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

Abstract

The application discloses a vehicle and a brake control method and device thereof and a storage medium, wherein the brake control method of the vehicle first acquires a motor maximum feedback torque value, a rear wheel brake torque limit value, a whole vehicle demand brake torque value and a whole vehicle brake torque limit value; in the case that the motor maximum feedback torque value is less than or equal to the rear wheel brake torque limit value, if the whole vehicle demand brake torque value is less than or equal to the whole vehicle brake torque limit value, the front wheel hydraulic brake torque value and the rear wheel hydraulic brake torque value of the vehicle are simultaneously increased. Thus, the brake control method of the vehicle in the embodiment can simultaneously increase the brake torque values of the front wheel and the rear wheel of the vehicle according to the whole vehicle demand brake torque of the vehicle, so that the activation probability of ABS can be reduced during the braking process of the vehicle, the energy recovery of the electric brake is improved, and the endurance of the vehicle can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a vehicle and a brake control method and device thereof, and a storage medium. BACKGROUND

[0002] With the rapid development of electric vehicles, the electric vehicles are usually equipped with a brake feedback function, that is, energy is recycled during braking of the vehicle, for example, the recycled energy can be used to charge the battery, thereby improving the endurance of the vehicle.

[0003] In the related art, for the braking of the vehicle, the maximum brake torque available is generally used on the rear wheels, and if the braking demand of the vehicle cannot be met, the brake force is increased by the front wheels, which often causes the ABS (Antilock Brake System) in the vehicle to be activated due to the increase of the wheel slip ratio during braking, and the electric brake function is then exited, so that energy recycling cannot be performed. Therefore, it is necessary to more reasonably analyze the brake force to avoid the brake force being too large to activate the ABS and exit the electric brake function. SUMMARY

[0004] The present application aims to at least solve one of the technical problems in the related art. To this end, one object of the present application is to provide a brake control method for a vehicle, which can increase the brake torque values of the front wheels and the rear wheels of the vehicle according to the whole vehicle demand brake torque, so as to reduce the activation probability of the ABS during braking of the vehicle, improve the energy recycling of the electric brake, and improve the endurance of the vehicle.

[0005] A second object of the present application is to provide a computer-readable storage medium.

[0006] A third object of the present application is to provide a brake control device for a vehicle.

[0007] A fourth object of the present application is to provide a vehicle.

[0008] To achieve the above objects, the first aspect of the present application provides a brake control method for a vehicle, the control method comprising: obtaining a maximum feedback torque value of a motor of the vehicle, a rear wheel brake torque limit value, a whole vehicle demand brake torque value and a whole vehicle brake torque limit value, wherein the whole vehicle brake torque limit value is a whole vehicle brake torque value corresponding to the rear wheel brake torque limit value when the rear wheel brake torque value of the vehicle reaches the rear wheel brake torque limit value; and in the case that the maximum feedback torque value of the motor is less than or equal to the rear wheel brake torque limit value, if the whole vehicle demand brake torque value is less than or equal to the whole vehicle brake torque limit value, simultaneously increasing a front wheel hydraulic brake torque value and a rear wheel hydraulic brake torque value of the vehicle.

[0009] The braking control method of the vehicle in the embodiment determines that the motor maximum feedback torque value is less than or equal to the rear wheel braking torque limit value and the whole vehicle demand braking torque value is less than or equal to the whole vehicle braking torque limit value, which indicates that the braking requirement of the vehicle cannot be met only by the electric braking, so the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value of the vehicle are increased at the same time, so that the activation probability of the ABS in the braking process of the vehicle is reduced, the energy recovery of the electric braking is improved, and the endurance of the vehicle is improved.

[0010] In some embodiments of the application, the front wheel braking hydraulic value of the vehicle is equal to the rear wheel braking hydraulic value.

[0011] In some embodiments of the application, the method further comprises: if the whole vehicle demand braking torque value is greater than the whole vehicle braking torque limit value, continuously increasing the front wheel hydraulic braking torque value, and fixing the rear wheel hydraulic braking torque value as the difference between the rear wheel braking torque limit value and the motor maximum feedback torque value.

[0012] In some embodiments of the application, the method further comprises: if the whole vehicle demand braking torque value is less than the motor maximum feedback torque value, controlling the electric braking torque value of the vehicle to be equal to the whole vehicle demand braking torque value, and controlling the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value to be zero, wherein the motor maximum feedback torque value is less than the whole vehicle braking torque limit value.

[0013] In some embodiments of the application, the whole vehicle braking torque limit value = (the rear wheel braking torque limit value - the motor maximum feedback torque value) * Kf / Kr + the rear wheel braking torque limit value, wherein Kf is a conversion coefficient of the front wheel braking hydraulic value and the front wheel hydraulic braking torque value, and Kr is a conversion coefficient of the rear wheel braking hydraulic value and the rear wheel hydraulic braking torque value.

