Vehicle, control method thereof, and storage medium

Abstract

The application discloses a vehicle, a control method thereof and a storage medium. The method comprises the following steps: acquiring the temperature of each brake of the vehicle; if there is a temperature reaching a temperature threshold, acquiring the braking demand of the vehicle, wherein the temperature threshold is less than or equal to a thermal decay temperature; distributing braking force according to the temperature of each brake and the braking demand; and controlling the vehicle according to the distributed braking force. The method can actively avoid or reduce brake thermal decay, and improves the safety of the vehicle.

Description

Technical Field

[0001] This invention relates to the field of automotive braking technology, and more particularly to a vehicle, its control method, and a storage medium. Background Technology

[0002] Prolonged, continuous, or frequent braking can cause brake temperature to rise, resulting in brake fade. Brake fade reduces braking capacity, increases braking distance, and raises traffic safety risks. To address this, trucks typically have a water spray system. On long downhill sections, the driver controls the system to cool the brakes based on their judgment. However, this method requires driver intervention, has low automation, and necessitates frequent water refills, making it inconvenient. Passenger vehicles generally use sensors or algorithms to identify brake temperature and issue warnings when it reaches the point of brake fade. However, this method only provides warnings; it cannot prevent or automatically resolve brake fade. Summary of the Invention

[0003] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the object of this invention is to provide a vehicle, its control method, and a storage medium to actively avoid or reduce brake fade, thereby improving vehicle safety.

[0004] To achieve the above objectives, a first aspect of the present invention provides a vehicle control method, the method comprising: acquiring the temperature of each brake of the vehicle; if a temperature reaches a temperature threshold, acquiring the braking demand of the vehicle, wherein the temperature threshold is less than or equal to the heat fade temperature; distributing braking force according to the temperature of each brake and the braking demand, and controlling the vehicle according to the distributed braking force.

[0005] In addition, the vehicle control method of the above embodiments of the present invention may also have the following additional technical features:

[0006] According to one embodiment of the present invention, the step of distributing braking force based on the temperature of each brake and the braking demand, and controlling the vehicle based on the distributed braking force, includes: acquiring the current energy recovery capability of the vehicle, and determining the energy recovery braking force based on the current energy recovery capability; obtaining a target energy recovery braking force and a brake braking force based on the energy recovery braking force and the braking demand; determining a target brake, and distributing the brake braking force to each target brake, wherein the target brake is a brake whose temperature has not reached the temperature threshold; controlling the vehicle to perform braking energy recovery based on the target energy recovery braking force, and controlling each target brake based on the braking force distributed to each target brake.

[0007] According to one embodiment of the present invention, obtaining the target recovery braking force and the brake braking force based on the energy recovery braking force and the braking demand includes: if the energy recovery braking force is less than the braking force corresponding to the braking demand, then the target recovery braking force is the energy recovery braking force, and the brake braking force is the difference between the braking force corresponding to the braking demand and the energy recovery braking force; if the energy recovery braking force is greater than or equal to the braking force corresponding to the braking demand, then the target recovery braking force is the braking force corresponding to the braking demand, and the brake braking force is zero.

[0008] According to one embodiment of the present invention, the step of distributing the braking force of the brake to each of the target brakes includes: distributing the braking force of the brake to each of the target brakes equally; or distributing the braking force of the brake to each of the target brakes according to the temperature of each of the target brakes, wherein the braking force distributed to the target brake with the lower temperature is greater than the braking force distributed to the target brake with the higher temperature.

[0009] According to one embodiment of the present invention, after distributing the braking force of the brake to each of the target brakes, the method further includes: if the braking force distributed to a target brake is greater than a braking force threshold, then the braking force threshold is distributed to that target brake, and the remaining braking force is distributed to other target brakes; if the braking force distributed to all target brakes is greater than the braking force threshold, then the braking force threshold is distributed to each of the target brakes, and the remaining braking force is distributed to brakes with a temperature greater than the temperature threshold.

[0010] According to one embodiment of the present invention, before allocating the remaining braking force to the brake with a temperature greater than the temperature threshold, the method further includes: determining that the remaining braking force is less than or equal to a minimum braking force limit; wherein, if the remaining braking force is greater than the minimum braking force limit, the minimum braking force limit is allocated to the brake with a temperature greater than the temperature threshold.

[0011] According to one embodiment of the present invention, the method further includes: if the brake with a temperature greater than the temperature threshold is not assigned braking force, then controlling the brake piston of the brake to move away from the brake disc, so as to increase the gap between the friction pad of the brake and the brake disc.

