A braking control method, a braking control device, and an electric vehicle

Abstract

This application provides a braking control method, a braking control device, and an electric vehicle. The braking control method, applied to the braking control device, includes: in single-pedal mode, acquiring the voltage signal of the accelerator pedal and the corresponding voltage change characteristics, and calculating the braking torque requirement based on the voltage signal and the corresponding voltage change characteristics; performing a first torque arbitration based on the braking torque requirement and determining the target electric braking torque; and applying a corresponding braking method based on the relationship between the target electric braking torque and the motor torque limit, and / or the motor state. This application can apply a corresponding braking method based on the relationship between the target electric braking torque and the motor torque limit, and / or the motor state, providing a new braking compensation method for situations where the motor torque limit is lower than the target electric braking torque, and / or abnormal states such as a fully charged battery, overheat protection, or motor failure, ensuring vehicle braking safety.

Description

Technical Field

[0001] This application belongs to the field of vehicle braking control technology, and particularly relates to a braking control method, a braking control device, and an electric vehicle. Background Technology

[0002] With the growing prominence of the global energy crisis and environmental issues, countries worldwide are placing increasing emphasis on new energy vehicles. In recent years, new energy vehicles, especially electric vehicles, have been vigorously promoted and widely used in my country, characterized by their electric motor as the sole power source. Additionally, the one-pedal function, a relatively new feature that has emerged in the last two years, allows drivers to control the vehicle's acceleration and deceleration with a single accelerator pedal. Especially in urban driving conditions, this function reduces the driver's frequent switching between the brake and accelerator pedals and enables energy recovery across the entire vehicle speed range.

[0003] Current electric vehicles, including the Tesla Model 3, Buick Velite, and Geely Geometry A, experience a decrease in deceleration when using the single-pedal function under abnormal conditions such as a fully charged battery, motor overheat protection, or motor malfunction. This deceleration is lower than the driver's expectations. The driver may anticipate that the vehicle has electric braking capability, but in reality, the malfunction prevents electric braking. By the time the driver reacts and attempts to apply other braking measures, the extremely short timeframe can easily lead to adverse consequences. Summary of the Invention

[0004] To address the aforementioned technical problems, this application provides a braking control method, a braking control device, and an electric vehicle to ensure vehicle braking safety.

[0005] This application provides a braking control method applied to a braking control device, comprising: in single-pedal mode, acquiring the voltage signal of the accelerator pedal and the corresponding voltage change characteristics, and calculating the braking torque requirement based on the voltage signal and the corresponding voltage change characteristics; performing a first torque arbitration based on the braking torque requirement and determining the target electric braking torque; and applying a corresponding braking method to brake based on the relationship between the target electric braking torque and the motor torque limit, and / or the motor state.

[0006] In one embodiment, the step of using a corresponding braking method to brake based on the relationship between the target electric braking torque and the motor torque limit, and / or the motor state, includes: if the motor is in normal operating condition and the target electric braking torque does not exceed the motor torque limit, then electric braking is used; if the motor is in normal operating condition and the target electric braking torque exceeds the motor torque limit, then a combination of electric braking and hydraulic braking compensation is used.

[0007] In one embodiment, the step of braking by combining electric braking and hydraulic braking compensation includes: applying electric braking to the portion of the target electric braking torque that does not exceed the motor torque limit; and applying hydraulic braking compensation to the portion of the target electric braking torque that exceeds the motor torque limit.

[0008] In one embodiment, the step of applying a corresponding braking method based on the relationship between the target electric braking torque and the motor torque limit, and / or the motor state, includes: if the motor is in a first abnormal operating state, exiting the single-pedal mode, applying hydraulic braking for braking compensation, and displaying a first prompt message, wherein the first abnormal operating state includes at least one of mechanical failure, communication failure, or electric braking failure caused by overheat protection; if the motor is in a second abnormal operating state, applying a combination of electric braking and hydraulic braking compensation, wherein the second abnormal operating state is an electric braking failure state caused by a fully charged battery.