[0014] In some embodiments of the application, the method further comprises: if the whole vehicle demand braking torque value is less than the rear wheel braking torque limit value when the motor maximum feedback torque value is greater than the rear wheel braking torque limit value, controlling the electric braking torque value of the vehicle to be equal to the whole vehicle demand braking torque value, and controlling the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value to be zero.

[0015] In some embodiments of the present application, the method further comprises: if the whole-vehicle required braking torque value is greater than or equal to the rear wheel braking torque limit value, controlling the electric braking torque value of the vehicle to be equal to the rear wheel braking torque limit value, and controlling the front wheel hydraulic braking torque value to be the difference between the whole-vehicle required braking torque value and the rear wheel braking torque limit value.

[0016] To achieve the above object, the second aspect of the present application provides a computer readable storage medium, which stores a braking control program of a vehicle, and the braking control program of the vehicle, when executed by a processor, implements the braking control method of the vehicle according to the above-mentioned embodiments.

[0017] The computer readable storage medium in the embodiments of the present application, by executing the braking control program of the vehicle stored thereon by the processor, can increase the braking torque values of the front wheels and the rear wheels of the vehicle according to the whole-vehicle required braking torque, so that the activation probability of ABS can be reduced during braking of the vehicle, the energy recovered by electric braking can be improved, and the endurance of the vehicle can be improved.

[0018] To achieve the above object, the third aspect of the present application provides a braking control device of a vehicle, which comprises: an acquisition module, configured to acquire a maximum regenerative torque value of a motor of the vehicle, a rear wheel braking torque limit value, a whole-vehicle required braking torque value and a whole-vehicle braking torque limit value, wherein the whole-vehicle braking torque limit value is a whole-vehicle braking torque value corresponding to the case that the rear wheel braking torque value of the vehicle reaches the rear wheel braking torque limit value; and a control module, configured to, in the case that the maximum regenerative torque value of the motor is less than or equal to the rear wheel braking torque limit value, if the whole-vehicle required braking torque value is less than or equal to the whole-vehicle braking torque limit value, simultaneously increase the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value of the vehicle.

[0019] The braking control device of the vehicle in the embodiments of the present application, by the control module, determines that the maximum regenerative torque value of the motor acquired by the acquisition module is less than or equal to the rear wheel braking torque limit value and the whole-vehicle required braking torque value is less than or equal to the whole-vehicle braking torque limit value, which indicates that only electric braking cannot meet the braking requirements of the vehicle, so the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value of the vehicle are simultaneously increased, so that the activation probability of ABS can be reduced during braking of the vehicle, the energy recovered by electric braking can be improved, and the endurance of the vehicle can be improved.

[0020] To achieve the above object, the fourth aspect of the present application provides a vehicle, which comprises the braking control device of the vehicle according to the above-mentioned embodiments.

[0021] The vehicle of the embodiment of the present application can reduce the activation probability of ABS during braking of the vehicle, improve the energy recovery of electric braking, and improve the endurance of the vehicle by improving the braking torque values of the front wheels and the rear wheels of the vehicle according to the whole-vehicle required braking torque of the vehicle and the braking control device of the vehicle in the above embodiment.

[0022] Additional aspects and advantages of the present application will be described in the following description, will become apparent from the following description, or will be learned through practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a flow chart of a braking control method of a vehicle according to an embodiment of the present application;

[0024] Figure 2 is a schematic diagram of a braking control module of a vehicle according to an embodiment of the present application;

[0025] Figure 3 is a flow chart of a braking control method of a vehicle according to an embodiment of the present application;

[0026] Figure 4 is a structural block diagram of a braking control device of a vehicle according to an embodiment of the present application;

[0027] Figure 5 is a structural block diagram of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0028] Embodiments of the present application are described in detail below with reference to the accompanying drawings, in which like reference numerals indicate like elements or elements having the same or similar function throughout the several views. The embodiments described below are exemplary and are intended to explain the present application, and should not be understood as limiting the present application.

[0029] Embodiments of a vehicle of the present application and a braking control method and device thereof and a storage medium are described below with reference to the accompanying drawings.

[0030] The braking control method of the embodiment of the present application can be applied to an electric vehicle having an electric braking feedback function, so that the braking energy can be recovered during braking of the electric vehicle, and the motor can act as a generator to generate electricity to charge the battery. In order to reduce the activation probability of ABS and improve the energy recovery of electric braking, the endurance of the vehicle can be improved.

[0031] Figure 1 is a flow chart of a braking control method of a vehicle according to an embodiment of the present application.

