A braking sound suppression method, device, vehicle, and computer storage medium

Abstract

The present invention discloses a method, device, vehicle and computer storage medium for suppressing braking whistling. The method for suppressing braking whistling includes: monitoring the vehicle braking torque, hydraulic braking torque, and motor regenerative torque; when the braking whistling phenomenon occurs, adjusting the hydraulic braking torque and the motor regenerative torque based on the vehicle braking torque at a preset ratio until the braking whistling phenomenon disappears. The method, device, vehicle and computer storage medium for suppressing braking whistling provided by the present invention monitor the vehicle braking torque, hydraulic braking torque, and motor regenerative torque, and coordinate the cyclic distribution control of the braking pressure when the braking whistling phenomenon occurs, thereby suppressing the generation of the braking whistling phenomenon, without the need to adjust the hardware, manufacture samples, and repeatedly perform bench and vehicle matching verification, with a short verification time and low cost.

Description

Technical Field

[0001] The present invention relates to the field of braking systems, and particularly to a method and device for suppressing braking whistling, a vehicle, and a computer storage medium. Background Art

[0002] With the popularization of new energy vehicles, electric boosters have gradually become standard equipment for new energy vehicles because they can recover braking energy and improve the endurance. As an indispensable part of modern passenger vehicles, the braking system is a guarantee system for vehicle driving safety. The problem of braking whistling is the most complex and common quality problem in the development process of the vehicle's entire braking system. Almost every vehicle project spends a lot of time and energy solving the problem of braking whistling. Braking whistling is a resonance phenomenon with a specific frequency generated by the friction between the brake disc and the friction pad under certain pressures, braking decelerations, temperatures, vehicle speeds, humidities, and other specific working conditions, and amplified through the suspension, body, or air sound cavity.

[0003] The conventional solution to braking whistling is to change the mode of friction pairs such as the brake disc or the friction pad, or adjust the modes of other components in the transmission path to avoid common working conditions. Braking whistling cannot be completely eliminated, but only adjusted to uncommon working conditions. For example, in a certain vehicle model, at a speed of 40 km / h, a braking pressure of 3 Mpa, a braking deceleration of 0.3 g, and a friction pad temperature of 100 degrees, a braking whistling phenomenon of 3000 Hz is likely to occur in the front wheels. The common idea is to change the shape, material of the friction pad or the brake disc, add damping sheets, etc., so that the working conditions where the braking whistling occurs drift to uncommon working conditions such as a braking deceleration of 0.7 g and a friction pad temperature above 300 degrees. This braking whistling is very easy to reproduce. Generally, the solution is to measure the braking pressure, braking deceleration, temperature, vehicle speed, humidity, whistling frequency, etc. under the working conditions where the braking whistling appears during the vehicle road test, then reproduce the whistling on the test bench, and then perform a CAE complex modal simulation analysis to adjust the modes of the brake disc, friction pad, sound-absorbing sheet (damping sheet), and surrounding components, and adjust the components that avoid the modal frequency range. After making samples, the test bench and vehicle tests are verified again. Repeated matching and verification are often required, the verification cycle is extremely long, and it often cannot meet the mass production time node, and the change cost is high. Therefore, how to suppress the generation of braking whistling is still an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of the present invention is to provide a method and device for suppressing braking whistling, a vehicle, and a computer storage medium, which do not require adjusting the hardware, making samples, and repeatedly matching the test bench and the vehicle for verification, and have a short verification time and low cost.

[0005] To achieve the above object, the technical solution of the present invention is realized as follows:

[0006] First aspect, an embodiment of the present invention provides a method for suppressing braking whistling, and the method for suppressing braking whistling includes:

[0007] Monitoring the vehicle braking torque, hydraulic braking torque, and motor regenerative torque;

[0008] When the braking whistling phenomenon occurs, adjusting the hydraulic braking torque and the motor regenerative torque based on the vehicle braking torque at a preset ratio until the braking whistling phenomenon disappears.

