Vehicle, braking control method, braking control device, and storage medium

Abstract

The application discloses a vehicle and a brake control method, a brake control device and a storage medium thereof, and the method comprises the following steps: determining that an electronic hydraulic brake system cannot provide brake assistance; acquiring a slip rate of a driving wheel in the case that a brake signal is collected; and adjusting a motor brake torque of the vehicle according to a preset motor brake torque in the case that the slip rate of the driving wheel exceeds a preset threshold value. The brake control method maximizes the brake deceleration generated by the motor brake when the electronic hydraulic brake system fails, maintains the stability of the vehicle and improves the driving safety.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a vehicle braking control method, a vehicle braking control device, a computer-readable storage medium, and a vehicle. Background Technology

[0002] With the development of automotive technology, new energy vehicles and autonomous vehicles have placed new demands on braking systems. Currently, conventional hydraulic braking systems provide braking assistance through vacuum boosters, reducing the force required for the driver to depress the brake pedal and making braking easier. However, directly using the pedal force as assistance is constrained by installation space. In contrast, EHB (Electric Hydraulic Brake) systems use servo motors to provide braking assistance, and the braking system is monitored and controlled by an ECU (Electronic Control Unit) and sensors. While EHB offers many advantages in terms of braking performance and driving experience, it also presents some potential safety risks, such as electronic system failures, power supply failures, internal pressure leaks, and sensor malfunctions. Unlike conventional hydraulic braking systems, EHB failures can be sudden and, if they occur at critical moments, could lead to serious consequences. Summary of the Invention

[0003] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the first objective of this invention is to provide a vehicle braking control method that, when the electro-hydraulic braking system fails to provide braking assistance, acquires the slip ratio of the drive wheels in real time. When the slip ratio exceeds a set threshold, the vehicle's electric motor torque is adjusted according to a set electric motor torque. This allows for maximizing the use of braking deceleration generated by the electric motor when the electro-hydraulic braking system fails, maintaining vehicle stability, and improving driving safety.

[0004] The second objective of this invention is to provide a vehicle braking control device.

[0005] A third objective of this invention is to provide a computer-readable storage medium.

[0006] The fourth objective of this invention is to provide a vehicle.

[0007] To achieve the above objectives, a first aspect of the present invention provides a vehicle braking control method, comprising: determining that the electro-hydraulic braking system cannot provide braking assistance; acquiring the slip ratio of the drive wheels when a braking signal is acquired; and adjusting the electric motor torque of the vehicle according to a preset electric motor torque when the slip ratio of the drive wheels exceeds a preset threshold.

[0008] According to the vehicle braking control method of this invention, when it is determined that the electro-hydraulic braking system cannot provide braking assistance, and upon receiving a braking signal, the slip ratio of the drive wheels is acquired. If the slip ratio of the drive wheels exceeds a preset threshold, the vehicle's electric motor torque is adjusted according to a preset electric motor torque. Therefore, this method, when the electro-hydraulic braking system cannot provide braking assistance, acquires the slip ratio of the drive wheels in real time, and adjusts the vehicle's electric motor torque according to a preset electric motor torque when the slip ratio exceeds a set threshold. This allows for maximizing the use of braking deceleration generated by electric motor braking when the electro-hydraulic braking system fails, maintaining vehicle stability, and improving driving safety.

[0009] In addition, the vehicle braking control method according to the above embodiments of the present invention may also have the following additional technical features:

[0010] According to some embodiments of the present invention, when a braking signal is acquired, the above method further includes: controlling the vehicle according to the available maximum electric motor torque; adjusting the available maximum electric motor torque to a preset electric motor torque when the slip ratio of the drive wheels exceeds a preset threshold; and controlling the vehicle according to the available maximum electric motor torque when the slip ratio of the drive wheels does not exceed the preset threshold.

[0011] According to other embodiments of the present invention, when a braking signal is acquired, the above-described vehicle braking control method further includes: determining a target motor torque based on the vehicle speed; controlling the vehicle based on the target motor torque; adjusting the target motor torque to a preset motor torque when the slip ratio of the drive wheels exceeds a preset threshold; and controlling the vehicle based on the target motor torque when the slip ratio of the drive wheels does not exceed the preset threshold.

