Vehicle braking force compensation method, device, equipment and medium

Abstract

The present invention discloses a method, device, equipment and medium for compensating vehicle braking force, belonging to the field of vehicle technology. The method comprises: obtaining the operating parameters of the vehicle in energy recovery mode; judging whether the energy recovery capacity of the battery meets the driver's needs based on the operating parameters; when the energy recovery capacity of the battery does not meet the driver's needs, judging whether the vehicle's electronically controlled hydraulic braking system can operate normally; when the electronically controlled hydraulic braking system can operate normally, controlling the electronically controlled hydraulic braking system to provide compensatory braking force for the vehicle. When the energy recovery capacity of the battery does not meet the driver's needs, the method can control the electronically controlled hydraulic braking system to provide compensatory braking force for the vehicle, thereby slowing down the vehicle and meeting the driver's speed requirements. The driver does not need to step on the brakes to control the speed, thereby improving the vehicle's driving experience and driving control performance.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a method, device, equipment and medium for compensating vehicle braking force. Background Art

[0002] A vehicle's energy recovery system recaptures excess energy released during braking or inertia, converting it into battery power via a generator to improve the vehicle's range. During energy recovery, the vehicle generates regenerative braking force, decelerating the vehicle and maintaining a constant speed.

[0003] In related technologies, when a vehicle is traveling on a long downhill slope or a straight road, the driver can free their feet by releasing the accelerator and brake pedals and pressing the energy recovery button to control the vehicle's speed. However, when the battery's energy recovery capacity is limited, the vehicle's kinetic energy (potential energy) cannot be recovered through battery energy to achieve the deceleration required by the driver when pressing the energy recovery button. In this case, the vehicle will accelerate, and the driver can only control the vehicle's speed by braking after subjectively sensing that the vehicle is accelerating, which deteriorates the vehicle's driving experience and handling. Summary of the Invention

[0004] In view of the above problems, the present invention is proposed to provide a vehicle braking force compensation method, device, equipment and medium that overcome the above problems or at least partially solve the above problems. When the energy recovery capacity of the battery does not meet the driver's needs, the compensation method can control the electronically controlled hydraulic braking system to provide compensatory braking force for the vehicle, so as to slow down the vehicle and meet the driver's demand for vehicle speed. The driver does not need to step on the brakes to control the vehicle speed, thereby improving the vehicle's driving experience and driving control performance.

[0005] In a first aspect, the present invention provides a method for compensating vehicle braking force, the method comprising:

[0006] Obtain the vehicle's operating parameters in energy recovery mode;

[0007] determining whether the energy recovery capability of the battery meets the driver's needs based on the operating parameters;

[0008] When the energy recovery capacity of the battery does not meet the driver's needs, determining whether the vehicle's electronically controlled hydraulic braking system can operate normally;

[0009] When the electronically controlled hydraulic brake system is able to operate normally, the electronically controlled hydraulic brake system is controlled to provide a compensating braking force for the vehicle.

[0010] Optionally, the operating parameters include at least battery temperature, battery state of charge, actual battery charging power and the energy recovery gear currently selected by the driver.

[0011] Optionally, determining whether the energy recovery capability of the battery meets the driver's needs based on the operating parameters includes:

[0012] determining a target recovery power required by the driver according to the energy recovery gear;

[0013] determining, based on the battery temperature or the battery state of charge, whether an energy recovery capability of the battery is limited;

[0014] When the energy recovery capability of the battery is limited and the actual charging power of the battery is less than the target recovery power, it is determined that the energy recovery capability of the battery does not meet the driver's demand.

[0015] Optionally, determining whether the energy recovery capability of the battery is limited according to the battery temperature or the battery state of charge includes:

[0016] determining the remaining battery capacity according to the battery state of charge;

[0017] When the battery temperature is lower than a temperature threshold, or the remaining battery power is higher than a power threshold, it is determined that the energy recovery capability of the battery is limited.

[0018] Optionally, the compensation method further includes:

[0019] When it is determined that the energy recovery capability of the battery is limited, the limitation reason is displayed, where the limitation reason includes that the battery temperature is too low or the battery remaining power is too high.

