Regenerative Braking and Mechanical Braking Torque Distribution Method, Device and Storage Medium for Electric Vehicles

Abstract

The present invention discloses a method for regenerative braking and mechanical braking torque distribution of an electric vehicle, a computer device and a storage medium. The method for regenerative braking and mechanical braking torque distribution of the electric vehicle performs combined braking when the braking intensity is less than the intensity threshold (non-emergency braking) and the state of charge of the power battery is less than the charge threshold (the power battery is suitable for regenerative braking). During the combined braking process, when the slip ratio is less than the slip ratio threshold (the risk of side slip of the electric vehicle is small), the optimal braking energy recovery strategy is executed, which can maintain braking stability and increase the recovered energy. When the slip ratio is greater than or equal to the slip ratio threshold (the risk of side slip of the electric vehicle is large), the parallel braking energy recovery strategy is executed. At this time, a braking strategy with regenerative braking as the main and mechanical braking as the auxiliary is executed in combination with the vehicle speed, which can both recover energy and reduce the risk of side slip of the electric vehicle, ensuring driving safety. The present invention is widely applied to the field of automotive technology.

Description

Technical Field

[0001] The present invention relates to the technical field of automobiles, and in particular to a method for distributing regenerative braking and mechanical braking torques of an electric vehicle, a computer device, and a storage medium. Background Art

[0002] The braking methods of electric vehicles include regenerative braking and mechanical braking. Among them, regenerative braking can convert the driving kinetic energy of the electric vehicle back into electrical energy and charge it back into the battery. Mechanical braking is similar to that of traditional fuel vehicles, and the driving kinetic energy of the electric vehicle is converted into heat energy through the friction of the brake for dissipation. It can be seen that the regenerative braking method can achieve effects such as reducing energy consumption and extending the cruising range. Therefore, the current electric vehicle braking technology generally sets up components required for both regenerative braking and mechanical braking. The total braking force of the electric vehicle is equal to the sum of the braking force provided by the regenerative braking component and the braking force provided by the mechanical braking.

[0003] The current electric vehicle braking technology adopts an optimal energy recovery control strategy, that is, when the required total braking force is greater than the regenerative braking force, only regenerative braking is used, and the mechanical braking component does not work; when the required total braking force is greater than the regenerative braking force, the regenerative braking component outputs the braking force at full load, and the braking force provided by the mechanical braking component is equal to the difference between the total braking force and the regenerative braking force.

[0004] Although the optimal energy recovery control strategy can maintain a high energy recovery rate and is beneficial to improving the cruising ability of electric vehicles, the electric vehicle faces a complex environment during driving. For example, when emergency braking is required, under the optimal energy recovery control strategy, regenerative braking is preferentially used, and mechanical braking intervenes later. There is a risk of insufficient braking force before the mechanical braking intervenes; during actual driving, the electric vehicle may also experience phenomena such as skidding, and these phenomena may all make the optimal energy recovery control strategy lose safety. Summary of the Invention

[0005] Aiming at the technical problems such as insufficient safety of the optimal energy recovery control strategy used in the current electric vehicle braking technology, the purpose of the present invention is to provide a method for distributing regenerative braking and mechanical braking torques of an electric vehicle, a computer device, and a storage medium.

[0006] On the one hand, an embodiment of the present invention includes a method for distributing regenerative braking and mechanical braking torques of an electric vehicle, including:

[0007] Obtain the total braking torque, braking intensity, and state of charge of the power battery of the electric vehicle;

[0008] When the braking intensity is less than the intensity threshold and the state of charge of the power battery is less than the charge threshold, perform combined braking;

[0009] In the combined braking:

[0010] Detect the slip ratio of the electric vehicle;

[0011] When the slip ratio is less than the slip ratio threshold, obtain the maximum regenerative braking torque of the electric vehicle, obtain the braking torque required for the wheels of the electric vehicle, and determine the regenerative braking torque and the mechanical braking torque according to the magnitude relationship between the maximum regenerative braking torque and the braking torque required for the wheels;

[0012] When the slip ratio is greater than or equal to the slip ratio threshold, obtain the braking torque when the motor speed of the electric vehicle is the base speed, determine the regenerative braking torque according to the braking torque when the motor speed is the base speed, and determine the mechanical braking torque according to the total braking torque and the regenerative braking torque.

