Methods, devices, terminal equipment and storage media for controlling electric braking torque

Abstract

This application discloses a method, device, terminal equipment, and storage medium for controlling electric braking torque, relating to the field of automotive braking technology. The method includes: determining whether a vehicle is in a braking protection condition based on preset braking protection judgment rules, wherein the braking protection judgment rules include road condition judgment rules, driving safety judgment rules, and driving experience judgment rules; if the vehicle is in the braking protection condition, then limiting the vehicle's electric braking torque according to the vehicle's brake pedal depth. This solution can reduce the impact force on the vehicle's reduction gearbox gears under special conditions by limiting the vehicle's electric braking torque, thus preventing damage to the reduction gearbox due to excessive force and extending the reduction gearbox's service life.

Description

Technical Field

[0001] This application relates to the field of automotive braking technology, and in particular to a method, device, terminal equipment, and storage medium for controlling electric braking torque. Background Technology

[0002] In new energy vehicles, braking is divided into mechanical braking and electric braking. When a new energy vehicle encounters a speed bump or other impact road surface conditions while driving, the driver will usually actively apply the brakes in order to reduce the vehicle speed as quickly as possible and ensure the vehicle's stability when passing through impact road surface conditions.

[0003] In actual driving scenarios involving impacts on road surfaces, the higher the vehicle speed, the deeper the driver presses the brake pedal, and the greater the mechanical and electric braking required. However, the inertial impact torque caused by the vehicle's inertia is in the same direction as the electric braking torque. The superposition of the inertial impact torque and the electric braking torque causes excessive force on the gearbox gears, which may exceed the gears' tolerance, leading to gearbox gear damage and ultimately causing abnormalities in the vehicle's transmission system, making the vehicle unable to drive normally.

[0004] In summary, how to reduce the impact force on the gearbox of a new energy vehicle when it passes through a rough road surface, so as to extend the service life of the gearbox, has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] The main objective of this application is to provide a method, device, terminal equipment, and storage medium for controlling electric braking torque, which aims to reduce the impact force on the gearbox of an electric vehicle when it passes through a road surface with impact conditions, thereby extending the service life of the gearbox.

[0006] To achieve the above objectives, this application provides a method for controlling electric braking torque, the method comprising:

[0007] The vehicle is determined to be in a braking protection condition based on a preset braking protection determination rule, wherein the braking protection determination rule includes a road condition determination rule and a driving safety determination rule.

[0008] If the vehicle is in the braking protection condition, the electric braking torque of the vehicle is limited according to the depth of the vehicle's brake pedal.

[0009] Optionally, the step of determining whether the vehicle is in braking protection condition based on a preset braking protection determination rule includes:

[0010] Real-time monitoring of vehicle driving parameters;

[0011] The vehicle's driving parameters are used to determine whether the vehicle meets the preset braking protection judgment rules.

[0012] If the vehicle meets the braking protection determination rules, then the vehicle is determined to be in braking protection mode.

[0013] Optionally, the vehicle driving parameters include vehicle speed, motor speed fluctuation, steering wheel rotation angle, and overall vehicle status. The step of determining whether the vehicle meets the preset braking protection judgment rules based on the vehicle driving parameters includes:

[0014] If the vehicle is in a braking state and the motor speed fluctuation exceeds a preset first fluctuation threshold, then the vehicle is determined to meet the road condition judgment rules.

[0015] If the vehicle speed is within a preset speed range, and the brake pedal depth exceeds a preset first depth threshold, and the steering wheel rotation angle is less than a preset rotation angle threshold, then the vehicle is determined to meet the driving safety judgment rules.

[0016] If the vehicle meets the road condition determination rule and the vehicle meets the driving safety determination rule, then the vehicle is determined to meet the preset braking protection determination rule.

[0017] Optionally, after the step of limiting the electric braking torque of the vehicle based on the brake pedal depth, the method further includes:

[0018] Based on the vehicle driving parameters, determine whether the vehicle meets the preset brake protection disengagement judgment rule;

[0019] If the vehicle meets the braking protection disengagement determination rule, the current torque is adjusted to the given torque, wherein the current torque is the limited electric braking torque.

[0020] Optionally, the vehicle driving parameters further include braking protection duration and motor speed. The step of determining whether the vehicle meets the preset braking protection disengagement judgment rule based on the vehicle driving parameters includes:

[0021] When the vehicle's driving parameters meet the following criteria, the vehicle is determined to comply with the preset brake protection disengagement rule:

[0022] The motor speed fluctuation is less than a preset second fluctuation threshold within a preset first time range, wherein the second fluctuation threshold is less than the first fluctuation threshold.

[0023] And / or, the brake pedal depth is less than a preset second depth threshold within a preset second time range, wherein the second depth threshold is less than the first depth threshold;

[0024] And / or, the motor speed exceeds a preset motor speed threshold within a preset third time range;

[0025] And / or, the braking protection duration exceeds a preset duration threshold.

[0026] Optionally, the step of limiting the electric braking torque of the vehicle based on the brake pedal depth includes:

[0027] Determine whether the vehicle has activated the preset linear torque reduction function;

[0028] If the vehicle does not activate the linear torque reduction function, the electric braking torque of the vehicle is limited to a preset proportion of the given electric braking torque.

[0029] Optionally, after the step of determining whether the vehicle has activated the preset linear torque reduction function, the method further includes:

[0030] If the vehicle has activated the linear torque reduction function, then it is determined whether the brake pedal depth is lower than a preset third depth threshold, wherein the third depth threshold is greater than the first depth threshold.