[0012] According to some embodiments of the present invention, obtaining the slip ratio of the drive wheel includes: obtaining the wheel speed of the drive wheel and the wheel speed of the non-drive wheel through an anti-lock braking system; obtaining the wheel speed difference between the wheel speed of the non-drive wheel and the wheel speed of the drive wheel; and determining the slip ratio of the drive wheel based on the ratio of the absolute value of the wheel speed difference to the wheel speed of the non-drive wheel.

[0013] According to some embodiments of the present invention, determining that the electro-hydraulic braking system cannot provide braking assistance includes: when the anti-lock braking system does not receive parameter data from the electro-hydraulic braking system; or when the anti-lock braking system receives parameter data but cannot meet the braking assistance conditions.

[0014] According to some embodiments of the present invention, the braking assist conditions include: the braking assist value of the electro-hydraulic braking system is greater than a preset assist value; and / or the fault level of the electro-hydraulic braking system is lower than a preset level.

[0015] According to some embodiments of the present invention, the above-described vehicle braking control method further includes: when the braking assist value of the electro-hydraulic braking system is greater than a preset assist threshold, controlling the electro-hydraulic braking system to distribute the electric motor braking torque and the hydraulic braking torque according to the braking torque; when the slip ratio of the drive wheel exceeds a preset threshold, reducing the electric motor braking torque of the vehicle until the slip ratio of the drive wheel does not exceed the preset threshold.

[0016] To achieve the above objectives, a second aspect of the present invention provides a vehicle braking control device, comprising: a determining module for determining that the electro-hydraulic braking system cannot provide braking assistance; an acquiring module for acquiring the slip ratio of the drive wheels when a braking signal is acquired; and a controlling module for adjusting the electric motor torque of the vehicle according to a preset electric motor torque when the slip ratio of the drive wheels exceeds a preset threshold.

[0017] According to an embodiment of the vehicle braking control device of the present invention, a determining module determines that the electro-hydraulic braking system cannot provide braking assistance. Upon receiving a braking signal, an acquiring module acquires the slip ratio of the drive wheels. If the slip ratio of the drive wheels exceeds a preset threshold, a control module adjusts the vehicle's electric motor torque according to a preset electric motor torque. Therefore, when the electro-hydraulic braking system cannot provide braking assistance, the device acquires the slip ratio of the drive wheels in real time. When the slip ratio exceeds a set threshold, it adjusts the vehicle's electric motor torque according to a set electric motor torque. This allows the device to maximize the use of the braking deceleration generated by the electric motor braking when the electro-hydraulic braking system fails, maintaining vehicle stability and improving driving safety.

[0018] To achieve the above objectives, a third aspect of the present invention provides a computer-readable storage medium storing a vehicle braking control program thereon, which, when executed by a processor, implements the vehicle braking control method described above.

[0019] The computer-readable storage medium of this invention, by executing the above-described vehicle braking control method, can maximize the use of the braking deceleration generated by the electric motor braking when the electro-hydraulic braking system fails, thereby maintaining vehicle stability and improving driving safety.

[0020] To achieve the above objectives, a fourth aspect of the present invention provides a vehicle including a memory, a processor, and a vehicle braking control program stored in the memory and executable on the processor. When the processor executes the vehicle braking control program, it implements the above-described vehicle braking control method.

[0021] According to the embodiments of the present invention, by executing the above-described vehicle braking control method, the vehicle can maximize the use of the braking deceleration generated by the electric motor braking when the electro-hydraulic braking system fails, thereby maintaining vehicle stability and improving driving safety.

[0022] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0023] Figure 1 A flowchart of a vehicle braking control method according to some embodiments of the present invention;

[0024] Figure 2 This is a schematic diagram of a vehicle braking control method according to other embodiments of the present invention;

[0025] Figure 3 This is a block diagram of a vehicle braking control device according to some embodiments of the present invention;

[0026] Figure 4 This is a block diagram of a vehicle according to some embodiments of the present invention. Detailed Implementation

[0027] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0028] The vehicle braking control method, vehicle braking control device, computer-readable storage medium, and vehicle proposed in the embodiments of the present invention are described below with reference to the accompanying drawings.

