A brake control method, device, electronic equipment, storage medium and vehicle

Abstract

The application provides a brake control method and device, electronic equipment, storage medium and vehicle. The brake control method comprises the following steps: monitoring whether each electric friction brake included in the vehicle fails during vehicle driving; when it is detected that one of the electric friction brakes fails, judging whether the vehicle meets regenerative braking conditions; when the vehicle meets the regenerative braking conditions and brake demand is detected, controlling regenerative braking force generated by a driving motor and friction braking force generated by two driven wheel corresponding electric friction brakes to brake the vehicle; and when the vehicle does not meet the regenerative braking conditions and brake demand is detected, controlling friction braking force generated by the electric friction brake that does not fail to brake the vehicle. The application can improve the stability of the vehicle during braking, and the generation of regenerative braking force can avoid the feeling of discomfort caused by insufficient braking force.

Description

Technical Field

[0001] This application relates to the field of automotive technology, and in particular to a braking control method, device, electronic equipment, storage medium, and vehicle. Background Technology

[0002] For vehicles equipped with independent four-wheel electric friction braking systems, when the electric friction braking system malfunctions, the usual approach is to have it controlled by the diagonal friction braking system control unit or by any two wheels (front and rear).

[0003] However, if one of the front wheels, which bears the heaviest load, fails, the vehicle will become unstable and may even skid if the remaining three wheels are still controlled with normal braking force. If the braking force is controlled by two diagonally opposite braking units or any two control units on the front and rear wheels, the braking force will be significantly insufficient, and this change in braking force will cause an uncoordinated feeling during braking. Summary of the Invention

[0004] This application provides a braking control method, device, electronic device, storage medium, and vehicle to address the problem of reducing the uncoordinated feeling caused by changes in braking force when one of the electric friction brakes malfunctions.

[0005] In a first aspect, embodiments of this application provide a braking control method, the method comprising:

[0006] During vehicle operation, monitor whether each of the electric friction brakes included in the vehicle malfunctions;

[0007] When a fault is detected in one of the electric friction brakes, it is determined whether the vehicle meets the regenerative braking conditions.

[0008] When the vehicle meets the regenerative braking conditions and a braking demand is detected, the regenerative braking force generated by the drive motor and the friction braking force generated by the electric friction brakes corresponding to the two driven wheels are controlled to brake the vehicle.

[0009] When the vehicle does not meet the regenerative braking conditions and a braking demand is detected, the vehicle is braked by the friction braking force generated by the non-faulty electric friction brake.

[0010] Secondly, embodiments of this application also provide a braking control device, the device comprising:

[0011] The first monitoring module is used to monitor whether each electric friction brake included in the vehicle malfunctions during vehicle operation.

[0012] The judgment module is used to determine whether the vehicle meets the regenerative braking conditions when a fault is detected in one of the electric friction brakes.

[0013] The first control module is used to control the regenerative braking force generated by the drive motor and the friction braking force generated by the electric friction brakes corresponding to the two driven wheels to brake the vehicle when the vehicle meets the regenerative braking conditions and a braking demand is detected.

[0014] The second control module is used to control the friction braking force generated by the non-faulty electric friction brake to brake the vehicle when the vehicle does not meet the regenerative braking conditions and a braking demand is detected.

[0015] Thirdly, embodiments of this application provide a vehicle including the aforementioned braking control device.

[0016] Fourthly, embodiments of this application provide an electronic device, which includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the above-described braking control method.

[0017] Fifthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-described braking control method.

[0018] The embodiments of this application include at least the following technical effects:

[0019] The technical solution of this application embodiment detects whether the electric friction braking force is faulty, and when one of them is faulty and braking demand is detected, controls the source of the corresponding braking force of the vehicle according to whether the vehicle meets the regenerative braking conditions. This can improve the stability of the vehicle during the braking process, and the generation of regenerative braking force can avoid the uncoordinated feeling caused by insufficient braking force. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0021] Figure 1 This is a schematic flowchart of the braking control method provided in the embodiments of this application;

[0022] Figure 2 This is a schematic diagram corresponding to the calculation of yaw moment in the embodiments of this application;

[0023] Figure 3 This is a schematic diagram of the braking control device provided in the embodiments of this application;

