Brake control method, device and equipment and storage medium

Abstract

The invention discloses a braking control method, device and equipment and a storage medium, and the method comprises the steps that in response to a braking request of a vehicle, whether a driving motor of the vehicle meets braking conditions of the braking request or not is judged, and the braking conditions comprise target braking force needed for providing the braking request; if the braking condition is met, the driving motor is controlled to conduct motor braking so as to provide motor braking force to respond to the braking request; if the braking condition is not met, a driving motor is controlled to conduct motor braking, and a mechanical braking system is controlled to conduct mechanical braking so as to respond to the braking request; when the driving motor can provide the target braking force required by the braking request, the driving motor provides the motor braking force to brake the motor, so that the energy recovery efficiency is effectively improved, the endurance mileage of the vehicle is increased, and when the driving motor cannot provide the target braking force required by the braking request, the energy recovery efficiency of the vehicle is effectively improved. Braking force is provided through motor braking and mechanical braking together, and the braking safety performance is ensured.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a braking control method, device, equipment and storage medium. Background Art

[0002] At present, vehicle braking mainly relies on mechanical braking, and the mechanical braking system is usually provided by brake calipers, brake discs and brake pads. Then, with the development of automobile technology, especially the rise of new energy vehicles, the traditional mechanical braking of automobiles has gradually transitioned to electric control braking. However, the current motor braking is only used as an auxiliary means, and mechanical braking is still the main braking means of vehicle braking. The motor braking capacity is less involved, so the energy cannot be effectively recovered during the braking process, resulting in a lower cruising range of new energy vehicles. Summary of the invention

[0003] The main purpose of the present invention is to provide a braking control method, device, equipment and storage medium, aiming to solve the technical problem that the existing technology cannot effectively recover energy during braking, resulting in a low cruising range of new energy vehicles.

[0004] To achieve the above object, the present invention provides a braking control method, which comprises the following steps:

[0005] In response to a braking request of a vehicle, determining whether a driving motor of the vehicle satisfies a braking condition of the braking request, the braking condition including providing a target braking force required for the braking request;

[0006] If the braking condition is met, controlling the drive motor to perform motor braking to provide motor force to respond to the braking request;

[0007] If the braking condition is not met, the drive motor is controlled to perform motor braking, and the mechanical brake system is controlled to perform mechanical braking to provide motor braking force and mechanical braking force in response to the braking request.

[0008] Optionally, after responding to the braking request, the method further includes:

[0009] Monitoring brake force adjustment events;

[0010] In response to the braking force adjustment event, determining an adjustment strategy corresponding to the braking force adjustment event;

[0011] The drive motor and / or the mechanical brake system are controlled to adjust the electric motor force and / or the mechanical braking force based on the adjustment strategy to provide the adjusted electric motor force and / or the mechanical braking force to continue to respond to the braking request.

[0012] Optionally, the determining an adjustment strategy corresponding to the braking force adjustment event includes:

[0013] Determining an event type corresponding to the braking force adjustment event;

[0014] determining a braking force adjustment object based on current environmental information and the event type;

[0015] determining a target adjustment parameter according to the current environmental information and the current speed of the vehicle;

[0016] An adjustment strategy corresponding to the braking force adjustment event is generated based on the target adjustment parameter and the braking force adjustment object.

[0017] Optionally, the adjustment strategy includes at least one of the following:

[0018] controlling the drive motor to adjust the motor force based on the target adjustment parameter, and controlling the mechanical braking force of the mechanical brake system to remain unchanged, so as to provide the adjusted motor force and the mechanical braking force to continue to respond to the braking request;

[0019] The driving motor is controlled to adjust the motor force based on the target adjustment parameter, and the mechanical brake system is controlled to adjust the mechanical braking force based on the target adjustment parameter to provide the adjusted motor force and the adjusted mechanical braking force to continue to respond to the braking request.

[0020] Optionally, in response to a braking request of the vehicle, determining whether a driving motor of the vehicle meets a braking condition of the braking request includes:

[0021] In response to a braking request of the vehicle, obtaining a current rotation speed of a driving motor of the vehicle;

[0022] Determining the motor power that the drive motor can currently provide based on the current rotation speed;

[0023] It is determined whether the motor force reaches the target braking force to determine whether the drive motor meets the braking condition of the brake request.

[0024] Optionally, the current rotation speed determines the motor power that the drive motor can currently provide, including:

[0025] Obtaining peak external characteristic parameters of the drive motor;

[0026] determining a first braking force corresponding to the current speed based on the peak external characteristic parameter;

[0027] Obtaining a battery power threshold of the vehicle;

[0028] determining a second braking force based on the battery power threshold;

[0029] The motor braking force that the drive motor can currently provide is determined according to the first braking force and the second braking force.