[0029] With the increasing application of EHB (Electronic Brake Assist) in vehicles, safety has become a primary concern. Currently, for vehicles equipped with both EHB and ESC (Electronic Stability Controller), when the EHB assist function fails, EHB requests ESC to execute HBC (Hydraulic Brake Failure Compensation). After HBC is activated, when the driver depresses the brake pedal, the master cylinder pressure changes. The HBC function identifies the driver's braking intention based on this pressure change and controls the pressure build-up pump to actively build up wheel cylinder pressure, thus providing driver assistance. In this situation, the driver's braking request is actively pressure-built up by ESC, and braking in all conditions is fully controlled by ESC, including driver braking conditions, stability functions, and auxiliary functions (such as active pressure build-up).

[0030] However, ESC (Electronic Stability Control) is not yet widely adopted in vehicles due to its high cost. Therefore, the mainstream configuration is generally ABS (Anti-lock Braking System), lacking HBC (Hydraulic Brake Assist). When EHB (Electronic Brake Assist) fails, the deceleration generated by the driver's foot on the brake pedal is relatively small. Each user's braking force and risk assessment ability differ, resulting in a lack of more effective redundant braking backup. Other auxiliary emergency measures need to be considered. Regenerative braking from an electric motor can generate significant braking torque, serving as auxiliary braking in the event of EHB failure. However, electric motor braking only acts on the drive axle (generally the rear axle in commercial vehicles). When the electric motor's torque is high, it can easily trigger ABS activation. To maintain vehicle stability, the conventional approach is to completely disengage the electric motor braking, but this approach can degrade the user experience.

[0031] To address this, this application proposes a vehicle braking control method. When the electro-hydraulic braking system fails to provide braking assistance, the slip ratio of the drive wheels is acquired in real time. When the slip ratio exceeds a set threshold, the electric motor torque of the vehicle is adjusted according to the set electric motor torque. This allows for maximizing the use of the braking deceleration generated by the electric motor braking when the electro-hydraulic braking system fails, thereby maintaining vehicle stability and improving driving safety.

[0032] Figure 1 This is a flowchart of a vehicle braking control method according to some embodiments of the present invention.

[0033] like Figure 1 As shown, the vehicle braking control method of this embodiment may include the following steps:

[0034] S1, indicating that the electro-hydraulic braking system is unable to provide braking assistance.

[0035] Specifically, the electro-hydraulic braking system and the anti-lock braking system (ABS) communicate with each other via CAN (Controller Area Network) to transmit data. For example, the electro-hydraulic braking system sends its maximum assist capability value to the ABS system in real time. If the ABS system does not receive data from the electro-hydraulic braking system, or if the data received by the ABS system does not meet the requirements, it can be determined that the electro-hydraulic braking system is unable to provide braking assistance.

[0036] S2, when a braking signal is received, obtains the slip ratio of the drive wheel.

[0037] Specifically, the driver's intention to brake is determined by monitoring changes in brake pedal opening, or by using sensors mounted on the brake pedal to detect pressure values. An increase in pressure indicates a braking signal, signifying that the driver has depressed the brake pedal. The slip ratio of the drive wheels can then be obtained by comparing the wheel speeds of the front and rear wheels. For example, when the drive wheels are the rear wheels, the difference between the front and rear wheel speeds is calculated, and the rear wheel slip ratio is determined by the ratio of this difference to the front wheel speed. It should be noted that there are multiple methods for calculating the drive wheel slip ratio, which are not limited here.

[0038] S3, when the slip ratio of the drive wheels exceeds a preset threshold, adjust the vehicle's electric motor torque according to a preset electric motor torque. The preset threshold and preset electric motor torque can be calibrated based on actual conditions. For example, the preset electric motor torque can be determined based on the slip ratio of the drive wheels; different slip ratios correspond to different preset electric motor torques. The preset threshold is less than the slip ratio corresponding to activating the anti-lock braking system.