[0024] Figure 4 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application;

[0025] Figure 5 This is a schematic diagram of the structure of an electric friction brake provided in an embodiment of this application;

[0026] Figure 6 The electric friction brake provided in this application embodiment is along Figure 5 A schematic diagram of the cross-section along the AA direction;

[0027] Figure 7 This is a block diagram of the electronic device provided in the embodiments of this application. Detailed Implementation

[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0030] In the various embodiments of this application, it should be understood that the sequence number of each process described below does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0031] like Figure 1 As shown in the figure, this application provides a braking control method, which includes:

[0032] Step 101: During vehicle operation, monitor whether each electric friction brake included in the vehicle malfunctions.

[0033] The vehicle is equipped with an electric friction braking unit that independently brakes each wheel. Each electric friction braking unit includes an electric friction brake for generating friction braking force.

[0034] During vehicle operation, the system monitors each electric friction brake in the vehicle for malfunctions, thereby identifying any wheels that are unable to perform friction braking properly.

[0035] Step 102: When a fault is detected in one of the electric friction brakes, determine whether the vehicle meets the regenerative braking conditions.

[0036] Specifically, when a fault is detected in one of the four electric friction brakes in the vehicle, it is determined whether the vehicle meets the conditions for regenerative braking.

[0037] It should be noted that regenerative braking refers to generating braking force through other components on the vehicle to achieve a braking state close to the driver's desired state.

[0038] Step 103: When the vehicle meets the regenerative braking conditions and a braking demand is detected, the regenerative braking force generated by the drive motor and the friction braking force generated by the electric friction brakes corresponding to the two driven wheels are controlled to brake the vehicle.

[0039] If the vehicle meets the braking conditions, the driving motor generates braking force to brake the drive wheels. For the two driven wheels, since their corresponding electric friction brakes are not faulty, the wheels can be braked normally. Therefore, the braking force of the vehicle includes regenerative braking force and friction braking force, wherein the friction braking force is generated by the electric friction brakes corresponding to the two driven wheels.

[0040] Step 104: When the vehicle does not meet the regenerative braking conditions and a braking demand is detected, the friction braking force generated by the non-faulty electric friction brake is controlled to brake the vehicle.

[0041] If the vehicle does not meet the braking conditions, the vehicle is braked by the friction braking force generated by the electric friction brake that has not malfunctioned. In other words, the braking force of the vehicle comes from the friction braking force generated by the electric friction brakes corresponding to one drive wheel and two driven wheels.

[0042] In this embodiment, by detecting whether the electric friction braking force is faulty, and when one of them is faulty and braking demand is detected, the source of the corresponding braking force of the vehicle is controlled according to whether the vehicle meets the regenerative braking conditions. This can improve the stability of the vehicle during braking, and the generation of regenerative braking force can avoid the uncoordinated feeling caused by insufficient braking force.

[0043] In an optional embodiment of this application, monitoring whether each of the electric friction brakes included in the vehicle malfunctions includes:

[0044] For each electric friction brake included in the vehicle, when the electric friction brake receives a braking command, the brake motor corresponding to the electric friction brake is detected;

[0045] When the brake motor is detected not to be rotating, it is determined that the electric friction brake has malfunctioned.

[0046] Specifically, the electric friction brake control unit can detect whether each electric friction brake in the vehicle is malfunctioning. When the electric friction brake receives a braking command, the electric friction brake control unit can detect whether its corresponding brake motor rotates. If it does not rotate, it will not generate friction braking force to the corresponding wheel, and it can be determined that the electric friction brake is malfunctioning.

[0047] The above-described implementation scheme of this application can determine whether the electric friction brake is faulty by detecting whether the corresponding brake motor rotates after the electric friction brake receives a braking command. This allows for timely detection of faults in the electric friction brake and avoids unstable vehicle braking.

[0048] In an optional embodiment of this application, determining whether the vehicle meets the regenerative braking conditions includes:

[0049] Determine whether the wheel corresponding to the malfunctioning electric friction brake is a drive wheel;

[0050] When the wheel is a drive wheel, it is determined that the regenerative braking conditions are met;

[0051] When the wheel is a driven wheel, it is determined that the regenerative braking condition is not met.