[0030] Optionally, if the braking condition is not met, controlling the drive motor to perform motor braking, and controlling the mechanical braking system to perform mechanical braking, so as to provide motor braking force and mechanical braking force in response to the braking request, comprises:

[0031] If the braking condition is not met, determining the motor braking force that the drive motor can currently provide;

[0032] determining a braking force distribution parameter between the motor braking force and the mechanical braking force based on the motor braking force and the target braking force required by the braking request;

[0033] Determining a target motor braking force and a target mechanical braking force according to the braking force distribution parameter;

[0034] The drive motor is controlled to perform motor braking based on the target motor braking force, and the mechanical brake system is controlled to perform mechanical braking based on the target mechanical braking force to provide the target motor braking force and the target mechanical braking force in response to the braking request.

[0035] In addition, to achieve the above object, the present invention further provides a brake control device, the brake control device comprising:

[0036] a braking judgment module, configured to judge, in response to a braking request of a vehicle, whether a driving motor of the vehicle satisfies a braking condition of the braking request, wherein the braking condition includes providing a target braking force required for the braking request;

[0037] a first braking response module, configured to control the drive motor to perform motor braking to provide motor force to respond to the braking request if the braking condition is met;

[0038] The second braking response module is used to control the driving motor to perform motor braking and control the mechanical braking system to perform mechanical braking if the braking condition is not met, so as to provide motor braking force and mechanical braking force to respond to the braking request.

[0039] In addition, to achieve the above objectives, the present application also proposes a braking control device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the braking control method described above.

[0040] In addition, to achieve the above-mentioned purpose, the present application also proposes a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the braking control method described above are implemented.

[0041] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the braking control method described above are implemented.

[0042] The present invention judges whether the driving motor of the vehicle meets the braking condition of the braking request in response to the braking request of the vehicle, and the braking condition includes providing the target braking force required by the braking request; if the braking condition is met, the driving motor is controlled to perform motor braking to provide motor braking force to respond to the braking request; if the braking condition is not met, the driving motor is controlled to perform motor braking, and the mechanical braking system is controlled to perform mechanical braking to provide motor braking force and mechanical braking force to respond to the braking request; because the present invention effectively improves the energy recovery efficiency and the vehicle cruising range by providing motor braking force through the driving motor when the driving motor can provide the target braking force required by the braking request; when the driving motor cannot provide the target braking force required by the braking request, the braking force is provided by the motor braking and the mechanical braking together to ensure the braking safety performance, thereby realizing the braking control with the motor as the main active and the mechanical braking as the auxiliary; when the motor braking can meet the braking demand, the braking force is provided by the motor braking to improve the kinetic energy recovery efficiency; when the motor braking cannot meet the braking demand, the motor braking and the mechanical braking are assisted by the mechanical braking to achieve the joint participation of the motor braking and the mechanical braking in the vehicle braking, thereby ensuring the braking response speed, shortening the braking distance, and improving the braking safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0044] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0045] Figure 1 It is a structural schematic diagram of a brake control device in a hardware operating environment involved in an embodiment of the present invention;

[0046] Figure 2It is a flowchart of a first embodiment of a braking control method of the present invention;

[0047] Figure 3 A schematic flow chart of a second embodiment of a braking control method according to the present invention;

[0048] Figure 4 A schematic flow chart of a third embodiment of a braking control method according to the present invention;

[0049] Figure 5 It is a structural block diagram of the first embodiment of the brake control device of the present invention.

[0050] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0051] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0052] Reference Figure 1 , Figure 1 It is a schematic diagram of the structure of the brake control device of the hardware operating environment involved in the embodiment of the present invention.

[0053] like Figure 1 As shown, the brake control device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, WI-FI) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM), or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0054] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the brake control device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0055] like Figure 1As shown, the memory 1005 as a computer-readable storage medium may include an operating system, a network communication module, a user interface module, and a brake control program.

[0056] exist Figure 1 In the braking control device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the braking control device of the present invention can be set in the braking control device, and the braking control device calls the braking control program stored in the memory 1005 through the processor 1001, and executes the braking control method provided by the embodiment of the present invention.

[0057] The embodiment of the present invention provides a braking control method, referring to Figure 2 , Figure 2 It is a flowchart diagram of the first embodiment of the braking control method of the present invention.

[0058] In this embodiment, the braking control method includes the following steps:

[0059] Step S10: In response to a braking request of the vehicle, determining whether the driving motor of the vehicle meets the braking condition of the braking request.

[0060] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, etc. The following takes a brake control device (referred to as the control device) as an example to illustrate this embodiment and the following embodiments.