[0009] As one implementation, the monitoring of the vehicle braking torque, hydraulic braking torque, and motor regenerative torque includes:

[0010] The vehicle braking torque is equal to the sum of the hydraulic braking torque and the motor regenerative torque.

[0011] As one implementation, the monitoring of the vehicle braking torque, hydraulic braking torque, and motor regenerative torque includes:

[0012] Obtaining the braking deceleration, braking hydraulic pressure, and motor speed;

[0013] Querying the recorded corresponding relationship between the braking deceleration and the vehicle braking torque according to the braking deceleration, and obtaining the vehicle braking torque corresponding to the braking deceleration; and

[0014] Querying the recorded corresponding relationship between the braking hydraulic pressure and the hydraulic braking torque according to the braking hydraulic pressure, and obtaining the hydraulic braking torque corresponding to the braking hydraulic pressure; and

[0015] Querying the recorded corresponding relationship between the motor speed and the motor regenerative torque according to the motor speed, and obtaining the motor regenerative torque corresponding to the motor speed.

[0016] As one implementation, when the braking whistling phenomenon occurs, adjusting the hydraulic braking torque and the motor regenerative torque based on the vehicle braking torque at a preset ratio until the braking whistling phenomenon disappears includes:

[0017] Adjusting the braking hydraulic pressure at a preset ratio;

[0018] Correspondingly adjusting the motor speed according to the preset ratio to control the vehicle deceleration to remain unchanged.

[0019] As one implementation, before adjusting the hydraulic braking torque and the motor regenerative torque based on the vehicle braking torque at a preset ratio when the braking whistling phenomenon occurs, it includes:

[0020] Obtaining the magnitude of the braking whistling and the temperature of the friction plate;

[0021] Determine whether the vehicle condition is a common condition according to the braking sound volume and the friction plate temperature.

[0022] As one implementation manner, the determining whether the vehicle condition is a common condition according to the braking sound volume and the friction plate temperature includes:

[0023] If the vehicle condition is the common condition, then execute the step of, when a braking sound phenomenon occurs, adjusting the hydraulic braking torque and the motor regenerative braking torque based on the vehicle braking torque at a preset ratio until the braking sound phenomenon disappears.

[0024] As one implementation manner, the adjusting the hydraulic braking torque and the motor regenerative braking torque based on the vehicle braking torque at a preset ratio until the braking sound phenomenon disappears when the braking sound phenomenon occurs includes:

[0025] Obtain the audio obtained by receiving sound inside the vehicle by a microphone inside the vehicle;

[0026] Identify the audio and monitor the braking sound phenomenon.

[0027] In a second aspect, an embodiment of the present invention provides a braking sound suppression device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the braking sound suppression method as described in the first aspect are implemented.

[0028] In a third aspect, an embodiment of the present invention provides a vehicle, and the vehicle includes the braking sound suppression device as described in the second aspect.

[0029] In a fourth aspect, an embodiment of the present invention provides a computer storage medium, and a computer program is stored in the computer storage medium. When the computer program is executed by a processor, the steps of the braking sound suppression method as described in the first aspect are implemented.

[0030] The braking sound suppression method, device, vehicle, and computer storage medium provided by the embodiments of the present invention, the braking sound suppression method includes: monitoring the vehicle braking torque, the hydraulic braking torque, and the motor regenerative braking torque; when a braking sound phenomenon occurs, adjusting the hydraulic braking torque and the motor regenerative braking torque based on the vehicle braking torque at a preset ratio until the braking sound phenomenon disappears. In this way, by monitoring the vehicle braking torque, the hydraulic braking torque, and the motor regenerative braking torque, when a braking sound phenomenon occurs, the coordinated braking pressure cyclic distribution control is performed, so as to suppress the generation of the braking sound phenomenon, without the need to adjust the hardware, manufacture samples, and repeatedly match the bench and the vehicle for verification, and the verification time is short and the cost is low. Description of the Drawings

[0031] Figure 1 Schematic flowchart of a braking sound suppression method provided by an embodiment of the present invention;

[0032] Figure 2 Schematic diagram of braking torque of a braking sound suppression method provided by an embodiment of the present invention;

[0033] Figure 3 Schematic structural diagram of a braking sound suppression device provided by an embodiment of the present invention. Detailed implementation manners

[0034] It should be noted that in this article, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article or device including the element. In addition, components, features, and elements with the same name in different embodiments of the present invention may have the same meaning or different meanings, and their specific meanings need to be determined by their explanations in the specific embodiments or further in combination with the context in the specific embodiments.