[0013] Furthermore, the method for distributing the regenerative braking and mechanical braking torques of the electric vehicle further includes:

[0014] When the braking intensity is greater than or equal to the intensity threshold, perform mechanical braking and determine the total braking torque as the mechanical braking torque.

[0015] Furthermore, the method for distributing the regenerative braking and mechanical braking torques of the electric vehicle further includes:

[0016] When the state of charge of the power battery is greater than or equal to the state of charge threshold, perform mechanical braking and determine the total braking torque as the mechanical braking torque.

[0017] Furthermore, the obtaining of the maximum regenerative braking torque of the electric vehicle includes:

[0018] Obtain the maximum regenerative braking torque through the formula T regen = T m .i0.μ m .μ t .w1.w2;

[0019] Wherein, T regen is the maximum regenerative braking torque, T m is the braking torque of the motor of the electric vehicle; i0 is the main reduction ratio of the electric vehicle; μ m is the power generation efficiency of the motor of the electric vehicle; μ t is the transmission efficiency of the electric vehicle; w1 is the weighting coefficient of the state of charge of the power battery of the electric vehicle for the regenerative braking torque; w2 is the weighting coefficient of the real-time vehicle speed of the electric vehicle for the regenerative braking torque.

[0020] Furthermore, the weighting coefficient w1 is determined by the following formula:

[0021]

[0022] Among them, SOC is the state of charge of the power battery of the electric vehicle;

[0023] The weighting coefficient w2 is determined by the following formula:

[0024]

[0025] Among them, v is the real-time vehicle speed of the electric vehicle.

[0026] Furthermore, determining the regenerative braking torque and the mechanical braking torque according to the magnitude relationship between the maximum regenerative braking torque and the braking torque required by the wheel includes:

[0027] When T front ≤T regen :

[0028] F regen = T front / r;

[0029] F friction = 0;

[0030] When T front > T regen :

[0031] F regen = T regen / r;

[0032] F friction = (T front - T regen ) / r;

[0033] Among them, T front is the braking torque required by the wheel, T regen is the maximum regenerative braking torque, F regen is the regenerative braking torque, F friction is the mechanical braking torque, and r is the wheel radius of the electric vehicle.

[0034] Furthermore, determining the regenerative braking torque according to the braking torque when the motor speed is the base speed includes:

[0035] Calculating the regenerative braking torque according to the formula F regen = T0.i0.μ m .μ t .w1.w2 / r;

[0036] Among them, F regen is the regenerative braking torque, T0 is the braking torque when the motor speed is the base speed, i0 is the main reduction ratio of the electric vehicle, μ mFor the motor power generation efficiency of the electric vehicle, μ t For the transmission efficiency of the electric vehicle, w1 is the weighting coefficient of the state of charge of the power battery of the electric vehicle for the regenerative braking torque, w2 is the weighting coefficient of the real-time vehicle speed of the electric vehicle for the regenerative braking torque, and r is the wheel radius of the electric vehicle.

[0037] Further, determining the mechanical braking torque according to the total braking torque and the regenerative braking torque includes:

[0038] According to the formula F friction =(T brake -T regen ) / r to determine the mechanical braking torque;

[0039] wherein, F friction is the mechanical braking torque, and T brake is the total braking torque.

[0040] On the other hand, an embodiment of the present invention further includes a computer device, including a memory and a processor, the memory is used to store at least one program, and the processor is used to load the at least one program to execute the regenerative braking and mechanical braking torque distribution method of the electric vehicle in the embodiment.

[0041] On the other hand, an embodiment of the present invention further includes a storage medium, in which a program executable by a processor is stored, and the program executable by the processor is used to execute the regenerative braking and mechanical braking torque distribution method of the electric vehicle in the embodiment when executed by the processor.

