability control system ESP sends a first available recovery torque signal to enable the vehicle stability control system ESP to control the drive motor TM to recover corresponding braking energy based on the first available recovery torque signal.

[0085] The present invention provides a vehicle braking control method. When it is detected that the current operating condition of the vehicle is a braking condition, the actual torque of the drive motor TM is collected, and it is determined whether the collected actual torque of the drive motor TM is within a preset range. If the actual torque of the drive motor TM is not within the preset range, it means that the drive motor TM is currently still in a driving working mode of driving the vehicle. At this time, a signal for prohibiting available recovery torque is generated to prohibit the drive motor TM from recovering braking energy based on the generated signal for prohibiting available recovery torque, and the brake disc B1 is used for braking to avoid a rapid decrease in the vehicle motor torque, thereby solving the problem of vehicle jerking.

[0086] It should be noted that the flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the module, program segment, or a part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0087] Although the operations are depicted in a particular order, this should not be understood as requiring that the operations be performed in the particular order shown or in a sequential order.Multitasking and parallel processing may be advantageous under certain circumstances.

[0088] Corresponding to the vehicle braking control method disclosed in the above embodiment of the present application, as Figure 7 As shown, the embodiment of the present application further provides a vehicle brake control device, which is applied to a vehicle controller HCU, and specifically includes:

[0089] A real-time detection unit 71 is used to detect the current operating condition of the vehicle in real time;

[0090] The collecting unit 72 is configured to collect information on whether the actual torque of the driving motor TM is within a preset range when it is detected that the current operating condition of the vehicle is the braking condition;

[0091] a first control unit 73 for generating a signal for disabling available regenerative torque if the actual torque of the drive motor TM is not within the preset range, and disabling the drive motor TM from recovering braking energy and braking using the brake disc B1 based on the signal for disabling available regenerative torque;

[0092] The available regeneration torque indicated by the prohibited available regeneration torque signal is zero.

[0093] The specific principles and execution processes of each unit in the vehicle brake control device disclosed in the above embodiment of the present invention are the same as those in the above embodiment of the present invention. Figure 4 The disclosed vehicle braking control method is the same, and can be referred to the above embodiment of the present invention. Figure 4 The corresponding parts of the disclosed vehicle braking control method will not be described in detail here.

[0094] The present invention provides a vehicle braking control device, which detects the current operating condition of the vehicle in real time through a vehicle controller HCU. When it is detected that the current operating condition of the vehicle is a braking condition, the actual torque of the drive motor TM is collected, and it is determined whether the collected actual torque of the drive motor TM is within a preset range. If the actual torque of the drive motor TM is not within the preset range, it indicates that the drive motor TM is currently still in a driving working mode of driving the vehicle. At this time, a signal for prohibiting available recovery torque is generated, so that the drive motor TM is prohibited from recovering braking energy based on the generated signal for prohibiting available recovery torque, and the brake disc B1 is used for braking to avoid a rapid decrease in the vehicle motor torque, thereby solving the problem of vehicle jerking.

[0095] Optionally, the first control unit includes:

[0096] The first control subunit is configured to generate a signal for disabling available recovery torque if the actual torque of the drive motor TM is not within the preset range, and send the signal to the vehicle stability control system ESP, so that the vehicle stability control system ESP prohibits the drive motor TM from recovering braking energy based on the signal for disabling available recovery torque and utilizes the brake disc B1 for braking.

[0097] Optionally, the brake control device provided by the present invention further includes:

[0098] a judgment unit, configured to determine a braking torque corresponding to a braking condition if the actual torque of the drive motor TM is within the preset range, and to judge whether the braking torque is greater than a target recovery torque;

[0099] The second control unit is used to generate a first available recovery torque signal according to the braking torque if the braking torque is not greater than the target recovery torque, and send the first available recovery torque signal to the vehicle stability control system ESP, so that the vehicle stability control system ESP controls the drive motor TM to recover corresponding braking energy based on the first available recovery torque signal.

[0100] Optionally, the brake control device provided by the present invention further includes:

[0101] The third control unit is used to generate a second available recovery torque signal according to the target recovery torque if the braking torque is greater than the target recovery torque, and send the second available recovery torque signal to the vehicle stability control system ESP, so that the vehicle stability control system ESP controls the drive motor TM to recover the corresponding braking energy based on the second available recovery torque signal and uses the brake disc B1 for braking.

[0102] Optionally, the brake control device provided by the present invention further includes:

[0103] The fourth control unit is used to send a third available recovery torque signal to the vehicle stability control system ESP when it is detected that the vehicle's operating condition is a coasting condition, so that the vehicle stability control system ESP controls the drive motor TM to recover corresponding braking energy based on the third available recovery torque signal.

[0104] Each embodiment in this specification is described in a progressive manner. The same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple. For relevant parts, refer to the partial description of the method embodiment. The system and system embodiments described above are merely schematic. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without making any creative efforts.

