Multi-braking-source coordinated control method and device, vehicle, and storage medium

Abstract

The application provides a kind of multi-braking source coordination control method, device, vehicle and storage medium, belong to vehicle braking technical field, its method includes: obtaining braking request, braking request includes demand braking force and demand response rate;Obtain the braking characteristic of each braking source in multi-braking source, braking characteristic includes maximum braking force and braking response rate;When braking request and braking characteristic do not match, based on braking request and braking characteristic, multi-braking source is combined, and braking combination scheme is obtained, so that the comprehensive braking force and comprehensive braking rate provided by braking combination scheme are consistent with demand braking force and demand response rate respectively.The application carries out multi-braking source control with the goal that the comprehensive braking force and comprehensive braking rate of multi-braking source are consistent with demand braking force and demand response rate respectively when coordinating control to multi-braking source, realizes the consistency of multi-braking source response characteristic, and improves braking smoothness.

Description

Technical Field

[0001] This invention relates to the field of vehicle braking technology, specifically to a multi-braking source coordinated control method, device, vehicle, and storage medium. Background Technology

[0002] Vehicles have multiple braking sources. Traditional gasoline vehicles have foot brakes, handbrakes, and auxiliary brakes, with auxiliary brakes including exhaust braking, engine cylinder braking, and retarder braking. For new energy vehicles, there are auxiliary brakes based on electric motor regenerative braking and service brakes. Hybrid braking is the superposition of different braking modes, including: superposition of different auxiliary braking systems, superposition of auxiliary braking and service brakes, and superposition of regenerative braking and auxiliary braking or service brakes.

[0003] The existing multi-braking source coordinated control scheme works by compensating for insufficient braking force with other braking sources when the braking force is insufficient. However, this scheme has a problem: different braking systems have different braking response rates, and these rates differ from the driver's requested response rate. This results in a mismatch between the compensated braking force's braking response rate and the driver's requested response rate, leading to unstable braking deceleration or failure to accurately follow the driver's expectations, resulting in poor braking smoothness.

[0004] Therefore, there is an urgent need to provide a multi-braking source coordinated control method, device, vehicle, and storage medium to improve braking smoothness during multi-braking source coordinated braking. Summary of the Invention

[0005] In view of this, it is necessary to provide a multi-braking source coordinated control method, device, vehicle and storage medium to solve the technical problem in the prior art that only braking force is considered in the multi-braking source coordinated control process, without considering the braking response rate, resulting in the braking response rate being inconsistent with the requested response rate, and thus leading to poor braking smoothness.

[0006] On the one hand, in order to solve the above-mentioned technical problems, the present invention provides a multi-braking source coordinated control method, including:

[0007] Obtain a braking request, the braking request including the required braking force and the required response rate;

[0008] Obtain the braking characteristics of each of the multiple braking sources, the braking characteristics including maximum braking force and braking response rate;

[0009] When the braking request and the braking characteristics do not match, the multiple braking sources are coordinated and combined based on the braking request and the braking characteristics to obtain a braking combination scheme, so that the comprehensive braking force and comprehensive braking rate provided by the braking combination scheme are consistent with the required braking force and the required response rate, respectively.

[0010] In one possible implementation, the multiple braking sources include regenerative braking, auxiliary braking, and service braking. The preset priority of the multiple braking sources is that regenerative braking is higher than auxiliary braking, and auxiliary braking is higher than service braking. The braking characteristics include a first braking characteristic of the regenerative braking and a second braking characteristic of the auxiliary braking.

[0011] The step of coordinating and combining the multiple braking sources based on the braking request and the braking characteristics to obtain a braking combination scheme includes:

[0012] The combined braking characteristics of the regenerative braking and the auxiliary braking are determined based on the first braking characteristics and the second braking characteristics;

[0013] When the braking request is within the range of the first braking characteristic, the braking request is responded to based on the regenerative braking;

[0014] When the braking request exceeds the range of the first braking characteristic but is within the range of the combined braking characteristic, the regenerative braking is compensated for the difference based on the auxiliary braking, and the braking request is responded to through the regenerative braking and the auxiliary braking.