[0052] Specifically, when a fault is detected in one of the electric friction brakes, it is necessary to further determine whether the vehicle meets the conditions for regenerative braking. Since the regenerative braking force is generated by the drive motor, it can only be applied to the corresponding wheel when the electric friction brake corresponding to the drive wheel fails. Therefore, it can be determined whether the vehicle meets the conditions for regenerative braking by judging whether the wheel corresponding to the faulty electric friction brake is a drive wheel. If it does, then it does; otherwise, it does not.

[0053] The above-described implementation scheme of this application determines whether the vehicle meets the conditions for regenerative braking by judging whether the wheel corresponding to the malfunctioning electric friction brake is a drive wheel. This allows us to determine whether the current electric friction brake malfunction can be compensated for by regenerative braking, thereby avoiding any sense of incoordination during vehicle braking and improving the user experience.

[0054] In an optional embodiment of this application, the method further includes:

[0055] Acquire vehicle driving information, driving control information, and external environmental information;

[0056] Braking demand is monitored based on the vehicle driving information, the driving control information, and the external environment information.

[0057] When a braking demand is detected, the target braking force corresponding to the braking demand is determined.

[0058] Specifically, during vehicle operation, it is necessary to detect the driver's braking needs. When a braking need is detected, the corresponding target braking force needs to be determined based on the vehicle's parameter information. This target braking force is the braking force that achieves the braking state required by the driver.

[0059] This can be achieved by acquiring vehicle driving information, driving control information, and external environmental information, and by monitoring the vehicle's corresponding braking needs based on this information.

[0060] The vehicle is equipped with a driving status detection unit for detecting driving control information, a vehicle driving status detection unit for detecting vehicle driving information, and an external information sensing unit for detecting external environmental information.

[0061] The above-described implementation scheme of this application obtains vehicle driving information, driving control information and external environment information through the vehicle system control unit, without having to obtain data from each sensor individually. This improves the efficiency of obtaining vehicle driving information, driving control information and external environment information, thereby improving the efficiency of determining braking demand and target braking force.

[0062] In an optional embodiment of this application, when the electric friction brake corresponding to one drive wheel fails, controlling the regenerative braking force generated by the drive motor and the friction braking force generated by the electric friction brakes corresponding to the two driven wheels to brake the vehicle includes:

[0063] The yaw moment is determined based on the angular velocity deviation between the target yaw rate and the actual yaw rate.

[0064] Based on the target braking force and the yaw moment, the frictional braking forces corresponding to the two driven wheels are determined respectively.

[0065] Specifically, when the regenerative braking conditions are met, the faulty component is the electric friction brake corresponding to the drive wheel. In this case, the regenerative braking force generated by the drive motor will brake the drive wheel, while the driven wheel that has not malfunctioned will be braked by the friction braking force generated by the corresponding electric friction brake.

[0066] Since the drive wheels are regeneratively braked by the drive motor, the braking forces on both sides are the same, eliminating the need for additional torque control. The friction braking forces corresponding to the two driven wheels need to be determined based on the target braking force and yaw moment.

[0067] When calculating the yaw moment, it can be based on Figure 2 The yaw moment is calculated using a pre-calculated method. Specifically, the target yaw rate is calculated based on the current steering angle detected by the steering angle sensor and the vehicle's current speed. The actual yaw rate is detected from the vehicle's yaw sensor. Then, the acceleration deviation is determined based on the target yaw rate and the actual yaw rate. Finally, the yaw moment is determined based on the angular velocity deviation. Figure 2 The inward and outward yaw moments can be calculated, or the calculation can be performed based on vehicle information by the electric friction brake control unit.

[0068] Specifically, the target braking force Ft, regenerative braking force Fre, first driven wheel braking force Fbo, second driven wheel braking force Fbi, actual yaw rate Y, target yaw rate Yr, angular velocity deviation ΔY, and yaw moment Fd satisfy the following formula:

[0069] Ft=Fre+Fbo+Fbi

[0070] ΔY=Yr-Y

[0071] Fd = a*Fbo + b*Fbi, where a and b are transformation constants.

[0072] The above-described implementation scheme of this application can control the source of braking force of the vehicle when the electric friction brake corresponding to a drive wheel fails, thereby improving the stability of the vehicle during braking. At the same time, the generation of regenerative braking force can avoid the uncoordinated feeling caused by insufficient braking force.