[0012] According to one embodiment of the present invention, the method further includes: obtaining a functional relationship between the friction coefficient of the brake and temperature; and determining the temperature threshold based on the functional relationship.

[0013] According to an embodiment of the present invention, determining the temperature threshold based on the functional relationship includes: determining a thermal decay temperature and a target friction coefficient range based on the functional relationship, wherein the friction coefficient in the target friction coefficient range is negatively correlated with temperature; calculating the rate of change of friction coefficient corresponding to each temperature in the target friction coefficient range based on the functional relationship; if there is a rate of change of friction coefficient greater than a threshold value, then the difference between the thermal decay temperature and a preset temperature is used as the temperature threshold; otherwise, the thermal decay temperature is used as the temperature threshold.

[0014] According to an embodiment of the present invention, determining the thermal decay temperature and the target friction coefficient range based on the functional relationship includes: obtaining a temperature range and a friction coefficient range that are negatively correlated with the temperature and friction coefficient based on the functional relationship; taking the minimum temperature in the temperature range as the thermal decay temperature, and taking the range from the maximum friction coefficient in the friction coefficient range to the range that is a preset value away from the maximum friction coefficient as the target friction coefficient range.

[0015] To achieve the above objectives, a second aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described vehicle control method.

[0016] To achieve the above objectives, a third aspect of the present invention provides a vehicle comprising: a controller and a plurality of brakes, wherein the controller includes a memory, a processor and a computer program stored in the memory, and the computer program, when executed by the processor, implements the vehicle control method described above.

[0017] The vehicle, its control method, and storage medium of this invention can actively avoid or reduce brake fade, thereby improving vehicle safety. Attached Figure Description

[0018] Figure 1 This is a flowchart of a vehicle control method according to an embodiment of the present invention;

[0019] Figure 2 This is a structural diagram of a braking system according to an embodiment of the present invention;

[0020] Figure 3 This is a schematic diagram illustrating the functional relationship between temperature and friction coefficient according to an embodiment of the present invention;

[0021] Figure 4 This is a flowchart of a braking force distribution method according to a specific embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of the structure of a brake according to an embodiment of the present invention;

[0023] Figure 6 This is a flowchart of a vehicle control method according to a specific embodiment of the present invention;

[0024] Figure 7 This is a structural block diagram of a controller according to an embodiment of the present invention;

[0025] Figure 8 This is a structural diagram of a vehicle according to an embodiment of the present invention. Detailed Implementation

[0026] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0027] The vehicle, its control method, and storage medium according to embodiments of the present invention are described below with reference to the accompanying drawings.

[0028] Figure 1 This is a flowchart of a vehicle control method according to an embodiment of the present invention.

[0029] like Figure 1 As shown, the vehicle control methods include:

[0030] S11, obtain the temperature of each brake in the vehicle.

[0031] Specifically, such as Figure 2 As shown, the vehicle includes at least four wheels, each wheel having a corresponding brake, including two front brakes and two rear brakes. A temperature sensor can be installed for each brake to obtain the brake's temperature.

[0032] S12, if there is a temperature that reaches the temperature threshold, then obtain the vehicle's braking demand, wherein the temperature threshold is less than or equal to the heat fade temperature.

[0033] In this embodiment, when the temperature of a brake approaches a set temperature threshold, a warning is issued via an HMI (Human Machine Interface) (such as the display screen of an in-vehicle display terminal, instrument panel, etc.) to remind the driver to reduce speed. The driver can depress the brake pedal to reduce speed, and the braking demand is determined based on the brake pedal opening.

[0034] S13 distributes braking force according to the temperature and braking demand of each brake, and controls the vehicle based on the distributed braking force.

[0035] Specifically, it can reduce or avoid distributing braking force to brakes with high temperatures, while also enabling some braking force to be applied through energy regeneration. This proactively avoids or reduces brake fade, improving vehicle safety.

[0036] In some embodiments, the method further includes: obtaining a functional relationship between the friction coefficient of the brake and temperature; and determining a temperature threshold based on the functional relationship.

[0037] Specifically, determining the temperature threshold based on a functional relationship may include: determining the thermal decay temperature and the target friction coefficient range based on the functional relationship, wherein the friction coefficient within the target friction coefficient range is negatively correlated with temperature; calculating the rate of change of the friction coefficient corresponding to each temperature within the target friction coefficient range based on the functional relationship; if there is a rate of change of the friction coefficient greater than the rate of change threshold, then the difference between the thermal decay temperature (e.g., 500℃) and the preset temperature is used as the temperature threshold (e.g., 450℃); otherwise, the thermal decay temperature is used as the temperature threshold (e.g., 500℃). The preset temperature range can be 10-90℃, such as 50℃.