[0015] When the braking request exceeds the range of the combined braking characteristics, differential compensation is performed on the combined braking of the regenerative braking and the auxiliary braking based on the service braking, and the braking request is responded to through the regenerative braking, the auxiliary braking and the service braking.

[0016] In one possible implementation, the first braking characteristic includes a first maximum braking force and a first braking response rate, and the second braking characteristic includes a second maximum braking force and a second braking response rate.

[0017] The combined braking characteristics of the regenerative braking and the auxiliary braking are determined based on the first braking characteristic, the second braking characteristic, and the third braking characteristic, including:

[0018] The sum of the first maximum braking force and the second maximum braking force is taken as the combined maximum braking force;

[0019] The sum of the first braking response rate and the second braking response rate is taken as the combined braking response rate.

[0020] The combined braking characteristics include the combined maximum braking force and the combined braking response rate.

[0021] In one possible implementation, the differential compensation of the regenerative braking based on the auxiliary braking includes:

[0022] Determine the difference between the required braking force and the first maximum braking force, and the difference between the required response rate and the first braking response rate.

[0023] The braking force difference is compensated based on the second maximum braking force, and the response rate difference is compensated based on the second braking response rate.

[0024] In one possible implementation, the multiple braking sources include regenerative braking, auxiliary braking, and service braking. The braking characteristics also include braking response accuracy, which includes a first braking response accuracy of the regenerative braking, a second braking response accuracy of the auxiliary braking, and a third braking response accuracy of the service braking.

[0025] The multi-braking source coordinated control method further includes:

[0026] Based on the first braking response accuracy, the second braking response accuracy, the third braking response accuracy, and the maximum braking force, the required braking force is allocated to obtain the braking force allocation scheme of the multiple braking sources;

[0027] The braking response is performed based on the braking force distribution scheme.

[0028] In one possible implementation, the allocation of the required braking force based on the first braking response accuracy, the second braking response accuracy, the third braking response accuracy, and the maximum braking force to obtain the braking force allocation scheme of the multiple braking sources includes:

[0029] Determine the first target response accuracy, the second target response accuracy, and the third target response accuracy, which have the highest response accuracy among the first braking response accuracy, the second braking response accuracy, and the third braking response accuracy; determine the second target response accuracy, which has the lowest response accuracy, and the third target response accuracy, which has the middle response accuracy.

[0030] Based on the required braking force, the maximum braking force, and the second target response accuracy, determine the first braking distribution force and the remaining braking force of the braking source corresponding to the second target response accuracy;

[0031] Based on the remaining braking force, the maximum braking force, the third target response accuracy, and the first target response accuracy, determine the second distributed braking force of the braking source corresponding to the third target response accuracy and the third distributed braking force of the braking source corresponding to the first target response accuracy.

[0032] In one possible implementation, obtaining the braking request includes:

[0033] Acquire the brake opening signal, and acquire the feature point signal in the brake opening signal;

[0034] The braking request is determined based on the feature point signals;

[0035] The feature point signal is the maximum, minimum, or median value of the braking opening signal.

[0036] On the other hand, the present invention also provides a multi-braking source coordinated control device, comprising:

[0037] A braking request acquisition unit is used to acquire a braking request, wherein the braking request includes a required braking force and a required response rate.

[0038] A braking characteristic acquisition unit is used to acquire the braking characteristics of each of the multiple braking sources, the braking characteristics including maximum braking force and braking response rate;

[0039] A braking source coordination and control unit is used to coordinate and combine the multiple braking sources based on the braking request and the braking characteristics when the braking request and the braking characteristics do not match, to obtain a braking combination scheme, so that the comprehensive braking force and comprehensive braking rate provided by the braking combination scheme are consistent with the required braking force and the required response rate, respectively.

[0040] On the other hand, the present invention also provides a vehicle including a memory and a processor, wherein,

[0041] The memory is used to store programs;

[0042] The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps in the multi-engine source coordinated control method described in any of the above possible implementations.

