A vehicle braking force distribution method and device, vehicle and storage medium

Abstract

The application discloses a vehicle braking force distribution method and device, a vehicle and a storage medium. The method comprises the following steps: determining a required braking torque value of a target vehicle at a current time and a rear wheel braking torque limit value; if the required braking torque value is greater than the rear wheel braking torque limit value, configuring a rear wheel braking torque value of the target vehicle as a target electric braking torque value, and the target electric braking torque value is the rear wheel braking torque limit value; configuring a front wheel braking hydraulic pressure value of the target vehicle according to the required braking torque value and the rear wheel braking torque limit value; and distributing braking force to the target vehicle according to the target electric braking torque value and the front wheel braking hydraulic pressure value. Through the method, when the rear wheel braking torque limit value is reached, the rear wheel braking torque value is controlled to be not greater than the rear wheel braking torque limit value, and braking is realized through the front wheel hydraulic pressure value. Therefore, the electric braking utilization rate can be improved, and the probability of rear wheel locking can be reduced as much as possible.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle braking force distribution method, a vehicle braking force distribution device, a vehicle and a computer readable storage medium. BACKGROUND

[0002] Braking energy recovery is an important means to improve the energy utilization efficiency of electric vehicles. When the motor is running in the state of generating electricity, braking torque can be generated to realize vehicle deceleration, and part of the braking energy of the vehicle is converted into electric energy to charge the power battery, thereby improving the cruising range of the vehicle. The braking energy recovery technology has good effects on reducing energy consumption and reducing brake pad wear.

[0003] At present, the braking scheme of electric vehicle braking energy recovery utilization is to directly compare the required braking torque of the electric vehicle with the maximum feedback torque of the motor. In this way, the situation that the rear wheels are locked in advance is not fully considered, resulting in low utilization rate of electric braking. SUMMARY

[0004] The embodiments of the present application provide a vehicle braking force distribution method, device, equipment and storage medium, which can improve the utilization rate of electric braking and effectively reduce the probability that the rear wheels are locked before the front wheels.

[0005] In one aspect, the embodiments of the present application disclose a vehicle braking force distribution method, which comprises the following steps.

[0006] Determine the required braking torque value of the target vehicle at the current time and the rear wheel braking torque limit value;

[0007] If the required braking torque value is greater than the rear wheel braking torque limit value, the rear wheel braking torque value of the target vehicle is configured as a target electric braking torque value, and the target electric braking torque value is the rear wheel braking torque limit value;

[0008] According to the required braking torque value and the rear wheel braking torque limit value, the front wheel braking hydraulic pressure value of the target vehicle is configured;

[0009] According to the target electric braking torque value and the front wheel braking hydraulic pressure value, the braking force of the target vehicle is distributed.

[0010] In one aspect, the embodiments of the present application disclose a vehicle braking force distribution device, which comprises the following parts.

[0011] A determination unit is configured to determine the required braking torque value of the target vehicle at the current time and the rear wheel braking torque limit value;

[0012] The processing unit is configured to configure the rear wheel braking torque value of the target vehicle as a target electric braking torque value if the required braking torque value is greater than the rear wheel braking torque limit value, wherein the target electric braking torque value is the rear wheel braking torque limit value.

[0013] The processing unit is also configured to configure the front wheel brake hydraulic pressure value of the target vehicle according to the required brake torque value and the rear wheel brake torque limit value.

[0014] The processing unit is further configured to distribute braking force to the target vehicle based on the target electric braking torque value and the front wheel braking hydraulic pressure value.

[0015] One embodiment of this application discloses a vehicle, which includes a vehicle body and a processing module, the processing module being used to execute the above-described vehicle braking force distribution method.

[0016] One aspect of this application discloses a computer-readable storage medium storing one or more computer programs adapted to be loaded by a processor and executed by the above-described vehicle braking force distribution method.

[0017] In this embodiment, the braking system of the target vehicle compares the current required braking torque value with the rear wheel braking torque limit value. If the required braking torque value is greater than the rear wheel braking torque limit value, the rear wheel braking torque value of the target vehicle is configured as the target electric braking torque value, which is the rear wheel braking torque limit value. Based on the required braking torque value and the rear wheel braking torque limit value, the front wheel braking hydraulic pressure value of the target vehicle is configured. Braking force is then distributed to the target vehicle based on the target electric braking torque value and the front wheel braking hydraulic pressure value. Using the current required braking torque value and the rear wheel braking torque limit value as control conditions, when the rear wheel braking torque limit value is reached, the rear wheel braking torque value is controlled to not exceed the rear wheel braking torque limit value. Simultaneously, braking is achieved through the front wheel hydraulic pressure value. Based on this, the utilization rate of electric braking can be improved, and the probability of rear wheel lock-up can be minimized. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of a braking force distribution system disclosed in an embodiment of this application;

[0020] Figure 2 This is a schematic flowchart of a rear wheel braking force distribution method disclosed in an embodiment of this application;

[0021] Figure 3 This is a flowchart illustrating another rear-wheel braking force distribution method disclosed in an embodiment of this application;

[0022] Figure 4 This is a schematic diagram of the structure of a rear wheel braking force distribution device disclosed in an embodiment of this application;

[0023] Figure 5 This is a schematic diagram of the structure of a vehicle disclosed in an embodiment of this application. Detailed Implementation

[0024] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0025] 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. Without further limitations, 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. Furthermore, components, features, and elements with the same names in different embodiments of this application may have the same meaning or different meanings, the specific meaning of which must be determined by its interpretation in that specific embodiment or further in conjunction with the context of that specific embodiment.