[0032] As Figure 1As shown, the present application proposes a brake control method of a vehicle, comprising the following steps:

[0033] S10, acquiring the motor maximum feedback torque value of the vehicle, the rear wheel brake torque limit value, the whole vehicle demand brake torque value and the whole vehicle brake torque limit value, wherein the whole vehicle brake torque limit value is the whole vehicle brake torque value corresponding to the rear wheel brake torque limit value when the rear wheel brake torque value reaches the rear wheel brake torque limit value.

[0034] Specifically, first of all, it needs to be pointed out that the brake of the vehicle in this embodiment includes hydraulic brake and motor brake, wherein the hydraulic brake includes front wheel hydraulic brake and rear wheel hydraulic brake, and the motor brake can only include rear wheel motor brake. During the braking process of the vehicle, since the driving speed and ABS state of the vehicle will affect the braking mode, therefore, when the vehicle is controlled to brake, the driving speed and ABS state of the vehicle need to be acquired and judged first. In this embodiment, the driving speed of the vehicle can be acquired through a speedometer or a speed sensor, and the ABS state can be acquired through an ABS module.

[0035] When it is determined that the driving speed of the vehicle is greater than a preset driving speed (such as 5kph) and the ABS is in an inactive state, it indicates that the vehicle can still be braked to recover energy, and specifically, the motor maximum feedback torque value of the vehicle, the rear wheel brake torque limit value, the whole vehicle demand brake torque value and the whole vehicle brake torque limit value can be acquired. The acquisition of the above torque values can be achieved through various sensors on the vehicle, of course, some torque values can be calculated in advance and pre-stored, so they can be directly read from the memory. The whole vehicle brake torque limit value is the whole vehicle brake torque value corresponding to the rear wheel brake torque limit value when the rear wheel brake torque value reaches the rear wheel torque limit value. It can be understood that the rear wheel torque limit value represents the threshold of the activation of the ABS of the vehicle, that is, when the rear wheel brake torque value is greater than or equal to the rear wheel torque limit value, the ABS is activated, otherwise the ABS is not activated. More specifically, the rear wheel brake torque value can be calculated by the following formula: a*mg*u*r / (a+b)+m*ax*h*u*r / (a+b), wherein a is the distance from the vehicle mass center to the front axle, b is the distance from the vehicle mass center to the rear axle, h is the height of the vehicle mass center, m is the mass of the vehicle, g is the acceleration of gravity, u is the road adhesion coefficient, r is the rear wheel rolling radius, and ax is the longitudinal acceleration of the vehicle. In the following embodiments, the calculation method of the rear wheel brake torque value is also the same as the above formula, therefore, in the following embodiments, it will not be described again.

[0036] S20, in the case that the motor maximum feedback torque value is less than or equal to the rear wheel brake torque limit value, if the vehicle demand brake torque value is less than or equal to the vehicle brake torque limit value, the front wheel hydraulic brake torque value and the rear wheel hydraulic brake torque value of the vehicle are simultaneously increased.

[0037] Specifically, the motor maximum feedback torque value is less than or equal to the rear wheel brake torque limit value, which means that after the vehicle is braked by the maximum value of the electric brake torque of the rear wheel of the vehicle, the ABS of the vehicle is not activated, so the brake torque of the rear wheel of the vehicle can be increased in the subsequent hydraulic brake process. Since the vehicle demand brake torque value in the embodiment is less than or equal to the vehicle brake torque limit value, the rear wheel brake torque value will be less than or equal to the rear wheel brake torque limit value before the brake torque of the vehicle is controlled to meet the vehicle demand brake torque value, so the ABS of the vehicle will not be activated. In this case, the embodiment can control the front wheel brake torque value and the rear wheel brake torque value to be increased simultaneously, further slowing down the speed at which the rear wheel brake torque value reaches the rear wheel brake torque limit value, thereby improving the energy recovery time, increasing the energy recovery amount, and further improving the endurance of the vehicle.

[0038] In some embodiments of the application, the front wheel brake hydraulic value and the rear wheel brake hydraulic value of the vehicle are equal.

[0039] Specifically, the hydraulic brake torque is equal to the product of the brake hydraulic value and the conversion coefficient, that is, the front wheel hydraulic brake torque value is equal to the product of the front wheel brake hydraulic value and the front wheel hydraulic torque conversion coefficient, and the rear wheel hydraulic brake torque value is equal to the product of the rear wheel brake hydraulic value and the rear wheel hydraulic torque conversion coefficient. In the embodiment, the front wheel brake hydraulic value and the rear wheel brake hydraulic value are controlled to be equal, and are specifically set to the quotient obtained by dividing the difference between the vehicle demand brake torque value and the motor maximum feedback torque by the sum of the front wheel hydraulic torque conversion coefficient and the rear wheel hydraulic torque conversion coefficient, that is, front wheel brake hydraulic value = rear wheel brake hydraulic value = (vehicle demand brake torque value - motor maximum feedback torque) / (Kf + Kr), wherein Kf represents the front wheel hydraulic torque conversion coefficient, and Kr represents the rear wheel hydraulic torque conversion coefficient. In the embodiment, the front wheel brake hydraulic value and the rear wheel brake hydraulic value are set to be equal, so that the respective amounts of increase of the front wheel hydraulic brake torque value and the rear wheel hydraulic brake torque value in the increasing process will not differ too much, thereby reducing the noise generated in the brake process, and the brake hydraulic values applied by the rear wheel and the front wheel are equal, which can reduce the control difficulty and thereby improve the control precision.

