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

Abstract

The application provides a vehicle braking control method and device, electronic equipment and storage medium. The vehicle braking control method comprises the following steps: when the vehicle is in a driving state, when a braking signal is detected, determining an initial deceleration corresponding to the braking signal, and detecting whether an energy recovery system is in a working state; when the energy recovery system is not in the working state, determining a first compensation deceleration corresponding to a braking energy recovery subsystem in the energy recovery system and a second compensation deceleration corresponding to a sliding energy recovery subsystem; determining a target deceleration corresponding to a hydraulic braking system according to the initial deceleration, the first compensation deceleration and the second compensation deceleration; and determining a first target braking pressure corresponding to the hydraulic braking system according to the target deceleration, and controlling the hydraulic braking system to brake the vehicle at the first target braking pressure. The application can avoid the situation that the state of the energy recovery system is changed due to sudden change of air temperature, and the braking expectation is different.

Description

Technical Field

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

[0002] With the continuous development of technology, new energy vehicles, especially pure electric vehicles, are gradually entering every household as a means of transportation. Energy recovery systems, as an emerging technology, can convert the kinetic energy of a vehicle during braking and / or coasting into electrical energy and store it in the vehicle's energy storage unit, thereby increasing the driving range to a certain extent.

[0003] When the power battery temperature is too low, the power battery will not be able to charge, and energy recovery will not be possible. Compared to when energy recovery is possible, the lack of deceleration from energy recovery results in a reduction in the overall vehicle deceleration under the same brake pedal travel, leading to a longer braking distance. In severe cases, this may cause running red lights or rear-end collisions, making the driver feel unsafe. Summary of the Invention

[0004] This application provides a vehicle braking control method, device, electronic device, and storage medium to solve the problem in the prior art where the lack of energy recovery reduces the vehicle's deceleration, thereby reducing the driver's sense of security.

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

[0006] When the vehicle is in motion, upon detecting a braking signal, the initial deceleration corresponding to the braking signal is determined, and the operation of the energy recovery system is checked.

[0007] When the energy recovery system is not in operation, determine the first compensation deceleration corresponding to the braking energy recovery subsystem and the second compensation deceleration corresponding to the sliding energy recovery subsystem in the energy recovery system.

[0008] Based on the initial deceleration, the first compensated deceleration, and the second compensated deceleration, the target deceleration corresponding to the hydraulic braking system is determined;

[0009] Based on the target deceleration, a first target braking pressure corresponding to the hydraulic braking system is determined, and the hydraulic braking system is controlled to brake the vehicle using the first target braking pressure.

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

[0011] The processing module is used to determine the initial deceleration corresponding to the braking signal when the vehicle is in motion and a braking signal is detected, and to detect whether the energy recovery system is in working condition.

[0012] The first determining module is used to determine the first compensation deceleration corresponding to the braking energy recovery subsystem and the second compensation deceleration corresponding to the sliding energy recovery subsystem in the energy recovery system when the energy recovery system is not in operation.

[0013] The second determining module is used to determine the target deceleration corresponding to the hydraulic braking system based on the initial deceleration, the first compensated deceleration, and the second compensated deceleration;

[0014] The first control module is used to determine the first target braking pressure corresponding to the hydraulic braking system based on the target deceleration, and to control the hydraulic braking system to brake the vehicle using the first target braking pressure.

[0015] Thirdly, embodiments of this application provide an electronic device, which includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the vehicle braking control method described above.

[0016] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the vehicle braking control method described above.

[0017] The embodiments of this application include at least the following technical effects:

[0018] The technical solution of this application embodiment detects whether the energy recovery system is working when a braking signal is detected, and determines the first compensation deceleration and the second compensation deceleration superimposed on the initial deceleration when the energy recovery system is not working, to obtain the target deceleration and the first target braking pressure corresponding to the target deceleration. The hydraulic braking system is then controlled to brake the vehicle using the first target braking pressure. By compensating for the deceleration, the vehicle's overall deceleration can be consistent when the energy recovery system is not working and when it is working. This avoids situations where the braking expectation differs due to sudden changes in temperature altering the state of the energy recovery system, thereby improving driving safety. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0020] Figure 1 This is a schematic flowchart of the vehicle braking control method provided in the embodiments of this application;