[0026] It should be understood that although the terms first, second, third, etc., may be used herein to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this document, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if," as used herein, may be interpreted as "when," "when," or "in response to determination." Furthermore, as used herein, the singular forms "a," "an," and "the" are intended to also include the plural forms unless the context indicates otherwise. It should be further understood that the terms "comprising," "including," indicate the presence of the stated feature, step, operation, element, component, item, kind, and / or group, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms "or," "and / or," "including at least one of the following," etc., as used in this application, may be interpreted as inclusive, or mean any one or any combination thereof. For example, "including at least one of the following: A, B, C" means "any one of the following: A; B; C; A and B; A and C; B and C; A and B and C." Similarly, "A, B, or C" or "A, B, and / or C" means "any one of the following: A; B; C; A and B; A and C; B and C; A and B and C." Exceptions to this definition only occur when the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0027] It should be understood that although the steps in the flowcharts of this application's embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0028] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases “if determination” or “if detection (of the stated condition or event)” can be interpreted as “when determination” or “in response to determination” or “when detection (of the stated condition or event)” or “in response to detection (of the stated condition or event).”

[0029] It should be noted that in this application, step designations such as S201 and S202 are used to more clearly and concisely describe the corresponding content, and do not constitute a substantial limitation on the order. In specific implementation, those skilled in the art may execute S202 first and then S201, etc., but these should all be within the protection scope of this application.

[0030] To better understand the technical solutions provided in the embodiments of this application, some key terms involved in the embodiments of this application will be introduced first:

[0031] 1. Maximum electric braking regenerative torque value: This reflects the maximum electric braking capability of the current vehicle. Specifically, it is calculated based on the target vehicle's motor (including electric motor and generator) and battery status. Motor status can include the power values ​​of the electric motor and generator, while battery status can include the vehicle's battery charge and temperature, etc.

[0032] 2. Rear wheel braking torque limit: This is the limit value that triggers the rear wheel lock-up of the target vehicle. In this application, the rear wheel braking torque limit always conforms to the ideal rear wheel braking torque limit. The calculation formula for the rear wheel braking torque limit is as follows: Formula (1):

[0033]

[0034] Where a is the distance from the vehicle's center of gravity to the front axle, b is the distance from the vehicle's center of gravity to the rear axle, h is the vehicle's center of gravity height, m ​​is the vehicle's mass, g is the acceleration due to gravity, u is the coefficient of adhesion, r is the rear wheel rolling radius, and ax is the vehicle's longitudinal acceleration. The coefficient of adhesion is the ratio of the adhesion force to the wheel's normal (perpendicular to the road surface) pressure.

[0035] 3. Required braking torque value: The required braking torque value of the target vehicle can be calculated based on the braking depth (the opening of the brake pedal when the driver depresses it) during the braking process.

[0036] 4. The front wheel brake hydraulic pressure value and the rear wheel brake hydraulic pressure value are the pressures applied by the brakes to the front and rear wheels during vehicle braking.

[0037] Please see Figure 1This is a schematic diagram of a brake force distribution system disclosed in an embodiment of this application, including a brake force distribution module, a brake torque demand module, a VCU (Vehicle Control Unit) module, a vehicle speed calculation module, an ABS (anti-lock brake system) module, and an EBD (Electronic Brakeforce Distribution) module. The VCU module is mainly used to determine the maximum electric braking feedback torque value; the EBD module is mainly used to calculate the rear wheel braking torque limit value; the ABS module is mainly responsible for anti-lock control; the vehicle speed calculation module is mainly used to estimate the current vehicle speed; the brake torque demand module is mainly used to determine the current required braking torque value based on the braking depth; and the brake force distribution module is mainly used to distribute the target electric braking torque value, the front wheel brake hydraulic pressure value, and the rear wheel brake hydraulic pressure value.

[0038] To facilitate understanding of the embodiments of this application, the vehicle remote management method provided in the embodiments of this application is described below.

[0039] S201. Determine the required braking torque value of the target vehicle and the rear wheel braking torque limit value at the current moment.

[0040] In one possible implementation, the target vehicle's speed or anti-lock braking system (ABS) indication information from the previous moment is first determined. If the speed exceeds a speed threshold and the ABS indication information shows the ABS is off, then the target vehicle's required braking torque value and rear wheel braking torque limit value are determined at the current moment. The required braking torque value is calculated based on the braking depth (the degree to which the driver depresses the brake pedal) during braking. The rear wheel braking torque limit value can be determined by... Figure 1 The EBD module determines this. The speed threshold is a set value, and different values ​​can be set for different vehicles. Specifically, it can be set to 5 km / h (5 kilometers per hour).

[0041] In another possible implementation, if the driving speed is less than or equal to a speed threshold, or if the anti-lock braking system (ABS) indicator shows that the ABS is engaged, then the target vehicle is configured with front and rear wheel brake hydraulic pressure values. In this case, electric braking is ineffective; therefore, only the front and rear wheel brake hydraulic pressure values ​​are needed to achieve vehicle braking. Braking force is distributed to the target vehicle based on these values. Specifically: the front wheel brake hydraulic pressure value is determined based on the target vehicle's current required braking torque value; then, the rear wheels are configured with the same braking hydraulic pressure value as the front wheels. Front wheel brake hydraulic pressure value = required braking torque value / (front wheel brake hydraulic pressure to torque conversion coefficient + rear wheel brake hydraulic pressure to torque conversion coefficient).

[0042] The relationship between the front wheel brake hydraulic pressure and torque conversion coefficient (kf), the front wheel brake hydraulic pressure value, and the front wheel hydraulic braking torque value is as follows: Front wheel hydraulic braking torque value = Front wheel brake hydraulic pressure value * Front wheel brake hydraulic pressure and torque conversion coefficient. Similarly, the relationship between the rear wheel brake hydraulic pressure and torque conversion coefficient (kr), the rear wheel brake hydraulic pressure value, and the rear wheel hydraulic braking torque value is as follows: Rear wheel hydraulic braking torque value = Rear wheel brake hydraulic pressure value * Rear wheel brake hydraulic pressure and torque conversion coefficient. The front and rear wheel brake hydraulic pressure and torque conversion coefficients are determined based on factors such as wheelbase, chassis, and brake pad area.