[0040] In some embodiments of the application, the brake control method of the vehicle further comprises: if the vehicle demand brake torque value is greater than the vehicle brake torque limit value, the front wheel hydraulic brake torque value is continuously increased, and the rear wheel hydraulic brake torque value is fixed as the difference between the rear wheel brake torque limit value and the motor maximum feedback torque value.

[0041] Specifically, in the case that the motor maximum feedback torque value is less than or equal to the rear wheel braking torque value, if the vehicle demand braking torque value is greater than the vehicle braking torque limit value, it indicates that in the process of increasing the rear wheel braking torque value, there may be a case that the rear wheel braking torque value is greater than the rear wheel braking torque limit value, which may cause the vehicle to activate ABS, therefore, for this case, the rear wheel hydraulic braking torque value is fixed at the difference between the rear wheel braking torque limit value and the motor maximum feedback torque value, and the vehicle demand braking torque value is achieved by increasing the front wheel hydraulic braking torque value.

[0042] It should be noted that the motor maximum feedback torque value in the embodiment is the rear wheel electric braking torque limit value, and the rear wheel braking torque value is equal to the rear wheel electric braking torque value plus the rear wheel hydraulic braking torque value, so in order to improve the energy recovery amount, the embodiment first increases the rear wheel electric braking torque value to the motor maximum feedback torque value, and then the torque difference obtained by subtracting the motor maximum feedback torque value from the rear wheel braking torque limit value is realized by the rear wheel hydraulic braking, that is, the rear wheel hydraulic braking torque value is fixed as the difference. After the electric braking torque value and the rear wheel hydraulic braking torque value are determined, the remaining demand braking torque value is completed by the front wheel hydraulic braking torque value. Therefore, in this embodiment, the electric braking torque value = the motor maximum feedback torque value, the rear wheel hydraulic braking torque value = (the rear wheel braking torque limit value - the motor maximum feedback torque value) / Kr, and the front wheel hydraulic braking torque value = (the vehicle demand braking torque value - the rear wheel braking torque limit value) / Kf.

[0043] In some embodiments of the application, the vehicle braking control method further comprises: if the vehicle demand braking torque value is less than the motor maximum feedback torque value, controlling the electric braking torque value of the vehicle to be equal to the vehicle demand braking torque value, and controlling the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value to be zero, wherein the motor maximum feedback torque value is less than the vehicle braking torque limit value.

[0044] Specifically, in the case that the motor maximum feedback torque value is less than or equal to the rear wheel braking torque value, if the vehicle demand braking torque value is less than the motor maximum feedback torque value, it indicates that the braking demand of the vehicle can be met only by electric braking, therefore, in order to fully utilize energy recovery, the embodiment directly determines the electric braking torque value according to the vehicle demand braking torque value, controls the electric braking torque value to be equal to the vehicle demand braking torque value, and since the electric braking can completely meet the vehicle demand braking torque value, the embodiment also controls the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value to be zero.

[0045] It should be noted that the motor maximum feedback torque value in the embodiment is less than the vehicle braking torque limit value, and the above-described embodiments can be combined. That is, in the case where the motor maximum feedback torque value is less than or equal to the rear wheel braking torque limit value, the vehicle demand braking torque value is divided according to its size, wherein three cases are divided, the first case is that the vehicle demand braking torque value is less than the motor maximum feedback torque value, the second case is that the vehicle demand braking torque value is less than or equal to the vehicle braking torque limit value, and the third case is that the vehicle demand braking torque value is greater than the vehicle braking torque limit value. In the first case, since the vehicle can be braked by electric braking, the electric braking torque value is controlled to be equal to the vehicle demand braking torque value, and the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value are controlled to be zero. In the second case, the electric braking torque value has reached the motor maximum feedback torque value, and the hydraulic braking needs to be used to cooperate to achieve braking. In order to reduce the noise generated by the control valve, the front wheel braking hydraulic value and the rear wheel braking hydraulic value are controlled to be equal, and the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value are increased. In the third case, the sum of the electric braking torque value and the rear wheel hydraulic braking torque value has reached the rear wheel braking torque limit value, but the vehicle demand braking torque value has not been met. In order to avoid activating the vehicle ABS, the rear wheel braking torque value is fixed at the rear wheel braking torque limit value, and then the front wheel hydraulic braking torque value is increased alone to ensure the recovery of braking energy.