[0042] The beneficial effects of the present invention are as follows: The regenerative braking and mechanical braking torque distribution method of the electric vehicle in the embodiment performs combined braking when the braking intensity is less than the intensity threshold (non-emergency braking) and the state of charge of the power battery is less than the charge threshold (the power battery is suitable for regenerative braking). During the combined braking process, the optimal braking energy recovery strategy is executed when the slip ratio is less than the slip ratio threshold (the risk of side slip of the electric vehicle is small), which can maintain braking stability and increase the recovered energy; when the slip ratio is greater than or equal to the slip ratio threshold (the risk of side slip of the electric vehicle is large), the parallel braking energy recovery strategy is executed. At this time, a braking strategy of mainly regenerative braking and supplemented by mechanical braking is executed in combination with the vehicle speed, which can both recover energy and reduce the risk of side slip of the electric vehicle, ensuring driving safety. Description of the Drawings

[0043] Figure 1 It is a schematic structural diagram of an electric vehicle to which the regenerative braking and mechanical braking torque distribution method of the electric vehicle in the embodiment can be applied;

[0044] Figure 2Schematic diagram of the steps of the regenerative braking and mechanical braking torque distribution method for an electric vehicle in the embodiment;

[0045] Figure 3 Schematic diagram of the process of the regenerative braking and mechanical braking torque distribution method for an electric vehicle in the embodiment;

[0046] Figure 4 Schematic diagram of the relationship between the weighting coefficient w1 and the state of charge SOC of the power battery of the electric vehicle in the embodiment;

[0047] Figure 5 Schematic diagram of the relationship between the weighting coefficient w2 and the real-time vehicle speed v of the electric vehicle in the embodiment. Detailed implementation manners

[0048] In this embodiment, the regenerative braking and mechanical braking torque distribution method of the electric vehicle can be applied to Figure 1 the electric vehicle shown in the figure. Referring to Figure 1 , the drive wheels of the electric vehicle are the front wheels, and the battery management system BMS, the motor control system MCU, the vehicle control unit VCU, and the electronic hydraulic brake controller EHB communicate with each other through the CAN bus. The battery management system BMS controls the electric energy output by the power battery to supply power to the motor, and the motor drives the electric vehicle to move forward under the control of the motor control system MCU.

[0049] The regenerative braking has the following characteristics:

[0050] 1. As the braking process continues, the speed becomes lower and lower, and the recoverable braking energy becomes smaller and smaller. It is not easy to stop the vehicle urgently at low speeds. Therefore, when emergency braking is required, pure regenerative braking cannot quickly stop the vehicle;

[0051] 2. The start and stop of regenerative braking and mechanical braking should consider the slip ratio, make full use of the ground adhesion, improve the braking energy efficiency, and consider the braking safety when the slip ratio is high.

[0052] The regenerative braking adopted in the past generally uses the optimal energy recovery control strategy, that is, when the total braking force is less than the regenerative braking force, only regenerative braking is used and the mechanical braking does not work; when the total braking force is greater than the regenerative braking force, the mechanical braking force is the total braking force minus the regenerative braking force. The braking force distribution on the front and rear axles in the past generally uses a fixed ratio, and there are deficiencies in braking energy efficiency and braking safety.

[0053] In view of the above problems, referring to Figure 2 , the regenerative braking and mechanical braking torque distribution method of the electric vehicle includes the following steps:

[0054] S1. Obtain the total braking torque T brake of the electric vehicle, the braking intensity Z, and the state of charge SOC of the power battery;

[0055] S2. When the braking intensity is greater than or equal to the intensity threshold, or the state of charge of the power battery is greater than or equal to the state-of-charge threshold, mechanical braking is performed;

[0056] S3. When the braking intensity is less than the intensity threshold and the state of charge of the power battery is less than the state-of-charge threshold, combined braking is performed.

[0057] The flow of steps S1 - S3 is as Figure 3 shown. In this embodiment, unless otherwise specified, the "wheel" mentioned may refer to the drive wheel of the electric vehicle, such as the front wheel of current mainstream electric vehicles.