[0073] In an optional embodiment of this application, when the electric friction brake corresponding to a driven wheel fails, controlling the friction braking force generated by the compliant electric friction brake to brake the vehicle includes:

[0074] The yaw moment is determined based on the angular velocity deviation between the target yaw rate and the actual yaw rate.

[0075] Based on the target braking force and the yaw moment, determine the friction braking force corresponding to one driven wheel and two driving wheels in the electric friction brake that has not experienced a fault.

[0076] Specifically, when the regenerative braking conditions are not met, the faulty component is the electric friction brake corresponding to the driven wheel. In this case, the regenerative braking force generated by the drive motor cannot be used, and the vehicle's braking force consists of the friction braking force generated by the electric friction brakes corresponding to the two drive wheels and one driven wheel that have not malfunctioned.

[0077] When calculating the yaw moment, it can be based on Figure 2 The yaw moment is calculated using a pre-calculated method. Specifically, the target yaw rate is calculated based on the current steering angle detected by the steering angle sensor and the vehicle's current speed. The actual yaw rate is detected from the vehicle's yaw sensor. Then, the acceleration deviation is determined based on the target yaw rate and the actual yaw rate. Finally, the yaw moment is determined based on the angular velocity deviation. Figure 2 The inward and outward yaw moments can be calculated, or the calculation can be performed based on vehicle information by the electric friction brake control unit.

[0078] Specifically, the target braking force Ft, the first driven wheel braking force Fb, the first driving wheel braking force Fbdo, the second driving wheel braking force Fbdi, the actual yaw rate Y, the target yaw rate Yr, the angular velocity deviation ΔY, and the yaw moment Fd satisfy the following formula:

[0079] Ft=Fb+Fbdo+Fbdi

[0080] ΔY=Yr-Y

[0081] Fd = a*Fbdo + b*Fbdi + c*Fb, where a, b, and c are transformation constants.

[0082] The above-described implementation scheme of this application can control the braking force source of the friction braking force corresponding to the two driving wheels and one driven wheel that are not faulty when the electric friction brake corresponding to one driven wheel fails, thereby improving the stability of the vehicle during braking.

[0083] In an optional embodiment of this application, determining the yaw moment based on the angular velocity deviation between the target yaw rate and the actual yaw rate includes:

[0084] Obtain the current vehicle speed, the current steering angle detected by the steering angle sensor, and the actual yaw rate detected by the yaw sensor;

[0085] Calculate the target yaw rate based on the current vehicle speed and the current steering angle;

[0086] The angular velocity deviation value is calculated based on the actual yaw angular velocity and the target yaw angular velocity;

[0087] The yaw moment is determined based on the angular velocity deviation value.

[0088] Specifically, when calculating the angular velocity deviation, the target yaw angular velocity can be calculated based on the current vehicle speed and the current steering angle. Then, the actual yaw angular velocity is detected from the yaw sensor. Based on the target yaw angular velocity and the actual yaw angular velocity, the angular velocity deviation is calculated. Finally, the yaw moment is calculated based on the angular velocity deviation.

[0089] The above-described implementation scheme of this application obtains the vehicle's current speed, current steering angle, and actual yaw rate to determine the angular velocity deviation value, and then obtains the yaw moment. Based on this yaw moment, the friction braking force provided by the electric friction brake that has not malfunctioned during the vehicle braking process can be distributed to keep the vehicle stable during braking.

[0090] The braking control method provided by the embodiments of this application has been described above. The braking control device provided by the embodiments of this application will be described below with reference to the accompanying drawings.

[0091] like Figure 3 As shown, this embodiment of the invention also provides a braking control device, the device comprising:

[0092] The first monitoring module 301 is used to monitor whether each electric friction brake included in the vehicle malfunctions during vehicle operation.

[0093] The judgment module 302 is used to determine whether the vehicle meets the regenerative braking conditions when a fault is detected in one of the electric friction brakes.

[0094] The first control module 303 is used to control the regenerative braking force generated by the drive motor and the friction braking force generated by the electric friction brakes corresponding to the two driven wheels to brake the vehicle when the vehicle meets the regenerative braking conditions and a braking demand is detected.