[0009] In one embodiment, before the step of performing a first torque arbitration and determining a target electric braking torque based on the braking torque requirement, the method includes: evaluating the energy recovery capability of the vehicle based on the braking torque requirement; and performing corresponding operations based on the evaluation result of the energy recovery capability.

[0010] In one embodiment, the step of performing corresponding operations based on the evaluation result of the energy recovery capability includes: if the evaluation result of the energy recovery capability indicates that the energy recovery capability meets preset conditions, then performing the step of conducting a first torque arbitration and determining the target electric braking torque based on the braking torque requirement; if the evaluation result of the energy recovery capability indicates that the energy recovery capability does not meet preset conditions, then exiting the single-pedal mode, using hydraulic braking for braking compensation, and displaying a second prompt message.

[0011] In one embodiment, the braking control method includes: during braking in the single-pedal mode, if a voltage signal of the brake pedal is obtained, a target hydraulic braking torque is obtained based on the voltage signal of the brake pedal, and a cooperative energy recovery mode is entered. In the cooperative energy recovery mode, the target braking torque is the sum of the target electric braking torque and the target hydraulic braking torque; the target hydraulic braking torque in the target braking torque is converted into a corresponding target electric braking torque; if the target braking torque is less than or equal to the motor torque limit, electric braking is implemented; if the target braking torque is greater than the motor torque limit, braking is performed using a combination of electric braking and hydraulic braking compensation.

[0012] In one embodiment, the braking control method further includes: during braking in the single-pedal mode, if a trigger response signal of the electronic stability control system is obtained, the single-pedal mode is exited, the electronic stability control system operating mode is entered, and a third prompt message is displayed.

[0013] In one embodiment, after the step of braking with a corresponding braking method based on the relationship between the target electric braking torque and the motor torque limit, and / or the motor state, the method includes: obtaining the vehicle speed; if the vehicle speed is lower than a preset value and a power-off signal of the vehicle is obtained, then triggering an electronic parking mode.

[0014] In one embodiment, the step of using hydraulic braking for brake compensation includes: performing a second torque arbitration and determining a target hydraulic braking torque based on the braking torque requirement; and implementing hydraulic braking compensation based on the target hydraulic braking torque.

[0015] This application also provides a braking control device, including a battery energy control module, a motor control module, and a vehicle dynamics domain manager. The battery energy control module is connected to the motor control module and the vehicle dynamics domain manager, respectively, and is used to acquire the voltage signal of the accelerator pedal and the corresponding voltage change characteristics in single-pedal mode, calculate the braking torque requirement based on the voltage signal and the corresponding voltage change characteristics, perform a first torque arbitration based on the braking torque requirement, determine the target electric braking torque, and output a first control signal based on the relationship between the target electric braking torque and the motor torque limit, and / or the motor state. The motor control module and / or the vehicle dynamics domain manager receive the first control signal and perform braking operation according to the corresponding braking method based on the first control signal.

[0016] In one embodiment, the braking control device further includes a braking assist module; the battery energy control module is also used to evaluate the energy recovery capability of the vehicle based on the braking torque requirement and output the evaluation result; the vehicle dynamic domain manager receives the evaluation result, and when the energy recovery capability does not meet the preset conditions and / or the motor is in a first abnormal working state, performs a second torque arbitration based on the braking torque requirement and determines the target hydraulic braking torque, and performs a hydraulic braking compensation operation or outputs a second control signal based on the target hydraulic braking torque; the braking assist module is connected to the vehicle dynamic domain manager, receives the second control signal, and performs a hydraulic braking compensation operation based on the second control signal.

[0017] This application also provides an electric vehicle including the aforementioned braking control device.

