A method and device for coordinated control of mechanical and electric braking of a hub motor vehicle

Abstract

The present invention relates to a method and device for coordinated control of mechanical braking and electric braking of a hub motor vehicle, belonging to the field of automobile braking technology, wherein the method comprises: determining the upper limit of power battery charging based on a system fault state; determining the maximum allowable braking torque of the hub motor based on the relationship between the actual power battery charge value and the upper limit of power battery charging; determining the hub motor braking capacity based on the maximum allowable braking torque of the hub motor; determining the intended braking torque of the front and rear axles based on the total braking torque of the vehicle's driving intention; and determining the motor braking torque and mechanical braking torque using an optimal electric braking method based on the intended braking torque of the front and rear axles, the braking capacity of the hub motors of the front and rear axles, the maximum allowable braking torque of the hub motors, and the maximum allowable torque of the mechanical brake. The present invention solves the problem in the prior art that the output capacity of the power battery and hub motor is limited, which leads to the failure to fully utilize the electric braking capacity, resulting in low cruising range and low braking safety.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile braking, and in particular to a method and device for coordinated control of mechanical braking and electric braking of a hub motor automobile. Background Art

[0002] Electric braking can increase the range of electric vehicles. Electric braking and mechanical braking work together to meet the braking needs of the entire vehicle. The electric braking solution for centralized axle motor vehicles uses pure mechanical braking at high and low speeds, and a hybrid of the two at medium speeds.

[0003] In-wheel motor vehicles are a type of electric vehicle drive configuration where each wheel's torque is independently controllable, improving vehicle controllability but also increasing control complexity. During braking, the vehicle must ensure the proper functioning of the power battery and in-wheel motors while also maximizing the motor's braking capacity to achieve the driver's braking intent and extend range. This is especially true during emergency braking, where the output capacity of the power battery and in-wheel motors can be limited. This can lead to inadequate electric braking, resulting in reduced range and poor braking safety. Summary of the Invention

[0004] In view of this, it is necessary to provide a method and device for coordinated control of mechanical braking and electric braking of a hub motor vehicle to solve the problem in the prior art that the output capacity of the power battery and hub motor is limited, which leads to the failure to fully utilize the electric braking capacity, resulting in low cruising range and low braking safety.

[0005] In order to solve the above problems, the present invention provides a method for coordinated control of mechanical braking and electric braking of a hub motor vehicle, comprising:

[0006] Determine the upper limit of power battery charging based on the system fault status obtained by the electronic stability control system;

[0007] Determine the maximum allowable braking torque of the hub motor based on the relationship between the actual power battery capacity and the upper limit of the power battery charge;

[0008] Determine the braking capacity of the hub motor based on the maximum allowable braking torque of the hub motor; determine the intended braking torque of the front and rear axles based on the total braking torque of the vehicle's driving intention;

[0009] The optimal electric braking method is used to determine the motor braking torque and mechanical braking torque based on the intended braking torque of the front and rear axles, the braking capacity of the front and rear axle hub motors, the maximum allowable braking torque of the hub motors, and the maximum allowable torque of the mechanical brake.

[0010] In one possible implementation, determining the upper limit of power battery charging based on the fault status acquired by the electronic stability control system includes:

[0011] When the electronic stability control system feedback system fault is in a non-fault state, the power battery charging upper limit value is set to a first upper limit value;

[0012] When the electronic stability control system feedback system fault is in a faulty state, the power battery charging upper limit value is set to a second upper limit value;

[0013] The upper limit of power battery charging can be expressed by the following formula:

[0014]

[0015] in, The upper limit of power battery charging; charging the power battery to a first upper limit value; charging the power battery to a second upper limit value; System failure reported by the ESC system; Indicates that the system fault reported by the ESC system is in a fault state; Indicates that the system fault reported by the ESC system is in a no-fault state.