[0020] Optionally, when the electronically controlled hydraulic brake system is able to operate normally, controlling the electronically controlled hydraulic brake system to provide a compensatory braking force for the vehicle includes:

[0021] determining a current first deceleration driving force of the vehicle and a second deceleration driving force required by the driver;

[0022] calculating a difference between the first deceleration driving force and the second deceleration driving force;

[0023] The magnitude of the compensatory braking force that the electronically controlled hydraulic braking system needs to provide to the vehicle is determined based on the difference, and the electronically controlled hydraulic braking system is controlled to provide the vehicle with the compensatory braking force of the corresponding magnitude.

[0024] Optionally, the compensation method further includes:

[0025] Detecting whether the driver switches the energy recovery gear; wherein the energy recovery gear includes at least three gears: low, medium, and high;

[0026] When it is detected that the driver switches the energy recovery gear, it is re-determined based on the operating parameters whether the energy recovery capability of the battery meets the driver's needs.

[0027] In a second aspect, the present invention provides a vehicle braking force compensation device, the compensation device comprising:

[0028] An operating parameter acquisition module is used to obtain the operating parameters of the vehicle in the energy recovery mode;

[0029] a first judgment module, configured to judge whether the energy recovery capability of the battery meets the driver's requirements based on the operating parameters;

[0030] a second judgment module, configured to judge whether the vehicle's electronically controlled hydraulic brake system can operate normally when the energy recovery capacity of the battery does not meet the driver's needs;

[0031] The compensating braking force control module is used to control the electronically controlled hydraulic braking system to provide compensating braking force for the vehicle when the electronically controlled hydraulic braking system is able to operate normally.

[0032] In a third aspect, the present invention provides an electronic device comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the compensation method as described in the first aspect by executing the computer instructions.

[0033] In a fourth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the compensation method as described in the first aspect.

[0034] The technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:

[0035] Embodiments of the present invention provide a vehicle braking force compensation method, device, equipment, and medium. These methods determine whether the battery's energy recovery capacity meets the driver's needs by acquiring the vehicle's operating parameters in energy recovery mode. If the battery's energy recovery capacity does not meet the driver's needs, the method further determines whether the vehicle's electronically controlled hydraulic braking system is functioning properly. If the electronically controlled hydraulic braking system is functioning properly, the method controls the electronically controlled hydraulic braking system to provide compensatory braking force, thereby decelerating the vehicle and meeting the driver's speed requirements. This eliminates the need for the driver to brake to control speed, thereby improving the vehicle's driving experience and handling performance.

[0036] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0038] Figure 1 A schematic diagram of a scenario in which a vehicle is traveling on a long downhill road is provided;

[0039] Figure 2 A schematic diagram of a scenario in which a vehicle is traveling on a straight road is provided;

[0040] Figure 3 is a flow chart of a vehicle braking force compensation method provided by an embodiment of the present invention;

[0041] Figure 4 This is a structural block diagram of a vehicle braking force compensation device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0042] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0043] Before introducing the vehicle braking force compensation method provided by the embodiment of the present invention in detail, the abbreviations and key terms involved in the text are explained as follows:

[0044] PHEV: Plug-in hybrid electric vehicle;

[0045] HEV: Hybrid Electric Vehicle (without external large battery charging socket);

[0046] EV:Electric Vehicle,electric vehicle;

[0047] SOC: State Of Charge, battery state of charge, used to reflect the remaining capacity of the battery;

[0048] PDCU: Powertrain Domain Control Unit, power domain controller;

[0049] BMS: Building Management System, battery control system.

[0050] Next, the application scenarios involved in the embodiments of the present invention are briefly introduced:

[0051] At present, most PHEV / HEV vehicles on the market have energy recovery functions. When the vehicle is driving on a long downhill or straight road, the driver can free his feet by releasing the accelerator pedal and the brake pedal, and press the energy recovery button configured in the car to control the speed of the vehicle. The energy recovery button can control the gear switching of energy recovery (for example, switching between low, medium and high gears). In different gears, the energy recovery capacity of the battery is different, and the corresponding recovery braking force will also be different, that is, the final driving speed maintained by the vehicle will also be different. When the driver switches from low gear to medium gear, or from medium gear to high gear, it means that the driver wants the vehicle's deceleration to increase further. The following are some examples of scenarios when the vehicle performs energy recovery:

[0052] Scenario 1: Long downhill road and straight road

[0053] Figure 1 A schematic diagram of a vehicle driving on a long downhill road is provided. Figure 2 A schematic diagram of a vehicle driving on a straight road is provided. Figure 1 Long downhill roads as shown, or driving on roads such as Figure 2 On the straight road shown above, and with the distance to the vehicle ahead decreasing, the driver can free their feet by releasing the accelerator and brake pedals and pressing the energy recovery button (different gears correspond to different deceleration requirements) to control the vehicle's speed when going downhill. At this point, the vehicle is in EV energy recovery mode, converting the vehicle's kinetic energy and potential energy into energy for the motor, charging the battery, and recovering energy, causing the battery SOC to rise. When the battery SOC exceeds a certain threshold, the vehicle's kinetic energy and potential energy will not be able to be recovered through battery energy to meet the deceleration required by the driver when pressing the energy recovery button, that is, the battery's energy recovery capacity is limited. At this point, the vehicle will accelerate, and the driver can only control the vehicle's speed by subjectively sensing that the vehicle is accelerating and then stepping on the brakes.

[0054] Scenario 2: Extremely low temperature environment

[0055] When the battery is in an extremely low temperature environment, the activity of the battery chemicals will decrease, which greatly limits the battery's energy recovery ability. Therefore, in an extremely low temperature environment, no matter what the battery SOC is, that is, whether the SOC is low, medium or high, the battery's energy recovery ability will be limited. For example: when the battery is at -30°C and the SOC is 50%, the energy recovery ability is not limited based on the SOC state alone. However, due to the low temperature of the battery, the activity of the battery also becomes very low, which ultimately leads to a significant limitation of the energy recovery ability. At this time, the vehicle's kinetic energy and potential energy cannot be recovered through battery energy to meet the deceleration required by the driver to press the energy recovery button. The driver still needs to actively brake to control the vehicle speed.

[0056] The common point of the above scenarios is that when the battery energy recovery capability is limited so that the vehicle deceleration cannot meet the deceleration requirement when the driver presses the energy recovery button, the vehicle's driving feel and handling will deteriorate.

[0057] In order to solve the above problems, the present invention provides a method for compensating vehicle braking force. This method can provide compensatory braking force for the vehicle by controlling the electronically controlled hydraulic braking system, so that the vehicle can obtain the deceleration that is missing due to the limited energy recovery capability, meet the driver's requirements for different vehicle speeds, and improve the vehicle's driving experience and driving control performance.

[0058] Next, the implementation environment involved in the vehicle braking force compensation method provided by the embodiment of the present invention is briefly introduced.

[0059] In this embodiment, the vehicle is equipped with at least an electronically controlled hydraulic braking system, a battery control system, a display device, a power domain controller, and a powertrain system. The electronically controlled hydraulic braking system is used to provide braking force to the vehicle, and in the compensation method of the present invention, is also used to provide compensatory braking force to the vehicle. The battery control system is used to monitor the battery status to ensure the reliability and efficiency of battery operation, and is specifically used to collect battery temperature and battery state of charge (SOC). The display device is used to display relevant information. The power domain controller is used to control the vehicle's powertrain, and the powertrain system is used to provide operating power for the vehicle.

[0060] After introducing the application scenarios and implementation environments involved in the embodiments of the present invention, the vehicle braking force compensation method provided by the embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0061] Figure 3 FIG. 1 is a flow chart of a method for compensating vehicle braking force provided by an embodiment of the present invention. Figure 3 As shown, the compensation method includes:

[0062] Step S301: Acquire the operating parameters of the vehicle in the energy recovery mode.

[0063] Optionally, the operating parameters include at least battery temperature, battery state of charge, actual battery charging power, and the energy recovery gear currently selected by the driver. When the vehicle enters the energy recovery mode, the relevant operating parameters can be obtained.

[0064] In this embodiment, the vehicle's operating parameters in energy recovery mode can be obtained through the PDCU. Specifically, the battery temperature can be detected by a temperature sensor, and the battery BMS collects the battery temperature detected by the temperature sensor and transmits it to the PDCU via the CAN bus along with the collected battery SOC information and the actual battery charging power.

[0065] Optionally, before executing step S301, the method may further include:

[0066] Determine whether the vehicle enters energy recovery mode.