[0018] This application provides a braking control method, braking control device, and electric vehicle that can apply a corresponding braking method based on the relationship between the target electric braking torque and the motor torque limit, and / or the motor status. It provides a new braking compensation method for situations where the motor torque limit is lower than the target braking torque, and / or abnormal states such as a fully charged battery, overheat protection, or motor failure, thereby ensuring vehicle braking safety. Attached Figure Description

[0019] Figure 1 This is a schematic flowchart of the braking control method provided in Embodiment 1 of this application;

[0020] Figure 2 This is a schematic flowchart of the braking control method provided in Embodiment 2 of this application;

[0021] Figure 3 This is a schematic diagram of the braking control device provided in Embodiment 3 of this application. Detailed Implementation

[0022] The technical solutions of this application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this application. The word "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0023] Figure 1 This is a schematic flowchart of the braking control method provided in Embodiment 1 of this application. Figure 1 As shown, the braking control method of this application may include the following steps:

[0024] Step S101: In single-pedal mode, acquire the voltage signal of the accelerator pedal and the corresponding voltage change characteristics, and calculate the braking torque requirement based on the voltage signal and the corresponding voltage change characteristics.

[0025] Among them, the one-pedal mode refers to the mode in which the vehicle decelerates by releasing the accelerator pedal. During the deceleration process, the motor recovers energy, converting kinetic energy into electrical energy for storage.

[0026] Specifically, the sensor acquires the accelerator pedal opening and converts it into an accelerator pedal voltage signal, which is then transmitted to the Battery Energy Control Module (BECM) via the CAN bus. The BECM then acquires the corresponding voltage change characteristics based on the accelerator pedal voltage signal, i.e., the characteristics of voltage value changing over time. Based on experimental data, the braking torque requirement is calculated according to the voltage signal and the corresponding voltage change characteristics.

[0027] Step S102: Based on the braking torque requirement, perform the first torque arbitration and determine the target electric braking torque;

[0028] Specifically, the first torque arbitration is implemented by the battery energy control module (BECM), which determines the final target electric braking torque by comprehensively considering the braking torque demand and other torque demands or losses besides the braking torque demand, and sends the target electric braking torque to the motor control module (GEM / IEM) for evaluation.

[0029] Step S103: Based on the relationship between the target electric braking torque and the motor torque limit, and / or the motor status, adopt the corresponding braking method for braking.

[0030] In one embodiment, step S103 includes:

[0031] If the motor is in normal working condition and the target electric braking torque does not exceed the motor torque limit, then electric braking will be used for braking.

[0032] If the motor is in normal operating condition and the target electric braking torque exceeds the motor torque limit, then braking is performed by combining electric braking with hydraulic braking compensation.

[0033] The steps for braking using a combination of electric braking and hydraulic braking compensation include:

[0034] Electric braking is applied to the portion of the target electric braking torque that does not exceed the motor torque limit.

[0035] Hydraulic braking compensation is applied to the portion of the target electric braking torque that exceeds the motor torque limit.

[0036] Specifically, the motor control module (GEM / IEM) acquires the motor status and evaluates whether the motor's braking capacity meets the target electric braking torque requirement. When the motor is in normal operating condition, if the target electric braking torque does not exceed the motor torque limit, the motor's braking capacity is considered to meet the target electric braking torque requirement, and the evaluation result is fed back to the battery energy control module (BECM). At the same time, electric braking operation is performed on the target electric braking torque. If the target electric braking torque exceeds the motor torque limit, the motor's braking capacity is considered to not meet the target electric braking torque requirement, and the evaluation result is fed back to the battery energy control module (BECM). The battery energy control module (BECM) then sends the portion of the target electric braking torque that exceeds the motor torque limit to the vehicle dynamic domain manager (VDDM). The vehicle dynamic domain manager (VDDM) converts the electric braking torque that exceeds the motor torque limit into hydraulic braking torque, and controls the brake assist module (BBM) to perform hydraulic braking compensation operation based on the converted hydraulic braking torque, or the vehicle dynamic domain manager (VDDM) directly performs hydraulic braking compensation operation. Among them, the motor torque limit is the upper limit of the electric braking torque that the motor can provide, obtained by the motor control module (GEM / IEM) based on the motor status and battery status.

