Fuzzy control processing braking method, system, device, equipment and storage medium

Abstract

The present application discloses a fuzzy control braking method, system, device, equipment and storage medium. The method includes the following steps: obtaining a status signal of the vehicle's driving state; if the status signal is a braking signal, monitoring the first speed of the vehicle's drive motor; if the first speed is greater than a first preset speed threshold, outputting a request instruction to the motor controller of the drive motor; the request instruction is used to control the drive motor to enter an electric braking mode; if the second speed of the drive motor after entering the electric braking mode is less than the first preset speed threshold, outputting an exit instruction to the motor controller and exiting the logical judgment process of the fuzzy control processing; the exit instruction is used to control the drive motor to exit the electric braking mode. The present application avoids the situation where the electric braking function of the drive motor is repeatedly intervened when the vehicle brakes.

Description

Technical Field

[0001] The present application relates to the field of new energy vehicles, and in particular to a fuzzy control braking method, system, device, equipment and storage medium. Background Art

[0002] As the energy situation becomes increasingly tense, new energy vehicles are becoming a development trend. When a new energy vehicle needs to brake, it uses electric braking to use the drive motor as a generator, thereby regenerating the vehicle's kinetic energy into electrical energy and feeding it back into the power battery, achieving a regenerative braking effect.

[0003] During the vehicle's electric braking process, the vehicle's drive motor speed will fluctuate based on different road conditions and the driver's driving habits. As a result, when exiting the electric braking critical point, the electric braking will be repeatedly intervened as the drive motor speed fluctuates, causing the entire vehicle to shake, which in turn leads to a poor driving experience for the entire vehicle. Summary of the Invention

[0004] In view of this, the present application provides a fuzzy control braking method, system, device, equipment and storage medium, aiming to improve the comfort when driving a new energy vehicle.

[0005] To achieve the above objectives, the present application provides a fuzzy control processing braking method, which includes the following steps:

[0006] Acquiring a status signal of the driving status of the vehicle;

[0007] If the state signal is a braking signal, monitoring a first speed of a driving motor of the vehicle;

[0008] If the first speed is greater than a first preset speed threshold, outputting a request instruction to the motor controller of the drive motor; the request instruction is used to control the drive motor to enter an electric braking mode;

[0009] If the second speed of the drive motor after entering the electric braking mode is less than the first preset speed threshold, an exit instruction is output to the motor controller, and the logical judgment process of the fuzzy control processing is exited; the exit instruction is used to control the drive motor to exit the electric braking mode.

[0010] Exemplarily, if the first speed is greater than a first preset speed threshold, outputting a request instruction to a motor controller of the drive motor includes:

[0011] If the first speed is greater than a first preset speed threshold, receiving a first permission instruction sent by a battery management module; the first permission instruction is used to allow the drive motor to generate electricity;

[0012] When the drive motor is allowed to generate power, a request command is output to a motor controller of the drive motor.

[0013] Exemplarily, after the drive motor enters the electric braking mode and the first speed is less than a first preset speed threshold, outputting an exit instruction to the motor controller includes:

[0014] Acquire a second rotational speed of the drive motor in the electric braking mode;

[0015] If the second rotational speed is less than the first preset rotational speed threshold, an exit instruction is output to the motor controller.

[0016] Exemplarily, if the second speed is less than the first preset speed threshold, outputting an exit instruction to the motor controller includes:

[0017] Acquiring a third rotational speed of the driving motor;

[0018] If the third speed is greater than or equal to a second preset speed threshold, returning to the step of outputting the request instruction to the motor controller of the drive motor; the second preset speed threshold is greater than the first preset speed threshold;

[0019] If the third rotational speed is greater than the first preset rotational speed threshold and the third rotational speed is less than the second preset rotational speed threshold, the step of outputting an exit instruction to the motor controller is returned to the step.

[0020] Exemplarily, if the status signal is a braking signal, monitoring a first speed of a driving motor of the vehicle includes:

[0021] If the state signal is a brake signal, detecting and obtaining a first opening value of a brake pedal of the vehicle;

[0022] If the first opening value is less than a first preset opening value, a first rotational speed of the driving motor of the vehicle is monitored; the first rotational speed is used to determine whether to enable an electric braking mode of the driving motor.

[0023] Exemplarily, after obtaining the status signal of the vehicle's driving status, the method further includes:

[0024] If the state signal is a throttle signal, detecting and obtaining a second opening value of the throttle pedal of the vehicle;

[0025] If the second opening value is greater than a second preset opening value, determining that the vehicle enters an acceleration state;

[0026] If the second opening value is less than the second preset opening value, determining that the vehicle enters a deceleration state;

[0027] If the second opening value is equal to the second preset opening value, it is determined that the vehicle maintains the current running state unchanged.

[0028] Exemplarily, if the second opening value is greater than a second preset opening value, determining that the vehicle enters an acceleration state includes:

[0029] If the second opening value is greater than a second preset opening value, receiving a second permission instruction sent by the battery management module; the second permission instruction is used to control the driving motor to discharge;

[0030] When the drive motor is allowed to discharge, a drive instruction is output to the motor controller, and it is determined that the vehicle enters an acceleration state; the drive instruction is used to control the drive motor to output a drive torque.

[0031] Exemplarily, to achieve the above-mentioned purpose, the present application further provides a fuzzy control processing braking system, the system comprising a vehicle controller, a motor controller, a drive motor, an accelerator pedal, a brake pedal and a battery management module;

[0032] The battery management module is used to: output the first permission instruction or the second permission instruction to the vehicle controller, and control the charging and discharging status of the power battery of the vehicle, and the status of the power battery is fed back to the battery management module;

[0033] The vehicle controller is configured to: identify signals generated by the accelerator pedal and the brake pedal, and control the drive motor to perform corresponding actions in combination with the first permission instruction or the second permission instruction issued by the battery management module, and output the request instruction or the exit instruction to the motor controller, and monitor the current state of the vehicle;

[0034] The motor controller is used to: respond to the instruction content output by the vehicle controller and control the drive motor to perform corresponding actions;

[0035] The driving motor is used to respond to a control request from the motor controller.