[0061] It should be noted that the braking request can be an input request actively controlled by the driver (for example, the driver steps on the brake pedal to brake), or it can be an input request from the vehicle's braking driving system (for example, an on-board controller monitors whether braking is required based on sensor information collected by on-board sensors, and inputs a braking request in response to the sensor information meeting the braking conditions).

[0062] It should be noted that the braking condition includes providing the target braking force required for the braking request, that is, the braking condition may be that the drive motor and / or the mechanical braking system can provide the target braking force required for the braking request.

[0063] It is understandable that the above-mentioned target braking force can be determined based on information such as vehicle status, wheel status, driver's intention information and / or auxiliary driving system.

[0064] For example, the control device may determine the target braking force based on vehicle state information such as the current posture of the vehicle, a determination result of whether understeering or oversteering occurs, and a determination result of whether skidding occurs.

[0065] For example, the control device may also determine the target braking force based on a wheel state detection result of whether the wheel is locked or reversed.

[0066] For example, the control device can also determine the target braking force based on the driver's intention information such as the accelerator pedal depth (accelerator pedal depth in single-pedal mode), the brake pedal depth, the current driving mode, the current vehicle speed, the current driving scenario (such as a slope parking scenario), etc.

[0067] For example, the control device may also determine the target braking force based on information such as an automatic emergency braking request (Autonomous Emergency Braking, AEB) and a distance keeping request of the auxiliary driving system.

[0068] In some embodiments, the control device can determine the target braking force based on the driver's brake pedal depression depth, the current vehicle speed, the friction parameters between the wheels and the road surface, the current distance to the leading vehicle or surrounding obstacles, etc.

[0069] Step S20: If the braking condition is met, controlling the drive motor to perform motor braking to provide motor force to respond to the braking request.

[0070] It should be noted that the driving motor meeting the braking condition means that the driving motor can provide the target braking force required for the braking request. At this time, there is no need for the mechanical braking system to participate. The vehicle only performs motor braking through the driving motor to provide motor braking force to respond to the braking request, thereby improving the kinetic energy recovery efficiency and increasing the vehicle's cruising range.

[0071] It can be understood that the control device can determine the maximum electric braking force that the drive motor can currently provide based on the motor state and the vehicle state, and judge whether the maximum electric braking force reaches the target braking force. If the target braking force is reached, it is determined that the drive motor meets the braking conditions and the drive motor can provide the target braking force required for the braking request.

[0072] In some embodiments, the control device may determine the maximum motor force that the drive motor can currently provide according to the state of the drive motor, the state of the vehicle battery, the motor characteristic parameters, etc. For example, the control device may determine the maximum motor force that the drive motor can currently provide according to the drive motor temperature, the drive motor voltage, the drive motor current, the vehicle battery power, the vehicle battery temperature, the junction temperature derating characteristic parameters of the internal components of the drive motor, etc.

[0073] Step S30: If the braking condition is not met, the drive motor is controlled to perform motor braking, and the mechanical brake system is controlled to perform mechanical braking to provide motor braking force and mechanical braking force in response to the braking request.

[0074] It should be noted that the driving motor does not meet the braking condition when the driving motor currently provides the target braking force required for the braking request alone. At this time, the motor braking and mechanical braking are required to work together to provide motor braking force and mechanical braking force to respond to the braking request.

[0075] It can be understood that, in response to the drive motor not meeting the braking conditions, the control device distributes the electric braking force provided by the drive motor and the mechanical braking force provided by the mechanical braking system, determines the braking force distribution parameters, and controls the drive motor and the mechanical braking system to provide electric braking force and mechanical braking force respectively in response to the braking request based on the braking force distribution parameters.

[0076] In some embodiments, the control device can determine the braking force that needs to be compensated based on the difference between the maximum electric braking force that the drive motor can currently provide and the target braking force, and determine the mechanical braking force that the mechanical braking system needs to provide based on the braking force that needs to be compensated. For example, the maximum electric braking force that the drive motor can currently provide is A, and the target braking force is B, then the mechanical braking force that the mechanical braking system needs to provide is C (where C=BA), thereby ensuring that motor braking is primary and mechanical braking is auxiliary, thereby improving the vehicle's kinetic energy recovery efficiency during vehicle braking and improving the vehicle's cruising range.

[0077] In a specific implementation, the control device controls the drive motor and the mechanical brake system to provide electric braking force and mechanical braking force respectively to respond to a braking request, and then monitors whether the vehicle reaches the expected braking target. After reaching the braking target, the control device stops responding to the braking request.