[0021] Figure 2 This is a schematic diagram showing the relationship between brake pedal travel and deceleration;

[0022] Figure 3 This is a schematic diagram showing the relationship between deceleration and braking pressure;

[0023] Figure 4 This is a schematic diagram of the vehicle braking control device provided in the embodiments of this application;

[0024] Figure 5 A block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0025] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0027] In the various embodiments of this application, it should be understood that the sequence number of each process described below does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0028] like Figure 1 As shown in the figure, this application provides a vehicle braking control method, which includes:

[0029] Step 101: When the vehicle is in motion, if a braking signal is detected, determine the initial deceleration corresponding to the braking signal and detect whether the energy recovery system is in operation.

[0030] The vehicle braking control method provided in this application is applied to a target controller. When the vehicle is in motion, the target controller can monitor the braking signal triggered by the driver pressing the brake pedal. When the braking signal is detected, the target controller can determine the initial deceleration corresponding to the braking signal. The initial deceleration can be determined based on the brake pedal travel carried in the braking signal.

[0031] Specifically, when a braking signal is detected, this embodiment does not directly perform braking control based on the initial deceleration corresponding to the braking signal. Since the presence or absence of energy recovery system determines the existence of energy recovery deceleration, if energy recovery deceleration exists, it will be superimposed on the initial deceleration to brake the vehicle together. If there is no energy recovery deceleration, only the initial deceleration will brake the vehicle, resulting in different braking effects for the same brake pedal travel. Therefore, it is necessary to detect whether the energy recovery system is in operation.

[0032] It should be noted that charging will not be possible when the power battery pack temperature is below a preset temperature, and the energy recovery system will stop working. This preset temperature is related to the performance and materials of the power battery pack and can be calibrated experimentally; this application does not impose specific limitations on it. Therefore, the braking control method provided in this application is mainly applicable to vehicles equipped with energy recovery systems that need to be used in extremely cold weather. Whether the energy recovery system of such a vehicle can function properly depends on the battery pack temperature.

[0033] Step 102: When the energy recovery system is not in operation, determine the first compensation deceleration corresponding to the braking energy recovery subsystem and the second compensation deceleration corresponding to the sliding energy recovery subsystem in the energy recovery system.

[0034] When the energy recovery system is not in operation, it cannot output energy recovery deceleration. At this time, the vehicle will only be controlled by the braking pressure generated by the hydraulic braking system. In order to produce the same braking effect with and without energy recovery, the first compensation deceleration corresponding to the braking energy recovery subsystem and the second compensation deceleration corresponding to the sliding energy recovery subsystem in the energy recovery system can be determined.

[0035] Step 103: Determine the target deceleration corresponding to the hydraulic braking system based on the initial deceleration, the first compensated deceleration, and the second compensated deceleration.

[0036] After determining the first and second compensation decelerations, the first and second compensation decelerations can be superimposed on the initial deceleration to obtain the target deceleration, which is then used as the deceleration required by the hydraulic braking system.

[0037] Step 104: Based on the target deceleration, determine the first target braking pressure corresponding to the hydraulic braking system, and control the hydraulic braking system to brake the vehicle using the first target braking pressure.

[0038] After determining the target deceleration, the first target braking pressure corresponding to the hydraulic braking system can be determined based on the target deceleration. The first target braking pressure refers to the pipeline pressure in the hydraulic braking system, and the hydraulic braking system is controlled to brake the vehicle based on the first target braking pressure.

[0039] Specifically, when the energy recovery system is in operation, a second target braking pressure corresponding to the hydraulic braking system is determined based on the initial deceleration, and the hydraulic braking system is controlled to brake the vehicle using the second target braking pressure. At this time, the vehicle deceleration includes the deceleration provided by the hydraulic braking system and the deceleration provided by the energy recovery system.

[0040] In this embodiment, when a braking signal is detected, the operation of the energy recovery system is checked. When the energy recovery system is not in operation, a first compensation deceleration and a second compensation deceleration are determined and superimposed on the initial deceleration to obtain a target deceleration and a first target braking pressure corresponding to the target deceleration. The first target braking pressure is used to control the hydraulic braking system to brake the vehicle. By compensating for the deceleration, the vehicle's overall deceleration can be consistent when the energy recovery system is not in operation and when it is in operation. This avoids situations where the braking expectation differs due to sudden changes in temperature altering the state of the energy recovery system, thereby improving driving safety.