[0067] Specifically, the PDCU can determine whether the driver has pressed the energy recovery button (hereinafter referred to as EMode) based on the energy recovery button status, that is, whether the vehicle has entered energy recovery mode. For example, when EMode = 1 and persists for a certain period of time, it means that the driver has pressed the energy recovery button; when EMode = 0 and persists for a certain period of time, it means that the driver has not pressed the energy recovery button. At the same time, it is necessary to monitor the communication status between the PDCU and EMode. If a communication failure occurs and the driver's energy recovery button request is not responded to, the fault light will be illuminated on the instrument panel.

[0068] Step S302: Determine whether the energy recovery capability of the battery meets the driver's needs based on the operating parameters.

[0069] Optionally, step S302 includes:

[0070] The first step is to determine the target recovery power required by the driver based on the energy recovery gear.

[0071] In this embodiment, different energy recovery gears are preset with corresponding target regenerative powers. Low gear corresponds to a first target regenerative power; medium gear corresponds to a second target regenerative power; and high gear corresponds to a third target regenerative power. Higher gears correspond to higher target regenerative powers, indicating greater battery energy recovery capability.

[0072] The second step is to determine whether the battery's energy recovery capability is limited based on the battery temperature or battery state of charge.

[0073] In this embodiment, the remaining battery capacity can be determined based on the battery state of charge. When the battery temperature is less than a temperature threshold, or the remaining battery capacity is greater than a capacity threshold, the battery's energy recovery capability is determined to be limited. Conversely, when the battery temperature is greater than or equal to the temperature threshold, or the remaining battery capacity is less than or equal to the capacity threshold, the battery's energy recovery capability is determined to be unrestricted.

[0074] Among them, the temperature threshold and the power threshold can be pre-set and stored in the PDCU. The PDCU can compare the obtained battery temperature and battery SOC with the pre-stored temperature threshold and power threshold to determine whether the battery energy recovery capability is limited.

[0075] Step 3: When it is determined that the energy recovery capability of the battery is limited and the actual charging power of the battery is less than the target recovery power, it is determined that the energy recovery capability of the battery does not meet the driver's needs.

[0076] It can be understood that when the actual charging power of the battery is less than the target recovery power, it means that the vehicle's kinetic energy (potential energy) will not be able to achieve the deceleration requirement corresponding to the energy recovery gear selected by the driver through battery energy recovery.

[0077] In this embodiment, if it is determined that the battery's energy recovery capability is not limited, or the battery's actual charging power is greater than the target charging power, the battery's energy recovery capability is determined to meet the driver's needs. In this case, there is no need to provide compensatory braking force to the vehicle, and subsequent steps are not required.

[0078] Optionally, the method may further include:

[0079] If the battery's energy recovery capacity is limited, the reason for the limitation is displayed. The reasons for the limitation include low battery temperature or excessive remaining battery power.

[0080] In this embodiment, if the battery's energy recovery capability is limited due to low battery temperature, the display may read: "Battery temperature too low, energy recovery capability limited." If the battery's energy recovery capability is limited due to excessive remaining charge, the display may read: "Battery SOC too high, energy recovery capability limited." This allows the driver to more intuitively understand the reason for the limited battery's energy recovery capability, thereby improving the driving experience.

[0081] It should be noted that, in this embodiment, the restriction reason may be displayed on an existing instrument on the vehicle, or may be displayed on other devices or the driver may be reminded in other ways, and the present invention is not limited thereto.

[0082] Step S303: When the energy recovery capability of the battery does not meet the driver's needs, determine whether the vehicle's electronically controlled hydraulic brake system can operate normally.

[0083] In this embodiment, whether the vehicle's electronically controlled hydraulic brake system is operating normally can be determined by the following conditions:

[0084] Condition 1: The PDCU cannot communicate with the electronically controlled hydraulic brake system, i.e., communication is lost;

[0085] Condition 2: The PDCU cannot transmit the correct electronically controlled hydraulic braking force to the electronically controlled hydraulic braking system, i.e., the braking force is calculated incorrectly;

[0086] Condition 3: The powertrain system has an abnormality that causes the electronically controlled hydraulic brake system to fail to operate;

[0087] Condition 4: The electronically controlled hydraulic brake system itself fails, such as due to internal logic or hardware failure, causing the electronically controlled hydraulic brake system to fail to operate;

[0088] Condition 5: The performance of the electronically controlled hydraulic brake system itself has declined. For example, the brake system cannot brake due to the increase in friction plate temperature, or the electronically controlled hydraulic brake system cannot work due to a sharp decline in performance.