[0078] Further, in order to ensure that the motor brake and the mechanical brake can work together efficiently, the above step S30 may include:

[0079] If the braking condition is not met, determining the motor braking force that the drive motor can currently provide;

[0080] determining a braking force distribution parameter between the motor braking force and the mechanical braking force based on the motor braking force and the target braking force required by the braking request;

[0081] Determining a target motor braking force and a target mechanical braking force according to the braking force distribution parameter;

[0082] The drive motor is controlled to perform motor braking based on the target motor braking force, and the mechanical brake system is controlled to perform mechanical braking based on the target mechanical braking force to provide the target motor braking force and the target mechanical braking force in response to the braking request.

[0083] It should be noted that the motor force that the drive motor can currently provide may be the maximum motor force that the drive motor can currently provide.

[0084] It can be understood that the control device can determine the motor power that can be provided by the drive motor based on the current operating state parameters of the motor and the current battery state parameters of the vehicle battery.

[0085] It should be noted that the braking force distribution parameter can be a ratio parameter of the electric braking force and the mechanical braking force. In order to realize a braking strategy with electric braking force as the main and mechanical braking force as the auxiliary, thereby improving the kinetic energy recovery efficiency and improving the vehicle's cruising range, the control device can provide the maximum electric braking force through the drive motor, and the remaining braking force that cannot be provided is compensated by the mechanical braking force. For example, if the target braking force is 100N and the electric braking force that can be provided by the drive motor is 90N, the difference between the electric braking force and the target braking force is provided by the mechanical braking force.

[0086] It should be noted that the mechanical brake system may include disc brakes, drum brakes, etc. Taking the disc brake as an example, the brake disc is fixedly connected to the wheel, and the brake caliper pushes the friction pad to rub against the brake disc to generate braking force. The magnitude of the braking force is proportional to the pressure applied by the brake caliper to the friction pad. The source of the braking force includes hydraulic braking, vacuum braking, motor braking, etc., and the form is not limited.

[0087] In this embodiment, in response to a braking request of the vehicle, it is determined whether the driving motor of the vehicle meets the braking condition of the braking request, wherein the braking condition includes providing the target braking force required by the braking request; if the braking condition is met, the driving motor is controlled to perform motor braking to provide motor braking force to respond to the braking request; if the braking condition is not met, the driving motor is controlled to perform motor braking, and the mechanical braking system is controlled to perform mechanical braking to provide motor braking force and mechanical braking force to respond to the braking request; because the present invention effectively improves the energy recovery efficiency and the vehicle cruising range by providing motor braking force through the driving motor when the driving motor can provide the target braking force required by the braking request; when the driving motor cannot provide the target braking force required by the braking request, the braking force is provided by the motor braking and the mechanical braking together to ensure the braking safety performance, thereby realizing the braking control with the motor as the main active and the mechanical braking as the auxiliary; when the motor braking can meet the braking demand, the braking force is provided by the motor braking to improve the kinetic energy recovery efficiency; when the motor braking cannot meet the braking demand, the motor braking and the mechanical braking are assisted by the mechanical braking to achieve the joint participation of the motor braking and the mechanical braking in the vehicle braking, thereby ensuring the braking response speed, shortening the braking distance, and improving the braking safety.

[0088] refer to Figure 3 , Figure 3 It is a flowchart diagram of the second embodiment of the braking control method of the present invention.

[0089] Based on the first embodiment above, in this embodiment, after step S30, the following is further included:

[0090] Step S40: monitoring a braking force adjustment event.

[0091] It should be noted that the braking force adjustment event may be an event in which the electric braking force and / or the mechanical braking force need to be adjusted in the process of responding to a braking request based on the electric braking force and / or the mechanical braking force. The braking force adjustment event may be an event in which the electric braking force and / or the mechanical braking force need to be reduced during the braking process. For example, the braking force adjustment event may be a wheel locking event. During the braking process, if a wheel locking event occurs, the electric braking force needs to be reduced to achieve motor anti-skid control.

[0092] It should be noted that braking force adjustment events may include wheel locking events, traction control wheel slip events (TCS), braking force distribution events (EBD), vehicle dynamics control events that make the vehicle operating state meet the driver's expectations (VDC), emergency braking events (AEB), etc.

[0093] Step S50: In response to the braking force adjustment event, determining an adjustment strategy corresponding to the braking force adjustment event.

[0094] It should be noted that the adjustment strategy may be to select a corresponding braking force adjustment method according to different braking force adjustment events. For example, the adjustment strategy corresponding to the wheel locking scenario may be to reduce the motor braking force and maintain the mechanical braking force unchanged.

[0095] It is understandable that the control device may determine the event type of the braking force adjustment event, and select an adjustment strategy corresponding to the braking force adjustment event based on the event type.

