Vehicle braking method, device, apparatus, and computer storage medium

Abstract

The embodiment of the present application provides a kind of vehicle braking method, device, equipment and computer storage medium, the vehicle braking method includes obtaining the slip rate of vehicle, demand braking force and mechanical braking force, and the feedback braking force and maximum feedback braking force of motor, and slip rate is calculated based on the wheel speed and vehicle speed of vehicle;In the case where it is detected that the slip rate of vehicle is less than or equal to preset threshold, and demand braking force is less than or equal to the maximum feedback braking force of motor, feedback braking force of motor is used to brake, to be used to reduce wheel speed;In the case where it is detected that the slip rate of vehicle is less than or equal to preset threshold, and demand braking force is greater than the maximum feedback braking force of motor, mechanical braking force and feedback braking force of motor are used to brake, to be used to reduce wheel speed.According to the embodiment of the present application, by the coordination optimization of mechanical braking force and feedback braking force, the original ABS function is guaranteed, and the brake energy utilization rate is improved.

Description

Technical Field

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

[0002] The function of the antilock brake system (ABS) is to automatically adjust the braking force to prevent the wheels from locking up when the vehicle is braking. The hydraulic adjustment unit of the ABS system includes the master cylinder and the wheel cylinders.

[0003] When existing ABS systems are applied to electric vehicles, the hydraulic regulating unit of the ABS is in a pressurized state when the driver presses the brake pedal. Specifically, the pressure of the master cylinder of the hydraulic regulating unit is transmitted to the wheel cylinder, which applies braking force to the wheel. This means that the energy available for regenerative braking is reduced, resulting in a low rate of recovery of braking energy. Summary of the Invention

[0004] This application provides a vehicle braking method, device, equipment, and computer storage medium, which can solve the problem in the prior art where the energy available for regenerative braking is reduced, resulting in a low rate of recovery and utilization of braking energy.

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

[0006] The vehicle's slip ratio, required braking force, and mechanical braking force, as well as the motor's regenerative braking force and maximum regenerative braking force, are obtained. The slip ratio is calculated based on the vehicle's wheel speed and vehicle speed.

[0007] If the vehicle's slip ratio is less than or equal to a preset threshold and the required braking force is less than or equal to the motor's maximum regenerative braking force, the motor's regenerative braking force will be used to brake the vehicle in order to reduce wheel speed.

[0008] If the vehicle's slip ratio is detected to be less than or equal to a preset threshold, and the required braking force is greater than the maximum regenerative braking force of the motor, mechanical braking force and regenerative braking force of the motor are used for braking to reduce wheel speed.

[0009] In one implementation, when the vehicle's slip ratio is detected to be less than or equal to a preset threshold, and the required braking force is greater than the maximum regenerative braking force of the motor, braking is performed using both mechanical braking force and the regenerative braking force of the motor, including:

[0010] If the vehicle's slip ratio is detected to be less than or equal to a preset threshold and the required braking force is greater than the maximum regenerative braking force of the motor, braking will be performed with the maximum regenerative braking force.

[0011] Calculate the difference between the required braking force and the maximum regenerative braking force;

[0012] Increase mechanical braking force based on the difference;

[0013] Braking is performed using the sum of the increased mechanical braking force and the maximum regenerative braking force.

[0014] In one embodiment, the vehicle braking method further includes:

[0015] When the vehicle's slip ratio is detected to be greater than a preset threshold, the vehicle's braking force is adjusted according to the preset state of the anti-lock braking system (ABS), or the preset state of the anti-lock braking system (ABS) and the preset adjustment strategy of the regenerative braking force, to obtain the vehicle's target braking force. The preset state includes decompression state, pressure holding state, or pressure boosting state.

[0016] Braking is performed with a target braking force to keep the vehicle's slip ratio within a preset range.

[0017] In one implementation, the preset state is a decompression state; when the vehicle's slip ratio is detected to be greater than a preset threshold, the vehicle's braking force is adjusted according to the preset state of the anti-lock braking system (ABS) to obtain the vehicle's target braking force, including:

[0018] If the vehicle's slip ratio is detected to be greater than a preset threshold and braking is performed using the regenerative braking force of the motor, the mechanical braking force is maintained at zero by using the decompression state of the ABS system.

[0019] The regenerative braking force of the motor is determined as the target braking force.

[0020] In one implementation, the preset state is a decompression state; when the vehicle's slip ratio is detected to be greater than a preset threshold, the vehicle's braking force is adjusted according to the preset state of the anti-lock braking system (ABS) to obtain the vehicle's target braking force, and the system further includes:

[0021] When the vehicle's slip ratio is detected to be greater than a preset threshold, and braking is performed using both mechanical braking force and regenerative braking force from the motor, the pressure holding state of the ABS system is used to maintain the mechanical braking force unchanged.

[0022] The mechanical braking force and the regenerative braking force of the motor are determined as the target braking force.

[0023] In one embodiment, the preset adjustment strategy includes reducing the regenerative braking force according to a preset motor braking curve; when the vehicle's slip ratio is detected to be greater than a preset threshold, adjusting the vehicle's braking force according to the preset state of the anti-lock braking system (ABS) and the preset adjustment strategy of the regenerative braking force to obtain the vehicle's target braking force, and further includes:

[0024] If the vehicle's slip ratio is detected to be greater than a preset threshold, the braking force of the vehicle is reduced.

[0025] When the vehicle's braking force decreases and the regenerative braking force from the electric motor is detected, the ABS system maintains the mechanical braking force at zero by decompression.

[0026] Reduce the regenerative braking force according to the preset motor braking curve;

[0027] The vehicle's slip ratio is acquired to apply reduced regenerative braking force for braking.

[0028] If the slip ratio is detected to be within a preset range, the reduced regenerative braking force is determined as the vehicle's target braking force.

[0029] In one embodiment, the preset adjustment strategy further includes reducing the regenerative braking force to zero according to a preset motor braking curve; when the vehicle's slip ratio is detected to be greater than a preset threshold, adjusting the vehicle's braking force according to the preset state of the anti-lock braking system (ABS) and the preset adjustment strategy of the regenerative braking force to obtain the vehicle's target braking force, and further includes:

[0030] When the vehicle's slip ratio is detected to be greater than a preset threshold, and braking is performed using both mechanical braking force and regenerative braking force from the motor, the pressure holding state of the ABS system is used to maintain the mechanical braking force unchanged.

[0031] Reduce the regenerative braking force to zero according to the preset motor braking curve;

[0032] When the regenerative braking force is zero and the vehicle's slip rate is detected to be greater than a preset threshold, the mechanical braking force is reduced by using the decompression state of the ABS system.

[0033] To obtain the slip ratio of the vehicle for braking with reduced mechanical braking force;

[0034] If the slip ratio is detected to be within a preset range, the reduced mechanical braking force is determined as the target braking force for the vehicle.

[0035] In one embodiment, the preset adjustment strategy further includes increasing the regenerative braking force according to a preset motor braking curve; the vehicle braking method further includes:

[0036] When the target braking force is less than the required braking force, and the required braking force is less than or equal to the maximum regenerative braking force of the motor, the mechanical braking force is maintained at zero by the decompression state of the ABS system.