[0041] In an optional embodiment of this application, the method further includes:

[0042] The temperature of the power battery pack is detected before the vehicle enters driving mode;

[0043] When the temperature of the power battery pack is less than or equal to a first preset temperature threshold, a vehicle shutdown prompt message is output.

[0044] When the temperature of the power battery exceeds the first preset temperature threshold, a normal vehicle use prompt message is output.

[0045] Specifically, if the battery pack temperature is below a first preset temperature threshold, the battery will be unable to discharge and will have no power output, preventing the vehicle from driving. Therefore, the battery pack temperature needs to be detected before the vehicle can be driven. If the battery pack temperature is less than or equal to the first preset temperature threshold, a vehicle shutdown warning message will be output to inform the user that the current battery pack temperature is too low and the vehicle cannot yet be driven. If the battery pack temperature is greater than the first preset temperature threshold, a normal vehicle usage warning message will be output to inform the user that the current battery pack temperature meets the starting conditions and the vehicle can be driven. This first preset temperature threshold can be determined in advance through experimentation; for example, it could be -30 degrees Celsius.

[0046] The above-described implementation scheme of this application can determine whether the vehicle can run normally by detecting the temperature of the power battery pack before the vehicle is driven, and can allow the user to understand the vehicle status in a timely manner by outputting prompt information.

[0047] In an optional embodiment of this application, the method further includes:

[0048] The temperature of the power battery pack is detected when the vehicle is in motion;

[0049] When the temperature of the power battery pack is greater than or equal to the second preset temperature threshold, the energy recovery system is controlled to enter the working state;

[0050] When the temperature of the power battery pack is lower than the second preset temperature threshold, the energy recovery system is controlled to exit the working state.

[0051] The method further includes, after controlling the energy recovery system to enter the working state:

[0052] When a fault affecting the normal operation of the energy recovery system is detected, the energy recovery system is controlled to exit the working state.

[0053] Specifically, when the battery pack temperature is below a second preset temperature threshold, the battery cannot be charged, and the energy recovery system will also be unable to operate. Therefore, it is necessary to monitor the battery pack temperature in real time while the vehicle is in motion to determine the operating status of the energy recovery system. This second preset temperature threshold can be determined experimentally; for example, it could be -20 degrees Celsius. When the battery pack temperature is greater than or equal to the second preset temperature threshold, the energy recovery system is activated; when the battery pack temperature is lower than the second preset temperature threshold, the energy recovery system is deactivated.

[0054] It should be noted that after the energy recovery system is put into operation, the target controller also needs to monitor the vehicle for faults. When a fault that affects the normal operation of the energy recovery system is detected, the energy recovery system will be put out of operation.

[0055] The above-described implementation scheme of this application can determine in real time whether the energy recovery system has entered the working state by detecting the battery pack temperature, and thus determine whether the energy recovery system is in the working state when a braking signal is detected.

[0056] The following describes how to determine the first compensated deceleration corresponding to the braking energy recovery subsystem and the second compensated deceleration corresponding to the sliding energy recovery subsystem in the energy recovery system, including the following steps:

[0057] Obtain the current brake pedal travel and the current vehicle speed corresponding to the braking signal;

[0058] Based on the pre-stored correspondence between brake pedal travel, vehicle speed and brake energy recovery deceleration corresponding to the brake energy recovery subsystem, the current brake recovery deceleration corresponding to the current brake pedal travel and the current vehicle speed is determined, and the current brake recovery deceleration is determined as the first compensation deceleration.

[0059] Based on the pre-stored correspondence between vehicle speed and the corresponding sliding recovery deceleration of the sliding energy recovery subsystem, the current sliding recovery deceleration corresponding to the current vehicle speed is determined, and the current sliding recovery deceleration is determined as the second compensation deceleration.