[0038] In some examples, determining the thermal decay temperature and target friction coefficient range based on a functional relationship may include: obtaining a temperature range and a friction coefficient range where temperature is negatively correlated with the friction coefficient based on the functional relationship, such as... Figure 3 As shown, the temperature range is [500℃, the maximum temperature value of the functional relationship], and the friction coefficient range is [the friction coefficient corresponding to 500℃, the friction coefficient corresponding to the maximum temperature value]; the minimum temperature in the temperature range is taken as the thermal decay temperature, such as... Figure 3 The temperature is 500℃; the range from the maximum friction coefficient to a preset value f0 away from the maximum friction coefficient is taken as the target friction coefficient range.

[0039] In some embodiments, such as Figure 4 As shown, braking force is distributed according to the temperature and braking demand of each brake, and the vehicle is controlled based on the distributed braking force, including:

[0040] S51, obtain the vehicle's current energy recovery capability, and determine the energy recovery braking force based on the current energy recovery capability.

[0041] Specifically, when the temperature of a brake is detected to be higher than a temperature threshold, regenerative braking can be activated or increased to utilize the motor's drag torque to increase braking capacity, thereby reducing brake usage through vehicle energy recovery. Since energy recovery capacity is affected by motor performance and battery status—for example, energy recovery capacity decreases when the battery is near full charge—the vehicle's energy recovery capacity can be periodically assessed and the regenerative braking force determined during braking force distribution to maximize braking force distribution through energy recovery.

[0042] S52, based on the energy recovery braking force and braking requirements, obtains the target recovery braking force and the brake braking force.

[0043] In some embodiments, the target recovery braking force and the brake braking force are obtained based on the energy recovery braking force and the braking demand, including: if the energy recovery braking force is less than the braking force corresponding to the braking demand, then the target recovery braking force is the energy recovery braking force, and the brake braking force is the difference between the braking force corresponding to the braking demand and the energy recovery braking force; if the energy recovery braking force is greater than or equal to the braking force corresponding to the braking demand, then the target recovery braking force is the braking force corresponding to the braking demand, and the brake braking force is zero.

[0044] S53, identify the target brake and distribute the braking force of the brake to each target brake, wherein the target brake is the brake whose temperature has not reached the temperature threshold.

[0045] In some implementations, distributing the braking force of the brakes to each target brake includes: distributing the braking force of the brakes evenly to each target brake.

[0046] For example, if the temperature of one of the four brakes reaches the temperature threshold, the other three brakes can be identified as target brakes, and the braking force F is evenly distributed to each target brake, that is, the braking force allocated to each target brake is F / 3.

[0047] In other embodiments, the braking force of the brake is distributed to each target brake, including: distributing the braking force of the brake to each target brake according to the temperature of each target brake, wherein the braking force distributed to the target brake with the lower temperature is greater than the braking force distributed to the target brake with the higher temperature.

[0048] For example, if the temperature of one of the four brakes reaches a temperature threshold, the other three brakes can be identified as target brakes. Then, the temperature ranking of each target braking force can be obtained, and the braking force F can be allocated to each target brake according to the temperature ranking. For instance, the target brake with the highest temperature in the temperature ranking is allocated F / 6, the target brake with the second highest temperature in the temperature ranking is allocated F / 3, and the target brake with the lowest temperature in the temperature ranking is allocated F / 2.

[0049] S54 controls the vehicle to recover braking energy based on the target recovery braking force, and controls each target brake based on the braking force allocated to each target brake.

[0050] In some embodiments, after distributing the braking force of the brakes to each target brake, the method further includes: if the braking force distributed to a target brake is greater than a braking force threshold, then the braking force threshold is distributed to that target brake, and the remaining braking force is distributed to other target brakes; if the braking force distributed to all target brakes is greater than the braking force threshold, then the braking force threshold is distributed to each target brake, and the remaining braking force is distributed to the brake with a temperature greater than a temperature threshold.

[0051] Specifically, the braking force threshold is the maximum braking force that the brake can distribute. If the braking force distributed to a target brake is greater than the braking force threshold, it indicates that the braking force distributed to that target brake is too large. In this case, the braking force threshold is distributed to that target brake, and the remaining braking force is distributed to other target brakes. If the braking force distributed to all target brakes is greater than the braking force threshold, it indicates that the brakes whose temperature has not reached the temperature threshold cannot meet the braking requirements. In this case, the braking force threshold is distributed to each target brake, and the remaining braking force is distributed to the brakes whose temperature is greater than the temperature threshold to meet the braking requirements.