[0031] If the brake pedal depth is lower than the third depth threshold, the torque change rate corresponding to the brake pedal depth is determined according to a preset torque change mapping table, and the electric braking torque of the vehicle is limited according to the torque change rate.

[0032] If the brake pedal depth is higher than the third depth threshold, the electric braking torque is limited to a preset proportion of the given electric braking torque.

[0033] Furthermore, to achieve the above objectives, this application also provides an electric braking torque control device, the electric braking torque control device comprising:

[0034] The operating condition judgment module is used to determine whether the vehicle is in a braking protection condition based on preset braking protection judgment rules, wherein the braking protection judgment rules include road condition judgment rules and driving safety judgment rules.

[0035] A torque limiting module is used to limit the electric braking torque of the vehicle based on the depth of the brake pedal if the vehicle is in the braking protection condition.

[0036] In addition, to achieve the above objectives, this application also provides a terminal device, the terminal device comprising: a memory, a processor, and an electric braking torque control program stored in the memory and executable on the processor, wherein when the electric braking torque control program is executed by the processor, it implements the steps of the electric braking torque control method as described above.

[0037] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a control program for electric braking torque is stored, and when the control program for electric braking torque is executed by a processor, it implements the steps of the electric braking torque control method as described above.

[0038] This application provides an embodiment of an electric braking torque control method, device, terminal equipment, and storage medium. The electric braking torque control method includes: determining whether a vehicle is in a braking protection condition based on a preset braking protection determination rule, wherein the braking protection determination rule includes a road condition determination rule, a driving safety determination rule, and a driving experience determination rule; if the vehicle is in the braking protection condition, then limiting the electric braking torque of the vehicle according to the depth of the vehicle's brake pedal.

[0039] Compared to traditional methods for controlling electric braking torque, this application determines whether a vehicle is in a braking protection condition based on preset braking protection judgment rules. These rules include road condition judgment rules and driving safety judgment rules. When it is determined that the vehicle is in a braking protection condition, the electric braking torque is limited according to the depth of the brake pedal. Thus, by identifying whether the vehicle is in a special condition requiring braking protection during driving, and limiting the electric braking torque based on the depth of the brake pedal under this special condition, the impact force on the gearbox gears is reduced, preventing damage to the gearbox due to excessive force and extending its service life. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the hardware operating environment of the terminal device involved in the embodiments of this application;

[0041] Figure 2 This is a flowchart illustrating the first embodiment of the electric braking torque control method of this application;

[0042] Figure 3 This is a schematic diagram of the force on the gearbox gears involved in an embodiment of the electric braking torque control method of this application;

[0043] Figure 4 This is a schematic diagram of the control flow involved in an embodiment of the electric braking torque control method of this application;

[0044] Figure 5 This is a functional module diagram of an embodiment of the electric braking torque control device of this application.

[0045] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0046] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0047] 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 a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0048] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0049] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0050] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0051] This application provides a terminal device.

[0052] like Figure 1 As shown, Figure 1 This is a schematic diagram of the hardware operating environment of the terminal device involved in the embodiments of this application.

[0053] In this embodiment, the terminal device can be the vehicle control system in the energy vehicle, or it can be other modules in the energy vehicle that can control the vehicle's braking torque.

[0054] like Figure 1 As shown, in the hardware operating environment of the terminal device, the terminal device may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to implement communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or stable non-volatile memory, such as a disk storage device. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0055] Those skilled in the art will understand that Figure 1 The terminal device structure shown does not constitute a limitation on the device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0056] like Figure 1 As shown, the memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a control program for electric braking torque.

[0057] exist Figure 1 In the device shown, network interface 1004 is mainly used to connect to the backend server and communicate data with it; user interface 1003 is mainly used to connect to the client (user terminal) and communicate data with it; while processor 1001 can be used to call the electric braking torque control program stored in memory 1005 and perform the following operations:

[0058] The vehicle is determined to be in a braking protection condition based on a preset braking protection determination rule, wherein the braking protection determination rule includes a road condition determination rule and a driving safety determination rule.

[0059] If the vehicle is in the braking protection condition, the electric braking torque of the vehicle is limited according to the depth of the vehicle's brake pedal.

[0060] Optionally, the processor 1001 can also be used to call the control program for electric braking torque stored in the memory 1005 and perform the following operations:

[0061] Real-time monitoring of vehicle driving parameters;

[0062] The vehicle's driving parameters are used to determine whether the vehicle meets the preset braking protection judgment rules.

[0063] If the vehicle meets the braking protection determination rules, then the vehicle is determined to be in braking protection mode.

[0064] Optionally, the vehicle driving parameters include vehicle speed, motor speed fluctuation, steering wheel rotation angle, and overall vehicle status. The processor 1001 can also be used to call the electric braking torque control program stored in the memory 1005 and perform the following operations:

[0065] If the vehicle is in a braking state and the motor speed fluctuation exceeds a preset first fluctuation threshold, then the vehicle is determined to meet the road condition judgment rules.

[0066] If the vehicle speed is within a preset speed range, and the brake pedal depth exceeds a preset first depth threshold, and the steering wheel rotation angle is less than a preset rotation angle threshold, then the vehicle is determined to meet the driving safety judgment rules.

[0067] If the vehicle meets the road condition determination rule and the vehicle meets the driving safety determination rule, then the vehicle is determined to meet the preset braking protection determination rule.

[0068] Optionally, the processor 1001 can also be used to call the control program for electric braking torque stored in the memory 1005 and perform the following operations:

[0069] Based on the vehicle driving parameters, determine whether the vehicle meets the preset brake protection disengagement judgment rule;

[0070] If the vehicle meets the braking protection disengagement determination rule, the current torque is adjusted to the given torque, wherein the current torque is the limited electric braking torque.