[0058] In step S1, the action of the brake pedal can be detected by the Figure 1 electronic hydraulic brake controller EHB therein. The depth of the brake pedal is detected by a displacement sensor provided on the brake pedal, and the required total braking torque T brake and braking intensity Z are calculated. In this embodiment, the total braking torque T brake can be linearly related to the depth of the brake pedal, and the braking intensity Z = T brake / mgr, where m is the vehicle weight of the electric vehicle, g is the acceleration due to gravity, and r is the wheel radius. Data such as m, g, and r can be stored as constants in the electronic hydraulic brake controller EHB.

[0059] In step S1, the state of the power battery can be detected and recorded by the Figure 1 battery management system BMS therein, and the state of charge SOC of the power battery at each moment is obtained.

[0060] In step S2, referring to Figure 3 , when the braking intensity Z is greater than or equal to the intensity threshold (which can be set to 0.75 in this embodiment), or the state of charge SOC of the power battery is greater than or equal to the state-of-charge threshold (which can be set to 85% in this embodiment), mechanical braking is performed.

[0061] Among them, when the braking intensity Z ≥ 0.75, it can be judged as an emergency brake. To ensure driving safety, the motor does not provide the feedback resistance for deceleration, and the vehicle distributes the hydraulic braking force of the front and rear axles according to the preset VSA control strategy, and all the total braking torque is determined as the mechanical braking torque, that is, only mechanical braking is performed and no regenerative braking is performed.

[0062] When the state of charge SOC of the power battery ≥ 85%, it can be judged that the SOC is too high. Since the charging efficiency of the power battery is limited by the battery SOC, temperature, and charging current, when the SOC is too high, it is not suitable to use braking energy recovery; during the braking process, the braking torque generated by the motor decreases as the braking process progresses, and at this time the regenerative braking torque is small and only plays a supplementary role, and it can be regarded as only mechanical braking.

[0063] Reference Figure 3 , when the braking intensity Z < 0.75 and the state of charge SOC of the power battery < 85%, EHB combined braking can be performed. The steps of the combined braking specifically include:

[0064] S301. Detect the slip ratio S of the electric vehicle;

[0065] S302. When the slip ratio S is less than the slip ratio threshold (which can be set to 15% in this embodiment), obtain the maximum regenerative braking torque T of the electric vehicle regen , obtain the required braking torque T of the wheels of the electric vehicle front , according to the maximum regenerative braking torque T regen and the required braking torque T of the wheels front to determine the regenerative braking torque F regen and the mechanical braking torque F friction ;

[0066] S303. When the slip ratio is greater than or equal to the slip ratio threshold (15%), obtain the braking torque T0 when the motor speed of the electric vehicle is the base speed, and determine the regenerative braking torque F according to the braking torque T0 when the motor speed is the base speed regen , according to the total braking torque T brake and the regenerative braking torque F regen to determine the mechanical braking torque F friction .

[0067] When performing step S301, the slip ratio S of the electric vehicle can be detected by the vehicle stability control system VSA in Figure 1 .

[0068] Reference Figure 3 , in step S302, when the slip ratio S < 15%, since the slip ratio S is less than the slip ratio threshold, the anti-lock braking control in the vehicle stability control system VSA is not triggered, and the mechanical braking and regenerative braking forces can be allocated with the maximum braking energy recovery strategy. The combined braking (performing regenerative braking and mechanical braking simultaneously) performed in step S302 is the optimal braking energy recovery strategy.

[0069] Specifically, in step S302, through the formula T regen = T m .i0.μ m .μ t .w1.w2 to calculate the maximum regenerative braking torque T regen . Among them, T m is the electric motor braking torque of the electric vehicle; i0 is the main reduction ratio of the electric vehicle; μ m is the electric motor power generation efficiency of the electric vehicle; μ tis the transmission efficiency of the electric vehicle; w1 is the weighting coefficient of the state of charge of the power battery of the electric vehicle for the regenerative braking torque; w2 is the weighting coefficient of the real-time vehicle speed of the electric vehicle for the regenerative braking torque.

[0070] In this embodiment, the braking torque T of the electric vehicle's motor m , the main reduction ratio i0 of the electric vehicle, the motor power generation efficiency μ of the electric vehicle m and the transmission efficiency μ of the electric vehicle t and other parameters can be stored as constants in Figure 1 the motor control system MCU.