[0037] In other embodiments, step S103 further includes:

[0038] If the motor is in the first abnormal operating state, the single-pedal mode will be exited, and hydraulic braking will be used for braking compensation. The first prompt message will be displayed. The first abnormal operating state includes at least one of the following: mechanical failure, communication failure, and electric braking failure caused by battery overheating protection. If the motor is in the second abnormal operating state, braking will be performed by a combination of electric braking and hydraulic braking compensation. The second abnormal operating state is an electric braking failure caused by a fully charged battery.

[0039] The steps for brake compensation using hydraulic braking include: performing a second torque arbitration based on the brake torque requirement and determining the target hydraulic brake torque; and implementing hydraulic brake compensation based on the target hydraulic brake torque.

[0040] Specifically, before or during electric braking, if the Battery Energy Control Module (BECM) receives information about the first abnormal operating state of the motor from the Motor Control Module (GEM / IEM), it exits the single-pedal mode and enters the braking compensation mode. The Battery Energy Control Module (BECM) then resends the braking demand to the Vehicle Dynamics Domain Manager (VDDM). The VDDM performs a second torque arbitration on the braking torque demand to determine the target hydraulic braking torque and controls the Brake Assist Module (BBM) to perform hydraulic braking compensation operation based on the target hydraulic braking torque. Alternatively, the VDDM can directly perform hydraulic braking compensation operation based on the target hydraulic braking torque.

[0041] Optionally, after step S103, the method includes: acquiring the vehicle speed; if the vehicle speed is lower than a preset value and a power-off signal for the vehicle is acquired, then triggering the electronic parking mode. Preferably, the preset vehicle speed is 1 km / h.

[0042] It is worth mentioning that during braking in single-pedal mode, if a voltage signal from the brake pedal is received, the corresponding target hydraulic braking torque is obtained based on the brake pedal voltage signal, and the cooperative energy recovery mode is entered. In the cooperative energy recovery mode, the target braking torque is the sum of the target electric braking torque and the target hydraulic braking torque. The target hydraulic braking torque in the target braking torque is converted into the corresponding target electric braking torque. If the target braking torque is less than or equal to the motor torque limit, electric braking is implemented. If the target braking torque is greater than the motor torque limit, braking is performed by combining electric braking and hydraulic braking compensation to meet the driver's braking needs.

[0043] The braking control method provided in Embodiment 1 of this application first calculates the braking torque requirement based on the voltage signal and the corresponding voltage change characteristics. Then, based on the braking torque requirement, it performs a first torque arbitration and determines the target electric braking torque. Next, based on the relationship between the target electric braking torque and the motor torque limit, and / or the motor status, it adopts the corresponding braking method to perform braking. This provides a new braking compensation method for situations where the motor torque limit is lower than the target braking torque, and / or abnormal states such as a fully charged battery or motor failure caused by overheat protection, which can effectively ensure vehicle braking safety.

[0044] Figure 2 This is a schematic flowchart illustrating the braking control method provided in Embodiment 2 of this application. Figure 2 As shown, the braking control method of this application may include the following steps:

[0045] Step S201: Obtain the braking torque requirement;

[0046] Step S202: Determine whether the energy recovery capacity meets the preset conditions;

[0047] If the energy recovery capability does not meet the preset conditions, exit the single-pedal mode and enter step S203 in the braking compensation mode: second torque arbitration, determine the target hydraulic braking torque; step S204: implement hydraulic braking compensation.

[0048] If the energy recovery capability meets the preset conditions, proceed to step S205: first torque arbitration, to determine the target electric braking torque;

[0049] Step S206: Implement electric braking;

[0050] If a fault occurs during the implementation of electric braking, the single-pedal mode is exited and the braking compensation mode is entered. Step S203: Second torque arbitration to determine the target hydraulic braking torque; Step S204: Implement hydraulic braking compensation; wherein, the fault conditions include at least one of the following: motor mechanical fault, communication fault, and electric braking fault caused by battery overheat protection.