[0046] In some embodiments of the application, the vehicle braking torque limit value = (rear wheel braking torque limit value - motor maximum feedback torque value) * Kf / Kr + rear wheel braking torque limit value, wherein Kf is the conversion coefficient of the front wheel braking hydraulic value and the front wheel hydraulic braking torque value, and Kr is the conversion coefficient of the rear wheel braking hydraulic value and the rear wheel hydraulic braking torque value.

[0047] Specifically, the vehicle braking torque limit value is equal to the front wheel braking torque limit value plus the rear wheel braking torque limit value, since the rear wheel braking torque limit value is obtained by adding the rear wheel hydraulic braking torque limit value to the maximum motor feedback torque, and the rear wheel braking hydraulic value is equal to the front wheel braking hydraulic value in the initial improvement process, so the rear wheel braking torque limit value is subtracted from the maximum motor feedback torque to obtain the rear wheel hydraulic braking torque limit value in this embodiment, and then the rear wheel hydraulic braking torque limit value is divided by the rear wheel hydraulic torque conversion coefficient Kr to obtain the rear wheel braking hydraulic value, and since the front wheel braking hydraulic value is equal to the rear wheel braking hydraulic value, the front wheel braking torque limit value is equal to the front wheel braking hydraulic value multiplied by the front wheel hydraulic torque conversion coefficient Kf, and after the front wheel braking torque limit value is calculated, the rear wheel braking torque limit value is added to obtain the vehicle braking torque limit value. Alternatively, the calculation formula of the vehicle braking torque limit value in this embodiment can also be converted to (1+Kf / Kr)*rear wheel braking torque limit value-Kf / Kr*maximum motor feedback torque.

[0048] In some other embodiments of the present application, the vehicle braking control method further comprises: in the case where the maximum motor feedback torque value is greater than the rear wheel braking torque limit value, if the vehicle demand braking torque value is less than the rear wheel braking torque limit value, controlling the electric braking torque value of the vehicle to be equal to the vehicle demand braking torque value, and simultaneously controlling the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value to be zero.

[0049] Specifically, after obtaining the maximum motor feedback torque value, the rear wheel braking torque limit value, the vehicle demand braking torque value and the vehicle braking torque limit value of the vehicle, if it is determined that the maximum motor feedback torque value is greater than the rear wheel braking torque limit value, and the vehicle demand braking torque value is less than the rear wheel braking torque limit value, it indicates that the braking demand of the vehicle can be met only by electric braking, and since the vehicle demand braking torque value is less than the rear wheel braking torque limit value, even if the required braking torque is all realized by controlling the rear wheel, the vehicle ABS will not be activated. Therefore, the electric braking torque value is controlled to be equal to the vehicle demand braking torque value, and the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value are both controlled to be zero.

[0050] In this embodiment, if the vehicle demand braking torque value is greater than or equal to the rear wheel braking torque limit value, the electric braking torque value of the vehicle is controlled to be equal to the rear wheel braking torque limit value, and the front wheel hydraulic braking torque value is controlled to be the difference between the vehicle demand braking torque value and the rear wheel braking torque limit value.

[0051] Specifically, since the maximum feedback torque value of the motor is greater than the rear wheel brake torque limit value, when the vehicle demand brake torque value is greater than or equal to the rear wheel brake torque value, in order to ensure the recovery of braking energy and to ensure that the vehicle ABS is not activated, the electric brake torque value can be controlled to be equal to the rear wheel brake torque limit value, and since the current brake torque value of the rear wheel has reached the limit value, there is no need to increase its brake torque through hydraulic pressure, otherwise the vehicle ABS will be activated, so the remaining required brake torque value is achieved through the front wheel hydraulic brake torque, so the front wheel hydraulic brake torque value is equal to the difference between the vehicle demand brake torque value and the rear wheel brake torque limit value. And the embodiment needs to adjust the front wheel hydraulic value, so the electromagnetic valve needs to be controlled to act less, reduce the operation difficulty, and improve the operation precision.

[0052] More specifically, referring to Figure 2 The brake control method of the vehicle in the embodiment can be executed by a brake force distribution module, wherein the brake parameters can be obtained by a brake torque demand module, a VCU (Vehicle control unit), a vehicle speed calculation module, an ABS module, and an EBD (Electric Brakeforce Dis-tribution) module, etc. In addition, Figure 2 The specific embodiments shown can be a rear-drive vehicle, so the rear wheel electric brake torque value can be equivalent to the motor target brake torque value in this application.