[0016] In one possible implementation, determining the maximum allowable braking torque of the hub motor according to the relationship between the actual power battery charge value and the upper limit of the power battery charge value includes:

[0017] When the actual power battery charge value is less than or equal to the power battery charging upper limit, the maximum allowable braking torque of the hub motor is determined based on the correlation between the vehicle's front and rear axle braking torque distribution coefficient, the left and right wheel hub motor speeds, the real-time maximum allowable charging power of the power battery, and the power battery charging power safety factor;

[0018] When the actual power value of the power battery is greater than or equal to the sum of the power battery charging upper limit value and the hysteresis interval, it is determined that the maximum allowable braking torque of the hub motor remains unchanged;

[0019] When the actual power value of the power battery is greater than the power battery charging upper limit value and less than the sum of the power battery charging upper limit value and the hysteresis interval, it is determined that the maximum allowable braking torque of the hub motor remains unchanged.

[0020] In one possible implementation, determining the hub motor braking capacity according to the maximum allowable braking torque of the hub motor includes:

[0021] According to the influence of the maximum allowable braking torque of the hub motor on the motor braking capacity, the quantitative relationship between the maximum allowable braking torque of the hub motor and the motor braking capacity is determined, and the braking capacity of the front axle hub motor and the rear axle hub motor is determined.

[0022] In one possible implementation, the determination of the front and rear axle intended braking torques based on the total braking torque of the vehicle driving intention can be expressed by the following formula:

[0023]

[0024] in: The total braking torque of the vehicle's driving intention; is the intended braking torque on the front axle; is the intended braking torque on the rear axle.

[0025] In one possible implementation, determining the motor braking torque and the mechanical braking torque using an optimal electric braking method based on the intended braking torque of the front and rear axles, the braking capacity of the front and rear axle hub motors, the maximum allowable braking torque of the hub motors, and the maximum allowable torque of the mechanical brake includes:

[0026] According to the system fault status, the intended braking torque of the front and rear axles is compared with the size of the axle hub motor braking to determine the motor braking torque and mechanical braking torque.

[0027] In one possible implementation, comparing the intended braking torques of the front and rear axles with the braking capabilities of the axle hub motors according to the system fault state to determine the motor braking torque and the mechanical braking torque includes:

[0028] When the system fault state is no fault, the motor braking torque and the mechanical braking torque are determined according to the intended braking torque of the front axle and the braking capacity of the front axle wheel hub motor, and according to the intended braking torque of the rear axle and the braking capacity of the rear axle wheel hub motor;

[0029] When the system fault state is faulty, the braking torque of the hub motor is zero.

[0030] In a second aspect, the present invention further provides a coordinated control device for mechanical braking and electric braking of a hub motor vehicle, comprising:

[0031] A first determining module is configured to determine an upper charging limit of the power battery based on a system fault state acquired by the electronic stability control system;

[0032] The second determination module is used to determine the maximum allowable braking torque of the hub motor according to the relationship between the actual power value of the power battery and the upper limit of the power battery charge;

[0033] The third determination module is used to determine the braking capacity of the hub motor according to the maximum allowable braking torque of the hub motor; and determine the intended braking torque of the front and rear axles based on the total braking torque of the vehicle driving intention;

[0034] The coordinated control module is used to determine the motor braking torque and mechanical braking torque using the optimal electric braking method based on the intended braking torque of the front and rear axles, the braking capacity of the front and rear axle hub motors, the maximum allowable braking torque of the hub motors, and the maximum allowable torque of the mechanical brake.

[0035] In a third aspect, the present invention further provides an electronic device, comprising: a processor and a memory;

[0036] The memory stores a computer-readable program executable by the processor;

[0037] When the processor executes the computer-readable program, the steps of the method for coordinated control of mechanical braking and electric braking of a hub motor vehicle are implemented.

[0038] In a fourth aspect, the present invention also provides a computer-readable storage medium, which stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the above-mentioned method for coordinated control of mechanical braking and electric braking of a hub motor vehicle.