[0036] Exemplarily, to achieve the above objectives, the present application further provides a fuzzy control processing braking device, the device comprising:

[0037] Acquisition module: used for acquiring a status signal of the driving status of the vehicle;

[0038] a detection module configured to monitor a first rotational speed of a driving motor of the vehicle if the status signal is a braking signal;

[0039] a first output module configured to output a request instruction to a motor controller of the drive motor if the first speed is greater than a first preset speed threshold; the request instruction is configured to control the drive motor to enter an electric braking mode;

[0040] The second output module is used to output an exit instruction to the motor controller and exit the logical judgment process of the fuzzy control processing if the second speed of the drive motor after entering the electric braking mode is less than the first preset speed threshold; the exit instruction is used to control the drive motor to exit the electric braking mode.

[0041] Exemplarily, to achieve the above-mentioned purpose, the present application also provides a fuzzy control processing braking device, which includes: a memory, a processor, and a fuzzy control processing braking program stored on the memory and executable on the processor, wherein the fuzzy control processing braking program is configured to implement the steps of the fuzzy control processing braking method described above.

[0042] Exemplarily, to achieve the above-mentioned purpose, the present application also provides a computer storage medium, on which a fuzzy control processing braking program is stored, and when the fuzzy control processing braking program is executed by a processor, the steps of the fuzzy control processing braking method described above are implemented.

[0043] Compared with the prior art, in which the vehicle is braked by the drive motor in an electric braking manner, but because the speed of the drive motor fluctuates, the electric braking mode of the drive motor is repeatedly intervened, which in turn causes the vehicle to shake, resulting in low driving comfort. In the present application, a status signal of the vehicle's driving state is obtained. When the status signal is a braking signal, the first speed of the vehicle's drive motor is monitored, and the relationship between the first speed and a first preset speed threshold is determined. When the first speed is greater than the first preset speed threshold, a request instruction is output to the motor controller to control the drive motor to enter the electric braking mode. When the second speed after the drive motor enters the electric braking mode is lower than the first preset speed threshold, an exit instruction is output to the motor controller to control the drive to exit the electric braking mode and exit the logical judgment process of the fuzzy control processing, thereby avoiding the drive motor repeatedly entering the electric braking mode when the speed of the drive motor fluctuates, thereby causing the vehicle to shake, and thus resulting in low driving comfort. That is, by setting a judgment threshold, it is determined whether the current speed state of the drive motor requires the drive motor to enter the electric braking mode, and when the second speed is less than the first preset speed threshold, the logical judgment process of the fuzzy control processing is exited to avoid the drive motor repeatedly entering the electric braking mode due to speed fluctuations, thereby avoiding the vehicle shaking problem and improving the driving comfort of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a flow chart of the first embodiment of the fuzzy control braking method of the present application;

[0045] Figure 2 This is a flow chart of the second embodiment of the fuzzy control braking method of the present application;

[0046] Figure 3 This is a flow chart of the third embodiment of the fuzzy control braking method of the present application;

[0047] Figure 4 This is a flow chart of a fourth embodiment of the fuzzy control braking method of the present application;

[0048] Figure 5 This is an interactive diagram of the fuzzy control processing braking system of the present application;

[0049] Figure 6 It is a structural diagram of the hardware operating environment involved in the embodiment of the present application.

[0050] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0051] It should be understood that the specific embodiments described herein are intended only to illustrate the present application and are not intended to limit the present application. Exemplary embodiments will be described in detail herein, with examples shown in the accompanying drawings. When the following description refers to the drawings, identical numbers in different drawings represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0052] It should be noted that, in this document, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, components, features, and elements with the same name in different embodiments of the present application may have the same meaning or different meanings, and their specific meanings need to be determined by their explanation in the specific embodiment or further combined with the context of the specific embodiment.

[0053] It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are used solely to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the term "if," as used herein, may be interpreted as "upon," "when," or "in response to a determination." Furthermore, as used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "comprising" and "including" indicate the presence of the recited features, steps, operations, elements, components, items, types, and / or groups, but do not preclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, types, and / or groups. The terms "or," "and / or," "including at least one of the following," etc., as used herein, may be interpreted as inclusive, meaning any one or any combination. For example, “comprising at least one of the following: A, B, C” means “any of the following: A; B; C; A and B; A and C; B and C; A and B and C”; and for another example, “A, B or C” or “A, B and / or C” means “any of the following: A; B; C; A and B; A and C; B and C; A and B and C”. An exception to this definition will occur only when a combination of elements, functions, steps or operations are inherently mutually exclusive in some manner.

[0054] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are shown in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence in the order indicated by the arrows. Unless clearly stated herein, the execution of these steps is not strictly limited in order, and they can be performed in other orders. Moreover, at least a portion of the steps in the figure may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps.

[0055] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to the determination" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)," depending on the context.

[0056] It should be noted that in this article, step codes such as S110 and S120 are used for the purpose of expressing the corresponding content more clearly and concisely, and do not constitute a substantial limitation on the order. Those skilled in the art may execute S120 first and then S110 during specific implementation, but these should all be within the scope of protection of this application.

[0057] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0058] In the subsequent description, the use of suffixes such as "module", "component" or "unit" to represent elements is only for the purpose of facilitating the description of the present application and has no specific meaning. Therefore, "module", "component" or "unit" can be used interchangeably.

[0059] The following describes exemplary application scenarios of the embodiments of the present application.

