A method of controlling braking force, a braking force control system, and a vehicle

Abstract

The embodiment of the application provides a brake force control method, a brake force control system and a vehicle; the control method comprises the following steps: acquiring system brake force corresponding to a reference vehicle model; providing regenerative brake force through a brake energy recovery system and superimposing the regenerative brake force on the system brake force; taking the system brake force and the regenerative brake force as total brake force output of a required expansion state; and adjusting the regenerative brake force of the brake energy recovery system so that the total brake force is within a preset range of the required expansion state. At least the following beneficial effects can be achieved: when the vehicle model is expanded or the state changes, the regenerative brake force degree of the regenerative brake force is calibrated and adjusted through a VCU, the development requirement of the required expansion state in the brake force is met without changing the hardware of the brake system, the development time is shortened, and the design stability can be increased. Through the above scheme, a more flexible development scheme can be provided for the brake system development of a platform vehicle model.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of vehicle design, in particular to the application of energy recovery on braking force, and provides a braking force control method, a braking force control system and a vehicle. BACKGROUND

[0002] The braking system refers to a series of special devices that can forcibly reduce the driving speed of a vehicle. The braking system is mainly composed of an energy supply device, a control device, a transmission device and a brake, etc. Its main function is to reduce the speed of a vehicle in driving or even to stop the vehicle, to keep the speed of a vehicle driving on a slope stable, and to keep a stopped vehicle stationary.

[0003] In the prior art, when a vehicle needs to be expanded, such as from a sedan to an SUV, or when the center of mass and weight of the vehicle change; due to the change of the overall vehicle parameters, the same set of braking system cannot be used on the unified platform vehicle model. In an example, it is usually necessary to design the parameters of the matching braking system according to the overall vehicle parameters (vehicle wheelbase, full load gross mass, empty load gross mass, vehicle weight, center of mass height, and center of mass distance from front and rear axles) to determine the main braking system parameters; wherein the required design parameters include; basic parameters include pedal lever ratio, main cylinder diameter, main cylinder stroke, caliper cylinder diameter, brake radius, friction plate friction coefficient, etc. Therefore, when different vehicle models or vehicle states change, it is necessary to re-match design or design a braking system with a large design margin, which greatly increases the development cost and prolongs the development cycle.

[0004] Therefore, the present application is proposed. SUMMARY

[0005] To solve the technical problems proposed in the prior art, the present application provides a braking force control method, a braking force control system and a vehicle.

[0006] In a first aspect of the present application, a braking force control method is provided, which comprises: determining the basic parameters of the current braking system according to the braking force matching of the reference vehicle model; obtaining the system braking force corresponding to the reference vehicle model through the basic parameters; providing regenerative braking force through the braking energy recovery system and superimposing it on the system braking force, taking the system braking force and the regenerative braking force as the total braking force output in the required expansion state; and adjusting the regenerative braking force of the braking energy recovery system so that the total braking force is within the preset range of the required expansion state.

[0007] In a further aspect of the application, the system braking force includes a first braking force of the front wheels and a second braking force of the rear wheels, and the regenerative braking force includes a first regenerative braking force of the front wheels and a second regenerative braking force of the rear wheels; the superimposition of the regenerative braking force provided by the brake energy recovery system on the system braking force includes: superimposing the first regenerative braking force on the first braking force and superimposing the second regenerative braking force on the second braking force, respectively; wherein the difference between the braking force before superimposition and the braking force after superimposition of the front wheels is greater than that of the rear wheels.

[0008] In a further aspect of the application, the determination of the basic parameters of the braking system according to the braking force matching of the reference vehicle type includes: designing the basic parameters of the braking system according to the whole vehicle parameters of the reference vehicle type; wherein the whole vehicle parameters include wheel track, total mass in load, total mass in empty load, vehicle weight, center of mass height, and distance between the center of mass and the front and rear axles; and the basic parameters include pedal lever ratio, main cylinder diameter, main cylinder stroke, caliper diameter, brake radius, and friction plate friction coefficient.