[0051] Specifically, in step S202, the energy recovery capability not meeting the preset conditions includes: abnormal operation of the battery energy control module (BECM) or inability to participate in energy recovery, battery overheat protection preventing the implementation of electric braking, motor mechanical and / or communication failures, etc.

[0052] Furthermore, if the Battery Energy Control Module (BECM) assesses that the energy recovery capability does not meet the preset conditions, it exits the one-pedal mode and enters step S203 of the brake compensation mode: second torque arbitration to determine the target hydraulic braking torque; step S204: implementing hydraulic braking compensation. Specifically, steps S203 and S204 include: the Battery Energy Control Module (BECM) sends the braking torque demand to the Vehicle Dynamics Domain Manager (VDDM), which performs second torque arbitration on the braking torque demand and controls the Brake Assist Module (BBM) to perform hydraulic braking compensation operation based on the second torque arbitration result, or the VDDM directly performs hydraulic braking compensation operation based on the second torque arbitration result. The VDDM determines the target hydraulic braking torque by comprehensively considering the braking torque demand and other torque demands or losses beyond the braking torque demand.

[0053] Preferably, if the energy recovery capacity does not meet the preset conditions, a second prompt message is displayed.

[0054] In addition, step S201 can be referred to step S101, and step S205 can be referred to step S102, and will not be repeated here.

[0055] It is worth mentioning that during braking in one-pedal mode, if the Battery Energy Control Module (BECM) receives a trigger response signal from the Electronic Stability Control System (ESC), it will exit the one-pedal mode, enter the ESC operating mode, and display a third prompt message.

[0056] The braking control method provided in Embodiment 2 of this application evaluates the energy recovery capability before electric braking is implemented and continuously evaluates the motor status during electric braking. In response to abnormal states such as energy recovery capability not meeting preset conditions, battery overheating protection, and motor failure, a new braking compensation method is provided to comprehensively ensure vehicle braking safety.

[0057] It is worth mentioning that, in the embodiments provided in this application, the first prompt information, the second prompt information, and the third prompt information include prompts for exiting the single-pedal mode and prompts for the specific reasons for exiting the single-pedal mode, which are displayed through a human-computer interaction interface (HMI), and the display methods include text display and / or voice prompts.

[0058] For example, the first prompt message is "The motor has experienced a communication failure during electric braking, and has exited the one-pedal mode and automatically entered the brake compensation mode"; the second prompt message is "Because the battery is fully charged, the energy recovery capability does not meet the preset conditions, and has exited the one-pedal mode and automatically entered the brake compensation mode"; the third prompt message is "The vehicle is in a skidding state, and has exited the one-pedal mode and automatically entered the electronic stability control system (ESC) working mode".

[0059] Figure 3 This is a schematic diagram of the braking control device provided in Embodiment 3 of this application. Figure 3 As shown, the braking control device of this application includes: a battery energy control module 110, a motor control module 111, a vehicle dynamic domain manager 112, and a brake assist module 113; wherein, the battery energy control module 110 is connected to the motor control module 111 and the vehicle dynamic domain manager 112 respectively, and the vehicle dynamic domain manager 112 is connected to the brake assist module 113.

[0060] Specifically, in single-pedal mode, the battery energy control module 110 acquires the voltage signal of the accelerator pedal and the corresponding voltage change characteristics, calculates the braking torque requirement based on the voltage signal and the corresponding voltage change characteristics, performs a first torque arbitration based on the braking torque requirement, determines the target electric braking torque, and outputs a first control signal based on the relationship between the target electric braking torque and the motor torque limit, and / or the motor state. The motor control module 111 and / or the vehicle dynamic domain manager 112 receive the first control signal and perform braking operation using the corresponding braking method according to the first control signal. The steps of performing braking operation using the corresponding braking method according to the first control signal are described in Embodiment 1 and will not be repeated here.