[0043] S202. If the required braking torque value is greater than the rear wheel braking torque limit value, then the rear wheel braking torque value of the target vehicle is configured as the target electric braking torque value, which is the rear wheel braking torque limit value.

[0044] In this scenario, the electric braking capacity can directly meet the rear wheel braking torque limit. Therefore, the rear wheel hydraulic brakes do not need to provide braking force; they only need to maintain the current pressure. In this case, braking force can be supplemented directly through the front wheel hydraulic brakes. Specifically, the target electric braking torque value of the target vehicle is configured as the rear wheel braking torque limit value.

[0045] S203. Configure the front wheel brake hydraulic pressure value of the target vehicle according to the required braking torque value and the rear wheel braking torque limit value.

[0046] Specifically, the front wheel brake hydraulic pressure value = (demanded braking torque value – rear wheel brake torque limit value) / rear wheel brake hydraulic pressure and torque conversion coefficient, and the rear wheel brake hydraulic pressure value = 0.

[0047] S204. Distribute braking force to the target vehicle based on the target electric braking torque value and the front wheel braking hydraulic pressure value.

[0048] In this situation, the braking force of the target vehicle is achieved by the target electric braking torque value and the front wheel braking hydraulic pressure value.

[0049] In one possible implementation, based on step S202, the maximum electric braking regenerative torque value of the target vehicle is determined. The maximum electric braking regenerative torque value of the target vehicle can be determined by… Figure 1 The VCU module determines this. If the maximum electric braking feedback torque value is greater than the rear wheel braking torque limit value, and the required braking torque value is less than or equal to the rear wheel braking torque limit value, then only the target electric braking torque value is configured for the target vehicle; the target electric braking torque value is the required braking torque value; braking force is allocated to the target vehicle based on the target electric braking torque value. This situation indicates that electric braking can achieve braking and only electric braking can achieve braking, so the front wheel braking hydraulic pressure value and the rear wheel braking hydraulic pressure value are both 0. Only the target electric braking torque value needs to be used to allocate braking force to the target vehicle.

[0050] Both of these scenarios aim to prevent the rear wheels of the target vehicle from locking up before the front wheels, and to increase pressure on the front wheels as much as possible when the rear wheels are about to reach the rear wheel braking torque limit.

[0051] In addition to the two situations mentioned above, there are three other situations where the maximum electric braking regenerative torque value is less than or equal to the rear wheel braking torque limit value. These situations involve corresponding distribution strategies, and the specific strategy for distributing braking force to the target vehicle is determined accordingly.

[0052] The first approach: If the target vehicle's current required braking torque is greater than or equal to the maximum electric braking feedback torque and less than or equal to the reference braking torque, then the target vehicle is configured with the target electric braking torque, front wheel brake hydraulic pressure, and rear wheel brake hydraulic pressure. Based on these values, braking force is distributed to the target vehicle. The reference braking torque is the braking torque value corresponding to when the target vehicle's rear wheel combined braking torque reaches the rear wheel braking torque limit. This approach increases brake hydraulic pressure simultaneously on both the front and rear wheels when the maximum electric braking feedback value is reached, thus reducing noise caused by valve body movement during braking.

[0053] The process of configuring the target electric braking torque value, front wheel braking hydraulic pressure value, and rear wheel braking hydraulic pressure value for the target vehicle includes: 1. Configuring the target electric braking torque value of the target vehicle as the maximum electric braking feedback torque value; 2. Obtaining the front wheel braking hydraulic pressure to torque conversion coefficient and the rear wheel braking hydraulic pressure to torque conversion coefficient; 3. Determining the total hydraulic braking torque based on the required braking torque value and the maximum electric braking feedback torque value; 4. Determining the front wheel braking hydraulic pressure value based on the total hydraulic braking torque, the front wheel braking hydraulic pressure to torque conversion coefficient, and the rear wheel braking hydraulic pressure to torque conversion coefficient; 5. Configuring the rear wheel braking hydraulic pressure value to be the same as the front wheel braking hydraulic pressure value.

[0054] Specifically: Target electric braking torque value = Maximum electric braking feedback torque value; Front wheel brake hydraulic pressure value = (Demand braking torque value - Maximum electric braking feedback torque value) / (Front wheel brake hydraulic pressure and torque conversion coefficient + Rear wheel brake hydraulic pressure and torque conversion coefficient); Rear wheel brake hydraulic pressure value = Front wheel brake hydraulic pressure value. Wherein, the demand braking torque value - Maximum electric braking feedback torque value is the second value mentioned above, and the front wheel brake hydraulic pressure and torque conversion coefficient + rear wheel brake hydraulic pressure and torque conversion coefficient is the first value.

[0055] The second approach: If the target vehicle's required braking torque is greater than the reference braking torque, then the target vehicle is configured with a target electric braking torque, front wheel brake hydraulic pressure, and rear wheel brake hydraulic pressure. Based on these values, braking force is distributed to the target vehicle. The total vehicle braking torque is the braking torque value corresponding to when the combined rear wheel braking torque reaches the rear wheel braking torque limit. This scenario describes how the braking force is distributed when the combined rear wheel braking torque reaches the rear wheel braking torque limit but does not meet the target vehicle's required braking torque.

[0056] The process of configuring the target electric braking torque value, front wheel braking hydraulic pressure value, and rear wheel braking hydraulic pressure value for the target vehicle includes: 1. Configuring the target electric braking torque value of the target vehicle as the maximum electric braking feedback torque value; 2. Configuring the front wheel braking hydraulic pressure value according to the required braking torque value and the rear wheel braking torque limit value; 3. Configuring the rear wheel braking hydraulic pressure value according to the maximum electric braking feedback torque value and the rear wheel braking torque limit value.

[0057] Specifically: Target electric braking torque value = Maximum electric braking feedback torque value; Front wheel braking hydraulic pressure value = (Demand braking torque value - Rear wheel braking torque limit value) / Front wheel braking hydraulic pressure and torque conversion coefficient; Rear wheel braking hydraulic pressure value = (Rear wheel braking torque limit value - Maximum electric braking feedback torque value) / Rear wheel braking hydraulic pressure and torque conversion coefficient.