[0043] On the other hand, the present invention also provides a computer-readable storage medium storing a program or instructions that, when executed by a processor, implement the steps in the multi-engine coordinated control method described in any of the above possible implementations.

[0044] The beneficial effects of this invention are as follows: The multi-braking source coordinated control method provided by this invention sets the braking request to include the required braking force and the required response rate, and obtains the braking characteristics of multiple braking sources including the maximum braking force and the braking response rate. When coordinating and combining multiple braking sources, the method aims to make the combined braking force and combined braking rate of the multiple braking sources consistent with the required braking force and the required response rate, respectively. This achieves consistency in the response characteristics of multiple braking sources, eliminates the technical problem in the prior art that only considers the braking force in a single dimension and does not consider the braking response rate, resulting in unstable braking deceleration or failure to follow the driver's expectations well, and poor braking smoothness, thus improving braking smoothness. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 A schematic flowchart of an embodiment of the multi-braking source coordinated control method provided by the present invention;

[0047] Figure 2 This is a schematic flowchart of an embodiment of step S103 of the present invention, which involves coordinating and combining multiple braking sources based on braking requests and braking characteristics to obtain a braking combination scheme.

[0048] Figure 3 A schematic diagram of an embodiment of the braking response characteristics provided by the present invention;

[0049] Figure 4 For the present invention Figure 2 A schematic diagram of an embodiment of differential compensation for regenerative braking based on auxiliary braking in step S203;

[0050] Figure 5 A schematic flowchart of an embodiment of the braking force distribution scheme for obtaining multiple braking sources provided by the present invention;

[0051] Figure 6 For the present invention Figure 1 A schematic diagram of an embodiment of step S101;

[0052] Figure 7 A schematic diagram of an embodiment of the multi-braking source coordinated control device provided by the present invention;

[0053] Figure 8 A schematic diagram of an embodiment of the vehicle provided by the present invention. Detailed Implementation

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0055] It should be understood that the illustrative drawings are not drawn to scale. The flowcharts used in this invention illustrate operations implemented according to some embodiments of the invention. It should be understood that the operations in the flowcharts may be implemented out of order, and steps without logical contextual relationships may be reversed or performed simultaneously. Furthermore, those skilled in the art, guided by the content of this invention, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor systems and / or microcontroller systems.

[0056] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0057] This invention provides a multi-braking source coordinated control method, device, vehicle, and storage medium, which are described below.

[0058] Figure 1 This is a schematic flowchart of an embodiment of the multi-braking source coordinated control method provided by the present invention, as shown below. Figure 1 As shown, the multi-braking source coordinated control method includes:

[0059] S101. Obtain a braking request, which includes the required braking force and the required response rate.

[0060] S102. Obtain the braking characteristics of each braking source among the multiple braking sources, including the maximum braking force and braking response rate.

[0061] S103. When the braking request and braking characteristics do not match, multiple braking sources are coordinated and combined based on the braking request and braking characteristics to obtain a braking combination scheme, so that the comprehensive braking force and comprehensive braking rate provided by the braking combination scheme are consistent with the required braking force and required response rate, respectively.

[0062] The multiple braking sources in step S102 include regenerative braking, auxiliary braking, and service braking.

[0063] Specifically, regenerative braking refers to a braking method in which the drive motor operates in a generator state during vehicle braking, and the regenerative braking force of the drive motor is used to brake the vehicle.

[0064] Auxiliary braking refers to auxiliary braking methods such as exhaust braking, engine cylinder braking, and retarder braking. Among these, auxiliary braking does not cause wear and tear on the vehicle.

[0065] Service braking refers to braking methods such as foot brakes and handbrakes that use brake pads, which will cause wear on the brake pads.

[0066] In step S102, the braking characteristics of multiple braking sources are obtained by testing each braking system through bench tests or vehicle tests to obtain the response curves of different braking systems, and then determining the braking characteristics of each braking source through the response curves.