[0071] Optionally, the vehicle driving parameters also include braking protection duration and motor speed. The processor 1001 can also be used to call the electric braking torque control program stored in the memory 1005 and perform the following operations:

[0072] When the vehicle's driving parameters meet the following criteria, the vehicle is determined to comply with the preset brake protection disengagement rule:

[0073] The motor speed fluctuation is less than a preset second fluctuation threshold within a preset first time range, wherein the second fluctuation threshold is less than the first fluctuation threshold.

[0074] And / or, the brake pedal depth is less than a preset second depth threshold within a preset second time range, wherein the second depth threshold is less than the first depth threshold;

[0075] And / or, the motor speed exceeds a preset motor speed threshold within a preset third time range;

[0076] And / or, the braking protection duration exceeds a preset duration threshold.

[0077] Optionally, the processor 1001 can also be used to call the control program for electric braking torque stored in the memory 1005 and perform the following operations:

[0078] Determine whether the vehicle has activated the preset linear torque reduction function;

[0079] If the vehicle does not activate the linear torque reduction function, the electric braking torque of the vehicle is limited to a preset proportion of the given electric braking torque.

[0080] Optionally, the processor 1001 can also be used to call the control program for electric braking torque stored in the memory 1005 and perform the following operations:

[0081] If the vehicle has activated the linear torque reduction function, then it is determined whether the brake pedal depth is lower than a preset third depth threshold, wherein the third depth threshold is greater than the first depth threshold.

[0082] If the brake pedal depth is lower than the third depth threshold, the torque change rate corresponding to the brake pedal depth is determined according to a preset torque change mapping table, and the electric braking torque of the vehicle is limited according to the torque change rate.

[0083] If the brake pedal depth is higher than the third depth threshold, the electric braking torque is limited to a preset proportion of the given electric braking torque.

[0084] Based on the above hardware structure, the overall concept of various embodiments of the electric braking torque control method of this application is proposed.

[0085] In this embodiment of the application, in new energy vehicles, vehicle braking is divided into mechanical braking and electric braking. When a new energy vehicle encounters impact road conditions such as speed bumps while driving, the driver will generally actively step on the brakes in order to reduce the vehicle speed as soon as possible and ensure the stability of the vehicle when passing through impact road conditions.

[0086] In actual driving scenarios involving impacts on road surfaces, the higher the vehicle speed, the deeper the driver presses the brake pedal, and the greater the mechanical and electric braking required. However, the inertial impact torque caused by the vehicle's inertia is in the same direction as the electric braking torque. The superposition of the inertial impact torque and the electric braking torque causes excessive force on the gearbox gears, which may exceed the gears' tolerance, leading to gearbox gear damage and ultimately causing abnormalities in the vehicle's transmission system, making the vehicle unable to drive normally.

[0087] In summary, how to reduce the impact force on the gearbox of a new energy vehicle when it passes through a rough road surface, so as to extend the service life of the gearbox, has become a technical problem that urgently needs to be solved in this field.

[0088] To address the aforementioned issues, this application proposes a method for controlling electric braking torque. The method includes: determining whether a vehicle is in a braking protection condition based on preset braking protection judgment rules, wherein the braking protection judgment rules include road condition judgment rules, driving safety judgment rules, and driving experience judgment rules; if the vehicle is in the braking protection condition, then limiting the vehicle's electric braking torque based on the depth of the vehicle's brake pedal.

[0089] Compared to traditional methods for controlling electric braking torque, this embodiment determines whether a vehicle is in a braking protection condition based on preset braking protection judgment rules. These rules include road condition judgment rules and driving safety judgment rules. When it is determined that the vehicle is in a braking protection condition, the electric braking torque is limited based on the depth of the brake pedal. Thus, by identifying whether the vehicle is in a special condition requiring braking protection during driving, and limiting the electric braking torque based on the depth of the brake pedal under this special condition, the impact force on the gearbox gears is reduced, preventing damage to the gearbox due to excessive force and extending its service life.

[0090] Based on the overall concept of the electric braking torque control method of this application described above, various embodiments of the electric braking torque control method of this application are proposed.

[0091] Please refer to Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the electric braking torque control method of this application. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown here.

[0092] In this embodiment, for ease of understanding and explanation, the vehicle control system is used as the direct execution subject to illustrate the control method for electric braking torque of this application.

[0093] like Figure 2 As shown, in this embodiment, the method for controlling the electric braking torque of this application may include:

[0094] Step S10: Determine whether the vehicle is in braking protection condition based on preset braking protection judgment rules, wherein the braking protection judgment rules include road condition judgment rules and driving safety judgment rules.

[0095] In this embodiment, after the vehicle is started, the vehicle control system determines in real time whether the vehicle is currently in a braking protection condition based on the pre-set braking protection judgment rules. The braking protection rules serve as the basis for determining whether the current electric braking torque of the vehicle needs to be limited. The rules specifically include road condition judgment rules and driving safety judgment rules. The braking protection condition means that the current electric braking torque of the vehicle needs to be limited in order to reduce the impact force on the gears of the vehicle's reduction gearbox.