[0095] The second control module 304 is used to control the friction braking force generated by the non-faulty electric friction brake to brake the vehicle when the vehicle does not meet the regenerative braking conditions and a braking demand is detected.

[0096] Optionally, the first monitoring module includes:

[0097] The detection submodule is used to detect the brake motor corresponding to each electric friction brake included in the vehicle when the electric friction brake receives a braking command.

[0098] The first determining submodule is used to determine that the electric friction brake has malfunctioned when the brake motor is detected not to be rotating.

[0099] Optionally, the determination module includes:

[0100] The judgment submodule is used to determine whether the wheel corresponding to the faulty electric friction brake is a drive wheel;

[0101] The second determining submodule is used to determine whether the regenerative braking conditions are met when the wheel is a drive wheel;

[0102] The third determining submodule is used to determine that the regenerative braking conditions are not met when the wheel is a driven wheel.

[0103] Optionally, the device further includes:

[0104] The acquisition module is used to acquire vehicle driving information, driving control information, and external environmental information.

[0105] The second monitoring module is used to monitor braking demand based on the vehicle driving information, the driving control information, and the external environment information.

[0106] The determination module is used to determine the target braking force corresponding to the braking demand when a braking demand is detected.

[0107] Optionally, the first control module includes:

[0108] The fourth determination submodule is used to determine the yaw moment based on the angular velocity deviation between the target yaw rate and the actual yaw rate;

[0109] The fifth determining submodule is used to determine the friction braking force corresponding to the two driven wheels respectively based on the target braking force and the yaw moment.

[0110] Optionally, the second control module includes:

[0111] The fourth determination submodule is used to determine the yaw moment based on the angular velocity deviation between the target yaw rate and the actual yaw rate;

[0112] The sixth determining submodule is used to determine the friction braking force corresponding to one driven wheel and two driving wheels in the electric friction brake that has not malfunctioned, based on the target braking force and the yaw moment.

[0113] Optionally, the fourth determining submodule includes:

[0114] The acquisition unit is used to acquire the current vehicle speed, the current steering angle detected by the steering angle sensor, and the actual yaw rate detected by the yaw sensor;

[0115] The first calculation unit is used to calculate the target yaw rate based on the current vehicle speed and the current steering angle;

[0116] The second calculation unit is used to calculate the angular velocity deviation value based on the actual yaw angular velocity and the target yaw angular velocity;

[0117] The determining unit is used to determine the yaw moment based on the angular velocity deviation value.

[0118] The braking control device provided in this application detects whether the electric friction braking force is faulty, and when one of them is faulty and a braking demand is detected, it controls the source of the corresponding braking force of the vehicle according to whether the vehicle meets the regenerative braking conditions. This can improve the stability of the vehicle during the braking process, and the generation of regenerative braking force can avoid the uncoordinated feeling caused by insufficient braking force.

[0119] This application also provides a vehicle that includes the various processes of the above-described braking control device embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0120] like Figure 4 As shown in the embodiment of this application, a vehicle further includes:

[0121] Electric friction brakes (12fr, 12fl, 12rr, 12rl) are used to achieve electric friction braking.

[0122] The drive control unit includes a power unit 1, an electric motor 2, a frequency converter 4, a battery 3 used in regenerative braking control and drive control, wheel speed sensors (11fl, 11fr, 11rl, 11rr) for detecting wheel speed, a yaw sensor 24 for detecting vehicle driving status, a lateral G sensor 25, front and rear G sensors 26, a brake pedal sensor 21 for detecting driver driving control status, an accelerator pedal sensor 22, a steering angle sensor 23, a battery status monitoring unit 5 for monitoring battery charging status, a drive control unit 102, an electric friction braking unit 101, a regenerative braking unit 103, and an external information sensing unit 200.