[0039] The beneficial effects of the present invention are: by combining the power battery output capacity, the hub motor torque limit constraint with the mechanical hydraulic braking system capacity, the driver's intended braking torque is realized to the greatest extent, which not only avoids the systems from operating beyond their capacity range and thus ensures the working reliability of the vehicle's systems, but also brings into play the maximum capacity of each system to increase cruising range, shorten braking distance, and improve braking safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A method flow chart of an embodiment of a method for coordinated control of mechanical braking and electric braking of a hub motor vehicle provided by the present invention;

[0041] Figure 2 It is a schematic diagram of an embodiment of the coordinated control device for mechanical braking and electric braking of a hub motor vehicle provided by the present invention;

[0042] Figure 3 It is a schematic diagram of the operating environment of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0043] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, and are not used to limit the scope of the present invention.

[0044] A specific embodiment of the present invention discloses a method for coordinated control of mechanical braking and electric braking of a hub motor vehicle. Figure 1 ,include:

[0045] S101. Determine a power battery charging upper limit based on a system fault status obtained by an electronic stability control system.

[0046] S102, determining the maximum allowable braking torque of the hub motor based on the relationship between the actual power battery charge value and the power battery charge upper limit;

[0047] S103, determining the braking capacity of the hub motor according to the maximum allowable braking torque of the hub motor; determining the intended braking torque of the front and rear axles based on the total braking torque of the vehicle driving intention;

[0048] S104. Determine the motor braking torque and the mechanical braking torque using an optimal electric braking method based on the intended braking torque of the front and rear axles, the braking capacity of the front and rear axle hub motors, the maximum allowable braking torque of the hub motors, and the maximum allowable torque of the mechanical brake.

[0049] In this embodiment, the power battery output capacity, the hub motor torque limit constraint and the mechanical hydraulic braking system capacity are combined to maximize the driver's intended braking torque, which not only prevents each system from operating beyond its capacity range and thus ensures the working reliability of each vehicle system, but also maximizes the capacity of each system to increase cruising range, shorten braking distance and improve braking safety.

[0050] It should be noted that a hub motor car is a type of car with an electrically driven wheel hub. This design integrates the electric drive system into the vehicle's wheel hub instead of the traditional central engine drive.

[0051] System failure status refers to the real-time operating status of the system as captured by the vehicle's Electronic Stability Control (ESC). The ESC system is designed to help maintain vehicle stability in the event of a potential loss of control, enhancing driving safety. The ESC system uses sensors to monitor vehicle parameters such as steering, speed, and roll. If a potential loss of control is detected, the system automatically controls the vehicle, such as by independently braking individual wheels or adjusting engine power distribution, to restore stability.

[0052] The upper limit of power battery charging refers to the maximum charge value allowed by the power battery.

[0053] In some embodiments, when the system fault reported by the ESC system is in a non-fault state, the power battery charging upper limit is set to the first power battery charging upper limit, and the power battery charging power safety factor is set to the first power battery charging power safety factor;

[0054] When the ESC system reports a faulty state, the power battery charging upper limit is set to the second power battery charging upper limit, and the power battery charging power safety factor is set to the second power battery charging power safety factor. The power battery charging upper limit and the power battery charging power safety factor are calculated as follows:

[0055]

[0056] in: The upper limit of power battery charging; charging the power battery to a first upper limit value; charging the power battery to a second upper limit value; The power safety factor for charging the power battery; The first safety factor for power battery charging power; The second safety factor for the power battery charging power; System failure reported by the ESC system;

[0057] Further, ; .

[0058] Further, Indicates that the system fault reported by the ESC system is in a fault state; Indicates that the system fault reported by the ESC system is in a non-fault state.