[0039] Specifically, when the electro-hydraulic braking system fails, if a braking signal is detected, it indicates that wheel braking control is required. The slip ratio of the drive wheels is obtained, and based on this slip ratio, it is determined whether to adjust the vehicle's electric motor torque using a preset electric motor torque. If the drive wheel slip ratio exceeds a preset threshold, it easily triggers ABS activation, causing the electric motor braking to completely disengage. This prevents the full utilization of the braking deceleration generated by the electric motor braking, requiring the driver to press the brake pedal for braking. In this case, the vehicle controller can perform overriding control based on the set electric motor torque to adjust the vehicle's electric motor torque for braking. Alternatively, the vehicle controller can first control the wheels according to the conventional electric motor braking control strategy. During the electric motor braking control process, the drive wheel slip ratio is acquired in real time. If the drive wheel slip ratio exceeds a preset threshold, the electric motor torque of the drive wheels is adjusted to the preset electric motor torque. If the drive wheel slip ratio is below the preset threshold, the ABS function will not be activated, and the ABS system will not interfere with electric motor braking. In this case, the vehicle can be controlled based on the actual electric motor torque. This allows for maximizing the braking deceleration generated by the electric motor when the electro-hydraulic braking system fails, maintaining vehicle stability and improving driving safety.

[0040] The vehicle braking control method of the present invention is described in detail below.

[0041] In some embodiments of the present invention, when a braking signal is acquired, the above method further includes: controlling the vehicle according to the available maximum electric motor torque; adjusting the available maximum electric motor torque to a preset electric motor torque when the slip ratio of the drive wheels exceeds a preset threshold; and controlling the vehicle according to the available maximum electric motor torque when the slip ratio of the drive wheels does not exceed the preset threshold.

[0042] Specifically, when the electro-hydraulic braking system fails, if a braking signal is detected, the vehicle controller sends the currently available maximum electric motor braking torque (maximum available motor braking torque) to the ABS system. The ABS system uses this as a motor braking request value and actively sends an over-authority control request to the vehicle controller. The vehicle controller first applies braking control to the vehicle based on the available maximum motor braking torque, resulting in a fast response and full utilization of energy recovery. Using the ABS system to request electric braking allows for faster adaptation to different road surfaces, as the ABS system can directly obtain the slip ratio of the drive wheels. During the braking control process by the vehicle controller based on the available maximum motor braking torque, the slip ratio of the drive wheels is acquired in real time, and the system determines whether to adjust the vehicle's motor braking torque using a preset torque based on the slip ratio. When the slip ratio of the drive wheels exceeds a preset threshold, it indicates that the ABS function is easily activated. In this case, the available maximum motor braking torque can be adjusted to the preset torque, allowing the vehicle controller to limit the vehicle's braking torque based on the preset torque, preventing ABS activation. When the slip ratio of the drive wheels does not exceed the preset threshold, the ABS system will not be activated and will not interfere with the electric motor braking. At this time, the vehicle can be controlled according to the maximum available electric motor torque, so as to make full use of the electric motor braking energy recovery for braking.

[0043] In other embodiments of the present invention, when a braking signal is acquired, the above-described vehicle braking control method further includes: determining a target motor torque based on the vehicle speed; controlling the vehicle based on the target motor torque; adjusting the target motor torque to a preset motor torque when the slip ratio of the drive wheels exceeds a preset threshold; and controlling the vehicle based on the target motor torque when the slip ratio of the drive wheels does not exceed the preset threshold.

[0044] Specifically, when the electro-hydraulic braking system fails, if a braking signal is detected, the target electric motor torque is first determined based on the relationship between vehicle speed and motor torque. Then, the vehicle is controlled according to this target electric motor torque. Since different vehicle speeds correspond to different electric motor torques, the current vehicle speed can be obtained from the vehicle's instrument panel. The corresponding regenerative braking MAP table is then consulted to determine the target electric motor torque. During vehicle control based on the target electric motor torque, the slip ratio of the drive wheels is monitored in real time. If the slip ratio does not exceed a preset threshold, the ABS system will not be activated, and it will not interfere with the electric motor braking, continuing to control the vehicle's braking according to the target electric motor torque. If the slip ratio exceeds the preset threshold, the ABS system is likely to be activated, adjusting the target electric motor torque to the preset electric motor torque, and then controlling the vehicle's braking according to this preset torque. The motor braking signal is issued by the vehicle controller and uses a braking energy recovery MAP meter to fully utilize the braking deceleration generated by the motor braking, thereby improving the vehicle's stability and safety. Moreover, the control method is simple and does not require modification of the ABS system's functions.

[0045] In some embodiments of the present invention, obtaining the slip ratio of the drive wheel includes: obtaining the wheel speed of the drive wheel and the wheel speed of the non-drive wheel through an anti-lock braking system; obtaining the wheel speed difference between the wheel speed of the non-drive wheel and the wheel speed of the drive wheel; and determining the slip ratio of the drive wheel based on the ratio of the absolute value of the wheel speed difference to the wheel speed of the non-drive wheel.