[0067] Among them, the braking characteristics of each braking source and the required braking force in the braking request are as follows: Figure 2 As shown, Figure 2 DrvBrkReq represents the demand braking force, while BrkSystem1, BrkSystem2, and BrkSystem3 represent the service brake, regenerative braking, and auxiliary braking, respectively. Figure 2 The horizontal axis represents time, and the vertical axis represents braking force.

[0068] It should be understood that the mismatch between braking request and braking characteristics in step S103 refers to the fact that the braking force provided by the braking source is not equal to the required braking force, and / or the braking response rate of the braking source is not the same as the required response rate.

[0069] Compared with the prior art, the multi-braking source coordinated control method provided in this embodiment of the invention sets the braking request to include the required braking force and the required response rate, and obtains the braking characteristics of multiple braking sources including the maximum braking force and the braking response rate. When coordinating and combining multiple braking sources, the method aims to make the combined braking force and combined braking rate of the multiple braking sources consistent with the required braking force and the required response rate, respectively. This achieves consistency in the response characteristics of multiple braking sources, eliminates the technical problem in the prior art that only considers the braking force in a single dimension and does not consider the braking response rate, resulting in unstable braking deceleration or failure to follow the driver's expectations well, and poor braking smoothness, thus improving braking smoothness.

[0070] As described above regarding the various braking sources, service braking causes pad wear, auxiliary braking causes no wear, and regenerative braking is a braking method based on energy recovery, which is more economical. Therefore, in some embodiments of the present invention, the preset priority of multiple braking sources is regenerative braking over auxiliary braking, and auxiliary braking over service braking.

[0071] In this embodiment of the invention, by setting the priority of regenerative braking to be higher than that of auxiliary braking, and the priority of auxiliary braking to be higher than that of service braking, the vehicle's braking economy can be ensured first, and the wear of brake pads can be reduced, thereby improving the durability of service braking.

[0072] To ensure that the combined braking force and combined braking rate are consistent with the demand braking force and demand response rate, respectively, in some embodiments of the present invention, the braking characteristics include a first braking characteristic of regenerative braking and a second braking characteristic of auxiliary braking, as follows: Figure 3 As shown, step S103, which coordinates and combines multiple braking sources based on braking requests and braking characteristics to obtain a braking combination scheme, includes:

[0073] S301. Determine the combined braking characteristics when regenerative braking and auxiliary braking are combined based on the first braking characteristics and the second braking characteristics;

[0074] S303. When the braking request is within the range of the first braking characteristic, the braking request is responded to based on regenerative braking.

[0075] S303. When the braking request exceeds the range of the first braking characteristic but is within the range of the combined braking characteristic, the regenerative braking is compensated for the difference based on the auxiliary braking, and the braking request is responded to through the regenerative braking and the auxiliary braking.

[0076] S304. When the braking request exceeds the range of the combined braking characteristics, the combined braking of regenerative braking and auxiliary braking is compensated based on the service braking, and the braking request is responded to through regenerative braking, auxiliary braking and service braking.

[0077] This invention ensures that the braking request can be covered by comparing and judging the range of the braking request with the range of the first braking characteristic and the range of the combined braking characteristic, thereby achieving an accurate response to the braking request.

[0078] It should be noted that braking characteristics also include the third braking characteristics of service braking. The third braking characteristics include the third maximum braking force and the third braking response rate. The range of the third braking characteristics can completely cover braking requests.

[0079] In a specific embodiment of the present invention, the first braking characteristic includes a first maximum braking force and a first braking response rate, and the second braking characteristic includes a second maximum braking force and a second braking response rate; then step S301 includes:

[0080] The sum of the first maximum braking force and the second maximum braking force is taken as the combined maximum braking force, and the sum of the first braking response rate and the second braking response rate is taken as the combined braking response rate.

[0081] In some embodiments of the present invention, such as Figure 4 As shown, step S203, which involves differential compensation of regenerative braking based on auxiliary braking, includes:

[0082] S401. Determine the difference between the required braking force and the first maximum braking force, and the difference between the required response rate and the first braking response rate.

[0083] S402, Compensate for the difference in braking force based on the second maximum braking force, and compensate for the difference in response rate based on the second braking response rate.