[0052] In some embodiments, before allocating the remaining braking force to the brakes whose temperature is above a temperature threshold, the method further includes: determining that the remaining braking force is less than or equal to a minimum braking force limit. Wherein, if the remaining braking force is greater than the minimum braking force limit, the minimum braking force limit is allocated to the brakes whose temperature is above the temperature threshold.

[0053] Specifically, before allocating the remaining braking force to brakes with temperatures above the temperature threshold, if the remaining braking force is less than or equal to the minimum braking force limit, the remaining braking force is directly allocated to the brakes with temperatures above the temperature threshold to meet braking requirements. If the remaining braking force is greater than the minimum braking force limit, the minimum braking force limit is allocated to the brakes with temperatures above the temperature threshold to reduce or prevent thermal fade in the brakes that have reached the temperature threshold.

[0054] In some embodiments, the method further includes: if a brake with a temperature greater than a temperature threshold is not assigned braking force, an EMB (Electric Mechanical Brake) wheel-side motor can be used to control the brake piston of the brake away from the brake disc to increase the gap between the brake's friction pads and the brake disc.

[0055] Specifically, such as Figure 5As shown, the EMB control motor M drives the brake piston to move to the right via the transmission system, reducing the disc clearance (i.e., the gap between the friction pads and the brake disc), bringing it closer to the brake disc and providing braking force. Conversely, the brake piston moves to the left, increasing the disc clearance and moving it away from the brake disc, which facilitates ventilation and cooling. The disc clearance can be detected by a displacement sensor. When controlling the brake piston to move away from the brake disc, the control amount for motor M can be determined based on the disc clearance. During braking control, the pressure between the friction pads and the brake disc can also be detected by a force sensor, and the applied braking force can be determined based on this pressure.

[0056] In some embodiments, during the control of the brake, the speed of the motor corresponding to the brake and the detection value of the braking force sensor can be obtained, and the actual braking force can be obtained based on the speed and the detection value of the braking force sensor. Then, the target braking force can be obtained by PI (proportional integral) control based on the actual braking force and the braking force corresponding to the braking demand, so as to continue the subsequent braking control.

[0057] The following is combined with Figure 6 The vehicle control method of the present invention is described through a specific embodiment:

[0058] After detecting a brake with a temperature exceeding the temperature threshold, such as Figure 6 As shown, the braking demand is acquired, and the braking force or braking torque is obtained based on the braking demand. This braking force is then distributed, either to the regenerative braking system for energy recovery or to individual brakes. When distributing to the regenerative braking system, the regenerative braking capacity can be periodically acquired to determine the target regenerative braking force for distribution, thus enabling regenerative braking control. When distributing to individual brakes, priority can be given to brakes with lower temperatures to cool down those with higher temperatures. Furthermore, when controlling the brakes, the current-controlled motor rotates to clamp or retract the brakes. Simultaneously, the EMB status, motor speed, and clamping force sensor are monitored, and the monitored values ​​are fed back for arbitration and coordination. The arbitration and coordination results can be used to adjust the braking force distribution and to obtain the actual braking force. This, combined with the braking demand, is then used for PI control to obtain a new braking force. Each brake can be controlled independently.

[0059] In summary, the vehicle control method of this invention can provide early warning of brake fade, allowing the driver to prepare in advance. Furthermore, by avoiding or reducing braking control of brakes with excessively high temperatures, it can actively avoid or reduce brake fade, thereby improving vehicle safety.

[0060] Based on the vehicle control method of the above embodiments, the present invention also proposes a computer-readable storage medium.

[0061] In this embodiment, a computer program is stored on a computer-readable storage medium. When the computer program is executed by a processor, it implements the vehicle control method described above.

[0062] Figure 8 This is a structural diagram of a vehicle according to an embodiment of the present invention.

[0063] like Figure 8 As shown, vehicle 800 includes controller 700 and multiple brakes 801.

[0064] In some embodiments, such as Figure 7 As shown, the controller 700 includes a processor 701 and a memory 703. The processor 701 and the memory 703 are connected, for example, via a bus 702. Optionally, the controller 700 may also include a transceiver 704. It should be noted that in practical applications, the transceiver 704 is not limited to one type, and the structure of the controller 700 does not constitute a limitation on the embodiments of the present invention.

[0065] Processor 701 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this invention. Processor 701 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0066] Bus 702 may include a pathway for transmitting information between the aforementioned components. Bus 702 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 702 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 7 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0067] The memory 703 stores a computer program corresponding to the vehicle control method of the above embodiments of the present invention, which is executed by the processor 701. The processor 701 executes the computer program stored in the memory 703 to implement the content shown in the foregoing method embodiments. Figure 7 The controller 700 shown is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.