[0060] Specifically, the target controller stores the correspondence between brake pedal travel, vehicle speed, and the braking deceleration corresponding to the braking energy recovery subsystem, as well as the correspondence between vehicle speed and the sliding deceleration corresponding to the sliding energy recovery subsystem. When the energy recovery system is not in operation, the first compensation deceleration corresponding to the braking energy recovery subsystem and the second compensation deceleration corresponding to the sliding energy recovery subsystem can be determined using the above two correspondences.

[0061] The above-described implementation scheme of this application, by obtaining the current brake pedal travel and the current vehicle speed, determines the first compensation deceleration and the second compensation deceleration that the braking energy subsystem and the sliding energy subsystem can provide when the energy recovery system is in operation, and uses them as the deceleration that the hydraulic braking system needs to compensate for, so as to facilitate the determination of the target deceleration that the hydraulic braking system actually needs to provide based on the compensation deceleration.

[0062] In an optional embodiment of this application, determining the initial deceleration corresponding to the braking signal includes:

[0063] Obtain the current brake pedal travel corresponding to the brake signal;

[0064] Based on the pre-stored correspondence between brake pedal travel and deceleration, the initial deceleration corresponding to the current brake pedal travel is determined.

[0065] The target controller pre-stores the correspondence between brake pedal travel and deceleration, such as... Figure 2 As shown, the curves represent the relationship between brake pedal travel and deceleration. After determining the current brake pedal travel, the initial deceleration can be obtained through the above relationship.

[0066] The above-described implementation scheme of this application can obtain the initial deceleration by using the current brake pedal travel and the pre-stored correspondence, which facilitates the subsequent determination of the target deceleration based on the initial deceleration.

[0067] In an optional embodiment of this application, determining the first target braking pressure corresponding to the hydraulic braking system based on the target deceleration includes:

[0068] Based on the pre-stored correspondence between deceleration and braking pressure, a first target braking pressure corresponding to the target deceleration is determined.

[0069] The target controller pre-stores the correspondence between deceleration and braking pressure, such as... Figure 3 The figure shows the relationship curve between braking pressure and braking deceleration. Here, braking pressure refers to the pipeline pressure corresponding to the hydraulic braking system. After determining the target deceleration, the first target braking pressure can be obtained through the above relationship.

[0070] The above-described implementation scheme of this application can obtain a first target braking pressure by means of the target deceleration and the pre-stored correspondence. The first target braking pressure can make the deceleration of the whole vehicle the same as the expected deceleration when the energy recovery system is working normally, thereby eliminating the driver's sense of insecurity.

[0071] The vehicle braking control method provided in the embodiments of this application has been described above. The vehicle braking control device provided in the embodiments of this application will be described below with reference to the accompanying drawings.

[0072] like Figure 4 As shown, this embodiment of the invention also provides a vehicle braking control device, the device comprising:

[0073] The processing module 401 is used to determine the initial deceleration corresponding to the braking signal when the vehicle is in motion and a braking signal is detected, and to detect whether the energy recovery system is in working condition.

[0074] The first determining module 402 is used to determine the first compensation deceleration corresponding to the braking energy recovery subsystem and the second compensation deceleration corresponding to the sliding energy recovery subsystem in the energy recovery system when the energy recovery system is not in operation.

[0075] The second determining module 403 is used to determine the target deceleration corresponding to the hydraulic braking system based on the initial deceleration, the first compensated deceleration, and the second compensated deceleration.

[0076] The first control module 404 is used to determine the first target braking pressure corresponding to the hydraulic braking system based on the target deceleration, and to control the hydraulic braking system to brake the vehicle using the first target braking pressure.

[0077] Optionally, the device further includes:

[0078] The first detection module is used to detect the temperature of the power battery pack before the vehicle enters the driving state;

[0079] The first output module is used to output a vehicle shutdown prompt message when the temperature of the power battery pack is less than or equal to a first preset temperature threshold.

[0080] The second output module is used to output a normal vehicle use prompt message when the power battery temperature is greater than the first preset temperature threshold.

[0081] Optionally, the device further includes:

[0082] The second detection module is used to detect the temperature of the power battery pack when the vehicle is in motion;

[0083] The second control module is used to control the energy recovery system to enter the working state when the temperature of the power battery pack is greater than or equal to the second preset temperature threshold.