[0058] In one possible implementation, the reference braking torque value mentioned in the two methods above is determined based on the front and rear wheel braking force curves. Specifically, the rear wheel combined braking torque value is first determined based on the maximum electric braking regenerative torque value and the rear wheel brake hydraulic pressure value. When the rear wheel combined braking torque value reaches the rear wheel braking torque limit value, the corresponding rear wheel brake hydraulic pressure value is determined. Then, the front wheel brake hydraulic pressure value is determined from the front and rear wheel braking force curves. Finally, the reference braking torque value is determined based on the determined rear wheel brake hydraulic pressure value, front wheel brake hydraulic pressure value, and maximum electric braking regenerative torque value. The front and rear wheel braking force curves are obtained by determining the braking force distribution ratio of the front and rear brakes according to the vehicle's design and performance requirements, and then plotting the curves based on this ratio.

[0059] The third scenario: If the target vehicle's required braking torque is less than the maximum electric braking feedback torque at the current moment, then the target electric braking torque is configured for the target vehicle; the target electric braking torque is the required braking torque. This situation indicates that electric braking can achieve braking, so the front wheel brake hydraulic pressure and the rear wheel brake hydraulic pressure are both 0. Then, braking force is distributed to the target vehicle based on the target electric braking torque.

[0060] All three methods described above apply when the maximum electric braking regenerative torque value is less than or equal to the rear wheel braking torque limit value. This indicates that the electric braking capacity will not cause the rear wheels to lock up, and the electric braking regeneration capacity can be utilized more fully.

[0061] In this embodiment, the rear wheel braking torque limit value is used as a switch to control rear wheel lock-up, allowing for flexible adjustment of the braking force distribution strategy. This enables the electric braking recovery capability to be utilized as much as possible under different strategies. By limiting the combined braking torque of the rear wheels through the rear wheel braking torque limit value, it is possible to fully utilize the electric braking capability while ensuring that the rear wheels do not lock up before the rear wheels, thus reducing the activation rate of ABS.

[0062] Please see Figure 3 This is a flowchart illustrating another vehicle braking force distribution method disclosed in an embodiment of this application. Figure 3 The text describes how braking force is distributed as the required braking torque changes during braking, specifically including the following steps:

[0063] S301. Determine whether the required braking torque value of the target vehicle at the current moment is 0.

[0064] If the required braking torque is 0, then proceed to step S302; if the required braking torque is not 0, then proceed to step S303.

[0065] S302, Target electric braking torque value = 0, front wheel brake hydraulic pressure value = 0, rear wheel brake hydraulic pressure value = 0.

[0066] S303. Determine whether the target vehicle's speed is less than the speed threshold, or whether the anti-lock braking system is activated.

[0067] If the target vehicle's speed is less than the speed threshold, or the anti-lock braking system (ABS) indicator indicates that the ABS is in the active state, then step S304 is executed; if the target vehicle's speed is greater than or equal to the speed threshold, and the ABS indicator indicates that the ABS is in the deactivated state, then step S305 is executed.

[0068] S304, Configure target electric braking torque value = 0, front wheel braking hydraulic value = rear wheel braking hydraulic value = required braking torque / (rear wheel braking hydraulic and torque conversion coefficient + front wheel braking hydraulic and torque conversion coefficient).

[0069] S305. Determine whether the maximum electric braking feedback torque value is less than or equal to the rear wheel braking torque limit value.

[0070] If yes, that is, the maximum electric regenerative torque value is less than or equal to the rear wheel braking torque limit value, then proceed to step S306; if no, the maximum electric regenerative torque value is greater than the rear wheel braking torque limit value, then proceed to step S307.

[0071] S306. Determine whether the required braking torque value of the target vehicle is less than the maximum electric braking regenerative torque value.

[0072] If the required braking torque value is less than the maximum electric braking regenerative torque value, then proceed to step S308; if the required braking torque value is greater than or equal to the maximum electric braking regenerative torque value, then proceed to step S309.

[0073] S307. Determine whether the required braking torque value of the target vehicle is less than the rear wheel braking torque limit value.

[0074] If yes, that is, the required braking torque value of the target vehicle is less than the rear wheel braking torque limit value, then proceed to step S312; if no, that is, the required braking torque value of the target vehicle is greater than or equal to the rear wheel braking torque limit value, then proceed to step S313.

[0075] S308, Target electric braking torque value = Required braking torque value, Front wheel braking hydraulic pressure value = Rear wheel braking hydraulic pressure value = 0.

[0076] S309. Determine whether the required braking torque value of the target vehicle is less than or equal to the reference braking torque value.

[0077] If the required braking torque value is less than or equal to the reference braking torque value, then step S310 is executed; if the required braking torque value is greater than the reference braking torque value, then step S311 is executed. The reference braking torque is the braking torque value corresponding to when the combined braking torque of the rear wheels of the target vehicle reaches the rear wheel braking torque limit value.

[0078] S310, Target electric braking torque value = Maximum electric braking feedback torque value, Front wheel braking hydraulic value = Rear wheel braking hydraulic value = (Required braking torque value - Maximum electric braking feedback torque value) / (Rear wheel braking hydraulic value to torque conversion coefficient + Front wheel braking hydraulic value to torque conversion coefficient).

[0079] S311, Configure target electric braking torque value = maximum electric braking feedback torque value, front wheel brake hydraulic value = (demanded braking torque value - rear wheel brake torque limit value) / front wheel brake hydraulic and torque conversion coefficient, rear wheel brake hydraulic value = (rear wheel brake torque limit value - maximum electric braking feedback torque value) / rear wheel brake hydraulic and torque conversion coefficient.

[0080] S312, Configure target electric braking torque value = required braking torque value, front wheel braking hydraulic value = rear wheel braking hydraulic value = 0.