[0037] Increase the regenerative braking force according to the preset motor braking curve;

[0038] If the increased feedback braking force is greater than or equal to the required braking force, the target braking force is updated to the increased feedback braking force.

[0039] In one implementation, the preset adjustment strategy further includes increasing the regenerative braking force to the maximum regenerative braking force, and the method further includes:

[0040] If the target braking force is less than the required braking force, and the required braking force is greater than the maximum regenerative braking force of the motor, increase the regenerative braking force to the maximum regenerative braking force.

[0041] The ABS system increases mechanical braking force under pressure.

[0042] If the sum of the increased mechanical braking force and the maximum regenerative braking force is greater than or equal to the required braking force, the target braking force is updated to the sum of the increased mechanical braking force and the maximum regenerative braking force.

[0043] Secondly, embodiments of this application provide a vehicle braking device, which includes:

[0044] The acquisition module is used to acquire the vehicle's slip ratio, required braking force, and mechanical braking force, as well as the motor's regenerative braking force and maximum regenerative braking force. The slip ratio is calculated based on the vehicle's wheel speed and vehicle speed.

[0045] The braking module is used to apply the regenerative braking force of the motor to reduce wheel speed when the vehicle's slip ratio is less than or equal to a preset threshold and the required braking force is less than or equal to the maximum regenerative braking force of the motor.

[0046] The braking module is also used to apply mechanical braking force and regenerative braking force of the motor to reduce wheel speed when the vehicle's slip ratio is detected to be less than or equal to a preset threshold and the required braking force is greater than the maximum regenerative braking force of the motor.

[0047] In one embodiment, the vehicle braking device further includes a calculation module and an augmentation module;

[0048] The braking module is also used to brake with the maximum regenerative braking force when the vehicle's slip ratio is detected to be less than or equal to a preset threshold and the required braking force is greater than the maximum regenerative braking force of the motor.

[0049] The calculation module is used to calculate the difference between the required braking force and the maximum regenerative braking force;

[0050] The added module is also used to increase mechanical braking force based on the difference;

[0051] The braking module is also used to apply braking force using the sum of the increased mechanical braking force and the maximum regenerative braking force.

[0052] In one embodiment, the vehicle braking device further includes an adjustment module;

[0053] The adjustment module is used to adjust the vehicle's braking force by using the preset state of the anti-lock braking system (ABS) or the preset state of the anti-lock braking system (ABS) and the preset adjustment strategy of the regenerative braking force when the vehicle's slip ratio is detected to be greater than a preset threshold, so as to obtain the vehicle's target braking force. The preset states include depressurization state, pressure holding state, or pressure boosting state.

[0054] The braking module is also used to apply a target braking force to keep the vehicle's slip ratio within a preset range.

[0055] In one embodiment, the preset state is a decompression state; the vehicle braking device also includes a control module and a determination module.

[0056] The control module is used to maintain the mechanical braking force at zero by using the decompression state of the ABS system when the vehicle's slip rate is detected to be greater than a preset threshold and braking is performed using the regenerative braking force of the motor.

[0057] The determination module is used to determine the regenerative braking force of the motor as the target braking force.

[0058] In one implementation, the preset state is a decompression state;

[0059] The control module is also used to maintain the mechanical braking force unchanged by using the pressure holding state of the ABS system when the vehicle's slip rate is detected to be greater than a preset threshold and braking is performed using mechanical braking force and regenerative braking force from the motor.

[0060] The determination module is also used to determine the mechanical braking force and the regenerative braking force of the motor as the target braking force.

[0061] In one embodiment, the preset adjustment strategy includes reducing the regenerative braking force according to a preset motor braking curve; the vehicle braking device also includes a reduction module.

[0062] The control module is also used to maintain the mechanical braking force at zero by using the decompression state of the ABS system when the vehicle's slip rate is detected to be greater than a preset threshold and braking is performed using the regenerative braking force of the motor.

[0063] The lowering module is also used to reduce the regenerative braking force according to a preset motor braking curve;

[0064] The acquisition module is also used to acquire the vehicle's slip ratio when braking with reduced regenerative braking force;

[0065] The determination module is also used to determine the reduced feedback braking force as the target braking force of the vehicle when the slip ratio is detected to be within a preset range.

[0066] In one implementation, the preset adjustment strategy further includes reducing the regenerative braking force to zero according to a preset motor braking curve;

[0067] The control module is also used to maintain the mechanical braking force unchanged by using the pressure holding state of the ABS system when the vehicle's slip rate is detected to be greater than a preset threshold and braking is performed using mechanical braking force and regenerative braking force from the motor.

[0068] The reduction module is also used to reduce the regenerative braking force to zero according to a preset motor braking curve;

[0069] The reduction module is also used to reduce the mechanical braking force by employing the decompression state of the ABS system when the regenerative braking force is zero and the vehicle's slip rate is detected to be greater than a preset threshold.

[0070] The acquisition module is also used to acquire the slip ratio of the vehicle when braking with reduced mechanical braking force;

[0071] The determination module is also used to determine the reduced mechanical braking force as the target braking force of the vehicle when the slip ratio is detected to be within a preset range.

[0072] In one implementation, the preset adjustment strategy further includes increasing the regenerative braking force according to a preset motor braking curve;

[0073] The control module is also used to maintain the mechanical braking force at zero by employing the decompression state of the ABS system when the target braking force is less than the required braking force and the required braking force is less than or equal to the maximum regenerative braking force of the motor.

[0074] The added module is also used to increase the regenerative braking force according to the preset motor braking curve;

[0075] The determination module is also used to update the target braking force to the increased feedback braking force when the increased feedback braking force is greater than or equal to the required braking force.

[0076] In one implementation, the preset adjustment strategy further includes increasing the regenerative braking force to the maximum regenerative braking force, and the preset state includes a boost state;

[0077] The added module is also used to increase the regenerative braking force to the maximum regenerative braking force when the target braking force is less than the required braking force and the required braking force is greater than the maximum regenerative braking force of the motor.

[0078] The added module is also used to increase mechanical braking force under the pressure state of the ABS system;

[0079] The determination module is also used to update the target braking force to the sum of the increased mechanical braking force and the maximum regenerative braking force when the sum of the increased mechanical braking force and the maximum regenerative braking force is greater than or equal to the required braking force.

[0080] Thirdly, embodiments of this application provide an electronic device, which includes: a processor and a memory storing computer program instructions;

[0081] The vehicle braking method as described in any embodiment of the first aspect is implemented when the processor executes computer program instructions.

[0082] Fourthly, embodiments of this application provide a computer storage medium storing computer program instructions, which, when executed by a processor, implement the vehicle braking method as described in any embodiment of the first aspect.

[0083] Fifthly, embodiments of this application provide a computer program product in which instructions, when executed by a processor of an electronic device, cause the electronic device to perform the vehicle braking method as described in any embodiment of the first aspect.