[0096] For example, when braking in low-adhesion tire scenarios such as icy or flooded roads, if wheel locking is detected, the electric motor force and mechanical braking force are adjusted simultaneously to avoid the situation where the motor is stuck due to excessive mechanical braking force.

[0097] Furthermore, in order to accurately select an adjustment strategy corresponding to the braking force adjustment event to improve braking efficiency and avoid braking failure, the above step S50 may include:

[0098] Step S51: determining the event type corresponding to the braking force adjustment event;

[0099] It should be noted that the control device may select a corresponding adjustment strategy based on the event type, and may also select an adjustment strategy in combination with current environmental information.

[0100] For example, when a vehicle is traveling on icy or flooded roads with low tire adhesion, if the initial braking response to the braking request is a combination of motor braking and mechanical braking, if a wheel lock event occurs, the mechanical braking system and the drive motor are controlled to act simultaneously, that is, the mechanical braking force and the electric braking force are adjusted simultaneously. The mechanical braking force needs to be gradually reduced, and the drive motor enters the speed control mode, thereby avoiding excessive mechanical braking force and continuous maintenance, which may cause the motor to stall.

[0101] Step S52: Determine a braking force adjustment object based on current environmental information and the event type.

[0102] It should be noted that the current environmental information may be environmental information of the vehicle's current driving environment. For example, the current environmental information may include road condition information of the current driving road (such as the friction of the driving road and tire adhesion, etc.), current ambient temperature, current ambient humidity and other information.

[0103] It should be noted that the braking force adjustment object may be a braking force object to be adjusted, and the braking force adjustment object includes a motor braking force and a mechanical braking force.

[0104] It can be understood that the control device determines the braking force adjustment object according to the current environmental information and event type, that is, the braking force to be adjusted is determined based on the current environmental information and event type. For example, when a tire locking event occurs, the braking force adjustment object is the motor braking force. At this time, the motor braking force is adjusted to maintain the mechanical braking force unchanged.

[0105] In some embodiments, the control device determines whether the current driving road surface is a low tire adhesion road surface such as an icy or snowy road surface or a flooded road surface based on current environmental information. If the current driving road surface is a low tire adhesion road surface and a tire locking event occurs at this time, the braking force adjustment object is determined to be the mechanical braking force and the electric braking force. The mechanical braking force and the electric braking force are adjusted simultaneously. The mechanical braking force needs to be gradually reduced, and the drive motor enters the speed control mode to avoid excessive mechanical braking force and continuous maintenance, resulting in motor stalling.

[0106] Step S53: determining a target adjustment parameter according to the current environmental information and the current speed of the vehicle.

[0107] It should be noted that the target adjustment parameter may be a braking force parameter that is expected to be adjusted, or may be a motor speed that is expected to be adjusted, etc.

[0108] It is understandable that the control device can determine the target adjustment parameter based on the current vehicle speed, ground assistance coefficient, ambient temperature, ground type, etc.

[0109] In some embodiments, after the control device detects that the tire slip rate is too large, the motor will enter speed control, where the target adjustment parameter of the speed control can be calculated based on the projected speed of the vehicle speed at the wheel center and the optimal slip rate, where the optimal slip rate can be obtained by looking up a table, and the above-mentioned table input parameters can be ground type, ground auxiliary coefficient, ambient temperature and other information.

[0110] Step S54: generating an adjustment strategy corresponding to the braking force adjustment event based on the target adjustment parameter and the braking force adjustment object.

[0111] It can be understood that the adjustment strategy may be to adjust the braking force parameters of the braking force adjustment object based on the target adjustment parameters.

[0112] For example, the braking force adjustment object is the motor braking force, and the control device adjusts the motor braking force based on the target adjustment parameter.

[0113] Step S60: controlling the drive motor and / or the mechanical brake system to adjust the electric motor force and / or the mechanical braking force based on the adjustment strategy to provide the adjusted electric motor force and / or the mechanical braking force to continue to respond to the braking request.

[0114] Furthermore, in order to select appropriate adjustment strategies in different scenarios to cope with different braking scenarios, thereby improving braking performance and ensuring driving safety, the above adjustment strategies include at least one of the following:

[0115] Based on the target adjustment parameter, the driving motor is controlled to adjust the motor force, and the mechanical braking force of the mechanical brake system is controlled to remain unchanged, so as to provide the adjusted motor force and mechanical braking force to continue to respond to the braking request;

[0116] The drive motor is controlled to adjust the motor force based on the target adjustment parameter, and the mechanical brake system is controlled to adjust the mechanical braking force based on the target adjustment parameter to provide the adjusted motor force and the adjusted mechanical braking force to continue to respond to the braking request.