[0068] The vehicle of this invention can provide early warning of brake fade, enabling the driver to prepare in advance and actively avoid or reduce brake fade, thereby improving vehicle safety.

[0069] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0070] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0071] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0072] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0073] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0074] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0075] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0076] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for controlling a vehicle, characterized in that, The method includes: Obtain the temperature of each brake in the vehicle; If a temperature reaches a threshold, the braking requirement of the vehicle is obtained, wherein the temperature threshold is less than or equal to the heat fade temperature. Braking force is distributed based on the temperature of each brake, the braking demand, and the vehicle's current energy recovery capability, and the vehicle is controlled based on the distributed braking force; the braking force distribution includes the distribution of regenerative braking force and brake force; wherein, when a temperature threshold is reached, energy recovery is activated or increased, and the priority of energy recovery is higher than the priority of brake braking, including: Obtain the current energy recovery capability of the vehicle, and determine the energy recovery braking force based on the current energy recovery capability; Based on the energy recovery braking force and the braking demand, the target recovery braking force and the brake force are obtained; wherein, if the energy recovery braking force is less than the braking force corresponding to the braking demand, the target recovery braking force is the energy recovery braking force, and the brake force is the difference between the braking force corresponding to the braking demand and the energy recovery braking force; if the energy recovery braking force is greater than or equal to the braking force corresponding to the braking demand, the target recovery braking force is the braking force corresponding to the braking demand, and the brake force is zero. Identify target brakes and distribute the braking force of the target brakes to each of the target brakes, wherein the target brakes are brakes whose temperature has not reached the temperature threshold; distribute the braking force of the target brakes evenly to each of the target brakes; or The braking force of each target brake is distributed to each target brake according to the temperature of each target brake, and the braking force distributed to the target brake with the lower temperature is greater than the braking force distributed to the target brake with the higher temperature. If the braking force allocated to a target brake is greater than the braking force threshold, then the braking force threshold is allocated to that target brake, and the remaining braking force is allocated to other target brakes. If the braking force assigned to all target brakes is greater than the braking force threshold, then the braking force threshold is assigned to each of the target brakes, and the remaining braking force is assigned to the brakes whose temperature is greater than the temperature threshold; wherein, if the remaining braking force is greater than the minimum braking force limit, then the minimum braking force limit is assigned to the brakes whose temperature is greater than the temperature threshold. The vehicle is controlled to perform brake energy recovery according to the target recovery braking force, and each target brake is controlled according to the braking force allocated to each target brake. If a brake with a temperature greater than the temperature threshold is not assigned braking force, the brake piston of the brake is controlled to move away from the brake disc to increase the gap between the brake's friction pads and the brake disc.

2. The method according to claim 1, characterized in that, Before allocating the remaining braking force to the brakes whose temperature is higher than the temperature threshold, the method further includes: It is determined that the remaining braking force is less than or equal to the minimum braking force limit.

3. The method according to claim 1, characterized in that, The method further includes: Obtain the functional relationship between the friction coefficient of the brake and temperature; The temperature threshold is determined based on the stated functional relationship.

4. The method according to claim 3, characterized in that, Determining the temperature threshold based on the functional relationship includes: The thermal decay temperature and the target friction coefficient range are determined based on the aforementioned functional relationship, wherein the friction coefficient within the target friction coefficient range is negatively correlated with temperature. Calculate the rate of change of friction coefficient at each temperature within the target friction coefficient range based on the aforementioned functional relationship; If there is a rate of change of friction coefficient greater than the rate of change threshold, then the difference between the thermal decay temperature and the preset temperature is used as the temperature threshold; otherwise, the thermal decay temperature is used as the temperature threshold.

5. The method according to claim 4, characterized in that, The determination of the thermal decay temperature and target friction coefficient range based on the aforementioned functional relationship includes: Based on the aforementioned functional relationship, the temperature range and friction coefficient range in which temperature is negatively correlated with the friction coefficient are obtained; The minimum temperature in the temperature range is taken as the thermal decay temperature, and the range from the maximum friction coefficient in the friction coefficient range to the range that is a preset value away from the maximum friction coefficient is taken as the target friction coefficient range.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1-5.

7. A vehicle, characterized in that, include: A controller and a plurality of actuators, the controller including a memory, a processor and a computer program stored in the memory, the computer program being executed by the processor to implement the method as described in any one of claims 1-5.

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