[0084] The vehicle braking method, apparatus, device, and computer storage medium of this application acquire the vehicle's slip ratio, required braking force, and mechanical braking force, as well as the motor's regenerative braking force and maximum regenerative braking force. The slip ratio is calculated based on the vehicle's wheel speed and overall vehicle speed. Then, if the vehicle's slip ratio is detected to be less than or equal to a preset threshold, and the required braking force is less than or equal to the motor's maximum regenerative braking force, braking is performed using the motor's regenerative braking force. This improves the utilization rate of the regenerative braking force. If the vehicle's slip ratio is detected to be less than or equal to the preset threshold, and the required braking force is greater than the motor's maximum regenerative braking force, braking is performed using both mechanical braking force and the motor's regenerative braking force to reduce wheel speed. Thus, by coordinating and optimizing the mechanical braking force and regenerative braking force, the braking energy utilization rate is improved while maintaining the original ABS function. Attached Figure Description

[0085] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0086] Figure 1 This is a schematic diagram of the control flow of an automotive hydraulic anti-lock braking system provided in one embodiment of this application;

[0087] Figure 2This is one of the schematic flowcharts of a vehicle braking method provided in an embodiment of this application;

[0088] Figure 3 This is a second schematic flowchart of a vehicle braking method provided in one embodiment of this application;

[0089] Figure 4 This is a schematic diagram of the structure of a vehicle braking device provided in one embodiment of this application;

[0090] Figure 5 This is a schematic diagram of the structure of an electronic device provided in one embodiment of this application. Detailed Implementation

[0091] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0092] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, 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. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0093] The function of ABS is to automatically adjust the braking force when the car is braking so that the wheels do not lock up and are in a state of rolling and slipping (slip ratio of about 20%), so as to ensure that the adhesion between the wheels and the ground is at its maximum.

[0094] like Figure 1As shown, the anti-lock braking process of ABS is as follows: the wheel speed sensor detects the wheel speed in real time, preprocesses the detected wheel speed signal, and transmits the preprocessed wheel speed signal to the electronic control unit (ECU). The ECU analyzes the wheel speed signal and the vehicle speed to determine whether the wheel has a tendency to lock up, and adjusts the braking force of the wheel through the brake pressure regulator to avoid wheel lockup.

[0095] As described in the background art, in the prior art, when the ABS system is applied to an electric vehicle, the hydraulic regulating unit of the ABS is in a pressurized state when the driver presses the brake pedal. This results in a reduction in the energy available for regenerative braking, leading to a low rate of recovery and utilization of braking energy.

[0096] To address the aforementioned problems, embodiments of this application provide a vehicle braking method, apparatus, device, and computer storage medium. This vehicle braking method acquires the vehicle's slip ratio, required braking force, and mechanical braking force, as well as the motor's regenerative braking force and maximum regenerative braking force. The slip ratio is calculated based on the vehicle's wheel speed and overall vehicle speed. Then, if the vehicle's slip ratio is detected to be less than or equal to a preset threshold, and the required braking force is less than or equal to the motor's maximum regenerative braking force, braking is performed using the motor's regenerative braking force. This improves the utilization rate of regenerative braking force. If the vehicle's slip ratio is detected to be less than or equal to the preset threshold, and the required braking force is greater than the motor's maximum regenerative braking force, braking is performed using both mechanical braking force and the motor's regenerative braking force to reduce wheel speed. Thus, through coordinated optimization of mechanical braking force and regenerative braking force, the original ABS function is maintained while improving braking energy utilization.

[0097] The vehicle braking method provided in the embodiments of this application will be described below. This vehicle braking method can be applied to the ECU of a vehicle.

[0098] Figure 2 A schematic flowchart of a vehicle braking method provided in one embodiment of this application is shown.

[0099] like Figure 2 As shown, the vehicle braking method may specifically include the following steps:

[0100] S110 obtains the vehicle's slip ratio, required braking force, and mechanical braking force, as well as the motor's regenerative braking force and maximum regenerative braking force.

[0101] The vehicle's slip ratio can be calculated based on the vehicle's wheel speed, overall speed, wheel rolling angular velocity, and wheel radius. Demand braking force refers to the braking force required when the driver depresses the brake pedal; mechanical braking force can be estimated using the vehicle's existing ABS system. The regenerative braking force and maximum regenerative braking force of the electric motor can be output by the motor control system via the CAN bus. The ECU communicates with the motor control system in real time and can obtain the motor's regenerative braking force through CAN commands.

[0102] S120: When the vehicle's slip ratio is detected to be less than or equal to a preset threshold and the required braking force is less than or equal to the maximum regenerative braking force of the motor, the regenerative braking force of the motor is used for braking to reduce wheel speed.

[0103] If the detected vehicle slip ratio is less than or equal to a preset threshold, the vehicle is in a normal braking state, and the wheels do not tend to lock up, meaning ABS braking is not required. The preset threshold can be a user-defined threshold, such as 20%. Under normal braking conditions, if the required braking force is less than or equal to the maximum regenerative braking force of the motor, the regenerative braking force of the motor is used to reduce wheel speed. At this time, the ABS system's brake pressure regulator (e.g., a hydraulic regulating unit) is in a decompression state, weakening or even eliminating the mechanical braking force, and wheel deceleration is achieved solely based on the regenerative braking force of the motor.

[0104] As an example, such as Figure 3 As shown, when the driver presses the brake pedal, the vehicle enters a normal braking state. The vehicle ECU detects the signal from the current wheel speed sensor to obtain the vehicle speed and wheel speed, as well as the braking force request, regenerative braking force, and mechanical braking force. Based on the vehicle speed and wheel speed, it calculates the slip ratio. When the vehicle's slip ratio is less than or equal to 20%, ABS braking is not required. Furthermore, if the required braking force corresponding to the brake pedal does not exceed the maximum regenerative braking force of the current drive motor, the ABS hydraulic adjustment unit is in a decompression state (boost valve closed, decompression valve open), which weakens or even eliminates the mechanical braking force. Wheel deceleration is achieved solely through regenerative braking of the motor. In other words, the regenerative braking force in the CAN command sent by the ECU to the motor equals the braking force request.

[0105] S130, when the vehicle's slip ratio is detected to be less than or equal to a preset threshold and the required braking force is greater than the maximum regenerative braking force of the motor, uses mechanical braking force and regenerative braking force of the motor to brake in order to reduce wheel speed.

[0106] If the required braking force is greater than the maximum regenerative braking force of the motor, the regenerative braking force of the motor alone cannot meet the demand. In this case, mechanical braking force and regenerative braking force of the motor are used for braking.

[0107] As an example, such as Figure 3 As shown, when the driver presses the brake pedal, the vehicle enters a normal braking state. The vehicle ECU detects that the vehicle's slip ratio is less than or equal to 20%, at which point ABS braking is not required. If the required braking force corresponding to the brake pedal exceeds the maximum regenerative braking force of the current drive motor, the ABS hydraulic adjustment unit is in a state of first increasing pressure and then maintaining pressure. Mechanical braking force and motor regenerative braking are used together to achieve wheel deceleration. That is, the regenerative braking force in the CAN command sent by the ECU to the motor is the maximum regenerative braking force, and the mechanical braking force is supplemented to meet the total demand.