[0046] Specifically, the wheel speeds of the drive wheels and non-drive wheels can be obtained through the anti-lock braking system (ABS). The wheel speeds primarily depend on road conditions; for example, in winter, the road surface is more slippery, resulting in lower wheel speeds. The slip ratio of the drive wheels is calculated by dividing the absolute value of the difference between the speeds of the non-drive wheels and the drive wheels by the speed of the non-drive wheels. In commercial vehicles, the front wheels are typically non-drive wheels, and the rear wheels are typically drive wheels; in this case, the slip ratio is the ratio of the difference between the speeds of the front and rear wheels to the speed of the front wheels. In passenger vehicles, the rear wheels are typically non-drive wheels, and the front wheels are typically drive wheels; in this case, the slip ratio is the ratio of the difference between the speeds of the rear and front wheels to the speed of the rear wheels.

[0047] In some embodiments of the present invention, determining that the electro-hydraulic braking system cannot provide braking assistance includes: when the anti-lock braking system does not receive parameter data from the electro-hydraulic braking system; or when the anti-lock braking system receives parameter data but cannot meet the braking assistance conditions.

[0048] Specifically, the electro-hydraulic braking system and the anti-lock braking system (ABS) communicate via CAN to transmit data. If the ABS does not receive parameter data from the electro-hydraulic braking system, it indicates a communication anomaly between the two systems, confirming that the electro-hydraulic braking system cannot provide braking assistance. Alternatively, if the ABS receives parameter data from the electro-hydraulic braking system but the data does not meet the conditions for braking assistance, it also confirms that the electro-hydraulic braking system cannot provide braking assistance, allowing for a more accurate determination of system failure.

[0049] In some embodiments of the present invention, the braking assist condition may include: the braking assist value of the electro-hydraulic braking system is greater than a preset assist value; and / or the fault level of the electro-hydraulic braking system is lower than a preset level. The preset assist value and preset level can be calibrated according to actual conditions.

[0050] Specifically, if the braking assist value of the electro-hydraulic braking system is greater than the preset assist value, it indicates that the electro-hydraulic braking system can provide braking assist; if the braking assist value is less than the preset assist value, it indicates that the electro-hydraulic braking system cannot provide braking assist. Alternatively, if the fault level of the electro-hydraulic braking system is lower than the preset level, it indicates that the fault is minor and will not affect the vehicle's braking, thus allowing it to provide braking assist. If the fault level is higher than the preset level, it indicates that the fault is more serious and will have a certain impact on the vehicle's braking, thus preventing it from providing braking assist. Alternatively, if the braking assist value of the electro-hydraulic braking system is greater than the preset assist value and the fault level is lower than the preset level, the braking assist condition is met. The fault levels of the electro-hydraulic braking system are divided into levels one, two, three, four, and five, from lowest to highest. At level one (e.g., message loss) or level two (e.g., single-channel sensor failure), the electro-hydraulic braking system can provide braking assist; at level four or five, the electro-hydraulic braking system cannot provide braking assist or is considered to have a problem with a component within the system.

[0051] In some embodiments of the present invention, the above-described vehicle braking control method further includes: when the braking assist value of the electro-hydraulic braking system is greater than a preset assist threshold, controlling the electro-hydraulic braking system to distribute the electric motor braking torque and the hydraulic braking torque according to the braking torque; when the slip ratio of the drive wheels exceeds a preset threshold, reducing the electric motor braking torque of the vehicle until the slip ratio of the drive wheels does not exceed the preset threshold. The preset assist threshold can be calibrated according to actual conditions.