[0084] In this embodiment of the invention, a lower-priority braking source is configured to perform differential compensation for a higher-priority braking source. This reduces the braking participation of the lower-priority braking source, further improves energy recovery efficiency, minimizes the involvement of the service brake, further avoids pad wear, and improves the durability of the braking system.

[0085] Similarly, in step S204, the differential compensation for the combined braking of regenerative braking and auxiliary braking based on the service braking is specifically performed as follows: determining the second braking force difference between the required braking force and the combined maximum braking force, and the second response rate difference between the required response rate and the combined response rate; compensating the second braking force difference based on the third maximum braking force; and compensating the second response rate difference based on the third response rate.

[0086] In some embodiments of the present invention, the braking characteristics include braking response accuracy in addition to maximum braking force and braking response rate. Braking response accuracy refers to the step size of each braking source's single braking adjustment. Specifically, braking response accuracy includes the first braking response accuracy of regenerative braking, the second braking response accuracy of auxiliary braking, and the third braking response accuracy of service braking.

[0087] The difference in braking response accuracy among multiple braking sources can also cause technical problems such as uneven braking force response and irregular braking. For example, if the first braking source has a response accuracy of 10, the second braking source has a response accuracy of 100, and the third braking source has a response accuracy of 50, when the second braking source needs to respond, its response accuracy of 100 will cause braking jerking.

[0088] To avoid the technical problems of jerking and uneven braking caused by differences in the response accuracy of multiple braking sources, in some embodiments of the present invention, the multi-braking source coordinated control method further includes:

[0089] Based on the first braking response accuracy, the second braking response accuracy, the third braking response accuracy, and the maximum braking force, the required braking force is allocated to obtain a braking force allocation scheme for multiple braking sources.

[0090] Braking response is based on the braking force distribution scheme to respond to braking requests.

[0091] The embodiments of the present invention allocate the required braking force based on the first braking response accuracy, the second braking response accuracy, the third braking response accuracy, and the maximum braking force. This enables the overall response accuracy of multiple braking sources to be the highest among the three braking response accuracies of regenerative braking, auxiliary braking, and service braking, thereby avoiding jerking sensations and improving braking smoothness.

[0092] It should be noted that when responding to braking requests based on the braking force distribution scheme, the braking response rate and the required response speed should also be considered and adjusted to be equal.

[0093] In some embodiments of the present invention, such as Figure 5 As shown, based on the first braking response accuracy, the second braking response accuracy, the third braking response accuracy, and the maximum braking force, the required braking force is allocated to obtain a multi-braking force allocation scheme, including:

[0094] S501. Determine the first target response accuracy with the highest response accuracy, the second target response accuracy with the lowest response accuracy, and the third target response accuracy with the middle response accuracy among the first braking response accuracy, the second braking response accuracy, and the third braking response accuracy.

[0095] S502. Based on the demand braking force, the maximum braking force, and the second target response accuracy, determine the first braking distribution force and the remaining braking force of the braking source corresponding to the second target response accuracy.

[0096] S503. Based on the remaining braking force, the maximum braking force, the third target response accuracy, and the first target response accuracy, determine the second distribution braking force of the braking source corresponding to the third target response accuracy and the third distribution braking force of the braking source corresponding to the first target response accuracy.

[0097] The embodiments of the present invention determine the distribution braking force corresponding to each braking source by using a response accuracy from high to low, which enables each braking source to achieve braking response without any jerking and ensures braking smoothness.

[0098] In a specific embodiment of the present invention, the second target response accuracy is 100, the third target response accuracy is 50, the first target response accuracy is 10, and the required braking force is 1060. Therefore, the first braking force distribution is 1060 / 100 rounded down, i.e., the first distributed braking force is 1000, and the corresponding remaining braking force is 60. The second distributed braking force is 60 / 50 rounded down, i.e., the second distributed braking force is 50, and the third distributed braking force is the remaining 10. In other words, the remainder between the required braking force and the response accuracy each time represents the compensation accuracy for the difference. Through this method, the overall response accuracy of the multiple braking sources can be made 10, which is the highest response accuracy, improving braking smoothness.