[0053] In summary, referring to Figure 3In a specific embodiment, firstly, it is judged whether the whole vehicle required braking torque value is equal to zero. If it is equal to zero, it indicates that no braking is required at present, and therefore the front wheel braking hydraulic pressure value, the rear wheel braking hydraulic pressure value and the motor target braking torque value can all be set to zero. If it is not equal to zero, it is further judged whether the vehicle speed and the ABS are activated. If the vehicle speed is less than 5 kph or the ABS is activated, the front wheel braking hydraulic pressure value is equal to the whole vehicle required braking torque value / (Kf+Kr), the rear wheel braking hydraulic pressure value is equal to the front wheel braking hydraulic pressure value, and the motor target braking torque value is equal to 0. If the vehicle speed is greater than or equal to 5 kph and the ABS is not activated, it is further judged whether the motor maximum feedback torque value is less than or equal to the rear wheel braking torque limit value. If the motor maximum feedback torque value is less than or equal to the rear wheel braking torque limit value and the whole vehicle required braking torque value is less than the motor maximum feedback torque value, the front wheel braking hydraulic pressure value is equal to 0, the rear wheel braking hydraulic pressure value is equal to 0, and the motor target braking torque value is equal to the whole vehicle required braking torque value. If the whole vehicle required braking torque value is greater than or equal to the motor maximum feedback torque value and the whole vehicle required braking torque value is less than (1+Kf / Kr)*rear wheel braking torque limit value-Kf / Kr*motor maximum feedback torque value, the front wheel braking hydraulic pressure value is equal to (whole vehicle required braking torque value-motor maximum feedback torque value) / (Kf+Kr), the rear wheel braking hydraulic pressure value is equal to the front wheel braking hydraulic pressure value, and the motor target braking torque value is equal to the motor maximum feedback torque value. If the whole vehicle required braking torque value is greater than or equal to (1+Kf / Kr)*rear wheel braking torque limit value-Kf / Kr*motor maximum feedback torque value, the front wheel braking hydraulic pressure value is equal to (whole vehicle required braking torque value-rear wheel braking torque limit value) / Kf, the rear wheel braking hydraulic pressure value is equal to (rear wheel braking torque limit value-motor maximum feedback torque value) / Kr, and the motor target braking torque value is equal to the motor maximum feedback torque. If the motor maximum feedback torque value is greater than the rear wheel braking torque limit value and the whole vehicle required braking torque value is less than the rear wheel braking torque limit value, the front wheel braking hydraulic pressure value is equal to 0, the rear wheel braking hydraulic pressure value is equal to 0, and the motor target braking torque value is equal to the whole vehicle required braking torque value. If the whole vehicle required braking torque value is greater than or equal to the rear wheel braking torque limit value, the front wheel braking hydraulic pressure value is equal to (whole vehicle required braking torque value-rear wheel braking torque limit value) / Kf, the rear wheel braking hydraulic pressure value is equal to 0, and the motor target braking torque value is equal to the rear wheel braking torque limit value.

[0054] It should be noted that in the embodiment, the front wheel braking hydraulic pressure value and the rear wheel braking hydraulic pressure value are calculated, and the front wheel braking hydraulic pressure value and the rear wheel braking hydraulic pressure value are multiplied by corresponding conversion coefficients to obtain corresponding braking torque values.

[0055] In summary, the vehicle braking control method in the embodiment can reduce the activation probability of the ABS during the vehicle braking process, improve the energy recovery of the electric braking, and improve the endurance of the vehicle.

[0056] The application provides a computer readable storage medium, which stores a vehicle braking control program, and the vehicle braking control program is executed by a processor to implement the vehicle braking control method in the above embodiment.

[0057] The computer readable storage medium in the embodiment of the application can improve the braking torque values of the front wheels and the rear wheels of the vehicle according to the whole vehicle demand braking torque, so that the activation probability of the ABS can be reduced during braking, the energy recovery of the electric braking can be improved, and the endurance of the vehicle can be improved.

[0058] Figure 4 The figure is a structural block diagram of the vehicle braking control device in the embodiment of the application.

[0059] As shown in Figure 4 The application provides a vehicle braking control device 100, which comprises an acquisition module 101 and a control module 102.

[0060] The acquisition module 101 is configured to acquire the maximum feedback torque value of the motor of the vehicle, the rear wheel braking torque limit value, the whole vehicle demand braking torque value and the whole vehicle braking torque limit value, wherein the whole vehicle braking torque limit value is the whole vehicle braking torque value corresponding to the rear wheel braking torque limit value when the rear wheel braking torque value of the vehicle reaches the rear wheel braking torque limit value; and the control module 102 is configured to, when the maximum feedback torque value of the motor is less than or equal to the rear wheel braking torque limit value, simultaneously increase the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value of the vehicle if the whole vehicle demand braking torque value is less than or equal to the whole vehicle braking torque limit value.

[0061] In some embodiments of the application, the front wheel braking hydraulic value of the vehicle is equal to the rear wheel braking hydraulic value.