[0060] There are two forms of braking for new energy vehicles. One is mechanical braking, and the other is electric braking. This electric braking method stops the driving motor and causes the driving motor to output a reverse rotation torque, that is, the driving motor generates electric braking torque, thereby achieving the braking effect of the vehicle.

[0061] During the electric braking process, there is a critical point for the start of electric braking, that is, when the speed of the drive motor reaches a certain threshold, the electric braking is triggered. However, depending on different road conditions (for example: on a downhill section of a car, the gravitational potential energy of the vehicle is converted into kinetic energy, causing the speed of the vehicle's drive motor to increase) or the driver's driving habits (for example: the accelerator pedal is still pressed during braking, causing the speed of the vehicle's drive motor to increase), the electric braking is repeatedly triggered, which in turn causes the entire vehicle to shake, accompanied by abnormal noise from the rear axle main reduction engagement impact. Therefore, repeated intervention of electric braking affects the vehicle's driving comfort.

[0062] The embodiments of the present application provide a solution for application scenarios where electric braking is repeatedly involved, thereby affecting the driver's comfort in driving the vehicle.

[0063] It should be noted that the above application scenarios are merely illustrative, and the fuzzy control processing braking method, system, device, equipment and storage medium provided in the embodiments of the present application include but are not limited to the above application scenarios.

[0064] This application provides a fuzzy control processing braking method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the fuzzy control braking method of the present application.

[0065] The present application provides an embodiment of a fuzzy control braking method. It should be noted that although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown. For ease of description, the following description of the various steps of the fuzzy control braking method is omitted. The fuzzy control braking method includes:

[0066] Step S110: obtaining a status signal of the vehicle's driving status;

[0067] When obtaining the vehicle status signal, the vehicle is in the driving state, that is, the monitoring trigger mode of this embodiment is applied to the vehicle with the driving gear in D gear, wherein the D gear of the vehicle is the forward gear. Therefore, in the current driving state of the vehicle, the vehicle state has two state trends. One is that the vehicle state changes, such as: acceleration, deceleration or braking to stop, etc., and the other is that the vehicle state does not change, that is, the vehicle maintains the current state unchanged.

[0068] Exemplarily, the status signal includes a brake signal and a throttle signal.

[0069] The brake signal is generated by the opening value of the brake pedal.

[0070] The throttle signal is generated by the opening value of the accelerator pedal.

[0071] The opening value is the depth of the pedal being stepped on or the change in position of the pedal being stepped on.

[0072] Step S120: If the state signal is a braking signal, monitoring a first speed of the driving motor of the vehicle;

[0073] When the status signal obtained is a braking signal, the logic judgment of whether to enter the electric braking mode is triggered. The premise of triggering the electric braking mode is that the speed of the vehicle's drive motor meets the standard, that is, the first speed of the drive motor must reach the speed threshold condition. Therefore, the first speed of the vehicle's drive motor needs to be monitored.

[0074] Exemplarily, if the status signal is a braking signal, monitoring a first speed of a driving motor of the vehicle includes:

[0075] Step a: If the state signal is a brake signal, detecting and obtaining a first opening value of the brake pedal of the vehicle;

[0076] There are two braking methods for new energy vehicles, one is mechanical braking and the other is electric braking. Depending on the vehicle's calibration content, the triggering conditions of the two braking methods are different.

[0077] For example, the opening value of the brake pedal is used as a condition for triggering different braking modes. When the opening value of the brake pedal does not reach the preset opening value used as a measurement standard, the vehicle currently triggers electric braking. When the opening value of the brake pedal reaches the preset opening value, when the mechanical brake is triggered, the electric braking mode of the drive motor will not be canceled until the motor speed is less than the first preset speed threshold, and the braking torque output by the drive motor is 0, thereby exiting the electric braking mode.

[0078] At the same time, when the driver wants to stop the car, he will step on the brake pedal hard to make the opening value of the brake pedal reach the preset opening value, thereby triggering the mechanical brake.

[0079] In addition, when the driver lightly steps on the brake pedal, the vehicle's drive motor will continue to maintain an electric braking state, thereby generating electricity through the drive motor and storing the electrical energy in the power battery.

[0080] Therefore, when the state signal is a braking signal, it is necessary to further detect the opening value of the brake pedal that generates the braking signal, so as to determine the braking method currently used by the vehicle.

[0081] The condition for generating the brake signal is the pedal opening value. According to the size of the detected pedal opening value, a brake signal is generated to trigger both mechanical braking and electric braking, or a brake signal to trigger only electric braking.

[0082] The first opening value is the opening value generated by the brake pedal.

[0083] Step b: If the first opening value is less than a first preset opening value, monitoring a first rotational speed of the driving motor of the vehicle; the first rotational speed is used to determine whether to enable an electric braking mode of the driving motor.

[0084] After detecting the first opening value, the size of the first opening value is determined. If the first opening value is less than the first preset opening value, it is determined that the current brake pedal is not stepped on to the preset opening value position, that is, the vehicle currently prioritizes electric braking as the braking method.

[0085] The first preset opening value is a value other than the maximum pedal opening value and is greater than 0. For example, if the maximum pedal opening value is 10, the first preset opening value is 5 or 8, etc., which ensures that the first preset opening value is less than the maximum pedal opening value.

[0086] The electric braking trigger condition is the first speed of the drive motor. Therefore, the first speed of the vehicle's drive motor is monitored, and when the first speed meets the standard, the electric braking mode is triggered or enabled. That is, the drive motor acts as a generator, outputting a braking torque opposite to the driving torque.

[0087] Step S130: If the first speed is greater than a first preset speed threshold, outputting a request instruction to the motor controller of the drive motor; the request instruction is used to control the drive motor to enter an electric braking mode;

[0088] When the first rotational speed is greater than a first preset rotational speed threshold, the electric braking mode is triggered.