[0052] Specifically, the electro-hydraulic braking system sends braking assist values ​​to the anti-lock braking system (ABS) in real time via CAN communication. When the braking assist value exceeds a preset assist threshold, it indicates that the electro-hydraulic braking system can provide braking assist and there is no assist failure. At this point, the control system distributes the electric motor braking torque and hydraulic braking torque according to the braking torque, making full use of the regenerative braking energy from the electric motor for braking. Due to the complex and variable road conditions, to ensure driving safety, when using a combination of hydraulic braking and electric motor braking to control the wheels, the slip ratio of the drive wheels is also acquired in real time. When the slip ratio is detected to exceed a preset threshold, it indicates that the ABS function is easily activated, causing the electric motor braking to completely disengage. This would prevent the full utilization of the braking deceleration generated by the electric motor for auxiliary braking. In this case, the electric motor braking torque can be reduced until the slip ratio of the drive wheels does not exceed the preset threshold, so that the electric motor braking does not completely disengage, making full use of the regenerative braking energy from the electric motor for braking. This allows for adjustment of the electric motor braking torque as soon as the slip ratio of the drive wheels exceeds the preset threshold, improving vehicle stability.

[0053] In some embodiments, when the slip ratio is detected to exceed a preset threshold, if the slip ratio of the drive wheel still exceeds the preset threshold when the electric motor torque of the vehicle is reduced until it is reduced to 0, the hydraulic braking torque of the vehicle will be reduced until the slip ratio of the drive wheel does not exceed the preset threshold.

[0054] For example, such as Figure 2As shown, the electro-hydraulic braking system (EHB) communicates with the anti-lock braking system (ABS) via CAN. The EHB sends its braking assist value and fault level to the ABS. After receiving the braking assist value and fault level from the EHB, the ABS determines whether to execute the eDTC (Electrification of Drag Torque Control) function, that is, whether the ABS needs to adjust the vehicle's electric motor torque according to the drive wheel slip ratio to use a preset electric motor torque. For example, when the EHB is normal or has a general fault (not affecting the provision of braking assist), it is activated according to the drive wheel slip ratio control; when the EHB is lost or has a critical fault, that is, when it is determined that the EHB cannot provide braking assist, it means that the EHB cannot send electric motor braking requests and hydraulic braking requests, and the eDTC function is activated according to the brake switch signal. When the vehicle's VCU (Vehicle Control Unit) receives the brake pedal switch signal, it performs braking control on the wheels according to the electric motor braking torque requested by the driver or preset MAP or ABS torque limit. Simultaneously, the ABS acquires the front and rear wheel speeds and calculates the slip ratio of the drive wheels and the "motor braking torque limit" (preset motor braking torque) in real time based on these speeds. When the slip ratio of the drive wheels exceeds the preset threshold, the ABS sends the "motor braking torque limit" to the VCU for overriding control, enabling the VCU to brake the wheels according to the "motor braking torque limit." When the slip ratio of the drive wheels does not exceed the preset threshold, the ABS requests the motor braking torque according to the driver's input or the preset MAP or ABS torque limit, and brakes the wheels accordingly.

[0055] Alternatively, if it is determined that the EHB cannot provide braking assistance, when the vehicle's VCU receives a brake pedal switch signal, the VCU sends the currently available maximum electric motor braking torque value (maximum available motor torque) to the ABS. The ABS then sends the maximum available motor torque as a motor braking request value to the VCU for overriding control, so that the VCU can brake the wheels according to the maximum available motor torque. Simultaneously, the ABS acquires the front and rear wheel speeds and calculates the drive wheel slip ratio and the "motor braking torque limit" (preset motor torque) in real time based on these speeds. When the drive wheel slip ratio exceeds the preset threshold, the ABS sends the "motor braking torque limit" to the VCU for overriding control, so that the VCU can brake the wheels according to the "motor braking torque limit." When the drive wheel slip ratio does not exceed the preset threshold, the ABS sends the maximum available motor torque as a motor braking request value, so that the VCU can continue to brake the wheels according to the maximum available motor torque.

[0056] Therefore, this application is based on the fact that when the power assist of the electro-hydraulic braking system fails and the motor needs to take emergency action, the signal interaction and judgment between the anti-lock braking system and the electro-hydraulic braking system automatically identifies the power assist failure condition of the electro-hydraulic braking system. Then, the anti-lock braking system calculates the slip ratio of the drive wheels and controls the motor to generate the maximum braking torque in real time. This maintains vehicle stability and makes full use of the braking deceleration generated by the motor during braking, thereby improving vehicle safety.