[0061] In one embodiment, the battery energy control module 110 is further configured to evaluate the energy recovery capability of the vehicle based on the braking torque requirement and output the evaluation result; the vehicle dynamic domain manager 112 receives the evaluation result, and when the energy recovery capability does not meet the preset conditions and / or the motor is in a first abnormal operating state, performs a second torque arbitration based on the braking torque requirement and determines the target hydraulic braking torque, and performs hydraulic braking compensation operation or outputs a second control signal based on the target hydraulic braking torque; the brake assist module 113 is connected to the vehicle dynamic domain manager 112, receives the second control signal, and performs hydraulic braking compensation operation based on the second control signal. The first abnormal operating state includes at least one of the following: mechanical failure, communication failure, and electric braking failure caused by battery overheating protection.

[0062] It is worth mentioning that this application also provides an electric vehicle, including the aforementioned braking control device.

[0063] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0064] In this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0065] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A brake control method characterized by, Applied to braking control devices, including: In single-pedal mode, the voltage signal of the accelerator pedal and the corresponding voltage change characteristics are acquired, and the braking torque requirement is calculated based on the voltage signal and the corresponding voltage change characteristics. Based on the braking torque requirement, a first torque arbitration is performed to determine the target electric braking torque; Based on the relationship between the target electric braking torque and the motor torque limit, and / or the motor state, a corresponding braking method is used for braking; wherein, the step of using a corresponding braking method based on the relationship between the target electric braking torque and the motor torque limit, and / or the motor state, includes: If the motor is in a first abnormal working state, the single-pedal mode is exited, hydraulic braking is used for braking compensation, and a first prompt message is displayed. The first abnormal working state includes at least one of mechanical failure, communication failure, and electric braking failure caused by battery overheat protection. If the motor is in the second abnormal working state, braking is performed by a combination of electric braking and hydraulic braking compensation. The second abnormal working state is an electric braking failure state caused by a fully charged battery. The braking control method further includes: During braking in the single-pedal mode, if a voltage signal of the brake pedal is obtained, the corresponding target hydraulic braking torque is obtained based on the voltage signal of the brake pedal, and the cooperative energy recovery mode is entered. In the cooperative energy recovery mode, the target braking torque is the sum of the target electric braking torque and the target hydraulic braking torque. The target hydraulic braking torque in the target braking torque is converted into the corresponding target electric braking torque; If the target braking torque is less than or equal to the motor torque limit, then electric braking is applied; If the target braking torque is greater than the motor torque limit, braking is performed by combining electric braking with hydraulic braking compensation. During braking in the single-pedal mode, if a trigger response signal from the electronic stability control system is received, the single-pedal mode is exited, the electronic stability control system operating mode is entered, and a third prompt message is displayed.

2. The brake control method according to claim 1, characterized by, The step of applying a corresponding braking method based on the relationship between the target electric braking torque and the motor torque limit, and / or the motor state, includes: If the motor is in normal working condition and the target electric braking torque does not exceed the motor torque limit, then electric braking is used for braking. If the motor is in normal operating condition and the target electric braking torque exceeds the motor torque limit, then braking is performed using a combination of electric braking and hydraulic braking compensation.

3. The brake control method according to claim 2, characterized by, The steps of braking using a combination of electric braking and hydraulic braking compensation include: Electric braking is applied to the portion of the target electric braking torque that does not exceed the motor torque limit. Hydraulic braking compensation is applied to the portion of the target electric braking torque that exceeds the motor torque limit.

4. The brake control method according to claim 1, characterized by, Prior to the step of performing a first torque arbitration and determining the target electric braking torque based on the braking torque requirement, the procedure includes: The energy recovery capability of the vehicle is evaluated based on the braking torque requirement. Based on the assessment results of the energy recovery capability, the corresponding operation is performed.