[0117] It can be understood that when driving on a road with normal tire adhesion, if a braking force adjustment event such as wheel locking occurs that requires reducing the braking force, the drive motor is preferentially controlled to reduce the electric braking force and maintain the mechanical braking force unchanged. After monitoring that the vehicle has reached the expected control target, the adjustment of the electric braking force is terminated and the braking force request continues to be responded to; if adjusting the electric braking force alone still cannot meet the conditions required for the braking force adjustment event, the electric braking force and the mechanical braking force are adjusted at the same time.

[0118] It should be noted that when driving on a road with abnormal tire adhesion, if a braking force adjustment event such as wheel locking occurs and the braking force needs to be reduced, and the motor brake and mechanical brake work together at this time, the control device will adjust the mechanical braking force and the motor brake force at the same time, including the need to gradually reduce the mechanical braking force and the motor entering the speed control mode. Avoid excessive mechanical braking force and continuous maintenance, which will cause the motor to stall.

[0119] This embodiment monitors braking force adjustment events, determines an adjustment strategy corresponding to the braking force adjustment event in response to the braking force adjustment event, and controls the drive motor and / or the mechanical braking system to adjust the electric braking force and / or the mechanical braking force based on the adjustment strategy to provide adjusted electric braking force and / or mechanical braking force to continue to respond to the braking request, thereby achieving dynamic adjustment and distribution of braking force by monitoring abnormal events, improving braking safety performance, and ensuring driving safety.

[0120] refer to Figure 4 , Figure 4 Schematic diagram of a flow chart of a third embodiment of a braking control method of the present invention.

[0121] Based on the above embodiments, in this embodiment, in step S10, the method further includes:

[0122] Step S101: In response to a braking request of a vehicle, obtaining a current rotation speed of a driving motor of the vehicle.

[0123] It should be noted that the control device can obtain the current speed of the drive motor and the parameter characteristics of the drive motor, determine the driving force corresponding to the current speed based on the parameter characteristics, and determine the maximum braking force that the drive motor can provide under the current speed operating state based on the driving force.

[0124] Step S102: determining the motor power that the drive motor can currently provide based on the current rotation speed.

[0125] It can be understood that the electric braking force that the drive motor can currently provide may be the maximum braking force that the drive motor can currently provide.

[0126] In some embodiments, the control device can determine the motor force that the drive motor can currently provide based on the current rotational speed and combined with the peak external characteristic parameters of the motor, such as power, temperature, current, voltage, torque and other external characteristic parameters.

[0127] Further, in order to accurately calculate the maximum motor torque that the drive motor can currently provide, the above step S102 may include:

[0128] Obtaining peak external characteristic parameters of the drive motor;

[0129] determining a first braking force corresponding to the current speed based on the peak external characteristic parameter;

[0130] Obtaining a battery power threshold of the vehicle;

[0131] determining a second braking force based on the battery power threshold;

[0132] The motor braking force that the drive motor can currently provide is determined according to the first braking force and the second braking force.

[0133] It should be noted that the peak external characteristic parameter may be motor characteristic information such as the maximum torque and power that the driving motor can output within a certain period of time.

[0134] It can be understood that the control device can determine the maximum power and maximum torque that the motor can currently provide according to the peak external characteristics of the motor, and obtain the maximum braking force that the motor can provide, i.e., the first braking force, by looking up the external characteristic curve based on the maximum power and maximum torque or the current speed of the motor.

[0135] It should be noted that the battery power threshold may be the maximum power of the vehicle battery. The first braking force may be the maximum electric braking force that the current motor can provide calculated based on the current speed of the drive motor. The second braking force may be the maximum electric braking force that the motor can provide calculated based on the battery information and the tire rolling radius.

[0136] In some embodiments, the control device can calculate the maximum motor braking force allowed by the battery according to the maximum charging power allowed by the battery and the current motor speed according to the following formula, where P is the maximum charging power of the battery, T is the motor torque, n is the motor speed, F is the braking force that the motor can provide, and R is the tire rolling radius. Factors that affect the battery charging power include but are not limited to the battery power, battery temperature, etc.

[0137] P=T*n / 9550

[0138] T=F*R

[0139] It can be understood that since the electric braking force that the drive motor can provide is affected by multiple factors, the control device of this embodiment calculates the maximum electric braking force that the drive motor can currently provide (i.e., the first braking force and the second braking force) from two dimensions respectively, and then performs a comprehensive analysis based on the first braking force and the second braking force to obtain the electric braking force that the drive motor can currently provide.