[0089] The first preset threshold is a calibration value of the vehicle, and different standard values ​​are determined according to different types of vehicles. For example, if the overall weight of the current vehicle is small, when the vehicle switches from a driving state to a braking state, the vehicle tends to maintain forward movement due to its own inertia, which is smaller than the tendency of a vehicle with a larger overall weight. Therefore, the first preset threshold of this type of vehicle is smaller than the threshold of a vehicle with a larger overall weight.

[0090] The first preset threshold is a rotation speed threshold, such as 100 rpm or 200 rpm.

[0091] To trigger the electric braking mode, a request instruction needs to be output to the motor controller of the drive motor, so that the current working state of the drive motor can be switched through the motor controller.

[0092] Exemplarily, the motor controller controls the drive motor as follows: the drive motor switches the output driving torque to the braking torque or switches the drive motor from the normal output torque state to the generator working state.

[0093] When the motor controller receives the request instruction, it will control the drive motor to switch from the normal working state of outputting driving torque to the working state of the drive motor as a generator, that is, control the drive motor to enter the electric braking mode.

[0094] Exemplarily, if the first speed is greater than a first preset speed threshold, outputting a request instruction to a motor controller of the drive motor includes:

[0095] Step c: If the first speed is greater than a first preset speed threshold, receiving a first permission instruction sent by a battery management module; the first permission instruction is used to allow the drive motor to generate electricity;

[0096] The power source of new energy vehicles is the power battery equipped in the vehicle. The power battery status information is managed by the battery management module, and the battery management module also has the function of limiting whether the power battery enters the discharge state or the charging state.

[0097] The battery management module outputs charging or discharging permission instructions based on the temperature and voltage parameters of the power battery.

[0098] After receiving the permission instruction, the drive motor is controlled to perform the corresponding action according to the instruction content.

[0099] The permission instruction includes a charge permission instruction and a discharge permission instruction, wherein the charge permission instruction is a first permission instruction and the discharge permission instruction is a second permission instruction.

[0100] The content of the permission instruction is to allow the power battery to charge or discharge a certain amount. For example, the content of the first permission instruction is to control the drive motor to supplement a certain amount of voltage for the power battery.

[0101] After obtaining the first permission instruction, the motor controller controls the drive motor to enter the point braking mode. At this time, the drive motor is used as a generator to convert the vehicle's kinetic energy into electrical energy.

[0102] Step d: When the drive motor is allowed to generate electricity, output a request instruction to the motor controller of the drive motor.

[0103] When the drive motor is allowed to generate electricity, a request instruction is output to the motor controller of the drive motor, thereby controlling the drive motor to switch the current working state, using the drive motor as a generator to supply and charge the power battery.

[0104] Step S140: If the second speed of the drive motor after entering the electric braking mode is less than the first preset speed threshold, an exit instruction is output to the motor controller, and the logical judgment process of the fuzzy control processing is exited; the exit instruction is used to control the drive motor to exit the electric braking mode.

[0105] The first speed is a continuously changing value obtained when the drive motor is in a monitoring state. Therefore, when the drive motor enters the electric braking mode, the first speed will slowly decrease under the action of the electric braking.

[0106] The triggering condition of the electric braking mode is that the first speed is greater than the first preset speed threshold. Therefore, when the first speed drops to less than the first preset speed threshold, the electric braking mode will not be triggered, and in the current case, the drive motor exits the electric braking mode. When the drive motor exits the electric braking mode, the drive motor stops outputting the braking torque, that is, when the drive motor exits the electric braking mode, the braking torque output by the drive motor is 0.

[0107] The exit command is used to control the drive motor to switch the current state to the state of normal output drive torque, that is, the drive motor exits the electric braking mode.

[0108] After the drive motor exits the electric braking mode, the logical judgment process of the fuzzy control processing is exited to avoid the drive motor's speed fluctuating around the first preset speed threshold due to road conditions or different drivers' driving habits, which causes the drive motor to repeatedly enter and exit the electric braking mode, and then cause the vehicle to produce vibrations, abnormal noises and other factors that affect driving comfort.

[0109] After receiving the braking signal, the speed of the drive motor is monitored to obtain a first speed. When the first speed is greater than a first preset speed threshold, the speed of the drive motor will enter an electric braking mode and decrease. Therefore, to determine whether the current speed should continue to be in the electric braking mode, the speed of the drive motor after entering the electric braking mode is determined, which is the second speed.

[0110] The first speed is the speed value that changes over a continuous period of time, and the second speed is the speed value at a certain moment, that is, the second speed is included in the first speed. The second speed is used to determine the speed of the drive motor at a certain moment.

[0111] When the second rotational speed is less than the first preset rotational speed threshold, an exit instruction is output to the motor controller to control the drive motor to exit the electric braking mode.

[0112] In addition, the example also includes:

[0113] When the braking signal is obtained, the speed monitoring action of the drive motor is performed. The first speed currently monitored is less than the first preset speed threshold, that is, the drive motor has not entered the electric braking mode, and the current speed of the drive motor is less than the first preset speed threshold. Therefore, when the first speed currently monitored is less than the first speed threshold, there is no need for the drive motor to enter the electric braking mode.

[0114] Exemplarily, if the second speed is less than the first preset speed threshold, outputting an exit instruction to the motor controller includes:

[0115] Step e: obtaining a third rotational speed of the driving motor;

[0116] After outputting the exit command to the motor controller, the motor controller will control the drive motor to exit the electric braking mode according to the exit command, that is, reduce the braking torque currently output by the drive motor to 0. Therefore, there is no braking situation in the vehicle at present.

[0117] When the vehicle loses braking torque, factors such as road conditions and the driver's driving habits may cause the vehicle to accelerate, increasing the speed of the drive motor. This speed fluctuation is unstable and causes the drive motor to repeatedly engage in electric braking mode.