[0035] It should be understood that although terms such as first, second, and third may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this article, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "while" or "in response to determining". Furthermore, as used herein, the singular forms "a", "an" and "the" are also intended to include the plural forms unless the context clearly dictates otherwise. It should be further understood that the terms "comprising", "including" indicate the presence of the stated features, steps, operations, elements, components, items, types, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, types, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or meaning any one or any combination. Thus, "A, B or C" or "A, B and / or C" means "any one of the following: A; B; C; A and B; A and C; B and C; A, B and C". An exception to this definition only occurs when the combination of elements, functions, steps or operations is inherently mutually exclusive in some way.

[0036] It should be understood that although the steps in the flowcharts in the embodiments of the present invention are shown in sequence according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limitation, and they can be executed in other orders. Moreover, at least a part of the steps in the figure may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same moment, but can be executed at different moments, and their execution order is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or sub-steps or stages of other steps.

[0037] It should be noted that in this article, step codes such as S101 and S102 are adopted. The purpose is to more clearly and briefly express the corresponding content, and it does not constitute a substantial limitation in order. Those skilled in the art may execute S102 first and then S101 during specific implementation, etc., but these should all be within the protection scope of the present invention.

[0038] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0039] See Figure 1 , which is a braking sound suppression method provided by an embodiment of the present invention. This braking sound suppression method can be executed by a braking sound suppression device provided by an embodiment of the present invention. The braking sound suppression device can be implemented in a software and / or hardware manner. The braking sound suppression method includes the following steps:

[0040] Step S101: Monitor the vehicle braking torque, hydraulic braking torque, and motor feedback torque;

[0041] Specifically, in this embodiment, the conventional braking sound matching process and method are changed. Before calibrating the vehicle electronic stability system / electronic power assist, the braking sound calibration is performed first. During the braking sound calibration process, the monitoring of the vehicle braking torque, hydraulic braking torque, and motor feedback torque is added, a new PID control system is added, and the braking sound monitoring system is added to the PID control. Among them, the monitoring of the vehicle braking torque: The vehicle is equipped with an acceleration sensor, which can detect the vehicle acceleration in real time (this is the vehicle braking deceleration). Through the vehicle deceleration, vehicle weight, and tire rolling radius, the vehicle braking torque can be directly calculated by a formula; the monitoring of the hydraulic braking torque: The vehicle electronic stability system of the vehicle body is equipped with a pressure sensor, which can detect the hydraulic braking force in real time. Through the front and rear brake parameters (friction coefficient, cylinder diameter, braking radius, etc.), the hydraulic braking torque can be directly calculated by a formula; the monitoring of the motor feedback torque: It is determined by the characteristics of the motor itself, and the motor can be directly read.

[0042] In one embodiment, the monitoring of the vehicle braking torque, hydraulic braking torque, and motor feedback torque includes:

[0043] The vehicle braking torque is equal to the sum of the hydraulic braking torque and the motor feedback torque.

[0044] Specifically, as Figure 2 shown, in the figure, the hydraulic torque is the hydraulic braking torque, the feedback torque is the motor feedback torque, and the driver demand is the vehicle braking torque. It can be clearly seen that the hydraulic braking torque + the motor feedback torque = the vehicle braking torque.

[0045] In one embodiment, the monitoring of the vehicle braking torque, hydraulic braking torque, and motor feedback torque includes:

[0046] Obtain the braking deceleration, braking hydraulic pressure, and motor speed;

[0047] Query the recorded corresponding relationship between the braking deceleration and the vehicle braking torque according to the braking deceleration, and obtain the vehicle braking torque corresponding to the braking deceleration; and

[0048] Query the recorded corresponding relationship between the braking hydraulic pressure and the hydraulic braking torque according to the braking hydraulic pressure, and obtain the hydraulic braking torque corresponding to the braking hydraulic pressure; and

[0049] Query the recorded corresponding relationship between the motor speed and the motor feedback torque according to the motor speed, and obtain the motor feedback torque corresponding to the motor speed.