[0009] In a further aspect of the application, the adjustment of the regenerative braking force of the brake energy recovery system so that the total braking force is within the preset range of the required expansion state includes: drawing an ideal braking force distribution curve and an actual braking force distribution curve of the system braking force, respectively; and adjusting the first regenerative braking force and the second regenerative braking force to change the actual braking force distribution curve so that it is within the preset range of the required expansion state.

[0010] In a further aspect of the application, the adjustment of the first regenerative braking force and the second regenerative braking force to change the actual braking force distribution curve so that it is within the preset range of the required expansion state includes: when the whole vehicle mass of the required expansion state is higher than that of the reference vehicle type, controlling the intersection of the actual braking force distribution curve and the ideal braking force distribution curve to move upward; and when the whole vehicle mass of the required expansion state is lower than that of the reference vehicle type, controlling the intersection of the actual braking force distribution curve and the ideal braking force distribution curve to move downward.

[0011] In a further aspect of the application, the ideal braking force distribution curve includes an empty load ideal braking force distribution curve and a full load ideal braking force distribution curve; when the total braking force is within a first preset range, the actual braking force distribution curve is on the lower side of the empty load ideal braking force distribution curve and the full load ideal braking force distribution curve; when the total braking force is within a second preset range, the actual braking force distribution curve is between the empty load ideal braking force distribution curve and the full load ideal braking force distribution curve; and when the total braking force is within a third preset range, the actual braking force distribution curve is on the upper side of the empty load ideal braking force distribution curve and the full load ideal braking force distribution curve.

[0012] In a further aspect of the present application, when the brake energy recovery system is coupled, the regenerative braking force provided by the brake energy recovery system is 0-0.3g; when the brake energy recovery system is decoupled, the regenerative braking force provided by the brake energy recovery system is 0-1g.

[0013] In the second aspect of the present application, a brake force control system is also provided, which comprises: a brake module for providing a system braking force; a brake energy recovery module for providing a regenerative braking force; wherein the regenerative braking force is provided by the brake energy recovery system and superimposed on the system braking force, and the system braking force and the regenerative braking force are output as a total braking force of a required expansion state.

[0014] In a further aspect of the present application, the system braking force comprises a first braking force of a front wheel and a second braking force of a rear wheel, and the regenerative braking force comprises a first regenerative braking force of the front wheel and a second regenerative braking force of the rear wheel; the superimposition of the regenerative braking force provided by the brake energy recovery system on the system braking force comprises: superimposing the first regenerative braking force on the first braking force and superimposing the second regenerative braking force on the second braking force, respectively; wherein the difference between the braking forces of the front wheel before and after superimposition is greater than that of the rear wheel.

[0015] Finally, the present application also provides a vehicle which can apply the above brake control system, so that the vehicle model can be conveniently expanded to other vehicle models in terms of braking force.

[0016] Advantages:

[0017] In summary, the control method of the brake force provided by the embodiment of the present application first determines the basic parameters of the current brake system according to the braking force matching of the reference vehicle model and obtains the system braking force of the corresponding reference vehicle model through the basic parameters; the regenerative braking force is provided by the brake energy recovery system and superimposed on the system braking force, and the system braking force and the regenerative braking force are output as a total braking force of a required expansion state; so that the regenerative braking force of the brake energy recovery system can be directly adjusted to make the total braking force within a preset range of the required expansion state, which can bring at least the following advantages:

[0018] 1. When the vehicle model is expanded or the state changes, the regenerative braking force of the regenerative braking force is calibrated and adjusted by the VCU, and on the basis of not changing the hardware of the brake system, the development requirements of the required expansion state in the braking force are met, the development time is shortened, and the design stability is increased.

[0019] 2. The above-mentioned scheme can provide a more flexible development scheme for the brake system development of the platform vehicle model.