[0123] Reference Figure 5 and Figure 6This application provides a schematic diagram of an electric friction brake 12. The electric friction brake 12 includes a pair of friction pads 32 disposed on both sides of a brake disc 31, a caliper 33 designed to move freely along the axial direction of the central axis of the circular brake disc 31, and a caliper 33 that clamps the brake disc 31 from both sides via the pair of friction pads 32 disposed on the outer and inner sides. The pair of friction pads 32 on the outer and inner sides are respectively mounted on a housing 34 with a structure that slides in the direction of their respective axes 34a. The caliper 33 has a housing 34, which is fixed to a support mounting part of the vehicle. This housing 34 constitutes part of a mechanism for fixing an electric motor 39 that rotates a cylindrical rotor 35. The electric motor 39 includes a fixed housing 34, a coil 36 fixed to the inner periphery of the housing 34, a cylindrical rotor 35 rotatably supported by the coil 36, and a bearing (not shown) supporting the rotating components, and a magnet 38 fixed to the outer peripheral surface of the rotor 35 in a manner located inside the coil 38.

[0124] The electric motor 39 generates torque according to a command signal from the brake control unit. A cylindrical ball screw nut assembly 37, located inside the cylindrical rotor 35, is designed to rotate freely. The ball screw nut assembly 37 is supported by a housing 34 so that the shaft portion 37a at the right end of the figure can rotate freely. A housing 40 is fixed to the shaft portion 37a of the ball screw nut assembly 37, and three planetary gears 41 are mounted on the housing 40. Additionally, a sun gear 42 with external teeth is fixed to the right end of the aforementioned ball screw nut assembly 37, and a gear ring 43 with internal teeth is fixed inside the housing 34, forming a planetary gear mechanism. When the electric motor 39 rotates the rotor 37, its power is transmitted to the balls via the aforementioned planetary gear mechanism. Inside the ball screw nut assembly 37, a rod-shaped ball screw spindle assembly 51 is provided via the ball screw structure 50.

[0125] A shim pressing part 52 is provided at the front end of the ball screw main shaft assembly 51. When the ball screw main shaft assembly 51 moves toward the brake disc, the shim pressing part 52 exerts a pressing action, causing the friction pads 32 on both sides to clamp into the brake disc 31 and perform a squeezing action.

[0126] When the electric motor 39 causes the ball screw nut assembly 37 to rotate forward, for example, the rotational power is transmitted through the aforementioned planetary gear mechanism, causing the ball screw spindle assembly 51 to rotate forward. In this way, the ball screw mechanism 50 moves the ball screw spindle assembly 51 towards the brake disc 31, and a pair of friction pads 32 press against the brake disc 31, contacting it and generating braking force. The pressing force is estimated based on the motor's rotational speed, or it can be obtained from an added pressing force sensor.

[0127] This application also provides an electronic device, including: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the various processes of the above-described braking control method embodiments and achieves the same technical effects. To avoid repetition, it will not be described again here.

[0128] For example, Figure 7 A schematic diagram of the physical structure of an electronic device is shown.

[0129] like Figure 7 As shown, the electronic device may include a processor 710, a communication interface 720, a memory 730, and a communication bus 740, wherein the processor 710, the communication interface 720, and the memory 730 communicate with each other through the communication bus 740. The processor 710 can call logical instructions in the memory 730, and the processor 710 is used to perform the following steps: during vehicle operation, monitoring whether each of the electric friction brakes included in the vehicle is faulty; when a fault is detected in one of the electric friction brakes, determining whether the vehicle meets the regenerative braking conditions; when the vehicle meets the regenerative braking conditions and a braking demand is detected, controlling the regenerative braking force generated by the drive motor and the friction braking force generated by the electric friction brakes corresponding to the two driven wheels to brake the vehicle; when the vehicle does not meet the regenerative braking conditions and a braking demand is detected, controlling the friction braking force generated by the electric friction brakes that are not faulty to brake the vehicle.

[0130] Furthermore, the logical instructions in the aforementioned memory 730 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0131] This application also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described braking control method embodiments and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0132] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0133] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0134] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of the present invention.