[0050] Here, there is a one-to-one correspondence between the vehicle braking torque and the braking deceleration, a one-to-one correspondence between the hydraulic braking torque and the braking hydraulic pressure, and a one-to-one correspondence between the motor feedback torque and the motor speed. After obtaining the braking deceleration, braking hydraulic pressure, and motor speed, the corresponding vehicle braking torque, hydraulic braking torque, and motor feedback torque can be obtained through calibration and table lookup.

[0051] Step S102: When the braking sound phenomenon occurs, adjust the hydraulic braking torque and the motor feedback torque based on the vehicle braking torque at a preset ratio until the braking sound phenomenon disappears.

[0052] It should be noted that this embodiment is applied to an electric vehicle configured with an electronic booster braking coordinated energy recovery system, and uses the electronic booster and the motor to coordinate the energy feedback braking function (such as Figure 2As shown, by using the principle of coordinated distribution of the motor feedback torque and the hydraulic braking torque), the braking whistle calibration is carried out to adjust the braking energy recovery ratio. When the braking whistle phenomenon occurs, according to the performance of the braking whistle, the distribution ratio of the hydraulic braking torque and the motor feedback torque is reversely controlled, and the hydraulic braking torque and the motor feedback torque are adjusted at a preset ratio. For example, the deceleration braking whistle calibration is carried out for each braking condition with a braking deceleration interval of 0.1g from 0-1g braking deceleration until the braking whistle phenomenon disappears. In this way, by recording the braking whistle phenomenon and the occurring conditions and forming a PID feedback, the occurrence of the braking whistle can be adjusted and avoided in time.

[0053] In summary, in the braking whistle suppression method provided by the above embodiment, by monitoring the vehicle braking torque, the hydraulic braking torque, and the motor feedback torque, when the braking whistle phenomenon occurs, the coordinated braking pressure cyclic distribution control is carried out, so as to suppress the generation of the braking whistle phenomenon, without the need to adjust the hardware, manufacture samples, and repeatedly match the test bench and the vehicle for verification, and the verification time is short and the cost is low.

[0054] In an embodiment, when the braking whistle phenomenon occurs, based on the vehicle braking torque, the hydraulic braking torque and the motor feedback torque are adjusted at a preset ratio until the braking whistle phenomenon disappears, including:

[0055] Adjust the braking hydraulic pressure at a preset ratio;

[0056] According to the preset ratio, the motor speed is adjusted accordingly to control the vehicle deceleration to remain unchanged.

[0057] Here, in practical applications, for example, a certain vehicle model conducts deceleration braking whistle calibration for each braking condition with a braking deceleration interval of 0.1g from 0-1g braking deceleration. When the on-vehicle microphone monitors that the whole vehicle has a braking whistle phenomenon of 3000Hz and 60 decibels at a speed of 40km / h, a braking hydraulic pressure of 3Mpa, a braking deceleration of 0.3g, and a friction plate temperature of 100 degrees Celsius, this input is monitored and judged by the control system as a common condition, and the torque distribution feedback system quickly adjusts the braking hydraulic pressure +10% to 3.3MPa. To ensure that the vehicle target deceleration remains unchanged, the motor speed is adjusted to reduce the motor feedback torque by about 10% (to ensure that the motor feedback torque + the hydraulic braking torque = the vehicle braking torque and ensure braking safety), and the braking whistle is monitored and judged again. If the braking whistle appears again, the braking hydraulic pressure is adjusted +10% to 3.6MPa again, and the corresponding motor feedback torque and the hydraulic braking torque are balanced and redistributed again until the braking whistle phenomenon disappears. Among them, the adjustment ratio of the braking hydraulic pressure and the motor speed can be set according to actual applications. In this way, by controlling the vehicle braking torque through the above PID, adjusting the braking recovery ratio and the hydraulic braking torque, the braking whistle phenomenon can be quickly solved.