[0020] Other features and advantages of the embodiments of the present application will be described in the following specific implementation manner. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the specific embodiments of the present application or the prior art, the drawings required to be used in the specific embodiments or prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0022] Figure 1 A flowchart of the control method of the braking force provided by the embodiment of the present application is provided.

[0023] Figure 2 A flowchart of the control method of the braking force provided by the embodiment of the present application is provided.

[0024] Figure 3 A diagram of the ideal braking force distribution curve and the actual braking force distribution curve under the system braking force provided by the embodiment of the present application is provided.

[0025] Figure 4 A module schematic diagram of the braking force control system provided by the embodiment of the present application is provided.

[0026] Reference signs

[0027] 100, braking force control system; 101, braking module;

[0028] 102, braking energy recovery module. DETAILED DESCRIPTION

[0029] In order to make the above and other features and advantages of the present application clearer, the present application will be further described below with reference to the drawings. It should be understood that the specific embodiments given herein are for the purpose of explanation and are only exemplary, but are not limiting.

[0030] As mentioned above, the braking system based on the platform architecture is expanded in the present application. When the vehicle model is expanded in a platform or the vehicle state changes greatly, the required braking force demand of the whole vehicle is different due to the different parameters of the whole vehicle, such as the whole vehicle mass and the center of mass parameters. For example, the SEDAN and MPV models are different from the SUV model. The existing traditional fuel vehicles or the existing new energy vehicles all need to be improved in hardware, such as adjusting the brake, brake caliper, brake disc and other hardware, which leads to a large number of hardware required to be purchased and parameters to be adjusted for different vehicle models of the same platform. Moreover, the design and assembly need to be redesigned and the related parameters need to be adapted, which results in high design and research and development costs.

[0031] Therefore, in one general inventive concept of the present application, based on the advantages of precise control of the existing new energy vehicle type electric drive unit, a brake force control method is proposed by using the brake energy recovery system as the source of braking force, aiming to solve the above technical problems.

[0032] Embodiment one

[0033] It should be noted that the control method provided in the present application can be used in at least two application scenarios, one of which is the expansion of platform vehicles, for example, a SEDAN vehicle has been developed on a certain platform architecture, and now a SUV vehicle needs to be expanded on this platform architecture. The SEDAN vehicle is the above-mentioned "reference state", and the SUV expansion state is the "expansion state" of the SEDAN vehicle. When expanding the reference state, the total braking force required needs to be adapted according to the vehicle type, which may increase the braking force requirement, such as expanding the SEDAN vehicle to the SUV vehicle, or it may reduce the braking force requirement, such as expanding the SUV vehicle to the SEDAN vehicle; the other is that the state of the vehicle changes greatly, such as the vehicle with air suspension is raised, or the vehicle body mass changes greatly, etc. Application scenarios, at this time, the state before the change is taken as the "reference state", and the state after the change is taken as the "expansion state".

[0034] Please refer to Figure 1 , Figure 1 The flowchart of the brake force control method provided in the embodiment of the present application is provided;

[0035] The control method provided in the embodiment one of the present application is a brake force control method, and the control method comprises:

[0036] Step S1, acquiring the system braking force corresponding to the reference vehicle type;

[0037] Step S2, providing regenerative braking force through the brake energy recovery system and superimposing it on the system braking force, taking the system braking force and the regenerative braking force as the total braking force output of the required expansion state;

[0038] Step S3, adjusting the regenerative braking force of the brake energy recovery system so that the total braking force is within the preset range of the required expansion state.

[0039] The "system braking force" mentioned in step S1 refers to the system braking force that the original braking system of the reference state can provide, such as the hydraulic braking force provided by the hydraulic brake system.

[0040] In steps S2-S3, the control strategy of the braking force is changed to increase the total braking force by compensating the regenerative braking force generated by the braking energy recovery system as the required braking force in the extended state, without changing the hardware facilities to achieve the extension.