[0096] It should be noted that when a vehicle passes over a speed bump, uneven road surface, or other impact conditions, the vehicle's force and motion state is as follows: impact → tire and suspension deformation → rebound and airborne suspension extension, wheel acceleration → wheel landing and suspension compression, increased front axle load, wheel deceleration → suspension extension, decreased front axle load, wheel acceleration... This process continues until the impact energy is completely dissipated; among them, such as Figure 3 As shown, when the vehicle's wheels land again after the first time it is airborne, the gearbox gears experience the greatest inertial impact force. This is compounded by the braking torque from the electric brake. At this point, the inertial impact torque caused by inertia (i.e., the inertial torque in the figure) and the braking torque from the electric brake (i.e., the feedback torque in the figure) are in the same direction, resulting in the gearbox gears experiencing the most severe stress. Therefore, in this embodiment, the preferred rule for determining the road condition is to determine whether the vehicle is currently traveling on a speed bump, uneven road surface, or other impact road conditions. This allows for targeted control of the electric brake torque when the vehicle is traveling on impact road conditions, thereby reducing the stress on the gearbox gears.

[0097] Further, in one feasible embodiment, step S10 includes:

[0098] Step S101: Monitor vehicle driving parameters in real time;

[0099] In this embodiment, after the vehicle is started, the vehicle control system monitors the vehicle's driving parameters in real time through various vehicle sensor devices. The vehicle driving parameters are various data of the vehicle during the driving process, such as vehicle speed, motor speed fluctuation, steering wheel rotation angle, and overall vehicle status.

[0100] Step S102: Determine whether the vehicle meets the preset braking protection judgment rules based on the vehicle driving parameters;

[0101] Step S103: If the vehicle meets the braking protection determination rule, then the vehicle is determined to be in braking protection condition.

[0102] In this embodiment, the vehicle control system determines whether the vehicle currently meets the preset braking protection judgment rules based on the monitored vehicle driving parameters. If the vehicle meets the braking protection judgment rules, the vehicle is determined to be in braking protection condition, that is, the vehicle control system determines to activate the power limiting braking protection function for the vehicle to limit the electric braking torque of the vehicle.

[0103] In another feasible embodiment, if the vehicle control system determines that the vehicle does not meet the braking protection judgment strategy, it determines that the vehicle is not in the braking protection condition. That is, the vehicle control system does not need to activate the power-limiting braking protection function for the vehicle, and the vehicle drives normally according to the torque given by the VCU (Vehicle Control Unit).

[0104] Step S20: If the vehicle is in the braking protection condition, the electric braking torque of the vehicle is limited according to the depth of the vehicle's brake pedal.

[0105] In this embodiment, when the vehicle control system determines that the vehicle is in a braking protection condition, it immediately obtains the current brake pedal depth, i.e., the depth to which the driver has pressed the brake pedal. The brake pedal depth ranges from 0 to 100%. The electric braking torque is limited based on the current brake pedal depth. Here, electric braking torque refers to the braking torque that converts the kinetic energy of the entire vehicle into electrical energy and stores it in the power battery through the gearbox, motor, electronic control, etc., to achieve energy recovery.

[0106] Furthermore, in a feasible embodiment, after step S20, the method for controlling the electric braking torque of this application may further include:

[0107] Step S30: Determine whether the vehicle meets the preset brake protection disengagement judgment rule based on the vehicle driving parameters;

[0108] In this embodiment, after the vehicle control system activates the electric braking protection function to limit the electric braking torque of the vehicle, it continues to acquire vehicle driving parameters and determines whether the vehicle meets the preset braking protection exit judgment rule based on the vehicle driving parameters. The braking protection exit judgment rule serves as the basis for determining whether it is necessary to exit the limitation of the current electric braking torque of the vehicle.

[0109] Step S40: If the vehicle meets the braking protection exit determination rule, the current torque is adjusted to the given torque, wherein the current torque is the limited electric braking torque.

[0110] In this embodiment, if the vehicle control system determines that the vehicle meets the braking protection exit judgment rule, it immediately obtains the vehicle's current torque and given torque. The current torque is the electric braking torque after being limited, and the current torque is adjusted to the given torque according to the pre-calibrated torque recovery step threshold.

[0111] It should be noted that in this embodiment, when the vehicle meets the braking protection exit judgment rule, the vehicle control system determines whether the vehicle is in an acceleration state or a braking state. If it is in an acceleration state, that is, the driver is currently pressing the accelerator, the given torque is the positive torque corresponding to the depth of the accelerator pedal. If it is in a braking state, that is, the driver is currently pressing the brake, the given torque is the negative torque corresponding to the depth of the brake pedal.

[0112] In this embodiment, after the vehicle is started, the vehicle control system determines in real time whether the vehicle is currently in a braking protection condition based on a pre-set braking protection judgment rule. The braking protection rule serves as the basis for determining whether the current electric braking torque of the vehicle needs to be limited. The rule specifically includes a road condition judgment rule and a driving safety judgment rule. The braking protection condition means that the current electric braking torque of the vehicle needs to be limited to reduce the impact force on the gears of the vehicle's reduction gearbox. Then, if the vehicle control system determines that the vehicle is in a braking protection condition, it immediately obtains the current brake pedal depth of the vehicle, that is, the depth to which the driver presses the brake pedal. The brake pedal depth ranges from 0 to 100%. The electric braking torque is limited according to the current brake pedal depth of the vehicle.

[0113] Thus, this application embodiment determines whether the vehicle is in a braking protection condition based on preset braking protection judgment rules. These braking protection judgment rules include road condition judgment rules and driving safety judgment rules. When it is determined that the vehicle is in a braking protection condition, the electric braking torque of the vehicle is limited according to the depth of the vehicle's brake pedal. In this way, by identifying whether the vehicle is in a special condition that requires braking protection during driving, and based on this special condition, the electric braking torque of the vehicle is limited according to the depth of the vehicle's brake pedal. Therefore, by limiting the electric braking torque of the vehicle under special conditions, the impact force on the gearbox gears of the vehicle under special conditions is reduced, avoiding damage to the gearbox due to excessive force, and achieving the beneficial effect of extending the service life of the gearbox.