[0140] It should be noted that the factors affecting the maximum motor braking force that the drive motor can provide may include motor system failures, which include derating failures and shutdown failures. Factors affecting the driving motor braking force may also include the following motor state parameters: voltage (power battery voltage), current (motor controller current), temperature (motor controller temperature and motor temperature), sensor (current sensor, temperature sensor, voltage sampling), communication (CAN, CANFD), and the motor braking control software can set the full performance working range, derating working range, and fault shutdown range of the motor system according to the above information, and comprehensively determine the maximum braking force of the motor system. The above-mentioned influencing factors work at the same time, and each condition will affect the maximum braking force. When multiple conditions are triggered at the same time, the minimum braking force can be taken as the first braking force; then the maximum power that the battery can provide is determined based on the battery power threshold, and the second braking force is determined based on the maximum power that the battery can provide. The motor braking force that can be provided is determined in combination with the first braking force and the second braking force.

[0141] Step S103: judging whether the motor braking force reaches the target braking force, so as to determine whether the driving motor meets the braking condition of the braking request.

[0142] It can be understood that the control device can determine whether the maximum electric braking force currently provided by the drive motor can respond to the braking request by judging whether the electric braking force is greater than or equal to the target braking force. When the target braking force is reached, the electric braking force is provided by the drive motor to respond to the braking request without the participation of mechanical braking force, thereby improving the kinetic energy recovery efficiency and the cruising range. If the electric braking force does not reach the target braking force, mechanical braking is required to achieve coordinated braking of motor braking and mechanical braking to respond to the braking request, meet the braking requirements, and improve braking safety.

[0143] This embodiment responds to a braking request of the vehicle, obtains the current speed of the drive motor of the vehicle, determines the electric braking force that the drive motor can currently provide based on the current speed, judges whether the electric braking force reaches the target braking force to determine whether the drive motor meets the braking conditions of the braking request, thereby accurately calculating the maximum electric braking force that the drive motor can currently provide, and quickly performing a braking response. When the drive motor can independently provide the target braking force required for the braking request, the brake request is responded to through motor braking, thereby maximizing kinetic energy recovery, improving energy recovery efficiency, and increasing vehicle range.

[0144] In addition, an embodiment of the present invention further provides a computer-readable storage medium, on which a braking control program is stored. When the braking control program is executed by a processor, the steps of the braking control method described above are implemented.

[0145] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0146] The computer-readable storage medium may be included in the brake control device; or may exist independently without being assembled into the brake control device.

[0147] In addition, an embodiment of the present invention further provides a computer program product, including a braking control program, and when the braking control program is executed by a processor, the steps of the braking control method described above are implemented.

[0148] The specific implementation of the computer program product of the present invention is basically the same as the above-mentioned embodiments of the braking control method, and will not be repeated here.

[0149] Reference Figure 5 , Figure 5 It is a structural block diagram of the first embodiment of the brake control device of the present invention.

[0150] like Figure 5 As shown, the braking control device proposed in the embodiment of the present invention includes:

[0151] A braking judgment module 10 is used to judge, in response to a braking request of a vehicle, whether a driving motor of the vehicle satisfies a braking condition of the braking request, wherein the braking condition includes providing a target braking force required for the braking request;

[0152] A first braking response module 20, configured to control the driving motor to perform motor braking to provide motor force to respond to the braking request if the braking condition is met;

[0153] The second braking response module 30 is used to control the driving motor to perform motor braking and control the mechanical braking system to perform mechanical braking if the braking condition is not met, so as to provide motor braking force and mechanical braking force to respond to the braking request.

[0154] Furthermore, the brake control device further comprises:

[0155] The braking adjustment module 40 is used to monitor braking force adjustment events; determine an adjustment strategy corresponding to the braking force adjustment event in response to the braking force adjustment event; and control the drive motor and / or the mechanical braking system to adjust the electric braking force and / or the mechanical braking force based on the adjustment strategy to provide adjusted electric braking force and / or mechanical braking force to continue to respond to the braking request.

[0156] The braking adjustment module 40 is also used to determine the event type corresponding to the braking force adjustment event; determine the braking force adjustment object based on the current environmental information and the event type; determine the target adjustment parameters according to the current environmental information and the current speed of the vehicle; and generate an adjustment strategy corresponding to the braking force adjustment event based on the target adjustment parameters and the braking force adjustment object.

[0157] The adjustment strategy includes at least one of the following:

[0158] controlling the drive motor to adjust the motor force based on the target adjustment parameter, and controlling the mechanical braking force of the mechanical brake system to remain unchanged, so as to provide the adjusted motor force and the mechanical braking force to continue to respond to the braking request;

[0159] The driving motor is controlled to adjust the motor force based on the target adjustment parameter, and the mechanical brake system is controlled to adjust the mechanical braking force based on the target adjustment parameter to provide the adjusted motor force and the adjusted mechanical braking force to continue to respond to the braking request.