[0108] In this embodiment, the vehicle's slip ratio, required braking force, and mechanical braking force, as well as the motor's regenerative braking force and maximum regenerative braking force, are obtained. The slip ratio is calculated based on the vehicle's wheel speed and overall vehicle speed. Then, if the vehicle's slip ratio is detected to be less than or equal to a preset threshold, and the required braking force is less than or equal to the motor's maximum regenerative braking force, the motor's regenerative braking force is used for braking. This improves the utilization rate of regenerative braking force. If the vehicle's slip ratio is detected to be less than or equal to a preset threshold, and the required braking force is greater than the motor's maximum regenerative braking force, both mechanical braking force and the motor's regenerative braking force are used for braking to reduce wheel speed. Thus, by coordinating and optimizing the mechanical braking force and regenerative braking force, the original ABS function is maintained while improving braking energy utilization.

[0109] In some embodiments, S120 may specifically include:

[0110] If the vehicle's slip ratio is detected to be less than or equal to a preset threshold and the required braking force is greater than the maximum regenerative braking force of the motor, braking will be performed with the maximum regenerative braking force.

[0111] Calculate the difference between the required braking force and the maximum regenerative braking force;

[0112] Increase mechanical braking force based on the difference;

[0113] Braking is performed using the sum of the increased mechanical braking force and the maximum regenerative braking force.

[0114] If the vehicle's slip ratio is detected to be less than or equal to a preset threshold, the vehicle is in a normal braking state. At this time, if the required braking force is detected to be greater than the maximum regenerative braking force of the motor, the maximum regenerative braking force of the motor is obtained through CAN command, and braking is performed with the maximum regenerative braking force of the motor. The mechanical braking force is increased by the difference between the required braking force and the maximum regenerative braking force, so that the increased mechanical braking force and the maximum regenerative braking force meet the required braking force. The increased mechanical braking force and the maximum regenerative braking force are used together for braking.

[0115] In this embodiment, braking is performed using the maximum regenerative braking force when the vehicle's slip ratio is detected to be less than or equal to a preset threshold and the required braking force is greater than the motor's maximum regenerative braking force. Next, the difference between the required braking force and the maximum regenerative braking force is calculated, and the mechanical braking force is increased based on this difference. Braking is then performed using the sum of the increased mechanical braking force and the maximum regenerative braking force. This allows for wheel deceleration using both mechanical braking force and the motor's maximum regenerative braking force when the motor's regenerative braking force alone is insufficient to meet the required braking force, thus enabling the distribution and adjustment of mechanical braking and regenerative braking.

[0116] In some embodiments, the vehicle braking method may further include:

[0117] When the vehicle's slip ratio is detected to be greater than a preset threshold, the vehicle's braking force is adjusted according to the preset state of the anti-lock braking system (ABS), or the preset state of the anti-lock braking system (ABS) and the preset adjustment strategy of the regenerative braking force, to obtain the vehicle's target braking force. The preset state may include decompression state, pressure holding state, or pressure boosting state.

[0118] Braking is performed with a target braking force to keep the vehicle's slip ratio within a preset range.

[0119] If the detected vehicle slip ratio exceeds a preset threshold, the current wheel speed is decelerating too rapidly, and the vehicle is prone to locking up, requiring ABS braking. The vehicle's braking force is adjusted by regulating the ABS's depressurization, holding, or boosting states, or by using the ABS's depressurization, holding, or boosting states, along with a preset adjustment strategy for regenerative braking force, to obtain the target braking force. Braking is then performed with this target braking force to keep the vehicle's slip ratio within a preset range. This preset range can be a user-defined range, such as the vicinity of the peak coefficient of adhesion slip ratio. The preset adjustment strategy for regenerative braking force can involve increasing or decreasing the regenerative braking force, specifically adjusted via CAN control commands.

[0120] As an example, during vehicle braking, if the vehicle's ECU detects a signal from the current wheel speed sensor indicating that the wheels are decelerating too quickly and determines that the vehicle is likely to lock up, it will adjust the vehicle's braking force through the ABS decompression, pressure holding, or pressure boosting states, as well as the increase or decrease of regenerative braking force. This causes the vehicle's braking force to cycle through the processes of holding, decreasing, and increasing, thereby controlling the wheel slip ratio within the range near the peak adhesion coefficient slip ratio.

[0121] In this embodiment, when the vehicle's slip ratio is detected to be greater than a preset threshold, the vehicle's braking force is adjusted according to a preset state of the anti-lock braking system (ABS), or a preset adjustment strategy combining the preset state of the ABS and regenerative braking force, to obtain the vehicle's target braking force. The preset state may include a depressurization state, a pressure-holding state, or a pressure-boosting state. Braking is then performed with the target braking force to keep the vehicle's slip ratio within a preset range. This allows the ABS function to maintain the vehicle's slip ratio within a preset range when the vehicle is prone to locking up.

[0122] In some embodiments, the preset state may include a decompression state; when the vehicle's slip ratio is detected to be greater than a preset threshold, the vehicle's braking force is adjusted according to the preset state of the anti-lock braking system (ABS) to obtain the vehicle's target braking force, which may specifically include:

[0123] If the vehicle's slip ratio is detected to be greater than a preset threshold and braking is performed using the regenerative braking force of the motor, the mechanical braking force is maintained at zero by using the decompression state of the ABS system.

[0124] The regenerative braking force of the motor is determined as the target braking force.

[0125] If the vehicle's slip ratio is detected to exceed a preset threshold, indicating a tendency for the vehicle to lock up, the system determines whether the current braking force is achieved using regenerative braking from the electric motor, or a combination of regenerative braking from the electric motor and mechanical braking. If regenerative braking from the electric motor is used, the ABS system's brake pressure regulator maintains a decompression state to keep the mechanical braking force at zero, or to reduce the mechanical braking force to zero. The regenerative braking force from the electric motor is then set as the target braking force to keep the vehicle's slip ratio within a preset range.

[0126] In some embodiments, the current regenerative braking force of the motor is set to a temporary maximum braking force so that the current regenerative braking force does not increase.

[0127] As an example, such as Figure 3 As shown, the system acquires vehicle speed, wheel speed, braking force request, regenerative braking force, and mechanical braking force. It calculates the slip ratio based on vehicle speed and wheel speed, and uses the slip ratio to determine if the vehicle is prone to locking up. If a tendency to lock up is detected during braking, the system determines that ABS mode needs to be entered, putting the vehicle's braking force into a holding mode. In holding mode, the current braking state must be maintained. First, it determines whether the current braking is pure electric braking or a hybrid of mechanical and electric braking. If the current braking force is pure electric braking, the ABS hydraulic adjustment unit maintains a depressurized state and sets the current regenerative braking force to the temporary maximum braking force. Even if the braking force is increased, the braking force will not increase accordingly.

[0128] In this embodiment of the application, by detecting that the vehicle's slip ratio is greater than a preset threshold and using the regenerative braking force of the motor for braking, the ABS system maintains the mechanical braking force at zero by using the decompression state, and determines the regenerative braking force of the motor as the target braking force, the current braking force of the vehicle can be kept from increasing, thus preventing the vehicle from locking up.