[0058] In one embodiment, before adjusting the hydraulic braking torque and the motor feedback torque at a preset ratio based on the vehicle braking torque when the braking whistle phenomenon occurs, it includes:

[0059] Obtain the magnitude of the braking whistle and the temperature of the friction plate;

[0060] Judge whether the vehicle working condition is a common working condition according to the magnitude of the braking whistle and the temperature of the friction plate.

[0061] Here, the uncommon working conditions include but are not limited to: ① Braking working conditions with a braking deceleration of more than 0.7g; ② Braking working conditions with a friction plate temperature of more than 250 °C or below -20 °C; ③ Braking working conditions with a braking whistle frequency below 50 Hz or above 20,000 Hz.

[0062] Among them, ① The braking working condition with a braking deceleration of more than 0.7g is a high-intensity braking working condition, generally belonging to an emergency braking working condition. At this time, the driver pays more attention to comfort and relatively less attention to the braking whistle; ② The friction plate temperature of 250 °C generally occurs after more than 3 consecutive emergency brakes in a short period of time, which is an uncommon working condition. The friction plate temperature of -20 °C generally exists in extremely cold regions, and the friction plate temperature will rise above -20 °C after one brake, which is an uncommon working condition; ③ The human ear is not sensitive to braking whistles below 50 Hz and above 20,000 Hz. Therefore, judge whether the vehicle working condition is a common working condition according to the magnitude of the braking whistle and the temperature of the friction plate. When it is determined that the vehicle working condition is a common working condition, execute the step of adjusting the hydraulic braking torque and the motor feedback torque at a preset ratio based on the vehicle braking torque when the braking whistle phenomenon occurs until the braking whistle phenomenon disappears.

[0063] In one embodiment, when the braking whistle phenomenon occurs, adjusting the hydraulic braking torque and the motor feedback torque at a preset ratio based on the vehicle braking torque until the braking whistle phenomenon disappears includes:

[0064] Obtain the audio obtained by receiving the sound inside the vehicle through a microphone inside the vehicle;

[0065] Identify the audio and monitor the braking whistle phenomenon.

[0066] Here, the vehicle monitors the braking whistle phenomenon based on the on-vehicle microphone.

[0067] Based on the same inventive concept as the foregoing embodiments, an embodiment of the present invention provides a braking whistle suppression device, as Figure 3 shown. The braking whistle suppression device includes: a processor 110 and a memory 111 for storing a computer program that can run on the processor 110; wherein, Figure 3The processor 110 shown schematically is not used to indicate that the number of processors 110 is one, but only to indicate the positional relationship of the processor 110 relative to other devices. In actual applications, the number of processors 110 can be one or more; similarly, Figure 3 the same applies to the memory 111 shown schematically, that is, it is only used to indicate the positional relationship of the memory 111 relative to other devices. In actual applications, the number of memories 111 can be one or more. When the processor 110 is used to run the computer program, the braking sound suppression method is implemented.

[0068] The braking sound suppression device may further include: at least one network interface 112. Each component in the braking sound suppression device is coupled together through a bus system 113. It can be understood that the bus system 113 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 113 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clear illustration, in Figure 3 all kinds of buses are labeled as the bus system 113.

[0069] Among them, the memory 111 can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a ferromagnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); the magnetic surface memory can be a disk memory or a tape memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), sync link dynamic random access memory (SLDRAM), direct rambus random access memory (DRRAM).The memory 111 described in the embodiments of the present invention is intended to include but not limited to these and any other suitable types of memories.

[0070] The memory 111 in the embodiments of the present invention is used to store various types of data to support the operation of the brake whistle suppression device. Examples of such data include: any computer programs for operating on the brake whistle suppression device, such as operating systems and application programs; contact data; phone book data; messages; pictures; videos, etc. Among them, the operating system contains various system programs, such as the framework layer, the core library layer, the driver layer, etc., for implementing various basic services and processing hardware-based tasks. The application program can contain various application programs, such as a Media Player, a Browser, etc., for implementing various application services. Here, the program for implementing the method of the embodiments of the present invention can be included in the application program.