[0041] Specifically, taking the four-wheel drive control of the front and rear motors as an example, the system braking force includes a first braking force provided to the front wheels and a second braking force provided to the rear wheels, wherein the first braking force and the second braking force are distributed according to a braking force distribution unit, which can apply different braking forces to the front wheels and the rear wheels according to the road conditions and continuously adjust to avoid skidding, rollover, and other situations caused by uneven braking force when the vehicle is in emergency steering, thereby ensuring the safety of the vehicle in emergency steering.

[0042] Further, the regenerative braking force includes a first regenerative braking force of the front wheels and a second regenerative braking force of the rear wheels; and the first regenerative braking force and the second regenerative braking force are also adjusted and distributed by a regenerative braking force distribution unit, that is, the regenerative braking force provided by the braking energy recovery system is superimposed on the system braking force, including:

[0043] The first regenerative braking force is superimposed on the first braking force, and the second regenerative braking force is superimposed on the second braking force.

[0044] The difference between the superimposed braking force and the original braking force of the front wheels is greater than that of the rear wheels.

[0045] It can be understood that, since the braking load of the front wheels accounts for more than half of the total braking load of the vehicle, and the braking load of the front wheels accounts for more than 70% of the total braking load in emergency braking, a large rear wheel braking force will cause the rear wheels to lock up early and cause the vehicle to spin out; assuming that the original first braking force of the front wheels is a1, the total braking force of the front wheels after superimposing the first regenerative braking force is a2, the original first braking force of the rear wheels is b1, and the total braking force of the rear wheels after superimposing the second regenerative braking force is b2, the difference △F1 between a1 and a2 of the front wheels is greater than the difference △F2 between b1 and b2 of the rear wheels. Thus, the spin-out phenomenon can be avoided, and the driving safety of the vehicle is increased.

[0046] Finally, the regenerative braking force of the braking energy recovery system is adjusted in step S3 to make the total braking force within the preset range of the required extension state, satisfying the total braking force demand of the current extension state.

[0047] In summary, when the vehicle model is expanded or the state changes, the basic parameters of the current braking system are first determined according to the braking force matching of the reference model, and the system braking force of the corresponding reference model is obtained through the basic parameters; the regenerative braking force is provided by the brake energy recovery system and superimposed on the system braking force, and the system braking force and the regenerative braking force are output as the total braking force of the required expansion state; thereby, the regenerative braking force of the brake energy recovery system can be directly adjusted so that the total braking force is within the preset range of the required expansion state, and the following effects can be achieved: 1. When the model is expanded or the state changes, the regenerative braking force of the regenerative braking force is calibrated and adjusted through the VCU. This strategy can meet the development requirements of the braking force of the required expansion state without changing the hardware of the brake system, shortening the development time and increasing the design stability; 2. It provides a more flexible development solution for the development of the braking system of platform models.

[0048] A specific embodiment is provided below:

[0049] See also Figure 2 and Figure 3 , Figure 2 A flow chart of a method for controlling braking force provided by an embodiment of the present invention is provided; Figure 3 The ideal braking force distribution curve and the actual braking force distribution curve under the system braking force provided by the embodiment of the present invention.

[0050] In the above step S3, adjusting the regenerative braking force of the brake energy recovery system so that the total braking force is within a preset range of the desired extended state includes:

[0051] Step S31, respectively drawing an ideal braking force distribution curve and an actual braking force distribution curve of the system braking force;

[0052] Step S32: Changing the actual braking force distribution curve by adjusting the first regenerative braking force and the second regenerative braking force so as to be within a preset range of the desired expansion state.

[0053] Specifically, in step S31, the ideal braking force distribution curve and the actual braking force distribution curve are automatically drawn for the vehicle model without superimposing regenerative braking force and relying solely on system braking force. At this time, the total system braking force is only the system braking force; the horizontal axis represents the front wheel braking force allocated to the front wheels, and the vertical axis represents the rear wheel braking force. The ideal braking force distribution curve and the actual braking force distribution curve are automatically formed through the distribution logic of the system braking force to distribute the front wheel braking force and the rear wheel braking force.