[0129] In some embodiments, the preset state includes a pressure holding state; when the vehicle's slip ratio is detected to be greater than a preset threshold, adjusting the vehicle's braking force according to the preset state of the anti-lock braking system (ABS) to obtain the vehicle's target braking force may further include:

[0130] When the vehicle's slip ratio is detected to be greater than a preset threshold, and braking is performed using both mechanical braking force and regenerative braking force from the motor, the pressure holding state of the ABS system is used to maintain the mechanical braking force unchanged.

[0131] The mechanical braking force and the regenerative braking force of the motor are determined as the target braking force.

[0132] If the detected vehicle slip ratio exceeds a preset threshold, indicating a tendency for the vehicle to lock up, and if it is determined that the current braking force of the vehicle is achieved through a combination of regenerative braking force from the electric motor and mechanical braking force, the ABS system's brake pressure regulator maintains a pressure-holding state to keep the mechanical braking force constant and prevent further increase in braking force. This combined mechanical braking force and regenerative braking force from the electric motor are then used as the target braking force to keep the vehicle slip ratio within a preset range.

[0133] As an example, if a tendency for the vehicle to lock up is detected during braking, the vehicle's braking force is put into a holding mode. In holding mode, it is determined whether the current braking is pure electric braking or a combination of mechanical and electric braking. If the current braking force is a combination of mechanical and electric braking, the hydraulic adjustment unit maintains pressure and sets the current regenerative braking force to the temporary maximum regenerative braking force. Even if the braking force is increased, neither the mechanical braking force nor the regenerative braking force will increase accordingly.

[0134] In this embodiment, when the vehicle's slip ratio is detected to be greater than a preset threshold, and braking is performed using both mechanical braking force and regenerative braking force from the motor, the pressure holding state of the ABS system is used to maintain the mechanical braking force unchanged, and the mechanical braking force and the regenerative braking force from the motor are determined as the target braking force. This ensures that the current braking force does not increase further during hybrid mechanical and electric braking, thus preventing vehicle lock-up.

[0135] Based on this, in some embodiments, the preset adjustment strategy may include reducing the regenerative braking force according to a preset motor braking curve; when the vehicle's slip ratio is detected to be greater than a preset threshold, adjusting the vehicle's braking force according to the preset state of the anti-lock braking system (ABS) and the preset adjustment strategy of the regenerative braking force to obtain the vehicle's target braking force, and may further include:

[0136] If the vehicle's slip ratio is detected to be greater than a preset threshold and braking is performed using the regenerative braking force of the motor, the mechanical braking force is maintained at zero by using the decompression state of the ABS system.

[0137] Reduce the regenerative braking force according to the preset motor braking curve;

[0138] The vehicle's slip ratio is acquired to apply reduced regenerative braking force for braking.

[0139] If the slip ratio is detected to be within a preset range, the reduced regenerative braking force is determined as the vehicle's target braking force.

[0140] If, after maintaining the vehicle's braking force unchanged, the vehicle's slip ratio is still detected to be greater than a preset threshold, and it is determined that regenerative braking force from the electric motor is being used for braking, the ABS system's decompression state is used to maintain the mechanical braking force at zero, ensuring that the mechanical braking force does not increase. The regenerative braking force is reduced according to a preset electric motor braking curve. This preset electric motor braking curve can be a curve pre-set by the user. The matching relationship between the preset electric motor braking curve and the ABS brake pressure regulator can be pre-set through calibration to avoid sudden changes in braking force during regenerative braking and during mixed braking processes involving regenerative braking force and mechanical braking force.

[0141] After reducing the regenerative braking force, braking is performed with the reduced regenerative braking force, and the slip ratio corresponding to the reduced regenerative braking force is obtained. If the slip ratio is detected to be within a preset range, the reduced regenerative braking force is determined as the target braking force of the vehicle. The preset range can be a range set by the user in advance, such as a range of 10% to 30%.

[0142] As an example, such as Figure 3 As shown, if a tendency for the vehicle to lock up is detected during braking, the ABS mode must be entered. If the tendency for the vehicle to lock up persists even in hold mode, the braking force is switched to reduction mode. In reduction mode, the total braking force is reduced and distributed according to a set strategy. First, it is determined whether the current braking is pure electric braking or a combination of mechanical and electric braking. If it is pure electric braking mode, the ABS hydraulic adjustment unit maintains a decompression state and reduces the regenerative braking force according to the set motor braking curve until it is reduced to the point where the tires can roll normally.

[0143] In this embodiment, when the vehicle's slip ratio is detected to be greater than a preset threshold and braking is performed using regenerative braking force from the motor, the mechanical braking force is maintained at zero by employing the decompression state of the ABS system. Next, the regenerative braking force is reduced according to a preset motor braking curve, and the slip ratio of the vehicle braking with the reduced regenerative braking force is obtained. Then, if the slip ratio is detected to be within a preset range, the reduced regenerative braking force is determined as the vehicle's target braking force. In this way, the vehicle's braking force can be controlled to undergo a reduction process, keeping the slip ratio within a preset range to achieve the ABS function.

[0144] In some embodiments, the preset adjustment strategy may further include reducing the regenerative braking force to zero according to a preset motor braking curve; and adjusting the vehicle's braking force according to the preset state of the anti-lock braking system (ABS) and the preset adjustment strategy of the regenerative braking force when the vehicle's slip ratio is detected to be greater than a preset threshold, to obtain the vehicle's target braking force, and may further include:

[0145] When the vehicle's slip ratio is detected to be greater than a preset threshold, and braking is performed using both mechanical braking force and regenerative braking force from the motor, the pressure holding state of the ABS system is used to maintain the mechanical braking force unchanged.

[0146] Reduce the regenerative braking force to zero according to the preset motor braking curve;

[0147] When the regenerative braking force is zero and the vehicle's slip rate is detected to be greater than a preset threshold, the mechanical braking force is reduced by using the decompression state of the ABS system.

[0148] To obtain the slip ratio of the vehicle for braking with reduced mechanical braking force;

[0149] If the slip ratio is detected to be within a preset range, the reduced mechanical braking force is determined as the target braking force for the vehicle.

[0150] If, after maintaining the vehicle's braking force, the vehicle's slip ratio is still detected to be greater than a preset threshold, and it is determined that both mechanical braking force and regenerative braking force from the electric motor are applied, the ABS system maintains pressure to keep the mechanical braking force constant. The regenerative braking force is reduced according to a preset electric motor braking curve. If, after reducing it to zero, the slip ratio is still greater than the preset threshold (i.e., the vehicle is still locked), the ABS system is changed from pressure-maintaining to pressure-reducing mode, further reducing the mechanical braking force. The reduced mechanical braking force corresponding to the slip ratio within a preset range is determined as the vehicle's target braking force.

[0151] As an example, if a tendency for the vehicle to lock up is detected during braking, and this tendency persists even in hold mode, the braking force is switched to reduction mode. In reduction mode, it is determined whether the current braking is purely electric braking or a combination of mechanical and electric braking. If it is a combination of mechanical and electric braking, the regenerative braking force is first reduced according to a set curve (the hydraulic adjustment unit operates in pressure holding mode at this time). If the regenerative braking force is reduced to zero and the wheels are still locked, the hydraulic adjustment unit switches to pressure reduction mode, opening the pressure reduction valve (the pressure boosting valve is closed, and the pressure reducing valve is open) to further reduce the overall braking force of the vehicle, preventing the wheels from locking up completely due to excessive braking force.