[0118] If the drive motor exits the electric braking mode but does not exit the logic determination process, the drive motor's speed increases, causing the drive motor to re-enter the electric braking mode, which can cause vehicle jitter. Therefore, in this case, the third speed of the vehicle's drive motor is obtained and its magnitude is determined.

[0119] In addition, before obtaining the third speed, it also includes:

[0120] Determine if the brake signal is continuously active.

[0121] For example, when the braking signal remains valid, the vehicle's state moves to a braked parking state, and when the braking signal is invalid, and the vehicle's current gear is D gear (forward gear), the vehicle's state moves to a normal driving state, and the vehicle will not continue to brake, that is, there is no need to repeatedly intervene in the electric braking mode for fuzzy control of the vehicle. Therefore, when the braking signal is invalid, there is no need to detect the speed of the vehicle's drive motor, and there is no need to obtain the third speed.

[0122] Step f: If the third speed is greater than or equal to a second preset speed threshold, returning the step of outputting the request instruction to the motor controller of the drive motor; the second preset speed threshold is greater than the first preset speed threshold;

[0123] The second preset speed threshold is greater than the first preset speed threshold, and there is a speed hysteresis difference between the two.

[0124] When the third speed is greater than or equal to the second preset speed threshold, that is, the third speed is greater than the first preset speed threshold, the process returns to the step of outputting the request instruction to the motor controller of the drive motor.

[0125] Because the speed of the drive motor is too high, electric braking is required to reduce the speed of the drive motor. At the same time, there is a speed hysteresis between the second preset speed threshold and the first preset speed threshold, which avoids the situation where the two preset speed thresholds are very similar, causing the drive motor to repeatedly intervene in the electric braking mode.

[0126] Step g: If the third speed is greater than the first preset speed threshold and the third speed is less than the second preset speed threshold, return to the step of outputting the exit instruction to the motor controller.

[0127] When the third speed is greater than the first preset speed threshold and the third speed is less than the second preset speed threshold, the step of outputting an exit instruction to the motor controller is returned to directly exit the electric braking state of the drive motor, or maintain the braking torque output by the drive motor at 0.

[0128] Through this step, when the speed of the drive motor fluctuates between the first preset speed threshold and the second preset speed threshold, the drive motor will not enter the electric braking mode when the third speed is greater than the first preset speed threshold, thereby avoiding the shaking of the entire vehicle.

[0129] At the same time, the selection of the second preset speed threshold is the same as that of the first preset speed threshold, which will not be repeated here.

[0130] Compared with the prior art, in which the vehicle is braked by the drive motor in an electric braking manner, but because the speed of the drive motor fluctuates, the electric braking mode of the drive motor is repeatedly intervened, which in turn causes the vehicle to shake, resulting in low driving comfort. In the present application, a status signal of the vehicle's driving state is obtained. When the status signal is a braking signal, the first speed of the vehicle's drive motor is monitored, and the relationship between the first speed and a first preset speed threshold is determined. When the first speed is greater than the first preset speed threshold, a request instruction is output to the motor controller to control the drive motor to enter the electric braking mode. When the second speed after the drive motor enters the electric braking mode is lower than the first preset speed threshold, an exit instruction is output to the motor controller to control the drive to exit the electric braking mode and exit the logical judgment process of the fuzzy control processing, thereby avoiding the drive motor repeatedly entering the electric braking mode when the speed of the drive motor fluctuates, thereby causing the vehicle to shake, and thus resulting in low driving comfort. That is, by setting a judgment threshold, it is determined whether the current speed state of the drive motor requires the drive motor to enter the electric braking mode, and when the second speed is less than the first preset speed threshold, the logical judgment process of the fuzzy control processing is exited to avoid the drive motor repeatedly entering the electric braking mode due to speed fluctuations, thereby avoiding the vehicle shaking problem and improving the driving comfort of the vehicle.

[0131] For example, refer to Figure 2 , Figure 2 : is a flow chart of the second embodiment of the fuzzy control processing braking method of the present application. Based on the above-mentioned first embodiment of the fuzzy control processing braking method of the present application, the second embodiment is proposed, and the method further includes:

[0132] Step S210: If the state signal is a throttle signal, detecting and obtaining a second opening value of the throttle pedal of the vehicle;

[0133] The vehicle's status signal during driving includes not only a brake signal but also a throttle signal. However, in this embodiment, the vehicle's current status is that the gear is in the D gear, that is, the vehicle's accelerator pedal is in a stepped state.

[0134] However, different opening values ​​are generated according to different degrees of depression of the accelerator pedal, thereby producing different effects. Therefore, when the acquired state signal is a throttle signal, the second opening value of the throttle signal needs to be detected.

[0135] When the vehicle is in motion, there is a sequence of judgment between the vehicle's brake signal and throttle signal, that is, when the vehicle's accelerator pedal and brake pedal are stepped on at the same time, the brake pedal opening value is responded to first, and the accelerator pedal opening value is ignored. That is, when the brake signal generated when the brake pedal is stepped on is in a valid state (the vehicle has a braking effect), the throttle signal generated when the accelerator pedal is stepped on is in an invalid state. Conversely, the brake signal is invalid (the vehicle has no braking effect) and the throttle signal is valid.

[0136] Therefore, when the throttle signal is obtained, the brake signal is invalid.

[0137] Step S220: If the second opening value is greater than a second preset opening value, determining that the vehicle enters an acceleration state;

[0138] The selection of the second preset opening value depends on the state of the vehicle. The opening value of the accelerator pedal when the vehicle is in the D gear state is the second preset opening value.

[0139] When the second opening value is greater than the second preset opening value, it proves that the depth of the accelerator pedal is increased, that is, the throttle amount controlled by the accelerator pedal is increased, thereby increasing the driving torque output by the vehicle's driving motor.

[0140] When the second opening value is less than the second preset opening value, it proves that the depth of the accelerator pedal is reduced, that is, the throttle amount controlled by the accelerator pedal is reduced, thereby reducing the driving torque output by the vehicle's driving motor.