[0084] The third control module is used to control the energy recovery system to exit the working state when the temperature of the power battery pack is lower than the second preset temperature threshold.

[0085] The third control module is further configured to: after controlling the energy recovery system to enter the working state, when a fault affecting the normal operation of the energy recovery system is detected, control the energy recovery system to exit the working state.

[0086] Optionally, the first determining module includes:

[0087] The first acquisition submodule is used to acquire the current brake pedal travel and the current vehicle speed corresponding to the brake signal;

[0088] The first determining submodule is used to determine the current braking deceleration corresponding to the current brake pedal travel and the current vehicle speed based on the pre-stored correspondence between the brake pedal travel, vehicle speed and the braking deceleration corresponding to the braking energy recovery subsystem, and to determine the current braking deceleration as the first compensation deceleration.

[0089] The second determining submodule is used to determine the current sliding deceleration corresponding to the current vehicle speed based on the pre-stored correspondence between the vehicle speed and the sliding deceleration corresponding to the sliding energy recovery subsystem, and to determine the current sliding deceleration as the second compensation deceleration.

[0090] Optionally, the processing module includes:

[0091] The second acquisition submodule is used to acquire the current brake pedal travel corresponding to the brake signal;

[0092] The third determining submodule is used to determine the initial deceleration corresponding to the current brake pedal travel based on the pre-stored correspondence between brake pedal travel and deceleration.

[0093] Optionally, the first control module includes:

[0094] The fourth determining submodule is used to determine the first target braking pressure corresponding to the target deceleration based on the pre-stored correspondence between deceleration and braking pressure.

[0095] Optionally, the device further includes:

[0096] The fourth control module is used to detect whether the energy recovery system is in working condition, and when the energy recovery system is in working condition, to determine the second target braking pressure corresponding to the hydraulic braking system based on the initial deceleration, and to control the hydraulic braking system to brake the vehicle with the second target braking pressure.

[0097] The vehicle braking control device provided in this application detects whether the energy recovery system is working when a braking signal is detected. When the energy recovery system is not working, it determines a first compensation deceleration and a second compensation deceleration, which are superimposed on the initial deceleration to obtain a target deceleration and a first target braking pressure corresponding to the target deceleration. The first target braking pressure is used to control the hydraulic braking system to brake the vehicle. By compensating for the deceleration, the vehicle's overall deceleration can be consistent when the energy recovery system is not working and when it is working. This avoids situations where the state of the energy recovery system changes due to sudden temperature changes, resulting in different braking expectations and improving driving safety.

[0098] This application also provides an electronic device, including: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the various processes of the above-described vehicle braking control method embodiments and achieves the same technical effects. To avoid repetition, it will not be described again here.

[0099] For example, Figure 5 A schematic diagram of the physical structure of an electronic device is shown.

[0100] like Figure 5 As shown, the electronic device may include a processor 510, a communication interface 520, a memory 530, and a communication bus 540, wherein the processor 510, the communication interface 520, and the memory 530 communicate with each other through the communication bus 540. The processor 510 can call logical instructions in the memory 530, and the processor 510 is used to perform the following steps: when the vehicle is in motion, when a braking signal is detected, determine the initial deceleration corresponding to the braking signal and detect whether the energy recovery system is in operation; when the energy recovery system is not in operation, determine the first compensated deceleration corresponding to the braking energy recovery subsystem and the second compensated deceleration corresponding to the sliding energy recovery subsystem in the energy recovery system; determine the target deceleration corresponding to the hydraulic braking system based on the initial deceleration, the first compensated deceleration, and the second compensated deceleration; determine the first target braking pressure corresponding to the hydraulic braking system based on the target deceleration, and control the hydraulic braking system to brake the vehicle with the first target braking pressure.

[0101] Furthermore, the logical instructions in the aforementioned memory 530 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0102] This application also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described vehicle braking control method embodiments and achieves the same technical effects. To avoid repetition, it will not be described again here.

[0103] 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.

[0104] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0105] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of the present invention.