[0081] S313, Configure target electric braking torque value = rear wheel braking torque limit value, front wheel braking hydraulic value = (demanded braking torque value - rear wheel braking torque limit value) / front wheel braking hydraulic and torque conversion coefficient, rear wheel braking hydraulic value = 0.

[0082] This application primarily describes how braking force is distributed as the required braking torque increases during the braking process of a target vehicle. Based on the maximum electric braking regenerative torque value that the target vehicle can provide and the rear wheel braking torque limit value, electric braking and front and rear wheel hydraulic braking can be flexibly distributed to maximize the use of the electric braking regeneration function while ensuring that the rear wheels do not lock up.

[0083] The methods of the embodiments of this application have been described in detail above. In order to facilitate better implementation of the above solutions of the embodiments of this application, the apparatus of the embodiments of this application is provided below.

[0084] Please see Figure 4 , Figure 4 This is a schematic diagram of a vehicle brake force distribution device provided in an embodiment of this application. This vehicle brake force distribution device can be used to perform... Figure 2 and Figure 3 Some or all of the steps in the method embodiments shown. For example... Figure 4 As shown, the vehicle braking force distribution device may include, but is not limited to, a determining unit 401, a processing unit 402, and an acquiring unit 403.

[0085] The vehicle brake force distribution device may include the following units:

[0086] The determining unit 401 is used to determine the required braking torque value of the target vehicle and the rear wheel braking torque limit value at the current moment.

[0087] The processing unit 402 is configured to, if the required braking torque value is greater than the rear wheel braking torque limit value, configure the rear wheel braking torque value of the target vehicle as the target electric braking torque value, wherein the target electric braking torque value is the rear wheel braking torque limit value.

[0088] The processing unit 402 is also configured to configure the front wheel brake hydraulic pressure value of the target vehicle according to the required brake torque value and the rear wheel brake torque limit value.

[0089] The processing unit 402 is further configured to distribute braking force to the target vehicle based on the target electric braking torque value and the front wheel braking hydraulic pressure value.

[0090] In one possible implementation, the determining unit 401 is also used to determine the maximum electric braking regenerative torque value of the target vehicle at the current moment;

[0091] The processing unit 402 is further configured to configure a target electric braking torque value only for the target vehicle if the maximum electric braking feedback torque value is greater than the rear wheel braking torque limit value and the required braking torque value is less than or equal to the rear wheel braking torque limit value; the target electric braking torque value is the required braking torque value; and the braking force is allocated to the target vehicle based on the target electric braking torque value.

[0092] In one possible implementation, the determining unit 401 is further configured to determine a corresponding braking force distribution strategy if the maximum electric braking feedback torque value is less than or equal to the rear wheel braking torque limit value.

[0093] The processing unit 402 is also configured to allocate braking force to the target vehicle based on the braking force allocation strategy.

[0094] In one possible implementation, when the processing unit 402 allocates braking force to the target vehicle based on the braking force allocation strategy, it specifically performs the following steps:

[0095] If the required braking torque value of the target vehicle at the current moment is greater than or equal to the maximum electric braking feedback torque value, and less than or equal to the reference braking torque value, then the target vehicle is configured with a target electric braking torque value, a front wheel braking hydraulic pressure value, and a rear wheel braking hydraulic pressure value; wherein, the reference braking torque value refers to the braking torque value corresponding to when the rear wheel braking torque value of the target vehicle reaches the rear wheel braking torque limit value;

[0096] Braking force is distributed to the target vehicle based on the target electric braking torque value, the front wheel braking hydraulic pressure value, and the rear wheel braking hydraulic pressure value.

[0097] In one possible implementation, when the processing unit 402 configures the target electric braking torque value, the front wheel braking hydraulic pressure value, and the rear wheel braking hydraulic pressure value for the target vehicle, it specifically performs the following steps:

[0098] Configure the target electric braking torque value of the target vehicle as the maximum electric braking feedback torque value;

[0099] The front wheel braking hydraulic pressure value is determined based on the required braking torque value and the maximum electric braking feedback torque value.

[0100] The rear wheel brake hydraulic pressure value is configured to be the same as the front wheel brake hydraulic pressure value.

[0101] In one possible implementation, when determining the front wheel brake hydraulic pressure value based on the required braking torque value and the maximum electric braking feedback torque value, the determining unit 401 specifically performs the following steps:

[0102] Obtain the front wheel brake hydraulic pressure to torque conversion coefficient and the rear wheel brake hydraulic pressure to torque conversion coefficient;

[0103] The total hydraulic braking torque is determined based on the required braking torque value and the maximum electric braking feedback torque value.

[0104] The front wheel braking hydraulic pressure is determined based on the total hydraulic braking torque, the front wheel braking hydraulic pressure to torque conversion coefficient, and the rear wheel braking hydraulic pressure to torque conversion coefficient.

[0105] In one possible implementation, the processing unit 402 is further configured to perform the following steps:

[0106] If the required braking torque value of the target vehicle at the current moment is greater than the reference braking torque value, then the target electric braking torque value, the front wheel braking hydraulic pressure value, and the rear wheel braking hydraulic pressure value are configured for the target vehicle.

[0107] Braking force is distributed to the target vehicle based on the target electric braking torque value, the front wheel braking hydraulic pressure value, and the rear wheel braking hydraulic pressure value.

[0108] In one possible implementation, when the processing unit 402 configures the target electric braking torque value, the front wheel braking hydraulic pressure value, and the rear wheel braking hydraulic pressure value for the target vehicle, it specifically performs the following steps:

[0109] Configure the target electric braking torque value of the target vehicle as the maximum electric braking feedback torque value;

[0110] Configure the front wheel braking hydraulic pressure value according to the required braking torque value and the rear wheel braking torque limit value;

[0111] The rear wheel braking hydraulic pressure value is configured based on the maximum electric braking feedback torque value and the rear wheel braking torque limit value.