[0099] In traditional solutions, step S101, obtaining the braking request, involves acquiring a braking opening signal over a period of time, then filtering and weighting the signal using methods such as Kalman filtering to obtain the braking request. This process is time-consuming, resulting in low real-time performance of the braking request. To address this technical problem, in some embodiments of the present invention, such as... Figure 6 As shown, step S101 includes:

[0100] S601. Obtain the brake opening signal and the feature point signal in the brake opening signal;

[0101] S602. Determine braking request based on feature point signals;

[0102] Among them, the feature point signal is the maximum, minimum or median value of the braking opening signal.

[0103] The embodiments of the present invention directly extract feature point signals from the braking opening signal and use them as a basis to determine the braking request, without the need for complicated filtering processing, thereby improving the generation efficiency of the braking request and thus improving the real-time performance of the braking request.

[0104] It should be noted that, in order to avoid technical problems caused by interference from external conditions such as vehicle bumps that lead to inaccurate braking requests, the feature point signal is the median value of the brake opening signal.

[0105] To better implement the multi-brake source coordinated control method in the embodiments of the present invention, based on the multi-brake source coordinated control method, the embodiments of the present invention also provide a multi-brake source coordinated control device, such as... Figure 7 As shown, the multi-braking source coordinated control device 700 includes:

[0106] Braking request acquisition unit 701 is used to acquire braking requests, which include the required braking force and the required response rate.

[0107] The braking characteristic acquisition unit 702 is used to acquire the braking characteristics of each braking source among multiple braking sources, including the maximum braking force and braking response rate.

[0108] The braking source coordination and control unit 703 is used to coordinate and combine multiple braking sources based on the braking request and braking characteristics when the braking request and braking characteristics are mismatched, so as to obtain a braking combination scheme and make the comprehensive braking force and comprehensive braking rate provided by the braking combination scheme consistent with the required braking force and required response rate, respectively.

[0109] The multi-brake source coordinated control device 700 provided in the above embodiments can realize the technical solutions described in the above multi-brake source coordinated control method embodiments. The specific implementation principles of each module or unit can be found in the corresponding content in the above multi-brake source coordinated control method embodiments, and will not be repeated here.

[0110] like Figure 8 As shown, the present invention also provides a vehicle 800. The vehicle 800 includes a processor 801, a memory 802, and a display 803. Figure 8 Only some components of vehicle 800 are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0111] In some embodiments, processor 801 may be a central processing unit (CPU), a microprocessor, or other data processing chip, used to run program code stored in memory 802 or process data, such as the multi-power source coordinated control method of the present invention.

[0112] In some embodiments of the present invention, processor 801 may be a single server or a group of servers. The server group may be centralized or distributed. In some embodiments, processor 801 may be local or remote. In some embodiments, processor 801 may be implemented on a cloud platform. In one embodiment, the cloud platform may include a private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, internal cloud, multi-cloud, etc., or any combination thereof.

[0113] In some embodiments, memory 802 may be an internal storage unit of vehicle 800, such as hard disk or memory of vehicle 800.

[0114] Furthermore, the memory 802 may include both internal storage units of the vehicle 800 and external storage devices. The memory 802 is used to store application software and various types of data installed on the vehicle 800.

[0115] In some embodiments, display 803 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 803 is used to display information about vehicle 800 and to display a visual user interface. Components 801-803 of vehicle 800 communicate with each other via a system bus.

[0116] In some embodiments of the present invention, when the processor 801 executes the multi-engine source coordination control program in the memory 802, the following steps can be implemented:

[0117] Obtain a braking request, which includes the required braking force and the required response rate;

[0118] Obtain the braking characteristics of each braking source among multiple braking sources, including maximum braking force and braking response rate;

[0119] When braking demand and braking characteristics do not match, multiple braking sources are coordinated and combined based on the braking demand and braking characteristics to obtain a braking combination scheme, so that the comprehensive braking force and comprehensive braking rate provided by the braking combination scheme are consistent with the required braking force and required response rate, respectively.