[0071] Based on the same inventive concept as the foregoing embodiments, this embodiment further provides a vehicle, which includes the brake whistle suppression device as described above.

[0072] Based on the same inventive concept as the foregoing embodiments, this embodiment further provides a computer storage medium, in which a computer program is stored. The computer storage medium can be a ferromagnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM), etc.; or it can be various devices including one or any combination of the above memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, etc. When the computer program stored in the computer storage medium is run by a processor, the above-mentioned brake whistle suppression method is implemented. For the specific step flow implemented when the computer program is executed by the processor, please refer to Figure 1 the description of the illustrated embodiments, which will not be elaborated here.

[0073] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as falling within the scope described in this specification.

[0074] In this document, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion. In addition to the listed elements, it may also include other elements not specifically listed.

[0075] As described above, this is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A braking sound suppression method, characterized in that The brake sound suppression method includes the following steps: Monitor the vehicle braking torque, hydraulic braking torque, and motor feedback torque; When the brake sound phenomenon occurs, adjust the hydraulic braking torque and the motor feedback torque based on the vehicle braking torque at a preset ratio until the brake sound phenomenon disappears; The monitoring of the vehicle braking torque, hydraulic braking torque, and motor feedback torque includes: Obtain the braking deceleration, braking hydraulic pressure, and motor speed; Query the recorded corresponding relationship between the braking deceleration and the vehicle braking torque according to the braking deceleration, and obtain the vehicle braking torque corresponding to the braking deceleration; and Query the recorded corresponding relationship between the braking hydraulic pressure and the hydraulic braking torque according to the braking hydraulic pressure, and obtain the hydraulic braking torque corresponding to the braking hydraulic pressure; and Query the recorded corresponding relationship between the motor speed and the motor feedback torque according to the motor speed, and obtain the motor feedback torque corresponding to the motor speed; The step of, when the brake sound phenomenon occurs, adjusting the hydraulic braking torque and the motor feedback torque based on the vehicle braking torque at a preset ratio until the brake sound phenomenon disappears includes: Adjust the braking hydraulic pressure at a preset ratio; Correspondingly adjust the motor speed according to the preset ratio to control the braking deceleration to remain unchanged.

2. The braking sound suppression method according to claim 1, characterized in that The monitoring of the vehicle braking torque, hydraulic braking torque, and motor feedback torque includes: The vehicle braking torque is equal to the sum of the hydraulic braking torque and the motor feedback torque.

3. The braking sound suppression method according to claim 1, characterized in that Before the step of, when the brake sound phenomenon occurs, adjusting the hydraulic braking torque and the motor feedback torque based on the vehicle braking torque at a preset ratio, it includes: Obtain the brake sound magnitude and the friction plate temperature; Judge whether the vehicle working condition is a common working condition according to the brake sound magnitude and the friction plate temperature.

4. The braking sound suppression method according to claim 3, wherein The judging whether the vehicle working condition is a common working condition according to the brake sound magnitude and the friction plate temperature includes: If the vehicle working condition is the common working condition, execute the step of, when the brake sound phenomenon occurs, adjusting the hydraulic braking torque and the motor feedback torque based on the vehicle braking torque at a preset ratio until the brake sound phenomenon disappears.

5. The braking sound suppression method according to claim 1, characterized in that, The step of, when the brake sound phenomenon occurs, adjusting the hydraulic braking torque and the motor feedback torque based on the vehicle braking torque until the brake sound phenomenon disappears includes: Obtain the audio obtained by receiving the sound inside the vehicle by a microphone inside the vehicle; Identify the audio and monitor the brake sound phenomenon.

6. A braking sound suppression device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the brake sound suppression method according to any one of claims 1 to 5.

7. A vehicle, characterized in that, The vehicle includes the brake sound suppression device according to claim 6.

8. A computer storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the brake sound suppression method according to any one of claims 1 to 5.

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