[0062] In some embodiments of the application, the control module 102 is further configured to, if the whole vehicle demand braking torque value is greater than the whole vehicle braking torque limit value, continue to increase the front wheel hydraulic braking torque value, and simultaneously fix the rear wheel hydraulic braking torque value as the difference between the rear wheel braking torque limit value and the maximum feedback torque value of the motor.

[0063] In some embodiments of the application, the control module 102 is further configured to, if the whole vehicle demand braking torque value is less than the maximum feedback torque value of the motor, control the electric braking torque value of the vehicle to be equal to the whole vehicle demand braking torque value, and simultaneously control the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value to be zero, wherein the maximum feedback torque value of the motor is less than the whole vehicle braking torque limit value.

[0064] In some embodiments of the present application, the whole vehicle braking torque limit value = (rear wheel braking torque limit value - maximum motor feedback torque value) * Kf / Kr + rear wheel braking torque limit value, wherein Kf is a conversion coefficient of the front wheel braking hydraulic value and the front wheel hydraulic braking torque value, and Kr is a conversion coefficient of the rear wheel braking hydraulic value and the rear wheel hydraulic braking torque value.

[0065] In some embodiments of the present application, the control module 102 is further configured to, in the case that the maximum motor feedback torque value is greater than the rear wheel braking torque limit value, if the whole vehicle required braking torque value is less than the rear wheel braking torque limit value, control the electric braking torque value of the vehicle to be equal to the whole vehicle required braking torque value, and control the front wheel hydraulic braking torque value and the rear wheel hydraulic braking torque value to be zero.

[0066] In some embodiments of the present application, the control module 102 is further configured to, if the whole vehicle required braking torque value is greater than or equal to the rear wheel braking torque limit value, control the electric braking torque value of the vehicle to be equal to the rear wheel braking torque limit value, and control the front wheel hydraulic braking torque value to be the difference between the whole vehicle required braking torque value and the rear wheel braking torque limit value.

[0067] It should be noted that the specific implementation of the vehicle braking control device in the embodiments of the present application can refer to the specific implementation of the vehicle braking control method in the above embodiments, and to avoid redundancy, it will not be described here.

[0068] In summary, the vehicle braking control device in the embodiments of the present application can reduce the activation probability of ABS during vehicle braking, improve the energy recovery of electric braking, and at the same time, improve the endurance of the vehicle.

[0069] Figure 5 is a structural block diagram of a vehicle according to the embodiments of the present application.

[0070] As Figure 5 shown, the present application proposes a vehicle 1000, which comprises the vehicle braking control device 100 in the above embodiments.

[0071] The vehicle in the embodiments of the present application can reduce the activation probability of ABS during vehicle braking, improve the energy recovery of electric braking, and at the same time, improve the endurance of the vehicle through the vehicle braking control device in the above embodiments.

[0072] In addition, other components and functions of the vehicle in the embodiments of the present application are known to those skilled in the art, and to reduce redundancy, they will not be described here.

[0073] It is to be appreciated that the above description and the examples that follow are intended to be illustrative only and that changes can be made to the description and examples without departing from the scope of the application. Note also that the use of particular brand names in the description is solely for illustration and should not be construed as affecting the scope of the application. Note also that the use of the singular includes the plural unless otherwise indicated. Note also that the use of "or" means "and / or" unless otherwise indicated. Also, the use of "comprise", "comprises", "comprising", "contain", "contains", "containing", "include", "includes", "including" or the like are not intended to be limiting and mean "comprise at least". Note also that, as used in the description, the expression "exemplary" means "an example of".

[0074] It should be understood that aspects of the application can be implemented in hardware, software, firmware or combinations thereof. In the above embodiments, various steps or methods can be implemented in software or firmware that is stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any of the following technologies, known in the art, or combinations thereof, can be used: a discrete logic circuit having logic gates for implementing logic functions upon data signals, an application specific integrated circuit having appropriate combinational logic gates, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0075] In the description of the present application, the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. The appearances of the above terms in various places in the description are not necessarily intended to refer to the same embodiment or example. Furthermore, the described particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0076] In the description of the present application, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0077] In addition, the terms "first", "second", and the like used in the embodiments of the present application are only for the purpose of description, and cannot be understood as indicating or implying relative importance, or implicitly indicating the number of technical features referred to in the embodiments. Therefore, the features defined with "first", "second" and the like in the embodiments of the present application can be explicitly or implicitly indicated to include at least one of the features. In the description of the present application, the meaning of the word "plurality" is at least two or two or more, such as two, three, four, etc., unless otherwise specifically limited in the embodiments.

[0078] In the present application, unless otherwise specifically provided or limited in the embodiments, the terms "mounting", "connecting", "connecting" and "fixing" and the like appearing in the embodiments should be understood broadly, for example, the connection can be fixed connection, or detachable connection, or integral, which can be understood, or can be mechanical connection, electrical connection, etc. Of course, it can also be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements, or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific implementation situation.