[0059] In some embodiments, determining the maximum allowable braking torque of the hub motor based on the relationship between the actual power battery charge value and the upper charging limit of the power battery includes:

[0060] When the actual power battery SOC is less than or equal to the SOC power battery charging upper limit, the maximum allowable braking torque of the hub motor is equal to the reciprocal of the value obtained by multiplying the front and rear axle braking torque distribution coefficient by the sum of the speeds of the left and right hub motors on the rear axle plus the sum of the speeds of the left and right hub motors on the front axle, multiplied by the real-time maximum allowable charging power of the power battery, multiplied by the power battery charging power safety factor, multiplied by 9550, and the smaller value of the obtained value or the hub motor torque limit value;

[0061] When the actual power battery SOC is greater than or equal to the sum of the SOC power battery charging upper limit and the hysteresis interval, the maximum allowable braking torque of the hub motor is zero;

[0062] When the actual power battery capacity value SOC is greater than the SOC charging upper limit value and less than the sum of the SOC charging upper limit value and the hysteresis interval, the maximum allowable braking torque of the hub motor remains unchanged, which is the maximum allowable braking torque reference value of the hub motor.

[0063] The calculation formula is:

[0064]

[0065] in: The maximum allowable braking torque reference value of the hub motor; The previous moment value of the maximum allowable braking torque reference value of the hub motor; The real-time maximum allowable charging power of the power battery; The actual speed of the left front hub motor is obtained through the left front hub motor speed sensor; The actual speed of the right front wheel hub motor is obtained through the right front wheel hub motor speed sensor; The actual speed of the left rear hub motor is obtained through the left rear hub motor speed sensor; The actual speed of the right rear hub motor is obtained through the right rear hub motor speed sensor; For the speed The left front wheel hub motor torque limit; For the speed The right front wheel hub motor torque limit is set; For the speed The left rear wheel hub motor torque limit; For the speed The torque limit of the right rear wheel hub motor is set; is the actual power value of the power battery; is the hysteresis interval; is the front and rear axle braking torque distribution coefficient, , It can be calibrated to a fixed value, or it can be dynamically calculated in real time using an algorithm. The calculation method is not described in detail in this patent.

[0066] In some embodiments, determining the braking capacity of the hub motor according to the maximum allowable braking torque of the hub motor includes:

[0067] The braking capacity of the front axle hub motor is equal to 2 times the maximum allowable braking torque of the hub motor. The braking capacity of the rear axle hub motor is equal to 2 times the maximum allowable braking torque of the hub motor multiplied by the front and rear axle braking torque distribution coefficient. The calculation formula for the braking capacity of the front and rear axle hub motors is:

[0068]

[0069] in: The braking capacity of the front axle hub motor; The braking capacity of the rear axle hub motor.

[0070] In some embodiments, the intended braking torques of the front and rear axles are calculated based on the total intended braking torque of the vehicle and the braking torque distribution coefficient. The intended braking torque of the front axle is equal to 1 and the inverse of the sum of the front and rear axle braking torque distribution coefficients multiplied by the total intended braking torque of the vehicle. The intended braking torque of the rear axle is equal to the total intended braking torque of the vehicle minus the intended braking torque of the front axle. The calculation formula for the intended braking torques of the front and rear axles is:

[0071]

[0072] in: The total braking torque of the vehicle's driving intention and the brake pedal opening are obtained; is the intended braking torque on the front axle; is the intended braking torque on the rear axle.

[0073] Based on the intended braking torque of the front and rear axles, the braking capacity of the front and rear axle hub motors, the reference value of the maximum allowable braking torque of the hub motors, and the maximum allowable braking torque of the front and rear axle brake calipers, the optimal electric braking method is used to calculate the target braking torque of the four hub motors and the target braking torque of the four brake calipers.