[0120] It should be understood that when the processor 801 executes the multi-engine source coordination control program in the memory 802, in addition to the functions mentioned above, it can also perform other functions, as detailed in the description of the corresponding method embodiments above.

[0121] It should be noted that the vehicle can be a hybrid vehicle or a pure electric vehicle.

[0122] Accordingly, embodiments of the present invention also provide a computer-readable storage medium for storing computer-readable programs or instructions. When the programs or instructions are executed by a processor, they can implement the steps or functions of the multi-engine coordinated control method provided in the above-described method embodiments.

[0123] It should be noted that the computer-readable medium shown in the embodiments of the present invention may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. For example, a computer-readable storage medium may be an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0124] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.), and the computer program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0125] The foregoing has provided a detailed description of a multi-braking source coordinated control method, device, vehicle, and storage medium provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A multi-braking-source coordinated control method characterized by comprising: The method comprises: obtaining a braking request, the braking request comprising a required braking force and a required response rate; obtaining braking characteristics of each of a plurality of braking sources, the braking characteristics comprising a maximum braking force and a braking response rate; when the braking request and the braking characteristics do not match, coordinating and combining the plurality of braking sources based on the braking request and the braking characteristics to obtain a braking combination scheme, so that the braking combination scheme provides a combined braking force and a combined braking response rate consistent with the required braking force and the required response rate respectively; the plurality of braking sources comprises regenerative braking, auxiliary braking and service braking; the preset priority of the plurality of braking sources is that the regenerative braking is higher than the auxiliary braking, and the auxiliary braking is higher than the service braking; the braking characteristics comprise first braking characteristics of the regenerative braking and second braking characteristics of the auxiliary braking; then the coordinating and combining the plurality of braking sources based on the braking request and the braking characteristics to obtain a braking combination scheme comprises: determining combined braking characteristics of the regenerative braking and the auxiliary braking when combined braking based on the first braking characteristics and the second braking characteristics; when the braking request is within the range of the first braking characteristics, responding to the braking request based on the regenerative braking; when the braking request is beyond the range of the first braking characteristics and within the range of the combined braking characteristics, compensating the regenerative braking for the difference based on the auxiliary braking, and responding to the braking request based on the regenerative braking and the auxiliary braking; when the braking request is beyond the range of the combined braking characteristics, compensating the combined braking of the regenerative braking and the auxiliary braking for the difference based on the service braking, and responding to the braking request based on the regenerative braking, the auxiliary braking and the service braking; the first braking characteristics comprise a first maximum braking force and a first braking response rate, and the second braking characteristics comprise a second maximum braking force and a second braking response rate; then the determining the combined braking characteristics of the regenerative braking and the auxiliary braking when combined braking based on the first braking characteristics and the second braking characteristics comprises: summing the first maximum braking force and the second maximum braking force as a combined maximum braking force; summing the first braking response rate and the second braking response rate as a combined braking response rate; wherein the combined braking characteristics comprise the combined maximum braking force and the combined braking response rate; the compensating the regenerative braking for the difference based on the auxiliary braking comprises: determining a braking force difference between the required braking force and the first maximum braking force, and a response rate difference between the required response rate and the first braking response rate; compensating the braking force difference based on the second maximum braking force, and compensating the response rate difference based on the second braking response rate.

2. The multi-braking-source coordinated control method according to claim 1, characterized by, The multiple brake sources include regenerative braking, auxiliary braking and service braking; the brake characteristics further include brake response accuracy, and the brake response accuracy includes first brake response accuracy of the regenerative braking, second brake response accuracy of the auxiliary braking and third brake response accuracy of the service braking; The multiple brake source coordination control method further includes: allocating the demand brake force based on the first brake response accuracy, the second brake response accuracy, the third brake response accuracy and the maximum brake force to obtain a brake force allocation scheme of the multiple brake sources; The brake request is responded based on the brake force allocation scheme.