[0079] In the present application, unless otherwise specifically provided and limited, the first feature "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0080] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be construed as limiting the present application, and that variations, modifications, substitutions and changes can be made by those skilled in the art without departing from the scope of the present application.

Claims

1. A brake control method of a vehicle, characterized by, The method comprises: obtaining a motor maximum feedback torque value, a rear wheel brake torque limit value, a whole vehicle demand brake torque value and a whole vehicle brake torque limit value of the vehicle, wherein the whole vehicle brake torque limit value is a whole vehicle brake torque value corresponding to the rear wheel brake torque value of the vehicle reaching the rear wheel brake torque limit value; in the case that the motor maximum feedback torque value is less than or equal to the rear wheel brake torque limit value, if the whole vehicle demand brake torque value is less than or equal to the whole vehicle brake torque limit value, the front wheel hydraulic brake torque value and the rear wheel hydraulic brake torque value of the vehicle are simultaneously increased; if the whole vehicle demand brake torque value is greater than the whole vehicle brake torque limit value, the front wheel hydraulic brake torque value is continuously increased, and the rear wheel hydraulic brake torque value is fixed as a difference between the rear wheel brake torque limit value and the motor maximum feedback torque value; wherein the whole vehicle brake torque limit value=(the rear wheel brake torque limit value-the motor maximum feedback torque value)*Kf / Kr+the rear wheel brake torque limit value, wherein Kf is a conversion coefficient of a front wheel brake hydraulic value and the front wheel hydraulic brake torque value, and Kr is a conversion coefficient of a rear wheel brake hydraulic value and the rear wheel hydraulic brake torque value.

2. The brake control method according to claim 1, characterized by, The front wheel brake hydraulic value of the vehicle is equal to the rear wheel brake hydraulic value.

3. The brake control method according to claim 1, characterized by, The method further comprises: if the whole vehicle demand brake torque value is less than the motor maximum feedback torque value, the electric brake torque value of the vehicle is controlled to be equal to the whole vehicle demand brake torque value, and the front wheel hydraulic brake torque value and the rear wheel hydraulic brake torque value are controlled to be zero, wherein the motor maximum feedback torque value is less than the whole vehicle brake torque limit value.

4. The brake control method according to claim 1, characterized by, The method further comprises: in the case that the motor maximum feedback torque value is greater than the rear wheel brake torque limit value, if the whole vehicle demand brake torque value is less than the rear wheel brake torque limit value, the electric brake torque value of the vehicle is controlled to be equal to the whole vehicle demand brake torque value, and the front wheel hydraulic brake torque value and the rear wheel hydraulic brake torque value are controlled to be zero.

5. The brake control method according to claim 4, characterized by, The method further comprises: if the whole vehicle demand brake torque value is greater than or equal to the rear wheel brake torque limit value, the electric brake torque value of the vehicle is controlled to be equal to the rear wheel brake torque limit value, and the front wheel hydraulic brake torque value is controlled to be a difference between the whole vehicle demand brake torque value and the rear wheel brake torque limit value.

6. A computer-readable storage medium, characterized in that, A vehicle brake control program is stored thereon, and the vehicle brake control program is executed by a processor to implement the vehicle brake control method according to any one of claims 1-5.

7. A brake control device of a vehicle characterized by comprising: The device comprises: an obtaining module, configured to obtain a motor maximum feedback torque value, a rear wheel brake torque limit value, a whole vehicle demand brake torque value and a whole vehicle brake torque limit value of the vehicle, wherein the whole vehicle brake torque limit value is a whole vehicle brake torque value corresponding to the rear wheel brake torque value of the vehicle reaching the rear wheel brake torque limit value; The control module is configured to, in a case where the maximum regenerative torque value of the motor is less than or equal to the rear-wheel braking torque limit value, if the vehicle demand braking torque value is less than or equal to the vehicle braking torque limit value, simultaneously increase the front-wheel hydraulic braking torque value and the rear-wheel hydraulic braking torque value of the vehicle; if the vehicle demand braking torque value is greater than the vehicle braking torque limit value, continue to increase the front-wheel hydraulic braking torque value, and fix the rear-wheel hydraulic braking torque value as a difference between the rear-wheel braking torque limit value and the maximum regenerative torque value of the motor; wherein the vehicle braking torque limit value=(the rear-wheel braking torque limit value-the maximum regenerative torque value of the motor)*Kf / Kr+the rear-wheel braking torque limit value, wherein Kf is a conversion coefficient of a front-wheel braking hydraulic value and the front-wheel hydraulic braking torque value, and Kr is a conversion coefficient of a rear-wheel braking hydraulic value and the rear-wheel hydraulic braking torque value.

8. A vehicle characterized by comprising: The brake control device of the vehicle of claim 7 is included. The brake control device of the vehicle of claim 7 is included.

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