[0112] In one possible implementation, the determining unit 401 is further configured to determine, based on the ideal braking force curves of the front and rear wheels, a reference braking torque value corresponding to when the rear wheel combined braking torque value of the target vehicle reaches the rear wheel braking torque limit value; the rear wheel combined braking torque value is determined based on the maximum electric braking feedback torque value and the rear wheel braking hydraulic pressure value.

[0113] In one possible implementation, the processing unit 402 is further configured to perform the following steps:

[0114] If the required braking torque value of the target vehicle at the current moment is less than the maximum electric braking feedback torque value, then only the target electric braking torque value is configured for the target vehicle; the target electric braking torque value is the required braking torque value.

[0115] The target electric braking torque value is used to distribute braking force to the target vehicle.

[0116] In one possible implementation, the acquisition unit 403 is used to acquire the current driving speed of the target vehicle or the anti-lock braking system indication information.

[0117] The processing unit 402 is further configured to, if the driving speed is greater than the speed threshold and the anti-lock braking system indication information indicates that the anti-lock braking system is in the off state, perform the step of determining the required braking torque value of the target vehicle and the rear wheel braking torque limit value at the current moment.

[0118] In one possible implementation, the processing unit 402 is further configured to:

[0119] If the driving speed is less than or equal to the speed threshold, or if the anti-lock braking system indicator indicates that the anti-lock braking system is in the activated state, then the front wheel brake hydraulic pressure value and the rear wheel brake hydraulic pressure value are configured for the target vehicle.

[0120] In one possible implementation, when the processing unit 402 configures the front wheel brake hydraulic pressure value and the rear wheel brake hydraulic pressure value for the target vehicle, it specifically performs the following steps:

[0121] Determine the front wheel brake hydraulic pressure value based on the target vehicle's required braking torque value at the current moment;

[0122] The rear wheel brake hydraulic pressure value is configured to be the same as the front wheel brake hydraulic pressure value.

[0123] According to another embodiment of this application, Figure 4 The various units in the vehicle brake force distribution device shown can be individually or entirely combined into one or more other units, or some of the units can be further divided into multiple functionally smaller units. This achieves the same operation without affecting the technical effects of the embodiments of this application. The above-mentioned units are based on logical function division. In practical applications, the function of one unit can also be implemented by multiple units, or the function of multiple units can be implemented by one unit. In other embodiments of this application, the vehicle brake force distribution device may also include other units. In practical applications, these functions can also be implemented with the assistance of other units, and can be implemented collaboratively by multiple units.

[0124] It is understood that the specific implementation of each unit in the vehicle braking force distribution device provided in this application embodiment and the beneficial effects that can be achieved can be referred to the description of the aforementioned vehicle braking force distribution method embodiment, and will not be repeated here.

[0125] This application also provides a vehicle; please refer to [link / reference]. Figure 5 , Figure 5 This is a structural schematic diagram of a vehicle provided in an embodiment of this application. For example... Figure 5 As shown, the vehicle includes a car body 501 and a processing module 502.

[0126] Specifically, the processing module 502 can be used to execute:

[0127] Determine the target vehicle's required braking torque value and the rear wheel braking torque limit value at the current moment;

[0128] If the required braking torque value is greater than the rear wheel braking torque limit value, then the rear wheel braking torque value of the target vehicle is configured as the target electric braking torque value, and the target electric braking torque value is the rear wheel braking torque limit value.

[0129] Configure the front wheel brake hydraulic pressure value of the target vehicle according to the required braking torque value and the rear wheel braking torque limit value;

[0130] The braking force is distributed to the target vehicle based on the target electric braking torque value and the front wheel braking hydraulic pressure value.

[0131] In one possible implementation, the processing module 502 is further configured to perform the following steps:

[0132] Determine the maximum electric braking regenerative torque value of the target vehicle at the current moment;

[0133] If the maximum electric braking feedback torque value is greater than the rear wheel braking torque limit value, and the required braking torque value is less than or equal to the rear wheel braking torque limit value, then only the target electric braking torque value is configured for the target vehicle; the target electric braking torque value is the required braking torque value.

[0134] The target electric braking torque value is used to distribute braking force to the target vehicle.

[0135] In one possible implementation, the processing module 502 is further configured to perform the following steps:

[0136] If the maximum electric braking feedback torque value is less than or equal to the rear wheel braking torque limit value, then the corresponding braking force distribution strategy is determined.

[0137] Based on the braking force distribution strategy, braking force is distributed to the target vehicle.

[0138] In one possible implementation, when the processing module 502 allocates braking force to the target vehicle based on the braking force allocation strategy, it specifically performs the following steps:

[0139] If the required braking torque value of the target vehicle at the current moment is greater than or equal to the maximum electric braking feedback torque value, and less than or equal to the reference braking torque value, then the target vehicle is configured with a target electric braking torque value, a front wheel braking hydraulic pressure value, and a rear wheel braking hydraulic pressure value; wherein, the reference braking torque value refers to the braking torque value corresponding to when the rear wheel braking torque value of the target vehicle reaches the rear wheel braking torque limit value;

[0140] Braking force is distributed to the target vehicle based on the target electric braking torque value, the front wheel braking hydraulic pressure value, and the rear wheel braking hydraulic pressure value.

[0141] In one possible implementation, when the processing module 502 configures the target electric braking torque value, the front wheel braking hydraulic pressure value, and the rear wheel braking hydraulic pressure value for the target vehicle, it specifically performs the following steps:

[0142] Configure the target electric braking torque value of the target vehicle as the maximum electric braking feedback torque value;

[0143] The front wheel braking hydraulic pressure value is determined based on the required braking torque value and the maximum electric braking feedback torque value.

[0144] The rear wheel brake hydraulic pressure value is configured to be the same as the front wheel brake hydraulic pressure value.