[0106] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed in this invention can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0107] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0108] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0109] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0110] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0111] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0112] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A vehicle braking control method, characterized in that, The method includes: When the vehicle is in motion, upon detecting a braking signal, the initial deceleration corresponding to the braking signal is determined, and the operation of the energy recovery system is checked. When the energy recovery system is not in operation, determine the first compensation deceleration corresponding to the braking energy recovery subsystem and the second compensation deceleration corresponding to the sliding energy recovery subsystem in the energy recovery system. Based on the initial deceleration, the first compensated deceleration, and the second compensated deceleration, the target deceleration corresponding to the hydraulic braking system is determined; Based on the target deceleration, a first target braking pressure corresponding to the hydraulic braking system is determined, and the hydraulic braking system is controlled to brake the vehicle using the first target braking pressure.

2. The vehicle braking control method according to claim 1, characterized in that, The method further includes: The temperature of the power battery pack is detected before the vehicle enters driving mode; When the temperature of the power battery pack is less than or equal to a first preset temperature threshold, a vehicle shutdown prompt message is output. When the temperature of the power battery exceeds the first preset temperature threshold, a normal vehicle use prompt message is output.

3. The vehicle braking control method according to claim 2, characterized in that, The method further includes: The temperature of the power battery pack is detected when the vehicle is in motion; When the temperature of the power battery pack is greater than or equal to the second preset temperature threshold, the energy recovery system is controlled to enter the working state; When the temperature of the power battery pack is lower than the second preset temperature threshold, the energy recovery system is controlled to exit the working state. The method further includes, after controlling the energy recovery system to enter the working state: When a fault affecting the normal operation of the energy recovery system is detected, the energy recovery system is controlled to exit the working state.

4. The vehicle braking control method according to claim 1, characterized in that, Determining the first compensated deceleration corresponding to the braking energy recovery subsystem and the second compensated deceleration corresponding to the sliding energy recovery subsystem in the energy recovery system includes: Obtain the current brake pedal travel and the current vehicle speed corresponding to the braking signal; Based on the pre-stored correspondence between brake pedal travel, vehicle speed and brake energy recovery deceleration corresponding to the brake energy recovery subsystem, the current brake recovery deceleration corresponding to the current brake pedal travel and the current vehicle speed is determined, and the current brake recovery deceleration is determined as the first compensation deceleration. Based on the pre-stored correspondence between vehicle speed and the corresponding sliding recovery deceleration of the sliding energy recovery subsystem, the current sliding recovery deceleration corresponding to the current vehicle speed is determined, and the current sliding recovery deceleration is determined as the second compensation deceleration.

5. The vehicle braking control method according to claim 1, characterized in that, Determining the initial deceleration corresponding to the braking signal includes: Obtain the current brake pedal travel corresponding to the brake signal; Based on the pre-stored correspondence between brake pedal travel and deceleration, the initial deceleration corresponding to the current brake pedal travel is determined.

6. The vehicle braking control method according to claim 1, characterized in that, Determining the first target braking pressure corresponding to the hydraulic braking system based on the target deceleration includes: Based on the pre-stored correspondence between deceleration and braking pressure, a first target braking pressure corresponding to the target deceleration is determined.

7. The vehicle braking control method according to claim 1, characterized in that, After detecting whether the energy recovery system is in operation, the method further includes: When the energy recovery system is in operation, a second target braking pressure corresponding to the hydraulic braking system is determined based on the initial deceleration, and the hydraulic braking system is controlled to brake the vehicle using the second target braking pressure.

8. A vehicle braking control device, characterized in that, include: The processing module is used to determine the initial deceleration corresponding to the braking signal when the vehicle is in motion and a braking signal is detected, and to detect whether the energy recovery system is in working condition. The first determining module is used to determine the first compensation deceleration corresponding to the braking energy recovery subsystem and the second compensation deceleration corresponding to the sliding energy recovery subsystem in the energy recovery system when the energy recovery system is not in operation. The second determining module is used to determine the target deceleration corresponding to the hydraulic braking system based on the initial deceleration, the first compensated deceleration, and the second compensated deceleration; The first control module is used to determine the first target braking pressure corresponding to the hydraulic braking system based on the target deceleration, and to control the hydraulic braking system to brake the vehicle using the first target braking pressure.

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

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the steps of the vehicle braking control method as described in any one of claims 1 to 7.

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