[0105] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0106] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

[0107] The above are only preferred embodiments of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A vehicle braking control method, characterized in that: Applied to a vehicle controller HCU, the method includes: Real-time detection of the vehicle's current operating conditions; When it is detected that the current operating condition of the vehicle is a braking condition, collecting whether the actual torque of the drive motor TM is within a preset range; If the actual torque of the drive motor TM is not within the preset range, a disabling available regenerative torque signal is generated, and based on the disabling available regenerative torque signal, the drive motor TM is prohibited from recovering braking energy and the brake disc B1 is used for braking; wherein the available regenerative torque indicated by the disabling available regenerative torque signal is zero; If the actual torque of the drive motor TM is within the preset range, determining the braking torque corresponding to the braking condition, and judging whether the braking torque is greater than the target recovery torque; If the braking torque is not greater than the target regenerative torque, generating a first available regenerative torque signal according to the braking torque, and sending the first available regenerative torque signal to a vehicle stability control system ESP, so that the vehicle stability control system ESP controls the drive motor TM to regenerate corresponding braking energy based on the first available regenerative torque signal; If the braking torque is greater than the target recovery torque, a second available recovery torque signal is generated according to the target recovery torque, and the second available recovery torque signal is sent to the vehicle stability control system ESP, so that the vehicle stability control system ESP controls the drive motor TM to recover corresponding braking energy based on the second available recovery torque signal, and uses the brake disc B1 for braking.

2. The method according to claim 1, characterized in that If the actual torque of the drive motor TM is not within the preset range, generating a signal for disabling available regenerative torque, and disabling the drive motor TM from recovering braking energy based on the signal for disabling available regenerative torque, and performing braking using the brake disc B1, includes: If the actual torque of the drive motor TM is not within the preset range, a prohibition signal for available recovery torque is generated and sent to the vehicle stability control system ESP, so that the vehicle stability control system ESP prohibits the drive motor TM from recovering braking energy based on the prohibition signal for available recovery torque and uses the brake disc B1 for braking.

3. The method according to claim 1, characterized in that The method further comprises: When it is detected that the vehicle is in a coasting state, a third available recovery torque signal is sent to the vehicle stability control system ESP, so that the vehicle stability control system ESP controls the drive motor TM to recover corresponding braking energy based on the third available recovery torque signal.

4. A vehicle brake control device, characterized in that: Applied to the vehicle controller HUC, the device includes: Real-time detection unit, used to detect the current operating conditions of the vehicle in real time; a collecting unit, configured to collect information on whether the actual torque of the driving motor TM is within a preset range when detecting that the current operating condition of the vehicle is a braking condition; a first control unit, configured to generate a disable available regenerative torque signal if the actual torque of the drive motor TM is not within the preset range, and disable the drive motor TM from recovering braking energy and performing braking using the brake disc B1 based on the disable available regenerative torque signal; wherein the disable available regenerative torque signal indicates that the available regenerative torque is zero; a judgment unit, configured to determine a braking torque corresponding to the braking condition if the actual torque of the drive motor TM is within the preset range, and to judge whether the braking torque is greater than a target recovery torque; a second control unit for, if the braking torque is not greater than the target regenerative torque, generating a first available regenerative torque signal according to the braking torque, and sending the first available regenerative torque signal to a vehicle stability control system ESP, so that the vehicle stability control system ESP controls the drive motor TM to regenerate corresponding braking energy based on the first available regenerative torque signal; a third control unit for generating a second available recovery torque signal according to the target recovery torque if the braking torque is greater than the target recovery torque, and sending the second available recovery torque signal to the vehicle stability control system ESP, so that the vehicle stability control system ESP controls the drive motor TM to recover corresponding braking energy based on the second available recovery torque signal and uses the brake disc B1 for braking.

5. The device according to claim 4, characterized in that The first control unit includes: The first control subunit is configured to generate a signal for disabling available recovery torque if the actual torque of the drive motor TM is not within the preset range, and send the signal to the vehicle stability control system ESP, so that the vehicle stability control system ESP prohibits the drive motor TM from recovering braking energy based on the signal for disabling available recovery torque and utilizes the brake disc B1 for braking.

6. A vehicle braking control system, characterized in that: The vehicle braking control system includes a vehicle controller HCU and a vehicle stability control system ESP; The vehicle controller HCU is used to detect the current operating condition of the vehicle in real time; when it is detected that the current operating condition of the vehicle is a braking condition, it collects information to determine whether the actual torque of the drive motor TM is within a preset range; If the actual torque of the drive motor TM is not within the preset range, a signal prohibiting available regenerative torque is generated and sent to the vehicle stability control system ESP. If the actual torque of the drive motor TM is within the preset range, a braking torque corresponding to the braking condition is determined, and it is judged whether the braking torque is greater than the target regenerative torque. If the braking torque is not greater than the target regenerative torque, a first available regenerative torque signal is generated based on the braking torque, and the first available regenerative torque signal is sent to the vehicle stability control system ESP. If the braking torque is greater than the target regenerative torque, a second available regenerative torque signal is generated based on the target regenerative torque, and the second available regenerative torque signal is sent to the vehicle stability control system ESP. The vehicle stability control system ESP is configured to receive the prohibited available regenerative torque signal, and based on the prohibited available regenerative torque signal, prohibit the drive motor TM from recovering corresponding braking energy, and utilize the brake disc B1 for braking; wherein the available regenerative torque indicated by the prohibited available regenerative torque signal is zero; control the drive motor TM to recover corresponding braking energy based on the first available regenerative torque signal; and control the drive motor TM to recover corresponding braking energy based on the second available regenerative torque signal, and utilize the brake disc B1 for braking.

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