[0057] In summary, the vehicle braking control method according to embodiments of the present invention determines that the electro-hydraulic braking system cannot provide braking assistance. Upon receiving a braking signal, it acquires the slip ratio of the drive wheels. If the slip ratio of the drive wheels exceeds a preset threshold, it adjusts the vehicle's electric motor torque according to a preset electric motor torque. Therefore, this method, when the electro-hydraulic braking system cannot provide braking assistance, acquires the slip ratio of the drive wheels in real time, and adjusts the vehicle's electric motor torque according to a preset electric motor torque when the slip ratio exceeds a set threshold. This maximizes the use of the braking deceleration generated by the electric motor braking when the electro-hydraulic braking system fails, maintaining vehicle stability and improving driving safety.

[0058] Corresponding to the above embodiments, the present invention also proposes a vehicle braking control device.

[0059] like Figure 3 As shown, the vehicle braking control device 100 of this embodiment may include: a determining module 110, an acquiring module 120, and a control module 130.

[0060] The determination module 110 is used to determine that the electro-hydraulic braking system cannot provide braking assistance. The acquisition module 120 is used to acquire the slip ratio of the drive wheels when a braking signal is received. The control module 130 is used to adjust the vehicle's electric motor torque according to a preset electric motor torque when the slip ratio of the drive wheels exceeds a preset threshold.

[0061] In some embodiments of the present invention, when a braking signal is acquired, the control module 130 is further configured to: control the vehicle according to the available maximum electric motor torque; adjust the available maximum electric motor torque to a preset electric motor torque when the slip ratio of the drive wheels exceeds a preset threshold; and control the vehicle according to the available maximum electric motor torque when the slip ratio of the drive wheels does not exceed the preset threshold.

[0062] In other embodiments of the present invention, when a braking signal is acquired, the control module 130 is further configured to: determine the target electric motor torque based on the vehicle speed; control the vehicle based on the target electric motor torque; adjust the target electric motor torque to the preset electric motor torque when the slip ratio of the drive wheels exceeds a preset threshold; and control the vehicle based on the target electric motor torque when the slip ratio of the drive wheels does not exceed the preset threshold.

[0063] In some embodiments of the present invention, the acquisition module 120 acquires the slip ratio of the drive wheel, specifically for: acquiring the wheel speed of the drive wheel and the wheel speed of the non-drive wheel through the anti-lock braking system; acquiring the wheel speed difference between the wheel speed of the non-drive wheel and the wheel speed of the drive wheel; and determining the slip ratio of the drive wheel based on the ratio of the absolute value of the wheel speed difference to the wheel speed of the non-drive wheel.

[0064] In some embodiments of the present invention, the determining module 110 determines that the electro-hydraulic braking system cannot provide braking assistance, specifically used when: the anti-lock braking system does not receive parameter data from the electro-hydraulic braking system; or the anti-lock braking system receives parameter data but cannot meet the braking assistance conditions.

[0065] In some embodiments of the present invention, the braking assist conditions include: the braking assist value of the electro-hydraulic braking system is greater than a preset assist value; and / or the fault level of the electro-hydraulic braking system is lower than a preset level.

[0066] In some embodiments of the present invention, the control module 130 is further configured to: when the braking assist value of the electro-hydraulic braking system is greater than a preset assist threshold, control the electro-hydraulic braking system to distribute the electric motor braking torque and the hydraulic braking torque according to the braking torque; and when the slip ratio of the drive wheel exceeds a preset threshold, reduce the electric motor braking torque of the vehicle until the slip ratio of the drive wheel does not exceed the preset threshold.

[0067] It should be noted that for details not disclosed in the vehicle braking control device of the present invention, please refer to the details disclosed in the vehicle braking control method of the present invention, which will not be repeated here.

[0068] According to an embodiment of the vehicle braking control device of the present invention, a determining module determines that the electro-hydraulic braking system cannot provide braking assistance. Upon receiving a braking signal, an acquiring module acquires the slip ratio of the drive wheels. If the slip ratio of the drive wheels exceeds a preset threshold, a control module adjusts the vehicle's electric motor torque according to a preset electric motor torque. Therefore, when the electro-hydraulic braking system cannot provide braking assistance, the device acquires the slip ratio of the drive wheels in real time. When the slip ratio exceeds a set threshold, it adjusts the vehicle's electric motor torque according to a set electric motor torque. This allows the device to maximize the use of the braking deceleration generated by the electric motor braking when the electro-hydraulic braking system fails, maintaining vehicle stability and improving driving safety.