[0152] In this embodiment, when the vehicle's slip ratio is detected to be greater than a preset threshold, and braking is performed using both mechanical braking force and regenerative braking force from the motor, the mechanical braking force is maintained constant by maintaining the pressure of the ABS system, while the regenerative braking force is reduced to zero according to a preset motor braking curve. Then, when the regenerative braking force is zero and the vehicle's slip ratio is detected to be greater than the preset threshold, the mechanical braking force is reduced by depressurizing the ABS system. The slip ratio of the vehicle under reduced mechanical braking force is then obtained, and if the slip ratio is detected to be within a preset range, the reduced mechanical braking force is determined as the target braking force for the vehicle. This further reduces the vehicle's braking force, preventing the wheels from locking up completely due to excessive braking force.

[0153] In some embodiments, the preset adjustment strategy may further include increasing the regenerative braking force according to a preset motor braking curve; the vehicle braking method may further include:

[0154] When the target braking force is less than the required braking force, and the required braking force is less than or equal to the maximum regenerative braking force of the motor, the mechanical braking force is maintained at zero by the decompression state of the ABS system.

[0155] Increase the regenerative braking force according to the preset motor braking curve;

[0156] If the increased feedback braking force is greater than or equal to the required braking force, the target braking force is updated to the increased feedback braking force.

[0157] If, after reducing the vehicle's braking force, it is determined that the target braking force is less than the required braking force (i.e., the target braking force does not meet the required braking force), and the required braking force is less than or equal to the maximum regenerative braking force of the motor (meaning that the maximum regenerative braking force of the motor alone can meet the required braking force), then the ABS system's decompression state is used to maintain the mechanical braking force at zero. The regenerative braking force is then increased according to the preset motor braking curve until the increased regenerative braking force is greater than or equal to the required braking force. Finally, this increased regenerative braking force is updated as the target braking force.

[0158] As an example, such as Figure 3 As shown, if a tendency for the vehicle to lock up is detected during braking, and after the vehicle's braking force has gone through the hold and reduce modes, if the braking force is insufficient to meet the braking demand, the vehicle will enter the braking force increase mode. In the increase mode, the total braking force needs to be increased and distributed according to a set strategy. First, it is determined whether the braking force demand exceeds the maximum regenerative braking force of the motor (the upper limit of the braking force that the motor control system can output). If it does not exceed the maximum regenerative braking force of the motor, the ABS hydraulic adjustment unit maintains a depressurization state and increases the regenerative braking force according to the set motor braking curve until the increased regenerative braking force meets the braking demand.

[0159] In this embodiment, when the target braking force is less than the required braking force, and the required braking force is less than or equal to the maximum regenerative braking force of the motor, the mechanical braking force is maintained at zero by employing the decompression state of the ABS system. Then, the regenerative braking force is increased according to a preset motor braking curve, and when the increased regenerative braking force is greater than or equal to the required braking force, the target braking force is updated to the increased regenerative braking force. In this way, the vehicle's braking force requirements can be met by increasing the regenerative braking force of the motor.

[0160] In some embodiments, the preset adjustment strategy may further include increasing the regenerative braking force to the maximum regenerative braking force, and the preset state may include a boosted state; the vehicle braking method further includes:

[0161] If the target braking force is less than the required braking force, and the required braking force is greater than the maximum regenerative braking force of the motor, increase the regenerative braking force to the maximum regenerative braking force.

[0162] The ABS system increases mechanical braking force under pressure.

[0163] If the sum of the increased mechanical braking force and the maximum regenerative braking force is greater than or equal to the required braking force, the target braking force is updated to the sum of the increased mechanical braking force and the maximum regenerative braking force.

[0164] As an example, if a tendency for the vehicle to lock up is detected during braking, and after the vehicle's braking force has passed through the hold and reduce modes, if the braking force is insufficient to meet the braking requirements, the vehicle enters the braking force increase mode. In increase mode, if it is determined that the braking force requirement exceeds the maximum regenerative braking force of the motor, the regenerative braking force is increased. When the regenerative braking force reaches the maximum regenerative braking force, the hydraulic adjustment unit of the ABS is immediately adjusted to a boost state to increase the mechanical braking force, until the increased mechanical braking force and the maximum regenerative braking force meet the braking force requirement.

[0165] In this embodiment, when the target braking force is less than the required braking force, and the required braking force is greater than the maximum regenerative braking force of the motor, the regenerative braking force is increased to the maximum regenerative braking force. Next, the mechanical braking force is increased using the pressurized state of the ABS system. If the sum of the increased mechanical braking force and the maximum regenerative braking force is greater than or equal to the required braking force, the target braking force is updated to the sum of the increased mechanical braking force and the maximum regenerative braking force. In this way, by coordinating and optimizing the mechanical braking force and the regenerative braking force, the braking energy utilization rate is improved while ensuring the original ABS function.

[0166] Figure 4 This is a schematic diagram of the structure of a vehicle braking device 400 according to an exemplary embodiment.

[0167] like Figure 4 As shown, the vehicle braking device 400 may include:

[0168] The acquisition module 401 is used to acquire the vehicle's slip ratio, required braking force and mechanical braking force, as well as the motor's regenerative braking force and maximum regenerative braking force. The slip ratio is calculated based on the vehicle's wheel speed and vehicle speed.

[0169] Braking module 402 is used to apply the regenerative braking force of the motor to reduce wheel speed when the vehicle's slip ratio is less than or equal to a preset threshold and the required braking force is less than or equal to the maximum regenerative braking force of the motor.

[0170] The braking module 402 is also used to apply mechanical braking force and regenerative braking force of the motor to reduce wheel speed when the vehicle's slip ratio is less than or equal to a preset threshold and the required braking force is greater than the maximum regenerative braking force of the motor.

[0171] In one embodiment, the vehicle braking device 400 may further include a calculation module and an augmentation module;

[0172] The braking module 402 is also used to brake with the maximum regenerative braking force when the vehicle's slip ratio is detected to be less than or equal to a preset threshold and the required braking force is greater than the maximum regenerative braking force of the motor.

[0173] The calculation module is used to calculate the difference between the required braking force and the maximum regenerative braking force;

[0174] The added module is also used to increase mechanical braking force based on the difference;

[0175] The braking module 402 is also used for braking by using the sum of the increased mechanical braking force and the maximum regenerative braking force.

[0176] In one embodiment, the vehicle braking device 400 may further include an adjustment module;

[0177] The adjustment module is used to adjust the vehicle's braking force by using the preset state of the anti-lock braking system (ABS) or the preset state of the anti-lock braking system (ABS) and the preset adjustment strategy of the regenerative braking force when the vehicle's slip ratio is detected to be greater than a preset threshold, so as to obtain the vehicle's target braking force. The preset states include depressurization state, pressure holding state, or pressure boosting state.

[0178] The braking module 402 is also used to brake with a target braking force so that the vehicle's slip ratio is within a preset range.

[0179] In one embodiment, the preset state is a decompression state; the vehicle braking device 400 may also include a control module and a determination module.