[0141] The vehicle is currently in the D gear driving state. When the current brake signal is invalid, there are two trends in the vehicle's state change: one is that the throttle signal does not change, so that the vehicle maintains the D gear state and runs smoothly; the other is that the throttle signal changes, which causes the vehicle state to change. For example, the opening value of the vehicle's accelerator pedal increases, the vehicle's throttle amount increases, the driving torque output by its drive motor increases, and the vehicle is in an accelerating state, that is, the throttle signal is valid (driving the vehicle into an accelerated driving state).

[0142] Exemplarily, if the second opening value is greater than a second preset opening value, determining that the vehicle enters an acceleration state includes:

[0143] Step h: If the second opening value is greater than a second preset opening value, receiving a second permission instruction sent by the battery management module; the second permission instruction is used to control the drive motor to discharge;

[0144] When the second opening value is greater than the second preset opening value, the vehicle enters an accelerated driving state. Therefore, the vehicle's drive motor does not act as a generator, but plays the role of outputting driving torque. At the same time, the torque output by the drive motor exceeds the original value when the vehicle is running in D gear.

[0145] Therefore, the power battery that supplies electric energy to the drive motor needs to increase its discharge capacity. At this time, it is necessary to obtain a second permission instruction output from the battery management module. The main content of the second permission instruction is to allow a certain amount of discharge power to be increased.

[0146] Step i: When the drive motor is allowed to discharge, a drive instruction is output to the motor controller, and it is determined that the vehicle enters an acceleration state; the drive instruction is used to control the drive motor to output a drive torque.

[0147] After obtaining the second permission instruction, the current drive motor is in the opposite working state to the braking state, that is, the drive motor will currently work in a discharge posture, that is, release the electrical energy stored in the power battery and convert the electrical energy into kinetic energy, which is the discharge process.

[0148] To control the drive motor to output the discharge power of the second allowed instruction, a drive instruction needs to be output to the motor controller of the drive motor, and the drive motor is controlled to output the drive torque through the motor controller.

[0149] Step S230: If the second opening value is less than the second preset opening value, determining that the vehicle enters a deceleration state;

[0150] When the second opening value is less than the second preset opening value, that is, the degree to which the accelerator pedal is stepped on decreases, the throttle amount controlled by the accelerator pedal decreases.

[0151] Therefore, when the second opening value is less than the second preset opening value, the driving torque value output by the driving motor of the vehicle decreases, and the vehicle enters a deceleration state.

[0152] Step S240: If the second opening value is equal to the second preset opening value, it is determined that the vehicle maintains the current operating state unchanged.

[0153] When the second opening value is equal to the second preset opening value, that is, the degree to which the accelerator pedal is stepped on does not change, the throttle amount controlled by the accelerator pedal remains unchanged.

[0154] Therefore, when the second opening value is less than the second preset opening value, the driving torque output by the driving motor of the vehicle remains unchanged, and the vehicle maintains the current operating state.

[0155] In this embodiment, the vehicle's throttle signal is detected and different effects are produced according to different conditions of the throttle signal to avoid the throttle signal affecting the normal driving of the vehicle due to the cancellation of the brake signal. At the same time, the size of the throttle signal is judged to determine whether the current driving state of the vehicle has changed, and the current driving state of the vehicle is adjusted according to the size of the throttle signal.

[0156] For example, refer to Figure 3 , Figure 3 : is a flow chart of the third embodiment of the fuzzy control processing braking method of the present application. Based on the first embodiment of the fuzzy control processing braking method of the present application, the third embodiment is proposed. The method further includes:

[0157] This method is applied to a vehicle in the D gear, that is, the premise of this method is that the vehicle is in a driving state.

[0158] Figure 3 The condition for judging whether the brake signal is valid is the opening value of the brake pedal. When the brake pedal is stepped on and a corresponding opening value is generated, the brake signal is valid. When the brake is not stepped on and no opening value is generated, the brake signal is invalid.

[0159] Figure 3 There are three motor speed determinations, which correspond from top to bottom to the first speed, the second speed, and the third speed in the first embodiment.

[0160] Figure 3 The BMS (Battery Management System) in FIG. 1 is the battery management module in the first embodiment.

[0161] Figure 3 Where n1 is the first preset speed threshold, and n2 is the second preset speed threshold.

[0162] Figure 3 There are two parts of judgment content composed of two dotted frame lines. The content in the upper dotted frame line is: the case where the drive motor enters the electric braking mode (the whole control requests the braking torque) and the case where the drive motor exits the electric braking mode (the whole control requests the braking torque to be 0).

[0163] The content in the dotted frame below is: adding a judgment condition for the drive motor to enter the electric braking mode for the second time, so as to judge whether the drive motor enters the electric braking mode repeatedly.

[0164] Combine Figure 3 The contents of the upper dotted line frame and the contents of the lower dotted line frame constitute the judgment logic flow of adding fuzzy control processing. The contents of this logic flow have been explained in the first embodiment and will not be repeated here.

[0165] For example, refer to Figure 4 , Figure 4 : is a flow chart of a fourth embodiment of the fuzzy control processing braking method of the present application. Based on the first, second and third embodiments of the fuzzy control processing braking method of the present application, the fourth embodiment is proposed. The method further includes:

[0166] When the status signal of the vehicle's driving status obtained is a throttle signal, determine whether the throttle signal is valid. When the throttle signal is valid (the throttle signal is generated as the opening value of the accelerator pedal, and the throttle signal that changes as the opening value changes is valid), obtain the discharge power permission issued by the battery management module, that is, the second permission instruction, and according to the second permission instruction, control the requested driving torque to realize the driving of the whole vehicle, that is, according to the changes in the accelerator pedal, control the vehicle's drive motor to increase the output power.