[0071] In this embodiment, the relationship between the weighting coefficient w1 and the state of charge SOC of the power battery of the electric vehicle is as Figure 4 shown, and it satisfies the following relationship:

[0072]

[0073] In this embodiment, the relationship between the weighting coefficient w2 and the real-time vehicle speed v of the electric vehicle is as Figure 5 shown, and it satisfies the following relationship:

[0074]

[0075] Among them, the real-time vehicle speed v of the electric vehicle can be calculated by detecting the motor speed through Figure 1 the motor control system MCU, or the real-time vehicle speed v of the electric vehicle can be obtained by the vehicle control unit VCU calling the data measured by the positioning system.

[0076] Specifically, in step S302, the regenerative braking torque F regen and the mechanical braking torque F friction are calculated through the following formula:

[0077] (1) When the required braking torque T of the wheel front ≤ the maximum regenerative braking torque T regen :

[0078] The regenerative braking torque F regen = T front / r;

[0079] The mechanical braking torque F friction = 0;

[0080] (2) When the required braking torque T of the wheel front > the maximum regenerative braking torque T regen :

[0081] The regenerative braking torque F regen = T regen / r;

[0082] Mechanical braking torque F friction =(T front -T regen ) / r;

[0083] Wherein, r is the wheel radius of the electric vehicle.

[0084] Referring to Figure 3 , in step S303, when the slip ratio S≥15%, since the slip ratio S is greater than or equal to the slip ratio threshold, the anti-lock braking control in the vehicle stability control system VSA is triggered. The combined braking (simultaneously performing regenerative braking and mechanical braking) executed in step S303 is a parallel braking energy recovery strategy.

[0085] Specifically, in step S303, according to the formula F regen =T0.i0.μ m .μ t .w1.w2 / r to calculate the regenerative braking torque F regen . Wherein, T0 is the braking torque when the motor speed is the base speed, i0 is the main reduction ratio of the electric vehicle, μ m is the motor power generation efficiency of the electric vehicle, μ t is the transmission efficiency of the electric vehicle, w1 is the weighting coefficient of the state of charge of the power battery of the electric vehicle on the regenerative braking torque, w2 is the weighting coefficient of the real-time vehicle speed of the electric vehicle on the regenerative braking torque, and r is the wheel radius of the electric vehicle.

[0086] In this embodiment, parameters such as the braking torque T0 when the motor speed is the base speed, the main reduction ratio i0 of the electric vehicle, the motor power generation efficiency μ m of the electric vehicle and the transmission efficiency μ t of the electric vehicle and the wheel radius r of the electric vehicle can be stored as constants in Figure 1 the motor control system MCU.

[0087] In step S303, after obtaining the total braking torque T brake and calculating the regenerative braking torque F regen , through the formula F friction =(T brake -T regen ) / r to calculate the mechanical braking torque F friction .

[0088] In this embodiment, referring to Figure 3 , after obtaining the regenerative braking torque F regen and the mechanical braking torque F friction by executing step S302 or step S303, by Figure 1 the braking force distribution unit in according to the regenerative braking torque F regenControl the operation of the regenerative braking component according to the mechanical braking torque F friction Control the operation of the mechanical braking component, thereby performing braking on the electric vehicle.

[0089] It is possible to write a computer program that executes the regenerative braking and mechanical braking torque distribution methods of the electric vehicle in this embodiment, write this computer program into a storage medium or a computer device. When the computer program is read and run, the regenerative braking and mechanical braking torque distribution methods of the electric vehicle in this embodiment are executed, thereby achieving the same technical effects as the regenerative braking and mechanical braking torque distribution methods of the electric vehicle in the embodiment.

[0090] It should be noted that, unless otherwise specified, when a certain feature is referred to as "fixed" or "connected" to another feature, it can be directly fixed or connected to the other feature, or indirectly fixed or connected to the other feature. In addition, the up, down, left, right, etc. descriptions used in this disclosure are only relative to the mutual positional relationship of the components of this disclosure in the drawings. The singular forms "a", "the" and "said" used in this disclosure are also intended to include the plural forms, unless the context clearly indicates otherwise. In addition, unless otherwise defined, all technical and scientific terms used in this embodiment have the same meaning as those commonly understood by those skilled in the technical field of this application. The terms used in the description of this embodiment of the specification are only for describing specific embodiments, rather than for limiting the present invention. The term "and / or" used in this embodiment includes any and all combinations of one or more of the related listed items.