[0054] Then, the first regenerative braking force and the second regenerative braking force are adjusted and applied to the first braking force and the second braking force of the front and rear wheels respectively, and the total braking force is adjusted, thereby changing the total braking force so that it meets the braking force requirements of the extended state.

[0055] It should be noted that the first regenerative braking force and the second regenerative braking force are also distributed in real time, and due to different superposition effects at different braking force values, the specific distribution and adjustment strategy of the first regenerative braking force and the second regenerative braking force can be calibrated in the controller according to the actual situation under different working conditions. By changing the first braking force and the second braking force, the first regenerative braking force and the second regenerative braking force are changed, so as to realize the adjustment of the total braking force.

[0056] In a further scheme of the present application, the first regenerative braking force and the second regenerative braking force are adjusted to change the actual braking force distribution curve so as to include, in the preset range of the required expansion state:

[0057] When the required expansion state is compared with the whole vehicle mass of the reference vehicle, the intersection of the actual braking force distribution curve and the ideal braking force distribution curve is controlled to move upward;

[0058] When the required expansion state is compared with the whole vehicle mass of the reference vehicle, the intersection of the actual braking force distribution curve and the ideal braking force distribution curve is controlled to move downward.

[0059] It can be understood that when the expansion state is compared with the whole vehicle mass of the reference vehicle, the braking force demand increases at this time, and by controlling the intersection of the actual braking force distribution curve and the ideal braking force distribution curve to move upward, the synchronous adhesion coefficient is improved, and the design requirements of the braking system under the current state are met. Conversely, when the expansion state is compared with the whole vehicle mass of the reference vehicle, the braking force demand decreases at this time, and by controlling the intersection of the actual braking force distribution curve and the ideal braking force distribution curve to move downward.

[0060] The ideal braking force distribution curve includes an empty ideal braking force distribution curve and a full ideal braking force distribution curve; the embodiment of the present application provides a constraint condition for the actual braking force distribution curve:

[0061] When the total braking force is in the first preset range, the actual braking force distribution curve is on the lower side of the empty ideal braking force distribution curve and the full ideal braking force distribution curve, when the total braking force is in the second preset range, the actual braking force distribution curve is between the empty ideal braking force distribution curve and the full ideal braking force distribution curve, and when the total braking force is in the third preset range, the actual braking force distribution curve is on the upper side of the empty ideal braking force distribution curve and the full ideal braking force distribution curve.

[0062] It can be understood that when the total braking force is small, the actual braking force distribution curve is controlled on the lower side of the ideal braking force distribution curve of the empty load and the ideal braking force distribution curve of the full load, so that the front wheels are prelocked to prevent fishtailing; generally, the front wheels are prelocked first, the steering is not good, the rear wheels are prelocked first, fishtailing occurs, and from the safety point of view, the front wheels are prelocked first. When the total braking force gradually increases, the front wheels and the rear wheels are synchronously locked, and when the total braking force exceeds the second preset range, the total braking force continues to increase to keep the vehicle stationary.

[0063] In summary, the control method of the braking force provided by the embodiment of the application can, when the vehicle is expanded in vehicle type or the state changes, first determine the basic parameters of the current braking system according to the braking force matching of the reference vehicle type and obtain the system braking force corresponding to the reference vehicle type through the basic parameters; the regenerative braking force provided by the braking energy recovery system is superimposed on the system braking force, and the system braking force and the regenerative braking force are taken as the total braking force output in the required expansion state; so that the regenerative braking force of the braking energy recovery system can be directly adjusted to make the total braking force within the preset range of the required expansion state, and the following effects can be achieved: when the vehicle type is expanded or the state changes, the regenerative braking force degree of the regenerative braking force is calibrated and adjusted by the VCU, and this strategy can achieve the development requirements of the braking force in the required expansion state without changing the hardware of the braking system, shorten the development time and increase the design stability.