[0167] When the throttle signal is invalid (the opening value of the throttle pedal does not change), the vehicle maintains the D gear operation.

[0168] In addition, refer to Figure 5 , Figure 5 This is an interactive schematic diagram of the fuzzy control processing braking system of the present application, which includes a vehicle controller, a motor controller, a drive motor, an accelerator pedal, a brake pedal and a battery management module;

[0169] The battery management module is used to: output the first permission instruction or the second permission instruction to the vehicle controller, and control the charging and discharging status of the power battery of the vehicle, and the status of the power battery is fed back to the battery management module;

[0170] The vehicle controller is configured to: identify signals generated by the accelerator pedal and the brake pedal, and control the drive motor to perform corresponding actions in combination with the first permission instruction or the second permission instruction issued by the battery management module, and output the request instruction or the exit instruction to the motor controller, and monitor the current state of the vehicle;

[0171] The motor controller is used to: respond to the instruction content output by the vehicle controller and control the drive motor to perform corresponding actions;

[0172] The driving motor is used to respond to a control request from the motor controller.

[0173] The specific implementation of the fuzzy control processing braking system of the present application is basically the same as the various embodiments of the fuzzy control processing braking method described above, and will not be repeated here.

[0174] In addition, the present application also provides a fuzzy control processing braking device, the fuzzy control processing braking device comprising:

[0175] Acquisition module: used for acquiring a status signal of the driving status of the vehicle;

[0176] a detection module configured to monitor a first rotational speed of a driving motor of the vehicle if the status signal is a braking signal;

[0177] a first output module configured to output a request instruction to a motor controller of the drive motor if the first speed is greater than a first preset speed threshold; the request instruction is configured to control the drive motor to enter an electric braking mode;

[0178] The second output module is used to output an exit instruction to the motor controller and exit the logical judgment process of the fuzzy control processing if the second speed of the drive motor after entering the electric braking mode is less than the first preset speed threshold; the exit instruction is used to control the drive motor to exit the electric braking mode.

[0179] Exemplarily, the acquisition module includes:

[0180] A first detection submodule: configured to detect and obtain a first opening value of a brake pedal of the vehicle if the state signal is a brake signal;

[0181] a monitoring submodule configured to monitor a first rotational speed of the driving motor of the vehicle if the first opening value is less than a first preset opening value; the first rotational speed is used to determine whether to enable an electric braking mode of the driving motor;

[0182] A second detection submodule: configured to detect and obtain a second opening value of the accelerator pedal of the vehicle if the state signal is a throttle signal;

[0183] A first determining submodule is configured to determine that the vehicle enters an acceleration state if the second opening value is greater than a second preset opening value;

[0184] A second determining submodule is configured to determine that the vehicle enters a deceleration state if the second opening value is less than the second preset opening value;

[0185] The third determining submodule is configured to determine that the vehicle maintains the current operating state if the second opening value is equal to the second preset opening value.

[0186] Exemplarily, the first determining submodule includes:

[0187] a first acquiring unit configured to receive a second enabling instruction sent by a battery management module if the second opening value is greater than a second preset opening value; the second enabling instruction being used to control the drive motor to discharge;

[0188] Output unit: used for outputting a driving instruction to the motor controller when the driving motor is allowed to discharge, and determining that the vehicle enters an acceleration state; the driving instruction is used to control the driving motor to output a driving torque.

[0189] Exemplarily, the first output module includes:

[0190] an acquisition submodule configured to receive a first permission instruction sent by a battery management module if the first speed is greater than a first preset speed threshold; the first permission instruction is configured to allow the drive motor to generate electricity;

[0191] The first output submodule is used to output a request instruction to the motor controller of the drive motor when the drive motor is allowed to generate electricity.

[0192] Exemplarily, the second output module includes:

[0193] A third acquisition submodule: configured to acquire a second rotational speed of the drive motor in the electric braking mode;

[0194] The second output submodule is configured to output an exit instruction to the motor controller if the second rotational speed is less than the first preset rotational speed threshold.

[0195] Exemplarily, the second output submodule includes:

[0196] A second acquiring unit: configured to acquire a third rotational speed of the driving motor;

[0197] A first loop unit is configured to return the step of outputting the request instruction to the motor controller of the drive motor if the third speed is greater than or equal to a second preset speed threshold; and the second preset speed threshold is greater than the first preset speed threshold;

[0198] The second loop unit is used to return to the step of outputting the exit instruction to the motor controller if the third rotational speed is greater than the first preset rotational speed threshold and the third rotational speed is less than the second preset rotational speed threshold.

[0199] In addition, the present application also provides a fuzzy control processing braking device. Figure 6 As shown, Figure 6 It is a structural diagram of the hardware operating environment involved in the embodiment of the present application.

[0200] For example, Figure 6 This is a structural diagram of the hardware operating environment of the fuzzy control processing braking equipment.

[0201] like Figure 6As shown, the fuzzy control processing braking device may include a processor 601, a communication interface 602, a memory 603 and a communication bus 604, wherein the processor 601, the communication interface 602 and the memory 603 communicate with each other through the communication bus 604, the memory 603 is used to store computer programs; the processor 601 is used to implement the steps of the fuzzy control processing braking method when executing the program stored in the memory 603.

[0202] The communication bus 604 mentioned in the fuzzy control processing brake device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. This communication bus 604 can be divided into an address bus, a data bus, and a control bus. For ease of illustration, the figure uses only a single thick line, but this does not mean that there is only one bus or only one type of bus.

[0203] The communication interface 602 is used for communication between the fuzzy control processing braking device and other devices.

[0204] The memory 603 may include a random access memory (RMD) or a non-volatile memory (NM), such as at least one disk storage. Alternatively, the memory 603 may be at least one storage device located away from the processor 601.

[0205] The above-mentioned processor 601 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0206] The specific implementation of the fuzzy control processing braking device of the present application is basically the same as the various embodiments of the fuzzy control processing braking method described above, and will not be repeated here.