[0114] Furthermore, based on the first embodiment of the electric braking torque control method of this application described above, a second embodiment of the electric braking torque control method of this application is proposed.

[0115] In this embodiment, the vehicle driving parameters include vehicle speed, motor speed fluctuation, steering wheel rotation angle, and overall vehicle status. Step S102: determining whether the vehicle meets the preset braking protection judgment rules based on the vehicle driving parameters includes:

[0116] Step S1021: If the vehicle is in a braking state and the motor speed fluctuation exceeds a preset first fluctuation threshold, then the vehicle is determined to meet the road condition judgment rule.

[0117] It should be noted that, in this embodiment, the vehicle driving parameters acquired by the vehicle control system include vehicle speed, motor speed fluctuation, steering wheel rotation angle, and overall vehicle status. The overall vehicle status includes braking status, which refers to the state of the motor during the process of stopping or decelerating.

[0118] In this embodiment, the vehicle control system determines whether the vehicle meets the braking protection judgment rules based on the vehicle driving parameters. Specifically, the vehicle control system needs to determine whether the vehicle driving parameters meet the road condition judgment rules and the driving safety judgment rules. The vehicle control system determines that the vehicle is in a braking state, and when the fluctuation of the vehicle's motor speed exceeds a preset first fluctuation threshold, the vehicle control system can determine that the vehicle meets the road condition judgment rules.

[0119] It should be noted that the preferred rule for determining road conditions is whether the road condition is an impact road condition. When the fluctuation of the vehicle's motor speed exceeds the first fluctuation threshold, it can be determined that the vehicle has encountered impact road conditions such as road bumps, speed bumps, and deep potholes while driving. The first fluctuation threshold is calculated based on the vehicle's performance, and the specific calculation process and specific data are not limited in this embodiment.

[0120] Furthermore, in one feasible embodiment, the first fluctuation threshold includes a primary fluctuation and a secondary fluctuation, with the primary fluctuation being less than the secondary fluctuation. The vehicle control system determines whether the vehicle's ABS / ESP (Antilock Brake System / Electronic Stability Program) function is active. If the ABS / ESP function is inactive, the primary fluctuation is used as the first fluctuation threshold for road condition judgment. If the ABS / ESP function is active, the secondary fluctuation is used as the first fluctuation threshold for road condition judgment, thereby improving the accuracy of road condition judgment and preventing the vehicle from performing power-limiting braking protection due to incorrect identification of impact road conditions.

[0121] Step S1022: If the vehicle speed is within a preset speed range, and the brake pedal depth exceeds a preset first depth threshold, and the steering wheel rotation angle is less than a preset rotation angle threshold, then the vehicle is determined to meet the driving safety judgment rules.

[0122] In this embodiment, the vehicle control system determines whether the vehicle meets the braking protection judgment rules based on the vehicle driving parameters. Specifically, the vehicle control system needs to determine whether the vehicle driving parameters meet the road condition judgment rules and the driving safety judgment rules. When the vehicle speed is within a preset speed range, the brake pedal depth exceeds a preset first depth threshold, and the vehicle steering wheel rotation angle is less than a preset rotation angle threshold, the vehicle control system can determine that the vehicle driving parameters meet the driving safety judgment rules.

[0123] It should be noted that in this embodiment, the vehicle speed range is calculated based on the vehicle's performance. The specific calculation process and range are not limited in this embodiment. When the vehicle speed is below the speed range, the impact force generated by the superposition of the inertial impact torque and the electric braking torque in the same direction will not exceed the tolerance of the gearbox gears. At the same time, if the electric braking torque is limited under low-speed driving conditions, the resulting deceleration effect will be difficult to meet the driver's driving deceleration needs. This may lead to driving safety hazards due to the inability to meet the driving deceleration needs, and will also affect the driver's driving experience. When the vehicle speed is above the speed range, on the one hand, the impact force of the inertial impact torque on the gearbox is already too large, far exceeding the tolerance range of the gearbox gears. Even if the electric braking torque is limited, it will cause wear on the gearbox gears. On the other hand, if the electric braking is limited, the vehicle will still pass through the impact road conditions at a higher speed, resulting in poor stability when the car passes through the impact road conditions, affecting the driver's driving experience. At the same time, it may also lead to driving safety hazards due to the inability to meet the driving deceleration needs.

[0124] It should also be noted that in this embodiment, the first depth threshold is calculated based on the vehicle performance. The specific calculation process and specific data are not limited in this embodiment. When the brake pedal depth does not exceed the preset first depth threshold, the generated electric braking torque is small and will not put a burden on the gearbox gears. At the same time, it avoids the driving safety hazard caused by the inability to achieve the driver's expected deceleration effect due to the limitation of electric braking torque.

[0125] It should also be noted that the steering wheel rotation angle threshold is calculated based on the vehicle's performance. The specific calculation process and data are not limited in this embodiment. When the steering wheel rotation angle is greater than the rotation angle threshold, it indicates that the driver intends to avoid a road impact condition. In this case, there will not be a large inertial impact torque due to passing through the road impact condition, and the electric braking torque will not damage the gearbox. Therefore, there is no need to perform electric braking protection. If electric braking protection is performed when the steering wheel rotation angle is greater than the rotation angle threshold, the vehicle deceleration effect may be weakened, leading to failure to avoid the road impact condition and affecting driving safety.