[0145] In one possible implementation, when the processing module 502 determines the front wheel brake hydraulic pressure value based on the required braking torque value and the maximum electric braking feedback torque value, it specifically performs the following steps:

[0146] Obtain the front wheel brake hydraulic pressure to torque conversion coefficient and the rear wheel brake hydraulic pressure to torque conversion coefficient;

[0147] The total hydraulic braking torque is determined based on the required braking torque value and the maximum electric braking feedback torque value.

[0148] The front wheel braking hydraulic pressure is determined based on the total hydraulic braking torque, the front wheel braking hydraulic pressure to torque conversion coefficient, and the rear wheel braking hydraulic pressure to torque conversion coefficient.

[0149] In one possible implementation, the processing module 502 is further configured to perform the following steps:

[0150] If the required braking torque value of the target vehicle at the current moment is greater than the reference braking torque value, then the target electric braking torque value, the front wheel braking hydraulic pressure value, and the rear wheel braking hydraulic pressure value are configured for the target vehicle.

[0151] Braking force is distributed to the target vehicle based on the target electric braking torque value, the front wheel braking hydraulic pressure value, and the rear wheel braking hydraulic pressure value.

[0152] In one possible implementation, when the processing module 502 configures the target electric braking torque value, the front wheel braking hydraulic pressure value, and the rear wheel braking hydraulic pressure value for the target vehicle, it specifically performs the following steps:

[0153] Configure the target electric braking torque value of the target vehicle as the maximum electric braking feedback torque value;

[0154] Configure the front wheel braking hydraulic pressure value according to the required braking torque value and the rear wheel braking torque limit value;

[0155] The rear wheel braking hydraulic pressure value is configured based on the maximum electric braking feedback torque value and the rear wheel braking torque limit value.

[0156] In one possible implementation, the processing module 502 is further configured to determine, based on the ideal braking force curves of the front and rear wheels, a reference braking torque value corresponding to when the rear wheel combined braking torque value of the target vehicle reaches the rear wheel braking torque limit value; the rear wheel combined braking torque value is determined based on the maximum electric braking feedback torque value and the rear wheel braking hydraulic pressure value.

[0157] In one possible implementation, the processing module 502 is further configured to perform the following steps:

[0158] If the required braking torque value of the target vehicle at the current moment is less than the maximum electric braking feedback torque value, then only the target electric braking torque value is configured for the target vehicle; the target electric braking torque value is the required braking torque value.

[0159] The target electric braking torque value is used to distribute braking force to the target vehicle.

[0160] In one possible implementation, the processing module 502 is further configured to perform the following steps:

[0161] Obtain the current speed of the target vehicle or the anti-lock braking system indication information;

[0162] If the driving speed is greater than the speed threshold and the anti-lock braking system indication information indicates that the anti-lock braking system is in the off state, then the step of determining the required braking torque value of the target vehicle and the rear wheel braking torque limit value at the current moment is executed.

[0163] In one possible implementation, the processing module 502 is further configured to perform the following steps:

[0164] If the driving speed is less than or equal to the speed threshold, or if the anti-lock braking system indicator indicates that the anti-lock braking system is in the activated state, then the front wheel brake hydraulic pressure value and the rear wheel brake hydraulic pressure value are configured for the target vehicle.

[0165] In one possible implementation, when the processing module 502 configures the front wheel brake hydraulic pressure values ​​and the rear wheel brake hydraulic pressure values ​​for the target vehicle, it specifically performs the following steps:

[0166] Determine the front wheel brake hydraulic pressure value based on the target vehicle's required braking torque value at the current moment;

[0167] The rear wheel brake hydraulic pressure value is configured to be the same as the front wheel brake hydraulic pressure value.

[0168] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps in any of the above method embodiments.

[0169] This application also provides a computer program product, which includes computer program code. When the computer program code is run on a computer, it causes the computer to perform the steps in any of the above method embodiments.

[0170] This application also provides a chip, including a memory and a processor. The memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that a device with the chip installed performs the steps in any of the above method embodiments.

[0171] The steps in the method of this application embodiment can be adjusted, combined, or deleted according to actual needs.

[0172] The units in the device of this application embodiment can be merged, divided, and deleted according to actual needs.

[0173] In this application, the same or similar terms, concepts, technical solutions and / or application scenario descriptions are generally described in detail only when they appear for the first time. When they appear again, they are generally not repeated for the sake of brevity. When understanding the technical solutions and other contents of this application, the same or similar terms, concepts, technical solutions and / or application scenario descriptions that are not described in detail later can be referred to their previous relevant detailed descriptions.

[0174] In this application, the descriptions of the various embodiments have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0175] The technical features of the present application can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of the present application.

[0176] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, controlled terminal, or network device, etc.) to execute the methods of each embodiment of this application.

[0177] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, storage disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0178] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for distributing braking force to a vehicle, characterized in that, The method includes: Determine the target vehicle's required braking torque value and the rear wheel braking torque limit value at the current moment; If the required braking torque value is greater than the rear wheel braking torque limit value, then the rear wheel braking torque value of the target vehicle is configured as the target electric braking torque value, and the target electric braking torque value is the rear wheel braking torque limit value. Configure the front wheel brake hydraulic pressure value of the target vehicle according to the required braking torque value and the rear wheel braking torque limit value; The braking force is distributed to the target vehicle based on the target electric braking torque value and the front wheel braking hydraulic pressure value. Determine the maximum electric braking regenerative torque value of the target vehicle at the current moment; If the maximum electric braking feedback torque value is greater than the rear wheel braking torque limit value, and the required braking torque value is less than or equal to the rear wheel braking torque limit value, then only the target electric braking torque value is configured for the target vehicle; the target electric braking torque value is the required braking torque value. The target electric braking torque value is used to distribute braking force to the target vehicle.

2. The method according to claim 1, characterized in that, The method further includes: If the maximum electric braking feedback torque value is less than or equal to the rear wheel braking torque limit value, then the corresponding braking force distribution strategy is determined. Based on the braking force distribution strategy, braking force is distributed to the target vehicle.