[0074] 1) Calculate the target braking torque of the four-wheel hub motor and the target braking torque of the four brake calipers when the four-wheel hub motor has no faults:

[0075] (1) When the intended braking torque of the front axle is less than or equal to the braking capacity of the front axle hub motor, the target braking torque of the left front hub motor and the target braking torque of the right front hub motor are both equal to half of the intended braking torque of the front axle; the target braking torque of the left front brake caliper and the target braking torque of the right front brake caliper are equal to zero; when the intended braking torque of the front axle is greater than the braking capacity of the front axle hub motor, the target braking torque of the left front hub motor and the target braking torque of the right front hub motor are both equal to the reference value of the maximum allowable braking torque of the hub motor; the target braking torque of the left front brake caliper and the target braking torque of the right front brake caliper are equal to the smaller value of the value obtained by subtracting the braking capacity of the front axle hub motor from the front axle intended braking torque and dividing it by 2, and the maximum allowable braking torque of the front axle brake caliper;

[0076]

[0077] in: is the target braking torque of the left front wheel hub motor; is the target braking torque of the right front wheel hub motor; is the target braking torque of the left front brake caliper; is the target braking torque of the right front brake caliper; The maximum permissible braking torque of the front axle brake caliper is fed back to the ESC system.

[0078] (2) When the intended braking torque of the rear axle is less than or equal to the braking capacity of the rear axle hub motor, the target braking torque of the left rear hub motor and the target braking torque of the right rear hub motor are both equal to half of the intended braking torque of the rear axle; the target braking torque of the left rear brake caliper and the target braking torque of the right rear brake caliper are equal to zero; when the intended braking torque of the rear axle is greater than the braking capacity of the rear axle hub motor, the target braking torque of the left front hub motor and the target braking torque of the right front hub motor are both equal to the maximum allowable braking torque reference value of the hub motor multiplied by the front and rear axle braking torque distribution coefficient; the target braking torque of the left front brake caliper and the target braking torque of the right rear brake caliper are equal to the smaller value of the value obtained by subtracting the braking capacity of the rear axle hub motor from the front axle intended braking torque and dividing it by 2, and the maximum allowable braking torque of the rear axle brake caliper;

[0079]

[0080] Among them: Among them: is the target braking torque of the left rear wheel hub motor; is the target braking torque of the right rear wheel hub motor; is the target braking torque of the left rear brake caliper; is the target braking torque of the right rear brake caliper; The maximum allowable braking torque of the rear axle brake caliper fed back by the ESC system.

[0081] 2) Calculate the target braking torque of the four-wheel hub motor and the target braking torque of the four brake calipers when the four-wheel hub motor fails:

[0082] When there is a fault in the four-wheel hub motor, the target braking torque of the four-wheel hub motor is all zero, the target braking torque of the left front brake caliper and the target braking torque of the right front brake caliper are equal to half of the intended braking torque of the front axle, and the target braking torque of the left rear brake caliper and the target braking torque of the right rear brake caliper are equal to half of the intended braking torque of the rear axle.

[0083]

[0084] Based on the above-mentioned in-wheel motor vehicle mechanical brake and electric brake coordinated control method, the embodiment of the present invention also provides an in-wheel motor vehicle mechanical brake and electric brake coordinated control device, please refer to Figure 2 ,include:

[0085] A first determining module 210 is configured to determine an upper charging limit of the power battery based on a system fault state acquired by the electronic stability control system;

[0086] A second determining module 220 is configured to determine the maximum allowable braking torque of the hub motor according to a relationship between the actual power battery charge value and the upper charging limit of the power battery;

[0087] The third determination module 230 is configured to determine the braking capacity of the hub motor according to the maximum allowable braking torque of the hub motor; and determine the intended braking torque of the front and rear axles based on the total braking torque of the vehicle driving intention;

[0088] The coordination control module 240 is used to determine the motor braking torque and the mechanical braking torque using the optimal electric braking method based on the intended braking torque of the front and rear axles, the braking capacity of the front and rear axle hub motors, the maximum allowable braking torque of the hub motors and the maximum allowable torque of the mechanical brake.

[0089] like Figure 3 As shown, based on the above-mentioned method for coordinated control of mechanical and electric braking in an in-wheel motor vehicle, the present invention also provides an electronic device. The electronic device can be a computing electronic device such as a mobile terminal, desktop computer, notebook, PDA, or server. The electronic device includes a processor 310, a memory 320, and a display 330. Figure 3 Only some of the components of the electronic device are shown, but it should be understood that it is not required to implement all of the shown components, and more or fewer components may be implemented instead.