[0126] Step S1023: If the vehicle meets the road condition determination rule and the vehicle meets the driving safety determination rule, then the vehicle is determined to meet the preset braking protection determination rule.

[0127] In this embodiment, when the vehicle control system determines that the vehicle meets the road condition determination rules and driving safety determination rules, it determines that the vehicle meets the braking protection determination rules and immediately activates the braking protection function to limit the vehicle's electric braking torque.

[0128] In addition, in one feasible embodiment, the road condition determination rules and driving safety determination rules can be determined separately using other vehicle driving parameters, or the above determination rules can be prioritized. For example, the vehicle control system can first determine whether the vehicle meets the road condition determination rules. If it does not meet the rules, then there is no need to perform driving safety determination.

[0129] Furthermore, in a feasible embodiment, the step of "limiting the electric braking torque of the vehicle according to the brake pedal depth" in step S20 above includes:

[0130] Step S201: Determine whether the vehicle has activated the preset linear torque reduction function;

[0131] In this embodiment, the vehicle has activated the braking protection function. The vehicle control system then further determines whether the vehicle has activated the linear torque reduction function. The linear torque reduction function is to linearly adjust the amplitude of the power-limiting braking according to the brake pedal depth. That is, when the vehicle has activated the linear torque reduction function, the amplitude of the vehicle's power-limiting braking is linearly positively correlated with the brake pedal depth.

[0132] Step S202: If the vehicle does not activate the linear torque reduction function, then the electric braking torque of the vehicle is limited to a preset ratio of the given electric braking torque.

[0133] In this embodiment, when the vehicle does not activate the linear torque reduction function, the vehicle control system limits the electric braking torque to a preset ratio of the given electric braking torque. For example, if the preset ratio is 80%, then when the vehicle is in braking protection mode, if the given electric braking torque is 120 Nm, the vehicle control system limits the electric braking torque to 96 Nm.

[0134] Furthermore, in a feasible embodiment, after step S201 above, the method for controlling the electric braking torque of this application may further include:

[0135] Step S203: If the vehicle has activated the linear torque reduction function, determine whether the brake pedal depth is lower than a preset third depth threshold, wherein the third depth threshold is greater than the first depth threshold.

[0136] In this embodiment, when the vehicle activates the linear torque reduction function, the vehicle controller determines whether the brake pedal depth is lower than a preset third depth threshold, and the third depth threshold is greater than the first depth threshold.

[0137] Step S204: If the brake pedal depth is lower than the third depth threshold, the torque change rate corresponding to the brake pedal depth is determined according to the preset torque change mapping table, and the electric braking torque of the vehicle is limited according to the torque change rate.

[0138] In this embodiment, if it is determined that the brake pedal depth is lower than the third depth threshold, the vehicle control system determines the torque change rate corresponding to the current brake pedal depth according to the pre-stored torque change mapping table, and limits the electric braking torque according to the torque change rate obtained by looking up the table. It should be noted that in this embodiment, the data for the third depth threshold is not specifically limited.

[0139] For example, taking a third depth threshold of 50% as an example, when the brake pedal depth is 40%, that is, the brake pedal depth is less than 50%, the vehicle control system determines by querying the torque change mapping table that when the brake pedal depth is 40%, the corresponding given torque is 75 Nm and the corresponding torque change rate is 10 Nm / 10 ms. Then, the vehicle control system reduces the given torque by 10 Nm / 10 ms according to the given torque change rate to complete the limitation of electric braking torque.

[0140] Step S205: If the brake pedal depth is higher than the third depth threshold, then the electric braking torque is limited to a preset proportion of the given electric braking torque.

[0141] In this embodiment, if it is determined that the brake pedal depth is higher than the third depth threshold, the electric braking torque is limited to a preset proportion of the given electric braking torque.

[0142] For example, such as Figure 4 As shown, after the vehicle starts, the vehicle control system determines whether the vehicle meets the conditions for braking protection. If not, the power-limiting braking protection is not performed. If it does, the system further determines whether the vehicle's linear torque reduction function is activated. If not, the electric braking torque is limited to a preset proportion of the given torque. If activated, the system continues to determine whether the vehicle's brake pedal depth is lower than the third depth threshold. If not, the electric braking torque is also limited to a preset proportion of the given torque. If so, the system determines the torque change rate corresponding to the current brake pedal depth according to a preset mapping table to limit the electric braking torque. At the same time, during the process of activating the vehicle's electric braking protection, the system determines whether the conditions for exiting the braking protection condition are met. If the conditions for exiting the braking protection condition are met, the power-limiting braking protection is exited.

[0143] Furthermore, in a feasible embodiment, the vehicle driving parameters further include braking protection duration and motor speed. Step S30 above: determining whether the vehicle meets the preset braking protection exit judgment rule based on the vehicle driving parameters includes:

[0144] When the vehicle's driving parameters meet the following criteria, the vehicle is determined to comply with the preset brake protection disengagement rule:

[0145] The motor speed fluctuation is less than a preset second fluctuation threshold within a preset first time range, wherein the second fluctuation threshold is less than the first fluctuation threshold.

[0146] And / or, the brake pedal depth is less than a preset second depth threshold within a preset second time range, wherein the second depth threshold is less than the first depth threshold;

[0147] And / or, the motor speed exceeds a preset motor speed threshold within a preset third time range;

[0148] And / or, the braking protection duration exceeds a preset duration threshold.