[0180] The control module is used to maintain the mechanical braking force at zero by using the decompression state of the ABS system when the vehicle's slip rate is detected to be greater than a preset threshold and braking is performed using the regenerative braking force of the motor.

[0181] The determination module is used to determine the regenerative braking force of the motor as the target braking force.

[0182] In one implementation, the preset state is a decompression state;

[0183] The control module is also used to maintain the mechanical braking force unchanged by using the pressure holding state of the ABS system when the vehicle's slip rate is detected to be greater than a preset threshold and braking is performed using mechanical braking force and regenerative braking force from the motor.

[0184] The determination module is also used to determine the mechanical braking force and the regenerative braking force of the motor as the target braking force.

[0185] In one embodiment, the preset adjustment strategy may include reducing the regenerative braking force according to a preset motor braking curve; the vehicle braking device 400 may also include a reduction module.

[0186] The control module is also used to maintain the mechanical braking force at zero by using the decompression state of the ABS system when the vehicle's slip rate is detected to be greater than a preset threshold and braking is performed using the regenerative braking force of the motor.

[0187] The lowering module is also used to reduce the regenerative braking force according to a preset motor braking curve;

[0188] The acquisition module 401 is also used to acquire the slip ratio of the vehicle when braking with the reduced regenerative braking force;

[0189] The determination module is also used to determine the reduced feedback braking force as the target braking force of the vehicle when the slip ratio is detected to be within a preset range.

[0190] In one implementation, the preset adjustment strategy may further include reducing the regenerative braking force to zero according to a preset motor braking curve;

[0191] The control module is also used to maintain the mechanical braking force unchanged by using the pressure holding state of the ABS system when the vehicle's slip rate is detected to be greater than a preset threshold and braking is performed using mechanical braking force and regenerative braking force from the motor.

[0192] The reduction module is also used to reduce the regenerative braking force to zero according to a preset motor braking curve;

[0193] The reduction module is also used to reduce the mechanical braking force by employing the decompression state of the ABS system when the regenerative braking force is zero and the vehicle's slip rate is detected to be greater than a preset threshold.

[0194] The acquisition module 401 is also used to acquire the slip ratio of the vehicle when braking with reduced mechanical braking force;

[0195] The determination module is also used to determine the reduced mechanical braking force as the target braking force of the vehicle when the slip ratio is detected to be within a preset range.

[0196] In one implementation, the preset adjustment strategy may further include increasing the regenerative braking force according to a preset motor braking curve;

[0197] The control module is also used to maintain the mechanical braking force at zero by employing the decompression state of the ABS system when the target braking force is less than the required braking force and the required braking force is less than or equal to the maximum regenerative braking force of the motor.

[0198] The added module is also used to increase the regenerative braking force according to the preset motor braking curve;

[0199] The determination module is also used to update the target braking force to the increased feedback braking force when the increased feedback braking force is greater than or equal to the required braking force.

[0200] In one implementation, the preset adjustment strategy may further include increasing the regenerative braking force to the maximum regenerative braking force, and the preset state may include a boost state.

[0201] The added module is also used to increase the regenerative braking force to the maximum regenerative braking force when the target braking force is less than the required braking force and the required braking force is greater than the maximum regenerative braking force of the motor.

[0202] The added module is also used to increase mechanical braking force under the pressure state of the ABS system;

[0203] The determination module is also used to update the target braking force to the sum of the increased mechanical braking force and the maximum regenerative braking force when the sum of the increased mechanical braking force and the maximum regenerative braking force is greater than or equal to the required braking force.

[0204] Therefore, by acquiring the vehicle's slip ratio, required braking force, and mechanical braking force, as well as the motor's regenerative braking force and maximum regenerative braking force, where the slip ratio is calculated based on the vehicle's wheel speed and overall vehicle speed, the system then uses the motor's regenerative braking force for braking if the vehicle's slip ratio is less than or equal to a preset threshold and the required braking force is less than or equal to the motor's maximum regenerative braking force. This improves the utilization rate of regenerative braking force. If the vehicle's slip ratio is less than or equal to a preset threshold and the required braking force is greater than the motor's maximum regenerative braking force, both mechanical braking force and the motor's regenerative braking force are used to reduce wheel speed. Thus, by coordinating and optimizing the mechanical braking force and regenerative braking force, the system improves braking energy utilization while maintaining the original ABS function.

[0205] Figure 5 A schematic diagram of the hardware structure of the electronic device provided in an embodiment of this application is shown.

[0206] An electronic device may include a processor 501 and a memory 502 storing computer program instructions.

[0207] Specifically, the processor 501 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0208] Memory 502 may include mass storage for data or instructions. For example, and not limitingly, memory 502 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 502 may include removable or non-removable (or fixed) media. Where appropriate, memory 502 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 502 is non-volatile solid-state memory.

[0209] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the methods according to one aspect of this disclosure.

[0210] The processor 501 implements any of the vehicle braking methods described in the above embodiments by reading and executing computer program instructions stored in the memory 502.

[0211] In one example, the electronic device may also include a communication interface 503 and a bus 510. Wherein, as... Figure 5 As shown, the processor 501, memory 502, and communication interface 503 are connected through bus 510 and complete communication with each other.

[0212] The communication interface 503 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0213] Bus 510 includes hardware, software, or both, that couples components of a vehicle braking system together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 510 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0214] The electronic device can execute the vehicle braking method described in this application based on the vehicle's slip ratio, required braking force, and mechanical braking force, as well as the regenerative braking force and maximum regenerative braking force of the motor, thereby achieving a combination of... Figure 2 Describes the vehicle braking method.

[0215] Furthermore, in conjunction with the vehicle braking methods in the above embodiments, this application embodiment can provide a computer storage medium for implementation. This computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, any of the vehicle braking methods in the above embodiments is implemented.

[0216] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0217] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. The programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0218] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or with several steps performed in the same manner.

[0219] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable vehicle braking device to produce a machine such that these instructions, executed via the processor of the computer or other programmable vehicle braking device, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowchart illustrations, and combinations of blocks in the block diagrams and / or flowchart illustrations, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0220] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A vehicle braking method, characterized in that, The method includes: The slip ratio, required braking force, and mechanical braking force of the vehicle, as well as the regenerative braking force and maximum regenerative braking force of the motor, are obtained. The slip ratio is calculated based on the wheel speed and vehicle speed. If the vehicle's slip ratio is detected to be less than or equal to a preset threshold, and the required braking force is less than or equal to the maximum regenerative braking force of the motor, the regenerative braking force of the motor is used for braking to reduce wheel speed. If the vehicle's slip ratio is detected to be less than or equal to a preset threshold, and the required braking force is greater than the maximum regenerative braking force of the motor, mechanical braking force and regenerative braking force of the motor are used for braking to reduce wheel speed. When the vehicle's slip ratio is detected to be greater than a preset threshold, the vehicle's braking force is adjusted according to the preset state of the anti-lock braking system (ABS), or the preset state of the anti-lock braking system (ABS) and the preset adjustment strategy of the regenerative braking force, to obtain the vehicle's target braking force. The preset state includes depressurization state, pressure holding state, or pressure boosting state. Braking is performed with the target braking force to keep the vehicle's slip ratio within a preset range; The preset adjustment strategy further includes reducing the regenerative braking force to zero according to a preset motor braking curve; the step of adjusting the vehicle's braking force according to the preset state of the anti-lock braking system (ABS) and the preset adjustment strategy of the regenerative braking force when the vehicle's slip ratio is detected to be greater than a preset threshold, to obtain the vehicle's target braking force, further includes: When the vehicle's slip ratio is detected to be greater than a preset threshold, and braking is performed using both mechanical braking force and regenerative braking force from the motor, the pressure holding state of the ABS system is used to maintain the mechanical braking force unchanged. The regenerative braking force is reduced to zero according to the preset motor braking curve; When the feedback braking force is zero and the vehicle's slip ratio is detected to be greater than a preset threshold, the mechanical braking force is reduced by using the decompression state of the ABS system. Obtain the slip ratio of the vehicle to brake with the reduced mechanical braking force; If the slip ratio is detected to be within a preset range, the reduced mechanical braking force is determined to be the target braking force of the vehicle.