[0090] In some embodiments, the memory 320 may be an internal storage unit of the electronic device, such as a hard drive or memory within the electronic device. In other embodiments, the memory 320 may also be an external storage device within the electronic device, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, or the like. Furthermore, the memory 320 may include both an internal storage unit and an external storage device. The memory 320 is used to store application software installed in the electronic device and various data, such as program code installed in the electronic device. The memory 320 may also be used to temporarily store data that has been output or is about to be output. In one embodiment, the memory 320 stores a coordinated control program 440 for mechanical and electric braking of an in-wheel motor vehicle. This coordinated control program 340 can be executed by the processor 310 to implement the coordinated control method for mechanical and electric braking of an in-wheel motor vehicle according to various embodiments of the present application.

[0091] In some embodiments, the processor 310 may be a central processing unit (CPU), a microprocessor, or other data processing chip, configured to execute program codes or process data stored in the memory 320 , such as executing a method for coordinated control of mechanical and electric braking of a hub motor vehicle.

[0092] In some embodiments, display 330 can be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 330 is used to display information from the electronic device controlling the coordinated mechanical and electric braking of the in-wheel motor vehicle and to display a visual user interface. Components 310-330 of the electronic device communicate with each other via a system bus.

[0093] Those skilled in the art will appreciate that all or part of the process steps of the above-described embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, such as a magnetic disk, an optical disk, a read-only memory, or a random access memory.

[0094] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

Claims

1. A method for coordinated control of mechanical braking and electric braking of a hub motor vehicle, characterized in that: include: Determine the upper limit of power battery charging based on the system fault status obtained by the electronic stability control system; Determine the maximum allowable braking torque of the hub motor based on the relationship between the actual power battery capacity and the upper limit of the power battery charge; Determine the braking capacity of the hub motor based on the maximum allowable braking torque of the hub motor; determine the intended braking torque of the front and rear axles based on the total braking torque of the vehicle's driving intention; The motor braking torque and mechanical braking torque are determined using the optimal electric braking method based on the intended braking torque of the front and rear axles, the braking capacity of the front and rear axle hub motors, the maximum allowable braking torque of the hub motors, and the maximum allowable torque of the mechanical brake. Determining the maximum allowable braking torque of the hub motor according to the relationship between the actual power battery charge value and the upper limit of the power battery charge value includes: When the actual power battery charge value is less than or equal to the power battery charging upper limit, the maximum allowable braking torque of the hub motor is determined based on the correlation between the vehicle's front and rear axle braking torque distribution coefficient, the left and right wheel hub motor speeds, the real-time maximum allowable charging power of the power battery, and the power battery charging power safety factor; When the actual power value of the power battery is greater than or equal to the sum of the power battery charging upper limit value and the hysteresis interval, it is determined that the maximum allowable braking torque of the hub motor remains unchanged; When the actual power value of the power battery is greater than the power battery charging upper limit value and less than the sum of the power battery charging upper limit value and the hysteresis interval, it is determined that the maximum allowable braking torque of the hub motor remains unchanged.

2. The coordinated control method for mechanical and electric braking of a hub motor vehicle according to claim 1, characterized in that: The determining of the upper limit of the power battery charge based on the system fault status acquired by the electronic stability control system includes: When the electronic stability control system feedback system fault is in a non-fault state, the power battery charging upper limit value is set to a first upper limit value; When the electronic stability control system feedback system fault is in a faulty state, the power battery charging upper limit value is set to a second upper limit value; The upper limit of power battery charging can be expressed by the following formula: in, The upper limit of power battery charging; charging the power battery to a first upper limit value; charging the power battery to a second upper limit value; System failure reported by the ESC system; Indicates that the system fault reported by the ESC system is in a fault state; Indicates that the system fault reported by the ESC system is in a no-fault state.