[0149] In this embodiment, after the vehicle activates the power-limiting braking protection, the vehicle control system continues to determine whether the vehicle meets the braking protection exit rules. Specifically, the vehicle driving parameters acquired by the vehicle control system also include the braking protection duration and motor speed. The vehicle control system determines whether the acquired vehicle driving parameters meet the following judgment conditions: the motor speed fluctuation is less than a preset second fluctuation threshold within a preset first time range, wherein the second fluctuation threshold is less than the first fluctuation threshold; and / or, the brake pedal depth is less than a preset second depth threshold within a preset second time range, wherein the second depth threshold is less than the first depth threshold; and / or, the motor speed exceeds a preset motor speed threshold within a preset third time range; and / or, the braking protection duration exceeds a preset duration threshold. The first time range, second time range, and third time range may be the same or different. This embodiment does not specifically limit this. When the vehicle control system determines that the vehicle driving parameters meet the above judgment conditions, it determines that the vehicle meets the braking protection exit judgment rules and terminates the vehicle's power-limiting braking protection function.

[0150] Thus, this embodiment of the application determines whether the vehicle is currently in a braking protection condition by comprehensively considering both road conditions and driving safety, that is, whether the vehicle needs to activate the electric braking protection function. If it is determined that the vehicle is in a braking protection condition, it further determines whether the vehicle has activated the linear torque reduction function. Based on the vehicle's function activation status, electric braking protection is performed. Then, during the process of performing electric braking protection, the identification of exiting braking protection is performed. In this way, by limiting the electric braking torque of the vehicle under special conditions, the impact force on the gearbox gears of the vehicle under special conditions is reduced, avoiding damage to the gearbox due to excessive force, and achieving the beneficial effect of extending the service life of the gearbox.

[0151] Furthermore, this application also proposes a control device for electric braking torque.

[0152] Please refer to Figure 5 The electric braking torque control device of this application includes:

[0153] The working condition judgment module 10 is used to determine whether the vehicle is in a braking protection working condition based on a preset braking protection judgment rule, wherein the braking protection judgment rule includes a road condition judgment rule and a driving safety judgment rule.

[0154] The torque limiting module 20 is used to limit the electric braking torque of the vehicle based on the depth of the brake pedal if the vehicle is in the braking protection condition.

[0155] Optionally, the working condition judgment module 10 includes:

[0156] The monitoring unit is used to monitor vehicle driving parameters in real time.

[0157] The rule judgment unit is used to determine whether the vehicle meets the preset braking protection judgment rule based on the vehicle driving parameters;

[0158] The operating condition determination unit is used to determine that the vehicle is in a braking protection operating condition if the vehicle meets the braking protection determination rules.

[0159] Optionally, the vehicle driving parameters include vehicle speed, motor speed fluctuation, steering wheel rotation angle, and overall vehicle status; the rule judgment unit includes:

[0160] The road condition determination subunit is used to determine that the vehicle meets the road condition determination rules if the vehicle is in a braking state and the motor speed fluctuation exceeds a preset first fluctuation threshold.

[0161] The driving safety determination subunit is used to determine that the vehicle meets the driving safety determination rules if the vehicle speed is within a preset speed range, the brake pedal depth exceeds a preset first depth threshold, and the steering wheel rotation angle is less than a preset rotation angle threshold.

[0162] The rule determination subunit is used to determine that the vehicle meets the preset braking protection determination rule if the vehicle meets the road condition determination rule and the vehicle meets the driving safety determination rule.

[0163] Optionally, the control device for the electric braking torque of this application further includes:

[0164] The limited protection exit module is used to determine whether the vehicle meets the preset braking protection exit judgment rule based on the vehicle driving parameters; if the vehicle meets the braking protection exit judgment rule, the current torque is adjusted to a given torque, wherein the current torque is the limited electric braking torque.

[0165] Optionally, the vehicle driving parameters also include braking protection duration and motor speed, and the limited protection exit module is further used for:

[0166] When the vehicle's driving parameters meet the following criteria, the vehicle is determined to comply with the preset brake protection disengagement rule:

[0167] The motor speed fluctuation is less than a preset second fluctuation threshold within a preset first time range, wherein the second fluctuation threshold is less than the first fluctuation threshold.

[0168] And / or, the brake pedal depth is less than a preset second depth threshold within a preset second time range, wherein the second depth threshold is less than the first depth threshold;

[0169] And / or, the motor speed exceeds a preset motor speed threshold within a preset third time range;

[0170] And / or, the braking protection duration exceeds a preset duration threshold.

[0171] Optionally, the torque limiting module 20 includes:

[0172] The function determination unit is used to determine whether the vehicle has activated the preset linear torque reduction function;

[0173] The first torque limiting unit is used to limit the electric braking torque of the vehicle to a preset ratio of a given electric braking torque if the linear torque reduction function is not activated.

[0174] Optionally, the torque limiting module 20 further includes:

[0175] The second torque limiting unit is used to determine whether the brake pedal depth is lower than a preset third depth threshold if the vehicle has activated the linear torque reduction function, wherein the third depth threshold is greater than the first depth threshold; if the brake pedal depth is lower than the third depth threshold, the torque change rate corresponding to the brake pedal depth is determined according to a preset torque change mapping table, and the electric braking torque of the vehicle is limited according to the torque change rate; if the brake pedal depth is higher than the third depth threshold, the electric braking torque is limited to a preset proportion of a given electric braking torque.

[0176] The functions of each module in the above-mentioned electric braking torque control device correspond to the steps in the above-mentioned electric braking torque control method embodiment, and their functions and implementation processes will not be described in detail here.

[0177] Furthermore, this application also proposes a storage medium storing a program for controlling electric braking torque, which, when executed by a processor, implements the steps of the electric braking torque control method of this application as described above.

[0178] The specific embodiments of the storage medium in this application are basically the same as the embodiments of the above-described electric braking torque control method, and will not be described in detail here.