[0064] Further, when the braking energy recovery system adopts the coupling type, the regenerative braking force provided by the braking energy recovery system is 0-0.3g; when the braking energy recovery system adopts the decoupling type, the regenerative braking force provided by the braking energy recovery system is 0-1g. The adjustment range of energy recovery is large, and the demand of braking force adjustment can be fully met.

[0065] For example, when the application scenario is that the SUV vehicle type developed by the existing development is expanded to an MPV vehicle type, or the state of the SUV vehicle type changes; at this time, the vehicle mass increases, the center of mass parameter changes, the ideal braking force curve of the vehicle changes, and the braking force provided by the braking system needs to be increased on the front axle and the rear axle, but as known from the foregoing, the braking force difference required by the front axle is large, and the braking force difference required by the rear axle is small, at this time, the energy recovery degree of the front motor and the rear motor can be increased respectively to adjust the first regenerative braking force and the second regenerative braking force, for example, the energy recovery degree of the front axle is adjusted so that the first regenerative braking force is adjusted from 0.2g to 0.4g, and the energy recovery degree of the rear axle is adjusted so that the second regenerative braking force is adjusted from 0.15g to 0.3g, so that the actual braking force curve formed by the braking system and the braking energy recovery system is lowered, the synchronous adhesion coefficient is improved, and finally the design requirements of the braking system can be met without other hardware.

[0066] Braking force control system

[0067] Referring to Figure 4 , Figure 4 A module schematic diagram of the braking force control system provided by the embodiment of the present application is shown in the figure. The second aspect of the embodiment of the present application further provides a braking force control system 100, which comprises:

[0068] a braking module 101 for providing a system braking force;

[0069] a braking energy recovery module 102 for providing a regenerative braking force;

[0070] wherein the system braking force and the regenerative braking force are output as a total braking force of a required expansion state by superimposing the regenerative braking force provided by the braking energy recovery module 102 on the system braking force.

[0071] Specifically, the braking module 101 comprises a braking force distribution unit, which can distribute the system braking force to a first braking force of a front wheel and a second braking force of a rear wheel according to a distribution strategy; the braking energy recovery module 102 also comprises a regenerative braking force distribution unit, which can adjust the values of the first regenerative braking force of the front wheel and the second regenerative braking force of the rear wheel; the first regenerative braking force is superimposed on the first braking force, and the second regenerative braking force is superimposed on the second braking force, and the total braking force of the vehicle is obtained by superimposition; wherein the difference between the braking forces of the front wheel before and after superimposition is greater than that of the rear wheel, so as to avoid the occurrence of fishtailing and increase the driving safety of the vehicle.

[0072] wherein the braking module 101 and the braking energy recovery module 102 can provide the regenerative braking force by the braking energy recovery system and superimpose it on the system braking force according to the above braking force control method, output the system braking force and the regenerative braking force as the total braking force of the required expansion state, and adjust the regenerative braking force of the braking energy recovery system so that the total braking force is within a preset range of the required expansion state, thereby realizing the satisfaction of the braking force requirement of vehicle expansion or state change without additional hardware.

[0073] Further, the embodiment of the present application further provides a vehicle comprising the braking force control system 100 as described above.

[0074] Further, the skilled in the art should understand that if all or part of the sub-modules involved in the modules of the brake force control system 100 provided by the embodiments of the present application are combined, replaced or transformed by fusion, simple change, interconversion and the like, such as the movement of the positions of the components, or the integral setting of the products constituted by them, or the detachable design, as long as the combined components can constitute a device / system / apparatus with specific functions, the device / system / apparatus can replace the corresponding components of the present application, and it is also within the protection scope of the present application.