[0207] In addition, an embodiment of the present application further proposes a computer storage medium, on which a fuzzy control processing braking program is stored. When the fuzzy control processing braking program is executed by a processor, the steps of the fuzzy control processing braking method described above are implemented.

[0208] The specific implementation of the computer storage medium of the present application is basically the same as the above-mentioned embodiments of the fuzzy control processing braking method, and will not be repeated here.

[0209] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0210] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0211] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A fuzzy control braking method, characterized in that: Applied to a vehicle in the driving gear state of D, the fuzzy control braking method includes the following steps: Acquiring a status signal of the driving status of the vehicle; If the state signal is a braking signal, monitoring a first speed of a driving motor of the vehicle; If the first speed is greater than a first preset speed threshold, outputting a request instruction to the motor controller of the drive motor; the request instruction is used to control the drive motor to enter an electric braking mode; If the second speed of the drive motor after entering the electric braking mode is less than the first preset speed threshold, an exit instruction is output to the motor controller, and the logical judgment process of the fuzzy control processing is exited; the exit instruction is used to control the drive motor to exit the electric braking mode, and the logical judgment process is used to determine whether electric braking is performed.

2. The fuzzy control braking method according to claim 1, characterized in that: If the first speed is greater than a first preset speed threshold, outputting a request instruction to a motor controller of the drive motor includes: If the first speed is greater than a first preset speed threshold, receiving a first permission instruction sent by a battery management module; the first permission instruction is used to allow the drive motor to generate electricity; When the drive motor is allowed to generate power, a request command is output to a motor controller of the drive motor.

3. The fuzzy control braking method according to claim 2, characterized in that: If the second speed is less than the first preset speed threshold, outputting an exit instruction to the motor controller includes: Acquiring a third rotational speed of the driving motor; If the third speed is greater than or equal to a second preset speed threshold, returning to the step of outputting the request instruction to the motor controller of the drive motor; the second preset speed threshold is greater than the first preset speed threshold; If the third rotational speed is greater than the first preset rotational speed threshold and the third rotational speed is less than the second preset rotational speed threshold, the step of outputting an exit instruction to the motor controller is returned to the step.

4. The fuzzy control braking method according to claim 1, wherein: If the state signal is a braking signal, monitoring a first speed of a driving motor of the vehicle includes: If the state signal is a brake signal, detecting and obtaining a first opening value of a brake pedal of the vehicle; If the first opening value is less than a first preset opening value, a first rotational speed of the driving motor of the vehicle is monitored; the first rotational speed is used to determine whether to enable an electric braking mode of the driving motor.

5. The fuzzy control braking method according to claim 2, characterized in that: After obtaining the state signal of the vehicle's driving state, the method includes: If the state signal is a throttle signal, detecting and obtaining a second opening value of the throttle pedal of the vehicle; If the second opening value is greater than a second preset opening value, determining that the vehicle enters an acceleration state; If the second opening value is less than the second preset opening value, determining that the vehicle enters a deceleration state; If the second opening value is equal to the second preset opening value, it is determined that the vehicle maintains the current running state unchanged.

6. The fuzzy control braking method according to claim 5, characterized in that: If the second opening value is greater than a second preset opening value, determining that the vehicle enters an acceleration state includes: If the second opening value is greater than a second preset opening value, receiving a second permission instruction sent by the battery management module; the second permission instruction is used to control the driving motor to discharge; When the drive motor is allowed to discharge, a drive instruction is output to the motor controller, and it is determined that the vehicle enters an acceleration state; the drive instruction is used to control the drive motor to output a drive torque.

7. A fuzzy control processing braking system, characterized in that: Applied to a vehicle in the D gear state, the fuzzy control processing braking system includes a vehicle controller, a motor controller, a drive motor, an accelerator pedal, a brake pedal and a battery management module. The fuzzy control processing braking system implements the steps of the fuzzy control processing braking method according to claim 6; The battery management module is used to: output the first permission instruction or the second permission instruction to the vehicle controller, and control the charging and discharging status of the power battery of the vehicle, and the status of the power battery is fed back to the battery management module; The vehicle controller is configured to: identify signals generated by the accelerator pedal and the brake pedal, and control the drive motor to perform corresponding actions in combination with the first permission instruction or the second permission instruction issued by the battery management module, and output the request instruction or the exit instruction to the motor controller, and monitor the current state of the vehicle; The motor controller is used to: respond to the instruction content output by the vehicle controller and control the drive motor to perform corresponding actions; The driving motor is used to respond to a control request from the motor controller.

8. A fuzzy control processing braking device, characterized in that: The fuzzy control processing braking device includes: Acquisition module: used to obtain the status signal of the vehicle's driving status; a detection module configured to monitor a first rotational speed of a driving motor of the vehicle if the status signal is a braking signal; a first output module configured to output a request instruction to a motor controller of the drive motor if the first speed is greater than a first preset speed threshold; the request instruction is configured to control the drive motor to enter an electric braking mode; The second output module is used to output an exit instruction to the motor controller and exit the logical judgment process of the fuzzy control processing if the second speed of the drive motor after entering the electric braking mode is less than the first preset speed threshold; the exit instruction is used to control the drive motor to exit the electric braking mode, and the logical judgment process is used to determine whether to perform electric braking.

9. A fuzzy control braking device, characterized in that: The device includes: a memory, a processor, and a fuzzy control processing braking program stored in the memory and executable on the processor, wherein the fuzzy control processing braking program is configured to implement the steps of the fuzzy control processing braking method according to any one of claims 1 to 6.

10. A computer storage medium, characterized in that The computer storage medium stores a fuzzy control processing braking program, which, when executed by a processor, implements the steps of the fuzzy control processing braking method according to any one of claims 1 to 6.

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