[0091] It should be understood that although terms such as first, second, and third may be used in this disclosure to describe various elements, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from each other. For example, without departing from the scope of this disclosure, the first element may also be referred to as the second element, and similarly, the second element may also be referred to as the first element. The use of any and all examples or exemplary language ("for example", "such as", etc.) provided in this embodiment is only intended to better illustrate the embodiments of the present invention, and will not impose a limitation on the scope of the present invention unless otherwise required.

[0092] It should be recognized that embodiments of the present invention can be implemented or carried out by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer-readable memory. The methods can be implemented in a computer program using standard programming techniques - including a non-transitory computer-readable storage medium configured with the computer program, where the storage medium so configured causes the computer to operate in a specific and predefined manner - according to the methods and drawings described in the specific embodiments. Each program can be implemented in a high-level procedural or object-oriented programming language to communicate with a computer system. However, if desired, the program can be implemented in assembly or machine language. In any case, the language can be a compiled or interpreted language. Additionally, for this purpose the program is capable of running on a programmed application-specific integrated circuit.

[0093] In addition, the operations of the processes described in this embodiment can be performed in any suitable order, unless this embodiment otherwise indicates or is otherwise clearly contradicted by the context. The processes described in this embodiment (or variations and / or combinations thereof) can be executed under the control of one or more computer systems configured with executable instructions, and can be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) executed jointly on one or more processors, by hardware, or a combination thereof. The computer programs include multiple instructions executable by one or more processors.

[0094] Further, the methods can be implemented in any type of computing platform operatively connected, including but not limited to personal computers, minicomputers, mainframes, workstations, network or distributed computing environments, separate or integrated computer platforms, or in communication with charged particle tools or other imaging devices, etc. Aspects of the present invention can be implemented in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into the computing platform, such as a hard disk, optical read and / or write storage medium, RAM, ROM, etc., such that it can be read by a programmable computer and, when the storage medium or device is read by the computer, can be used to configure and operate the computer to execute the processes described herein. Additionally, the machine-readable code, or portions thereof, can be transmitted via a wired or wireless network. When such media include instructions or programs that implement the above-described steps in conjunction with a microprocessor or other data processor, the inventions described in this embodiment include these and other different types of non-transitory computer-readable storage media. When programmed according to the methods and techniques of the present invention, the present invention also includes the computer itself.

[0095] A computer program can be applied to input data to perform the functions described in this embodiment, thereby converting the input data to generate output data stored in a non-volatile memory. The output information can also be applied to one or more output devices such as a display. In a preferred embodiment of the present invention, the converted data represents physical and tangible objects, including specific visual depictions of physical and tangible objects generated on the display.

[0096] As described above, this is only a preferred embodiment of the present invention. The present invention is not limited to the above embodiments. As long as it achieves the technical effects of the present invention by the same means, any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention. Within the scope of protection of the present invention, its technical solutions and / or implementation manners can have various different modifications and variations.