[0089] When any of the above five conditions occurs, it means that the electronically controlled hydraulic brake system cannot provide compensatory braking force for the vehicle, that is, it is determined that the vehicle's electronically controlled hydraulic brake system cannot work normally.

[0090] It should be noted that the five conditions listed above are for a better understanding of the embodiments of the present invention, and do not mean that only the above five conditions exist. Conditions under which the electronically controlled hydraulic brake system cannot work normally due to other reasons are all within the scope of protection of the present invention and will not be repeated here.

[0091] In this embodiment, when it is determined that the vehicle's electronically controlled hydraulic brake system is faulty, the driver can be prompted with a display device that the electronically controlled hydraulic brake system is faulty, informing the driver that the electronically controlled hydraulic brake system cannot provide compensatory braking force for the vehicle and that the driver needs to actively step on the brakes for braking.

[0092] Step S304: When the electronically controlled hydraulic brake system is able to work normally, control the electronically controlled hydraulic brake system to provide a compensating braking force for the vehicle.

[0093] Optionally, step S304 includes:

[0094] The first step is to determine the current first deceleration driving force of the vehicle and the second deceleration driving force required by the driver;

[0095] In this embodiment, when the battery's energy recovery capacity is limited, the battery BMS notifies the PDCU of the current battery's recovery capacity via the CAN bus. The PDCU then calculates the first deceleration driving force based on the current battery's recovery capacity. The PDCU also calculates the second deceleration driving force required by the driver based on the current energy recovery gear information, as well as the driver's accelerator pedal, brake pedal, transmission gear position, vehicle status, and powertrain system status.

[0096] Step 2: Calculate the difference between the first deceleration driving force and the second deceleration driving force;

[0097] At this time, the calculated difference is the deceleration driving force that the vehicle lacks when the battery energy recovery capability is limited.

[0098] The third step is to determine the size of the compensatory braking force that the electronically controlled hydraulic brake system needs to provide to the vehicle based on the difference, and control the electronically controlled hydraulic brake system to provide the vehicle with a corresponding size of compensatory braking force.

[0099] In this embodiment, the PDCU can process the missing deceleration driving force (i.e., the difference) by limiting the hydraulic braking force of the electronically controlled hydraulic braking system, while taking into account the minimum vehicle speed requirement, and finally calculate the size of the compensatory braking force required for the vehicle.

[0100] Optionally, the compensation method may further include:

[0101] Detecting whether the driver has switched to a regenerative gear; where the regenerative gears include at least low, medium, and high. When it is detected that the driver has switched to a regenerative gear, re-determining whether the battery's regenerative capacity meets the driver's needs based on the operating parameters is performed. This is equivalent to re-executing steps S301 to S304.

[0102] In this embodiment, whether the driver switches the energy recovery gear is detected in real time to understand whether the driver's speed requirement for the vehicle changes.

[0103] For example, if the PDCU detects that the EMode state is low gear and detects that the EMode state changes from 1→0→1, the PDCU determines that the driver has switched the energy recovery gear from low gear to medium gear;

[0104] If the PDCU detects that the EMode state is mid-gear and detects that the EMode state changes from 1→0→1, the PDCU determines that the driver has switched the energy recovery gear from mid-gear to high-gear;

[0105] In the above two cases, the energy recovery gear has changed, that is, the driver's demand has changed. At this time, it is necessary to re-acquire the operating parameters of the vehicle in the energy recovery mode after the gear change, and judge whether the battery's energy recovery capacity meets the driver's demand based on the newly acquired operating parameters, so as to re-execute the above steps S301 to S304.

[0106] Based on the same inventive concept, an embodiment of the present invention further provides a vehicle braking force compensation device, Figure 4 This is a structural block diagram of a vehicle braking force compensation device provided by an embodiment of the present invention. Figure 4 As shown, the compensation device 400 includes a working parameter acquisition module 401 , a first judgment module 402 , a second judgment module 403 and a compensation braking force control module 404 .

[0107] The operating parameter acquisition module 401 is used to obtain the operating parameters of the vehicle in the energy recovery mode;

[0108] A first determination module 402 is configured to determine whether the energy recovery capability of the battery meets the driver's needs based on the operating parameters;

[0109] The second judgment module 403 is used to judge whether the vehicle's electronically controlled hydraulic brake system can operate normally when the battery's energy recovery capacity does not meet the driver's needs;

[0110] The compensating braking force control module 404 is configured to control the electronically controlled hydraulic braking system to provide compensating braking force for the vehicle when the electronically controlled hydraulic braking system is able to operate normally.