3. The method according to claim 2, characterized in that, The step of allocating braking force to the target vehicle based on the braking force distribution strategy includes: If the required braking torque value of the target vehicle at the current moment is greater than or equal to the maximum electric braking feedback torque value, and less than or equal to the reference braking torque value, then the target vehicle is configured with a target electric braking torque value, a front wheel braking hydraulic pressure value, and a rear wheel braking hydraulic pressure value; wherein, the reference braking torque value refers to the braking torque value corresponding to when the rear wheel braking torque value of the target vehicle reaches the rear wheel braking torque limit value; Braking force is distributed to the target vehicle based on the target electric braking torque value, the front wheel braking hydraulic pressure value, and the rear wheel braking hydraulic pressure value.

4. The method according to claim 3, characterized in that, The step of configuring the target electric braking torque value, front wheel braking hydraulic pressure value, and rear wheel braking hydraulic pressure value for the target vehicle includes: Configure the target electric braking torque value of the target vehicle as the maximum electric braking feedback torque value; The front wheel braking hydraulic pressure value is determined based on the required braking torque value and the maximum electric braking feedback torque value. The rear wheel brake hydraulic pressure value is configured to be the same as the front wheel brake hydraulic pressure value.

5. The method according to claim 4, characterized in that, Determining the front wheel braking hydraulic pressure value based on the required braking torque value and the maximum electric braking feedback torque value includes: Obtain the front wheel brake hydraulic pressure to torque conversion coefficient and the rear wheel brake hydraulic pressure to torque conversion coefficient; The total hydraulic braking torque is determined based on the required braking torque value and the maximum electric braking feedback torque value. The front wheel braking hydraulic pressure value is determined based on the total hydraulic braking torque, the front wheel braking hydraulic pressure to torque conversion coefficient, and the rear wheel braking hydraulic pressure to torque conversion coefficient.

6. The method according to claim 3, characterized in that, The method further includes: If the required braking torque value of the target vehicle at the current moment is greater than the reference braking torque value, then the target vehicle is configured with a target electric braking torque value, a front wheel braking hydraulic pressure value, and a rear wheel braking hydraulic pressure value. Braking force is distributed to the target vehicle based on the target electric braking torque value, the front wheel braking hydraulic pressure value, and the rear wheel braking hydraulic pressure value.

7. The method according to claim 6, characterized in that, The configuration of the target electric braking torque value, front wheel braking hydraulic pressure value, and rear wheel braking hydraulic pressure value for the target vehicle includes: Configure the target electric braking torque value of the target vehicle as the maximum electric braking feedback torque value; Configure the front wheel braking hydraulic pressure value according to the required braking torque value and the rear wheel braking torque limit value; The rear wheel braking hydraulic pressure value is configured based on the maximum electric braking feedback torque value and the rear wheel braking torque limit value.

8. The method according to claim 3 or 6, characterized in that, The method further includes: The reference braking torque value corresponding to when the rear wheel combined braking torque value of the target vehicle reaches the rear wheel braking torque limit value is determined based on the front and rear wheel braking force curves; the rear wheel combined braking torque value is determined based on the maximum electric braking feedback torque value and the rear wheel braking hydraulic value.

9. The method according to claim 3, characterized in that, The method further includes: If the required braking torque value of the target vehicle at the current moment is less than the maximum electric braking feedback torque value, then only the target electric braking torque value is configured for the target vehicle; the target electric braking torque value is the required braking torque value. The target electric braking torque value is used to distribute braking force to the target vehicle.

10. The method according to claim 1, characterized in that, The method further includes: Obtain the current speed of the target vehicle or the anti-lock braking system indication information; If the driving speed is greater than the speed threshold and the anti-lock braking system indication information indicates that the anti-lock braking system is in the off state, then the step of determining the required braking torque value of the target vehicle at the current moment and the rear wheel braking torque limit value is executed.

11. The method according to claim 10, characterized in that, The method further includes: If the driving speed is less than or equal to the speed threshold, or if the anti-lock braking system indicator indicates that the anti-lock braking system is in the activated state, then the front wheel brake hydraulic pressure value and the rear wheel brake hydraulic pressure value are configured for the target vehicle. The braking force is distributed to the target vehicle based on the wheel brake hydraulic value and the rear wheel brake hydraulic value.

12. The method according to claim 11, characterized in that, The step of configuring the front wheel brake hydraulic pressure value and the rear wheel brake hydraulic pressure value for the target vehicle includes: Determine the front wheel brake hydraulic pressure value based on the target vehicle's required braking torque value at the current moment; The rear wheel brake hydraulic pressure value is configured to be the same as the front wheel brake hydraulic pressure value.

13. A vehicle brake force distribution device, characterized in that, The device includes: The determining unit is used to determine the required braking torque value of the target vehicle and the rear wheel braking torque limit value at the current moment; The processing unit is configured to configure the rear wheel braking torque value of the target vehicle as a target electric braking torque value if the required braking torque value is greater than the rear wheel braking torque limit value, wherein the target electric braking torque value is the rear wheel braking torque limit value. The processing unit is also configured to configure the front wheel brake hydraulic pressure value of the target vehicle according to the required brake torque value and the rear wheel brake torque limit value. The processing unit is also configured to distribute braking force to the target vehicle based on the target electric braking torque value and the front wheel braking hydraulic pressure value; The determining unit is also used to determine the maximum electric braking regenerative torque value of the target vehicle at the current moment; The processing unit is further configured to configure a target electric braking torque value only for the target vehicle if the maximum electric braking feedback torque value is greater than the rear wheel braking torque limit value and the required braking torque value is less than or equal to the rear wheel braking torque limit value; the target electric braking torque value is the required braking torque value. The processing unit is also configured to distribute braking force to the target vehicle based on the target electric braking torque value.

14. A vehicle, characterized in that, The vehicle includes a car body and a processing module, the processing module being used to manage the vehicle by performing the method as described in any one of claims 1 to 12.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method as described in any one of claims 1 to 12.

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