Claims

1. A method for distributing the regenerative braking and mechanical braking torques of an electric vehicle, characterized in that, The method for distributing the regenerative braking and mechanical braking torques of the electric vehicle includes: Obtaining the total braking torque, braking intensity, and state of charge of the power battery of the electric vehicle; When the braking intensity is less than the intensity threshold and the state of charge of the power battery is less than the charge threshold, perform combined braking; In the combined braking: Detect the slip ratio of the electric vehicle; When the slip ratio is less than the slip ratio threshold, obtain the maximum regenerative braking torque of the electric vehicle, obtain the braking torque required for the wheels of the electric vehicle, and determine the regenerative braking torque and the mechanical braking torque according to the magnitude relationship between the maximum regenerative braking torque and the braking torque required for the wheels; When the slip ratio is greater than or equal to the slip ratio threshold, obtain the braking torque when the motor speed of the electric vehicle is the base speed, determine the regenerative braking torque according to the braking torque when the motor speed is the base speed, and determine the mechanical braking torque according to the total braking torque and the regenerative braking torque; The obtaining of the maximum regenerative braking torque of the electric vehicle includes: Through the formula T regen = T m .i0.μ m .μ t .w1.w2 to calculate the maximum regenerative braking torque; Among them, T regen is the maximum regenerative braking torque, and T m is the electric motor braking torque of the electric vehicle; i0 is the main reduction ratio of the electric vehicle; μ m is the electric motor power generation efficiency of the electric vehicle; μ t is the transmission efficiency of the electric vehicle; w1 is the weighting coefficient of the state of charge of the power battery of the electric vehicle for the regenerative braking torque; w2 is the weighting coefficient of the real-time vehicle speed of the electric vehicle for the regenerative braking torque; The weighting coefficient w1 is determined by the following formula: where SOC is the state of charge of the power battery of the electric vehicle; The weighting coefficient w2 is determined by the following formula: where v is the real-time vehicle speed of the electric vehicle.

2. The method for regenerative braking and mechanical braking torque distribution of an electric vehicle according to claim 1, characterized in that, The method for distributing the regenerative braking and mechanical braking torques of the electric vehicle further includes: When the braking intensity is greater than or equal to the intensity threshold, perform mechanical braking and determine the total braking torque as the mechanical braking torque.

3. The method for regenerative braking and mechanical braking torque distribution of an electric vehicle according to claim 1, wherein The method for distributing the regenerative braking and mechanical braking torques of the electric vehicle further includes: When the state of charge of the power battery is greater than or equal to the charge threshold, perform mechanical braking and determine the total braking torque as the mechanical braking torque.

4. The method for regenerative braking and mechanical braking torque distribution of an electric vehicle according to claim 1, characterized in that, The determining of the regenerative braking torque and the mechanical braking torque according to the magnitude relationship between the maximum regenerative braking torque and the braking torque required for the wheels includes: When T front ≤ T regen : F regen = T front / r; F friction ＝0； When T front > T regen : F regen = T regen / r; F friction = (T front - T regen ) / r; Among them, T front is the required braking torque of the wheel, T regen is the maximum regenerative braking torque, F regen is the regenerative braking torque, F friction is the mechanical braking torque, and r is the radius of the wheel of the electric vehicle.

5. The method for regenerative braking and mechanical braking torque distribution of an electric vehicle according to claim 1, wherein The determining of the regenerative braking torque according to the braking torque when the motor speed is the base speed includes: According to the formula F regen = T0.i0.μ m .μ t .w1.w2 / r to calculate the regenerative braking torque; Among them, F regen is the regenerative braking torque, T0 is the braking torque when the motor speed is the base speed, i0 is the main reduction ratio of the electric vehicle, μ m is the motor power generation efficiency of the electric vehicle, μ t is the transmission efficiency of the electric vehicle, w1 is the weighting coefficient of the state of charge of the power battery of the electric vehicle for the regenerative braking torque, w2 is the weighting coefficient of the real-time vehicle speed of the electric vehicle for the regenerative braking torque, and r is the wheel radius of the electric vehicle.

6. The method for regenerative braking and mechanical braking torque distribution of an electric vehicle according to claim 5, wherein The determining of the mechanical braking torque according to the total braking torque and the regenerative braking torque includes: Determine the mechanical braking torque according to the formula F friction =(T brake -T regen ) / r Among them, F friction is the mechanical braking torque, and T brake is the total braking torque.

7. A computer device, characterized in that, It includes a memory and a processor. The memory is used to store at least one program, and the processor is used to load the at least one program to execute the method for distributing the regenerative braking and mechanical braking torques of the electric vehicle according to any one of claims 1-6.

8. A computer-readable storage medium storing a program executable by a processor, characterized in that, The program executable by the processor, when executed by the processor, is used to execute the method for distributing the regenerative braking and mechanical braking torques of the electric vehicle according to any one of claims 1-6.

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