[0069] Corresponding to the above embodiments, the present invention also proposes a computer-readable storage medium.

[0070] The present invention provides a computer-readable storage medium having a vehicle braking control program stored thereon, which, when executed by a processor, implements the vehicle braking control method described above.

[0071] The computer-readable storage medium of this invention, by executing the above-described vehicle braking control method, can maximize the use of the braking deceleration generated by the electric motor braking when the electro-hydraulic braking system fails, thereby maintaining vehicle stability and improving driving safety.

[0072] Corresponding to the above embodiments, the present invention also proposes a vehicle.

[0073] like Figure 4 As shown, the vehicle 200 of this embodiment includes a memory 210, a processor 220, and a vehicle braking control program stored in the memory 210 and executable on the processor 220. When the processor 220 executes the vehicle braking control program, it implements the above-described vehicle braking control method.

[0074] According to the embodiments of the present invention, by executing the above-described vehicle braking control method, the vehicle can maximize the use of the braking deceleration generated by the electric motor braking when the electro-hydraulic braking system fails, thereby maintaining vehicle stability and improving driving safety.

[0075] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0076] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0077] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0078] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0079] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0080] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A vehicle braking control method, characterized in that, The method includes: When the anti-lock braking system (ABS) does not receive parameter data from the electro-hydraulic braking system, or when the ABS receives parameter data but cannot meet the braking assist conditions, it is determined that the electro-hydraulic braking system cannot provide braking assist. When a braking signal is received, the slip ratio of the drive wheels is obtained through the anti-lock braking system. If the slip ratio of the drive wheel does not exceed a preset threshold, the vehicle is controlled according to the available maximum motor torque; wherein, the currently available maximum motor torque is sent to the anti-lock braking system, and the anti-lock braking system uses this as the motor braking request value to actively send an unauthorized control to the vehicle controller; If the slip ratio of the drive wheel exceeds a preset threshold, the maximum available electric motor torque will be adjusted to the preset electric motor torque. If the braking signal is acquired, the method further includes: Determine the target electric motor torque based on vehicle speed; The vehicle is controlled according to the target electric motor torque; If the slip ratio of the drive wheel exceeds the preset threshold, the target electric motor torque is adjusted to the preset electric motor torque. If the slip ratio of the drive wheel does not exceed the preset threshold, the vehicle is controlled according to the target electric motor torque.

2. The control method according to claim 1, characterized in that, To obtain the slip ratio of the drive wheels, including: The wheel speeds of the drive wheels and non-drive wheels are obtained through the anti-lock braking system. Obtain the wheel speed difference between the wheel speed of the non-driving wheel and the wheel speed of the driving wheel; The slip ratio of the driving wheel is determined by the ratio of the absolute value of the wheel speed difference to the wheel speed of the non-driving wheel.

3. The control method according to claim 1, characterized in that, The braking assistance conditions include: The braking assist value of the electro-hydraulic braking system is greater than the preset assist value; and / or The fault level of the electro-hydraulic braking system is lower than the preset level.

4. The control method according to any one of claims 1-3, characterized in that, Also includes: When the braking assist value of the electro-hydraulic braking system is greater than the preset assist threshold, the electro-hydraulic braking system is controlled to distribute the electric braking torque and hydraulic braking torque according to the braking torque. If the slip ratio of the drive wheel exceeds the preset threshold, the motor torque of the vehicle is reduced until the slip ratio of the drive wheel does not exceed the preset threshold.

5. A vehicle braking control device, characterized in that, A vehicle braking control method according to any one of claims 1-4, comprising: The determination module is used to determine when the electro-hydraulic braking system is unable to provide braking assistance. The acquisition module is used to acquire the slip ratio of the drive wheels when a braking signal is received. The control module is used to adjust the electric motor torque of the vehicle according to a preset electric motor torque when the slip ratio of the drive wheel exceeds a preset threshold.

6. A computer-readable storage medium, characterized in that, It stores a vehicle braking control program, which, when executed by a processor, implements the vehicle braking control method according to any one of claims 1-4.

7. A vehicle, characterized in that, The system includes a memory, a processor, and a vehicle braking control program stored in the memory and executable on the processor. When the processor executes the vehicle braking control program, it implements the vehicle braking control method according to any one of claims 1-4.

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