[0135] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed in this invention can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0136] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0137] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0138] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0139] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0140] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0141] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A braking control method, characterized in that, The method includes: During vehicle operation, monitor whether each of the electric friction brakes included in the vehicle malfunctions; When a fault is detected in one of the electric friction brakes, it is determined whether the vehicle meets the regenerative braking conditions. When the vehicle meets the regenerative braking conditions and a braking demand is detected, the regenerative braking force generated by the drive motor and the friction braking force generated by the electric friction brakes corresponding to the two driven wheels are controlled to brake the vehicle. When the vehicle does not meet the regenerative braking conditions and a braking demand is detected, the friction braking force generated by the non-faulty electric friction brake is controlled to brake the vehicle. The determination of whether the vehicle meets the regenerative braking conditions includes: Determine whether the wheel corresponding to the malfunctioning electric friction brake is a drive wheel; When the wheel is a drive wheel, it is determined that the regenerative braking conditions are met; When the wheel is a driven wheel, it is determined that the regenerative braking condition is not met; When the electric friction brake corresponding to one drive wheel fails, the vehicle is braked by controlling the regenerative braking force generated by the drive motor and the friction braking force generated by the electric friction brakes corresponding to the two driven wheels. The yaw moment is determined based on the angular velocity deviation between the target yaw rate and the actual yaw rate. Based on the target braking force corresponding to the braking demand and the yaw moment, determine the friction braking force corresponding to the two driven wheels respectively; The monitoring of whether each electric friction brake in the vehicle is faulty includes: for each electric friction brake in the vehicle, when the electric friction brake receives a braking command, detecting the brake motor corresponding to the electric friction brake; and determining that the electric friction brake is faulty when the brake motor is detected not to be rotating.

2. The braking control method according to claim 1, characterized in that, The method further includes: Acquire vehicle driving information, driving control information, and external environmental information; Braking demand is monitored based on the vehicle driving information, the driving control information, and the external environment information. When a braking demand is detected, the target braking force corresponding to the braking demand is determined.

3. The braking control method according to claim 2, characterized in that, When the electric friction brake corresponding to a driven wheel fails, controlling the friction braking force generated by the undisturbed electric friction brake to brake the vehicle includes: The yaw moment is determined based on the angular velocity deviation between the target yaw rate and the actual yaw rate. Based on the target braking force and the yaw moment, determine the friction braking forces corresponding to one driven wheel and two driving wheels of the electric friction brake that has not malfunctioned.

4. The braking control method according to claim 3, characterized in that, The yaw moment is determined based on the angular velocity deviation between the target yaw rate and the actual yaw rate, including: Obtain the current vehicle speed, the current steering angle detected by the steering angle sensor, and the actual yaw rate detected by the yaw sensor; Calculate the target yaw rate based on the current vehicle speed and the current steering angle; The angular velocity deviation value is calculated based on the actual yaw angular velocity and the target yaw angular velocity; The yaw moment is determined based on the angular velocity deviation value.

5. A braking control device, characterized in that, include: The first monitoring module is used to monitor whether each electric friction brake included in the vehicle malfunctions during vehicle operation. The judgment module is used to determine whether the vehicle meets the regenerative braking conditions when a fault is detected in one of the electric friction brakes. The first control module is used to control the regenerative braking force generated by the drive motor and the friction braking force generated by the electric friction brakes corresponding to the two driven wheels to brake the vehicle when the vehicle meets the regenerative braking conditions and a braking demand is detected. The second control module is used to control the friction braking force generated by the electric friction brake that has not malfunctioned to brake the vehicle when the vehicle does not meet the regenerative braking conditions and a braking demand is detected. The judgment module includes: The judgment submodule is used to determine whether the wheel corresponding to the faulty electric friction brake is a drive wheel; The second determining submodule is used to determine whether the regenerative braking conditions are met when the wheel is a drive wheel; The third determining submodule is used to determine that the regenerative braking conditions are not met when the wheel is a driven wheel; The first control module includes: The fourth determination submodule is used to determine the yaw moment based on the angular velocity deviation between the target yaw rate and the actual yaw rate; The fifth determining submodule is used to determine the friction braking force corresponding to the two driven wheels respectively based on the target braking force corresponding to the braking demand and the yaw moment; The monitoring of whether each electric friction brake in the vehicle is faulty includes: for each electric friction brake in the vehicle, when the electric friction brake receives a braking command, detecting the brake motor corresponding to the electric friction brake; and determining that the electric friction brake is faulty when the brake motor is detected not to be rotating.

6. A vehicle, characterized in that, Includes the braking control device as described in claim 5.

7. An electronic device, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the braking control method as described in any one of claims 1 to 4.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the braking control method as described in any one of claims 1 to 4.

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