[0075] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0076] Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and cannot be understood as limiting the present application, and the ordinary skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A method for controlling braking force, characterized in that: The control method includes: Obtaining a system braking force corresponding to a reference vehicle model, where the system braking force includes a first braking force of the front wheels and a second braking force of the rear wheels; The regenerative braking force is provided by a brake energy recovery system and superimposed on the system braking force, wherein the regenerative braking force includes a first regenerative braking force and a second regenerative braking force of the front wheels, including: A first regenerative braking force is superimposed on the first braking force, and a second regenerative braking force is superimposed on the second braking force; wherein the difference in braking force of the front wheel before and after the superposition is greater than that of the rear wheel; Outputting the system braking force and the regenerative braking force as the total braking force of the required extended state; Adjusting the regenerative braking force of the brake energy recovery system so that the total braking force is within a preset range of a desired extended state includes: respectively drawing an ideal braking force distribution curve and an actual braking force distribution curve of the system braking force; By adjusting the first regenerative braking force and the second regenerative braking force, the actual braking force distribution curve is changed so as to be within a preset range of the desired extended state, including: When the desired expansion state increases in mass compared to the reference vehicle model, the intersection of the actual braking force distribution curve and the ideal braking force distribution curve is controlled to move upward; When the required expansion state has a lower vehicle mass than the reference vehicle model, the intersection point of the actual braking force distribution curve and the ideal braking force distribution curve is controlled to move downward.

2. The control method according to claim 1, characterized in that: The first regenerative braking force and the second regenerative braking force are distributed and adjusted by a controller.

3. The control method according to claim 1, wherein: The ideal braking force distribution curve includes an ideal braking force distribution curve for no-load and an ideal braking force distribution curve for full-load; When the total braking force is within the first preset range, the actual braking force distribution curve is below the no-load ideal braking force distribution curve and the full-load ideal braking force distribution curve. When the total braking force is within the second preset range, the actual braking force distribution curve is between the no-load ideal braking force distribution curve and the full-load ideal braking force distribution curve. When the total braking force is within the third preset range, the actual braking force distribution curve is above the no-load ideal braking force distribution curve and the full-load ideal braking force distribution curve.

4. The control method according to claim 1, wherein: When the braking energy recovery system adopts a coupled type, the regenerative braking force provided by the braking energy recovery system is 0~0.3g; When the brake energy recovery system adopts a decoupled type, the regenerative braking force provided by the brake energy recovery system is 0-1g.

5. A braking force control system, characterized in that: The braking force control system includes: a brake module, configured to provide a system braking force, wherein the system braking force includes a first braking force for the front wheels and a second braking force for the rear wheels; a brake energy recovery module, configured to provide a regenerative braking force, wherein the regenerative braking force includes a first regenerative braking force and a second regenerative braking force for the front wheels; The regenerative braking force provided by the brake energy recovery system and superimposed on the system braking force includes superimposing a first regenerative braking force on the first braking force and superimposing a second regenerative braking force on the second braking force; wherein the difference in braking force between the front wheels before and after superimposition is greater than that of the rear wheels; Outputting the system braking force and the regenerative braking force as the total braking force of the desired extended state, and adjusting the regenerative braking force of the brake energy recovery system so that the total braking force is within a preset range of the desired extended state, includes: respectively drawing an ideal braking force distribution curve and an actual braking force distribution curve of the system braking force; By adjusting the first regenerative braking force and the second regenerative braking force, the actual braking force distribution curve is changed so as to be within a preset range of the desired extended state, including: When the desired expansion state increases in mass compared to the reference vehicle model, the intersection point of the actual braking force distribution curve and the ideal braking force distribution curve is controlled to move upward; When the mass of the required extended state decreases compared with the vehicle mass of the reference vehicle model, the intersection point of the actual braking force distribution curve and the ideal braking force distribution curve is controlled to move downward.

6. A vehicle, characterized in that: It includes the braking force control system as described in claim 5 above.

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