[0111] Optionally, the operating parameters include at least battery temperature, battery state of charge, actual battery charging power, and the energy recovery gear currently selected by the driver.

[0112] Optionally, the first determining module 402 further includes:

[0113] a target recovery power determination unit, configured to determine the target recovery power required by the driver based on the energy recovery gear position;

[0114] a first determining unit, configured to determine whether the energy recovery capability of the battery is limited according to the battery temperature or the battery state of charge;

[0115] The second judgment unit is configured to judge that the energy recovery capability of the battery does not meet the driver's demand when the energy recovery capability of the battery is limited and the actual charging power of the battery is less than the target recovery power.

[0116] Optionally, the first judgment unit is further configured to:

[0117] Determine the remaining battery capacity based on the battery state of charge;

[0118] When the battery temperature is lower than a temperature threshold, or the remaining battery power is higher than a power threshold, it is determined that the energy recovery capability of the battery is limited.

[0119] Optionally, the device further includes a display module for displaying the reason for the limitation when it is determined that the energy recovery capacity of the battery is limited, where the reason for the limitation includes that the battery temperature is too low or the remaining battery power is too high.

[0120] Optionally, the compensating braking force control module 404 is further configured to:

[0121] determining a current first deceleration driving force of the vehicle and a second deceleration driving force required by the driver;

[0122] calculating a difference between the first deceleration driving force and the second deceleration driving force;

[0123] The magnitude of the compensatory braking force that the electronically controlled hydraulic brake system needs to provide to the vehicle is determined based on the difference, and the electronically controlled hydraulic brake system is controlled to provide the vehicle with a corresponding magnitude of the compensatory braking force.

[0124] Optionally, the compensation device 400 further includes a gear detection module for detecting whether the driver switches the gear for energy recovery, and the gear for energy recovery includes at least three gears: low, medium, and high.

[0125] When it is detected that the driver switches the energy recovery gear, it is re-determined based on the operating parameters whether the energy recovery capacity of the battery meets the driver's needs.

[0126] An embodiment of the present invention further provides an electronic device, which may include a processor and a memory, wherein the processor and the memory may be communicatively connected to each other via a bus or other means.

[0127] The processor may be a central processing unit (CPU) or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0128] The memory may include a large capacity memory for data or instructions. By way of example and not limitation, the memory may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory may include removable or non-removable (or fixed) media. Where appropriate, the memory may be internal or external to the electronic device. In certain embodiments, the memory may be a non-volatile solid-state memory.

[0129] In one embodiment, the memory may be a read-only memory (ROM). In one embodiment, the ROM may be a mask-programmable ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0130] The processor implements any one of the vehicle braking force compensation methods in the above embodiments by reading and executing computer program instructions stored in the memory.

[0131] In one example, the electronic device may further include a communication interface and a bus. The processor, memory, and communication interface are connected via the bus and communicate with each other. The communication interface is primarily used to enable communication between the various modules, devices, units, and / or devices in the embodiments of this application. Where appropriate, the bus may include one or more buses.

[0132] In addition, in conjunction with the compensation methods in the above embodiments, embodiments of the present invention may provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when executed by a processor, the computer program instructions implement any of the vehicle braking force compensation methods in the above embodiments.

[0133] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0134] Embodiments of the present invention provide a vehicle braking force compensation method, device, equipment, and medium. These methods determine whether the battery's energy recovery capacity meets the driver's needs by acquiring the vehicle's operating parameters in energy recovery mode. If the battery's energy recovery capacity does not meet the driver's needs, the method further determines whether the vehicle's electronically controlled hydraulic braking system is functioning properly. If the electronically controlled hydraulic braking system is functioning properly, the method controls the electronically controlled hydraulic braking system to provide compensatory braking force, thereby decelerating the vehicle and meeting the driver's speed requirements. This eliminates the need for the driver to brake to control speed, thereby improving the vehicle's driving experience and handling performance.

[0135] In the description provided herein, numerous specific details are described. However, it is understood that embodiments of the present invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques are not shown in detail so as not to obscure the understanding of this description.

[0136] Similarly, it should be understood that in order to streamline the present disclosure and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, this disclosed method should not be interpreted as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the claims below, inventive aspects lie in less than all the features of the individual embodiments disclosed above. Accordingly, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of the invention.