3. The coordinated control method of mechanical braking and electric braking of a hub motor vehicle according to claim 1, characterized in that: Determining the braking capacity of the hub motor according to the maximum allowable braking torque of the hub motor includes: According to the influence of the maximum allowable braking torque of the hub motor on the motor braking capacity, the quantitative relationship between the maximum allowable braking torque of the hub motor and the motor braking capacity is determined, and the braking capacity of the front axle hub motor and the rear axle hub motor is determined.

4. The coordinated control method for mechanical and electric braking of a hub motor vehicle according to claim 1, characterized in that: The determination of the front and rear axle intended braking torques based on the total braking torque of the vehicle driving intention can be expressed by the following formula: in: The total braking torque of the vehicle's driving intention; is the intended braking torque on the front axle; is the intended braking torque on the rear axle.

5. The coordinated control method for mechanical and electric braking of a hub motor vehicle according to claim 1, characterized in that: The method of determining the motor braking torque and the mechanical braking torque using the optimal electric braking method based on the intended braking torque of the front and rear axles, the braking capacity of the front and rear axle hub motors, the maximum allowable braking torque of the hub motors, and the maximum allowable torque of the mechanical brake comprises: According to the system fault status, the intended braking torque of the front and rear axles is compared with the braking capacity of the axle hub motor to determine the motor braking torque and mechanical braking torque.

6. The coordinated control method for mechanical and electric braking of a hub motor vehicle according to claim 5, characterized in that: The method of comparing the intended braking torque of the front and rear axles with the braking capacity of the axle hub motors according to the system fault state to determine the motor braking torque and the mechanical braking torque includes: When the system fault state is no fault, the motor braking torque and the mechanical braking torque are determined according to the intended braking torque of the front axle and the braking capacity of the front axle wheel hub motor, and according to the intended braking torque of the rear axle and the braking capacity of the rear axle wheel hub motor; When the system fault state is faulty, the braking torque of the hub motor is zero.

7. A coordinated control device for mechanical and electric braking of a hub motor vehicle, characterized in that: include: A first determining module is configured to determine an upper charging limit of the power battery based on a system fault state acquired by the electronic stability control system; The second determination module is used to determine the maximum allowable braking torque of the hub motor according to the relationship between the actual power value of the power battery and the upper limit of the power battery charge; The third determination module is used to determine the braking capacity of the hub motor according to the maximum allowable braking torque of the hub motor; and determine the intended braking torque of the front and rear axles based on the total braking torque of the vehicle driving intention; A coordination control module is used to determine the motor braking torque and the mechanical braking torque using an optimal electric braking method based on the intended braking torque of the front and rear axles, the braking capacity of the front and rear axle hub motors, the maximum allowable braking torque of the hub motors, and the maximum allowable torque of the mechanical brake; Determining the maximum allowable braking torque of the hub motor according to the relationship between the actual power battery charge value and the upper limit of the power battery charge value includes: When the actual power battery charge value is less than or equal to the power battery charging upper limit, the maximum allowable braking torque of the hub motor is determined based on the correlation between the vehicle's front and rear axle braking torque distribution coefficient, the left and right wheel hub motor speeds, the real-time maximum allowable charging power of the power battery, and the power battery charging power safety factor; When the actual power value of the power battery is greater than or equal to the sum of the power battery charging upper limit value and the hysteresis interval, it is determined that the maximum allowable braking torque of the hub motor remains unchanged; When the actual power value of the power battery is greater than the power battery charging upper limit value and less than the sum of the power battery charging upper limit value and the hysteresis interval, it is determined that the maximum allowable braking torque of the hub motor remains unchanged.

8. An electronic device, characterized in that: include: processor and memory; The memory stores a computer-readable program executable by the processor; When the processor executes the computer-readable program, the steps of the method for coordinated control of mechanical braking and electric braking of a hub motor vehicle according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the method for coordinated control of mechanical braking and electric braking of a hub motor vehicle as described in any one of claims 1 to 6.

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