2. The method according to claim 1, characterized in that, The step of applying braking force using both mechanical braking force and regenerative braking force of the motor when the vehicle's slip ratio is detected to be less than or equal to a preset threshold and the required braking force is greater than the maximum regenerative braking force of the motor includes: If the vehicle's slip ratio is detected to be less than or equal to a preset threshold, and the required braking force is greater than the maximum regenerative braking force of the motor, braking is performed with the maximum regenerative braking force. Calculate the difference between the required braking force and the maximum regenerative braking force; Increase mechanical braking force based on the difference; Braking is performed using the increased mechanical braking force and the maximum regenerative braking force.

3. The method according to claim 2, characterized in that, The preset state includes a decompression state; the step of adjusting the vehicle's braking force according to the preset state of the anti-lock braking system (ABS) to obtain the vehicle's target braking force when the vehicle's slip ratio is detected to be greater than a preset threshold includes: If the vehicle's slip ratio is detected to be greater than a preset threshold and braking is performed using the regenerative braking force of the motor, the mechanical braking force is maintained at zero by using the decompression state of the ABS system. The regenerative braking force of the motor is determined as the target braking force.

4. The method according to claim 3, characterized in that, The preset state includes a pressure holding state; the step of adjusting the vehicle's braking force according to the preset state of the anti-lock braking system (ABS) to obtain the vehicle's target braking force when the vehicle's slip ratio is detected to be greater than a preset threshold further includes: When the vehicle's slip ratio is detected to be greater than a preset threshold, and braking is performed using both mechanical braking force and regenerative braking force from the motor, the pressure holding state of the ABS system is used to maintain the mechanical braking force unchanged. The mechanical braking force and the regenerative braking force of the motor are determined as the target braking force.

5. The method according to claim 3 or 4, characterized in that, The preset adjustment strategy includes reducing the regenerative braking force according to a preset motor braking curve; the step of adjusting the vehicle's braking force according to the preset state of the anti-lock braking system (ABS) and the preset adjustment strategy of the regenerative braking force when the vehicle's slip ratio is detected to be greater than a preset threshold, to obtain the vehicle's target braking force, further includes: If the vehicle's slip ratio is detected to be greater than a preset threshold and braking is performed using the regenerative braking force of the motor, the mechanical braking force is maintained at zero by using the decompression state of the ABS system. The regenerative braking force is reduced according to a preset motor braking curve; The slip ratio of the vehicle is obtained to brake with the reduced regenerative braking force; If the slip ratio is detected to be within a preset range, the reduced feedback braking force is determined to be the target braking force of the vehicle.

6. The method according to claim 1, characterized in that, The preset adjustment strategy also includes increasing the feedback braking force according to a preset motor braking curve; The method further includes: When the target braking force is less than the required braking force, and the required braking force is less than or equal to the maximum regenerative braking force of the motor, the mechanical braking force is maintained at zero by the decompression state of the ABS system. The regenerative braking force is increased according to the preset motor braking curve; If the increased feedback braking force is greater than or equal to the required braking force, the target braking force is updated to the increased feedback braking force.

7. The method according to claim 6, characterized in that, The preset adjustment strategy further includes increasing the regenerative braking force to the maximum regenerative braking force, and the preset state includes a boost state; the method further includes: If the target braking force is less than the required braking force, and the required braking force is greater than the maximum regenerative braking force of the motor, the regenerative braking force is increased to the maximum regenerative braking force. The ABS system increases mechanical braking force under pressure. If the sum of the increased mechanical braking force and the maximum regenerative braking force is greater than or equal to the required braking force, the target braking force is updated to the sum of the increased mechanical braking force and the maximum regenerative braking force.

8. A vehicle braking device, characterized in that, The device includes: The acquisition module is used to acquire the vehicle's slip ratio, required braking force, and mechanical braking force, as well as the motor's regenerative braking force and maximum regenerative braking force. The slip ratio is calculated based on the vehicle's wheel speed and vehicle speed. The braking module is used to apply the regenerative braking force of the motor to reduce wheel speed when the vehicle's slip ratio is less than or equal to a preset threshold and the required braking force is less than or equal to the maximum regenerative braking force of the motor. The braking module is used to apply mechanical braking force and regenerative braking force from the motor to reduce wheel speed when the vehicle's slip ratio is detected to be less than or equal to a preset threshold and the required braking force is greater than the maximum regenerative braking force of the motor; when the vehicle's slip ratio is detected to be greater than the preset threshold, the module adjusts the vehicle's braking force according to a preset state of the anti-lock braking system (ABS), or a preset adjustment strategy of the ABS and regenerative braking force, to obtain a target braking force for the vehicle. The preset state includes a depressurization state, a pressure holding state, or a pressure boosting state; and applies the target braking force to keep the vehicle's slip ratio within a preset range. The preset adjustment strategy further includes reducing the regenerative braking force to zero according to a preset motor braking curve; the step of adjusting the vehicle's braking force according to the preset state of the anti-lock braking system (ABS) and the preset adjustment strategy of the regenerative braking force when the vehicle's slip ratio is detected to be greater than a preset threshold, to obtain the vehicle's target braking force, further includes: When the vehicle's slip ratio is detected to be greater than a preset threshold, and braking is performed using both mechanical braking force and regenerative braking force from the motor, the pressure holding state of the ABS system is used to maintain the mechanical braking force unchanged. The regenerative braking force is reduced to zero according to the preset motor braking curve; When the feedback braking force is zero and the vehicle's slip ratio is detected to be greater than a preset threshold, the mechanical braking force is reduced by using the decompression state of the ABS system. Obtain the slip ratio of the vehicle to brake with the reduced mechanical braking force; If the slip ratio is detected to be within a preset range, the reduced mechanical braking force is determined to be the target braking force of the vehicle.

9. An electronic device, characterized in that, The device includes: a processor and a memory storing computer program instructions; the processor reads and executes the computer program instructions to implement the vehicle braking method as described in any one of claims 1-7.

10. A computer storage medium, characterized in that, The computer storage medium stores computer program instructions, which, when executed by a processor, implement the vehicle braking method as described in any one of claims 1-7.

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