5. The brake control method according to claim 4, characterized by, The step of performing corresponding operations based on the assessment results of the energy recovery capability includes: If the evaluation result of the energy recovery capability is that the energy recovery capability meets the preset conditions, then the step of performing the first torque arbitration and determining the target electric braking torque according to the braking torque requirement is executed. If the energy recovery capability assessment result is that the energy recovery capability does not meet the preset conditions, then the single-pedal mode is exited, hydraulic braking is used for braking compensation, and a second prompt message is displayed.

6. The brake control method according to claim 1, characterized by, After the step of braking by adopting the corresponding braking method according to the relationship between the target electric braking torque and the motor torque limit, and / or the motor state, the method includes: obtaining the vehicle speed; if the vehicle speed is lower than a preset value and a power-off signal of the vehicle is obtained, then triggering the electronic parking mode.

7. The brake control method according to claim 1 or 5, characterized by, The step of using hydraulic braking for brake compensation includes: Based on the braking torque requirement, a second torque arbitration is performed to determine the target hydraulic braking torque; Hydraulic braking compensation is implemented based on the target hydraulic braking torque.

8. A brake control device characterized by comprising: The braking control device includes a battery energy control module, a motor control module, and a vehicle dynamic domain manager. The battery energy control module is connected to the motor control module and the vehicle dynamic domain manager respectively. In single-pedal mode, it is used to acquire the voltage signal of the accelerator pedal and the corresponding voltage change characteristics, calculate the braking torque requirement based on the voltage signal and the corresponding voltage change characteristics, perform a first torque arbitration based on the braking torque requirement and determine the target electric braking torque, and output a first control signal based on the relationship between the target electric braking torque and the motor torque limit and / or the motor status. The motor control module and / or the vehicle dynamic domain manager receive the first control signal and perform braking operation according to the corresponding braking method based on the first control signal; During braking in the single-pedal mode, if the battery energy control module obtains a voltage signal from the brake pedal, it obtains the corresponding target hydraulic braking torque based on the voltage signal from the brake pedal and enters a cooperative energy recovery mode. In the cooperative energy recovery mode, the target braking torque is the sum of the target electric braking torque and the target hydraulic braking torque. The target hydraulic braking torque in the target braking torque is converted into the corresponding target electric braking torque; If the target braking torque is less than or equal to the motor torque limit, the motor control module and / or the vehicle dynamics domain manager are controlled to implement electric braking response; if the target braking torque is greater than the motor torque limit, the motor control module and / or the vehicle dynamics domain manager are controlled to use a combination of electric braking and hydraulic braking compensation for braking response; during braking in the single-pedal mode, if a trigger response signal from the electronic stability control system is obtained, the single-pedal mode is exited, the electronic stability control system working mode is entered, and a third prompt message is displayed. The braking control device also includes a braking assist module; The battery energy control module is also used to evaluate the energy recovery capability of the vehicle based on the braking torque requirement and output the evaluation result. The vehicle dynamic domain manager receives the evaluation results. When the energy recovery capability does not meet the preset conditions and / or the motor is in a first abnormal operating state, it exits the single-pedal mode, performs a second torque arbitration based on the braking torque requirement, determines the target hydraulic braking torque, and implements hydraulic braking compensation operation or outputs a second control signal based on the target hydraulic braking torque. The first abnormal operating state includes at least one of mechanical failure, communication failure, and electric braking failure caused by battery overheating protection. If the motor is in a second abnormal operating state, braking is performed using a combination of electric braking and hydraulic braking compensation. The second abnormal operating state is an electric braking failure state caused by a fully charged battery. The brake assist module is connected to the vehicle dynamic domain manager, receives the second control signal, and performs hydraulic brake compensation operation according to the second control signal.

9. An electric vehicle, characterized by The electric vehicle includes the braking control device as described in claim 8.

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