[0179] 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.

[0180] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0181] 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 this application, 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 device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0182] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for controlling electric braking torque, characterized in that, The method for controlling the electric braking torque includes: The vehicle is determined to be in braking protection condition based on preset braking protection judgment rules and vehicle driving parameters. The braking protection judgment rules include road condition judgment rules and driving safety judgment rules. The vehicle driving parameters include vehicle speed, motor speed fluctuation, steering wheel rotation angle and overall vehicle status. The road condition judgment rules are configured to satisfy the condition that the motor speed fluctuation exceeds a preset first fluctuation threshold when the overall vehicle status is braking. The driving safety determination rule is configured to satisfy the following conditions when the vehicle speed is within a preset speed range: the brake pedal depth exceeds a preset first depth threshold and the steering wheel rotation angle is less than a preset rotation angle threshold. If the vehicle is in the braking protection condition, the electric braking torque of the vehicle is limited according to the brake pedal depth; wherein, the step of limiting the electric braking torque of the vehicle according to the brake pedal depth includes: Determine whether the vehicle has activated the preset linear torque reduction function; If the vehicle has activated the linear torque reduction function, then it is determined whether the brake pedal depth is lower than a preset third depth threshold, wherein the third depth threshold is greater than the first depth threshold. If the brake pedal depth is lower than the third depth threshold, the torque change rate corresponding to the brake pedal depth is determined according to a preset torque change mapping table, and the electric braking torque of the vehicle is limited according to the torque change rate. If the brake pedal depth is higher than the third depth threshold, the electric braking torque is limited to a preset proportion of the given electric braking torque.

2. The method for controlling electric braking torque as described in claim 1, characterized in that, The step of determining whether the vehicle is in braking protection mode based on preset braking protection judgment rules and vehicle driving parameters includes: Real-time monitoring of vehicle driving parameters; The vehicle's driving parameters are used to determine whether the vehicle meets the preset braking protection judgment rules. If the vehicle meets the road condition determination rule and the vehicle meets the driving safety determination rule, then the vehicle is determined to meet the preset braking protection determination rule.

3. The method for controlling electric braking torque as described in claim 2, characterized in that, After the step of limiting the electric braking torque of the vehicle based on the brake pedal depth, the method further includes: Based on the vehicle driving parameters, determine whether the vehicle meets the preset brake protection disengagement judgment rule; If the vehicle meets the braking protection disengagement determination rule, the current torque is adjusted to the given torque, wherein the current torque is the limited electric braking torque.

4. The method for controlling electric braking torque as described in claim 3, characterized in that, The vehicle driving parameters also include braking protection duration and motor speed. The step of determining whether the vehicle meets the preset braking protection exit judgment rule based on the vehicle driving parameters includes: When the vehicle's driving parameters meet the following criteria, the vehicle is determined to comply with the preset brake protection disengagement rule: The motor speed fluctuation is less than a preset second fluctuation threshold within a preset first time range, wherein the second fluctuation threshold is less than the first fluctuation threshold. And / or, the brake pedal depth is less than a preset second depth threshold within a preset second time range, wherein the second depth threshold is less than the first depth threshold; And / or, the motor speed exceeds a preset motor speed threshold within a preset third time range; And / or, the braking protection duration exceeds a preset duration threshold.

5. The method for controlling electric braking torque as described in claim 1, characterized in that, After the step of determining whether the vehicle has activated the preset linear torque reduction function, the method includes: If the vehicle does not activate the linear torque reduction function, the electric braking torque of the vehicle is limited to a preset ratio of the given electric braking torque.

6. A control device for electric braking torque, characterized in that, The control device for the electric braking torque includes: The operating condition judgment module is used to determine whether a vehicle is in a braking protection condition based on preset braking protection judgment rules and vehicle driving parameters. The braking protection judgment rules include road condition judgment rules and driving safety judgment rules. The vehicle driving parameters include vehicle speed, motor speed fluctuation, steering wheel rotation angle, and overall vehicle status. The road condition judgment rules are configured to satisfy the condition where, when the overall vehicle status is braking, the motor speed fluctuation exceeds a preset first fluctuation threshold. The driving safety judgment rules are configured to satisfy the condition where, when the vehicle speed is within a preset speed range, the brake pedal depth exceeds a preset first depth threshold, and the steering wheel rotation angle is less than a preset rotation angle threshold. A torque limiting module is used to limit the electric braking torque of the vehicle based on the brake pedal depth if the vehicle is in the braking protection condition. The step of limiting the electric braking torque of the vehicle based on the brake pedal depth includes: determining whether the vehicle has activated a preset linear torque reduction function; if the vehicle has activated the linear torque reduction function, determining whether the brake pedal depth is lower than a preset third depth threshold, wherein the third depth threshold is greater than a first depth threshold; if the brake pedal depth is lower than the third depth threshold, determining the torque change rate corresponding to the brake pedal depth according to a preset torque change mapping table, and limiting the electric braking torque of the vehicle according to the torque change rate; if the brake pedal depth is higher than the third depth threshold, limiting the electric braking torque to a preset proportion of a given electric braking torque.

7. A terminal device, characterized in that, The terminal device includes: a memory, a processor, and an electric braking torque control program stored in the memory and executable on the processor. When the electric braking torque control program is executed by the processor, it implements the steps of the electric braking torque control method as described in any one of claims 1 to 5.

8. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and the storage medium stores a control program for electric braking torque. When the control program for electric braking torque is executed by a processor, it implements the steps of the electric braking torque control method as described in any one of claims 1 to 5.

Images