[0137] It should be noted that the above embodiments illustrate rather than limit the invention, and that a person skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between brackets should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The present invention may be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.

Claims

1. A method for compensating vehicle braking force, characterized in that: The compensation method includes: Obtaining operating parameters of the vehicle in energy recovery mode; the operating parameters include at least battery temperature, battery state of charge, actual battery charging power, and the energy recovery gear currently selected by the driver; determining whether the energy recovery capability of the battery meets the driver's needs based on the operating parameters; When the energy recovery capacity of the battery does not meet the driver's needs, determining whether the vehicle's electronically controlled hydraulic braking system can operate normally; When the electronically controlled hydraulic brake system is able to work normally, controlling the electronically controlled hydraulic brake system to provide a compensatory braking force for the vehicle; The determining, based on the operating parameters, whether the energy recovery capability of the battery meets the driver's needs includes: determining a target recovery power required by the driver according to the energy recovery gear; determining, based on the battery temperature or the battery state of charge, whether an energy recovery capability of the battery is limited; When the energy recovery capability of the battery is limited and the actual charging power of the battery is less than the target recovery power, it is determined that the energy recovery capability of the battery does not meet the driver's demand; The determining, based on the battery temperature or the battery state of charge, whether the energy recovery capability of the battery is limited includes: determining the remaining battery capacity according to the battery state of charge; When the battery temperature is lower than a temperature threshold, or the remaining battery power is higher than a power threshold, it is determined that the energy recovery capability of the battery is limited.

2. The compensation method according to claim 1, characterized in that: The compensation method further includes: When it is determined that the energy recovery capability of the battery is limited, the limitation reason is displayed, where the limitation reason includes that the battery temperature is too low or the battery remaining power is too high.

3. The compensation method according to claim 1, characterized in that: When the electronically controlled hydraulic brake system is able to work normally, controlling the electronically controlled hydraulic brake system to provide a compensatory braking force for the vehicle comprises: determining a current first deceleration driving force of the vehicle and a second deceleration driving force required by the driver; calculating a difference between the first deceleration driving force and the second deceleration driving force; The magnitude of the compensatory braking force that the electronically controlled hydraulic braking system needs to provide to the vehicle is determined based on the difference, and the electronically controlled hydraulic braking system is controlled to provide the vehicle with the compensatory braking force of the corresponding magnitude.

4. The compensation method according to claim 1, characterized in that: The compensation method further includes: Detecting whether the driver switches the energy recovery gear; wherein the energy recovery gear includes at least three gears: low, medium, and high; When it is detected that the driver switches the energy recovery gear, it is re-determined based on the operating parameters whether the energy recovery capability of the battery meets the driver's needs.

5. A vehicle braking force compensation device, characterized in that: The compensation device comprises: An operating parameter acquisition module is used to obtain operating parameters of the vehicle in the energy recovery mode; the operating parameters include at least battery temperature, battery state of charge, actual battery charging power, and the energy recovery gear currently selected by the driver; a first judgment module, configured to judge whether the energy recovery capability of the battery meets the driver's requirements based on the operating parameters; a second judgment module, configured to judge whether the vehicle's electronically controlled hydraulic brake system can operate normally when the energy recovery capacity of the battery does not meet the driver's needs; a compensating braking force control module, configured to control the electronically controlled hydraulic braking system to provide a compensating braking force for the vehicle when the electronically controlled hydraulic braking system is able to operate normally; The determining, based on the operating parameters, whether the energy recovery capability of the battery meets the driver's needs includes: determining a target recovery power required by the driver according to the energy recovery gear; determining, based on the battery temperature or the battery state of charge, whether an energy recovery capability of the battery is limited; When the energy recovery capability of the battery is limited and the actual charging power of the battery is less than the target recovery power, it is determined that the energy recovery capability of the battery does not meet the driver's demand; The determining, based on the battery temperature or the battery state of charge, whether the energy recovery capability of the battery is limited includes: determining the remaining battery capacity according to the battery state of charge; When the battery temperature is lower than a temperature threshold, or the remaining battery power is higher than a power threshold, it is determined that the energy recovery capability of the battery is limited.

6. An electronic device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the compensation method according to any one of claims 1 to 4 by executing the computer instructions.

7. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the compensation method according to any one of claims 1 to 4.

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