3. The multi-braking-source coordinated control method according to claim 2, characterized by, The allocation of the demand brake force based on the first brake response accuracy, the second brake response accuracy, the third brake response accuracy and the maximum brake force to obtain a brake force allocation scheme of the multiple brake sources includes: determining a first target response accuracy with the highest response accuracy, a second target response accuracy with the lowest response accuracy and a third target response accuracy with the intermediate response accuracy among the first brake response accuracy, the second brake response accuracy and the third brake response accuracy; determining a first brake allocation force of a brake source corresponding to the second target response accuracy and a remaining brake force based on the demand brake force, the maximum brake force and the second target response accuracy; determining a second allocation brake force of a brake source corresponding to the third target response accuracy and a third allocation brake force of a brake source corresponding to the first target response accuracy based on the remaining brake force, the maximum brake force, the third target response accuracy and the first target response accuracy.

4. The multi-braking-source coordinated control method according to claim 1, characterized by, The acquisition of the brake request includes: acquiring a brake opening degree signal and acquiring a feature point signal in the brake opening degree signal; determining the brake request based on the feature point signal; The feature point signal is a maximum value, a minimum value or a median value of the brake opening degree signal.

5. A multi-braking-source coordinated control device characterized by comprising: It includes: a brake request acquisition unit configured to acquire a brake request, the brake request including a demand brake force and a demand response rate; a brake characteristic acquisition unit configured to acquire brake characteristics of each brake source in multiple brake sources, the brake characteristics including a maximum brake force and a brake response rate; a brake source coordination control unit configured to, when the brake request and the brake characteristics are not matched, coordinate and combine the multiple brake sources based on the brake request and the brake characteristics to obtain a brake combination scheme, so that a comprehensive brake force and a comprehensive brake rate provided by the brake combination scheme are consistent with the demand brake force and the demand response rate respectively; The multiple brake sources include regenerative braking, auxiliary braking and service braking; the preset priority of the multiple brake sources is that the regenerative braking is higher than the auxiliary braking, and the auxiliary braking is higher than the service braking; the brake characteristics include first brake characteristics of the regenerative braking and second brake characteristics of the auxiliary braking; The coordination and combination of the multiple brake sources based on the brake request and the brake characteristics to obtain a brake combination scheme includes: determining a combined braking characteristic when the regenerative braking and the auxiliary braking are combined braking based on the first braking characteristic and the second braking characteristic; responding to the braking request based on the regenerative braking when the braking request is within a range of the first braking characteristic; compensating a difference between the regenerative braking based on the auxiliary braking when the braking request is beyond the range of the first braking characteristic and within a range of the combined braking characteristic, and responding to the braking request based on the regenerative braking and the auxiliary braking; compensating a difference between the combined braking of the regenerative braking and the auxiliary braking based on the service braking when the braking request is beyond the range of the combined braking characteristic, and responding to the braking request based on the regenerative braking, the auxiliary braking and the service braking; the first braking characteristic includes a first maximum braking force and a first braking response rate, and the second braking characteristic includes a second maximum braking force and a second braking response rate; determining a combined braking characteristic when the regenerative braking and the auxiliary braking are combined braking based on the first braking characteristic and the second braking characteristic includes: summing the first maximum braking force and the second maximum braking force as a combined maximum braking force; summing the first braking response rate and the second braking response rate as a combined braking response rate; wherein the combined braking characteristic includes the combined maximum braking force and the combined braking response rate; the compensating a difference between the regenerative braking based on the auxiliary braking includes: determining a braking force difference between the required braking force and the first maximum braking force, and a response rate difference between the required response rate and the first braking response rate; compensating the braking force difference based on the second maximum braking force, and compensating the response rate difference based on the second braking response rate.

6. A vehicle characterized by comprising: comprising a memory and a processor, wherein, the memory is configured to store a program; the processor is coupled to the memory and configured to execute the program stored in the memory to implement the steps in the multi-braking source coordination control method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer readable storage medium has a program or instruction stored thereon, and the program or instruction is executed by a processor to implement the steps in the multi-braking source coordination control method according to any one of claims 1 to 4.

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