[0160] Furthermore, the braking judgment module 10 is also used to obtain the current speed of the driving motor of the vehicle in response to a braking request of the vehicle; determine the electric braking force that the driving motor can currently provide based on the current speed; and judge whether the electric braking force reaches the target braking force to determine whether the driving motor meets the braking conditions of the braking request.

[0161] Furthermore, the braking judgment module 10 is also used to obtain the peak external characteristic parameters of the driving motor; determine the first braking force corresponding to the current speed based on the peak external characteristic parameters; obtain the battery power threshold of the vehicle; determine the second braking force based on the battery power threshold; and determine the motor braking force that the driving motor can currently provide based on the first braking force and the second braking force.

[0162] Furthermore, the second braking response module 30 is also used to determine the electric braking force that the drive motor can currently provide if the braking condition is not met; determine the braking force distribution parameters of the electric braking force and the mechanical braking force based on the electric braking force and the target braking force required by the braking request; determine the target electric braking force and the target mechanical braking force according to the braking force distribution parameters; control the drive motor to perform motor braking based on the target electric braking force, and control the mechanical braking system to perform mechanical braking based on the target mechanical braking force, so as to provide the target electric braking force and the target mechanical braking force in response to the braking request.

[0163] In this embodiment, in response to a braking request of the vehicle, it is determined whether the driving motor of the vehicle meets the braking condition of the braking request, wherein the braking condition includes providing the target braking force required by the braking request; if the braking condition is met, the driving motor is controlled to perform motor braking to provide motor braking force to respond to the braking request; if the braking condition is not met, the driving motor is controlled to perform motor braking, and the mechanical braking system is controlled to perform mechanical braking to provide motor braking force and mechanical braking force to respond to the braking request; because the present invention effectively improves the energy recovery efficiency and the vehicle cruising range by providing motor braking force through the driving motor when the driving motor can provide the target braking force required by the braking request; when the driving motor cannot provide the target braking force required by the braking request, the braking force is provided by the motor braking and the mechanical braking together to ensure the braking safety performance, thereby realizing the braking control with the motor as the main active and the mechanical braking as the auxiliary; when the motor braking can meet the braking demand, the braking force is provided by the motor braking to improve the kinetic energy recovery efficiency; when the motor braking cannot meet the braking demand, the motor braking and the mechanical braking are assisted by the mechanical braking to achieve the joint participation of the motor braking and the mechanical braking in the vehicle braking, thereby ensuring the braking response speed, shortening the braking distance, and improving the braking safety.

[0164] The brake control device provided by the present application adopts the brake control method in the above embodiment, which can solve the technical problem of brake control. Compared with the prior art, the beneficial effects of the brake control device provided by the present application are the same as the beneficial effects of the brake control method provided by the above embodiment, and other technical features in the brake control device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0165] It should be understood that the above is only an example and does not constitute any limitation on the technical solution of the present invention. In specific applications, technicians in this field can make settings as needed, and the present invention does not limit this.

[0166] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0167] In addition, for technical details not fully described in this embodiment, reference can be made to the braking control method provided in any embodiment of the present invention, and will not be repeated here.

[0168] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0169] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0170] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0171] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A braking control method, characterized in that: The braking control method comprises: In response to a braking request of a vehicle, determining whether a driving motor of the vehicle satisfies a braking condition of the braking request, the braking condition including providing a target braking force required for the braking request; If the braking condition is met, controlling the drive motor to perform motor braking to provide motor force to respond to the braking request; If the braking condition is not met, the drive motor is controlled to perform motor braking, and the mechanical brake system is controlled to perform mechanical braking to provide motor braking force and mechanical braking force in response to the braking request.

2. The braking control method according to claim 1, characterized in that: After responding to the braking request, the method further includes: Monitoring brake force adjustment events; In response to the braking force adjustment event, determining an adjustment strategy corresponding to the braking force adjustment event; The drive motor and / or the mechanical brake system are controlled to adjust the electric motor force and / or the mechanical braking force based on the adjustment strategy to provide the adjusted electric motor force and / or the mechanical braking force to continue to respond to the braking request.

3. The braking control method according to claim 2, characterized in that: The determining the adjustment strategy corresponding to the braking force adjustment event includes: Determining an event type corresponding to the braking force adjustment event; determining a braking force adjustment object based on current environmental information and the event type; determining a target adjustment parameter according to the current environmental information and the current speed of the vehicle; An adjustment strategy corresponding to the braking force adjustment event is generated based on the target adjustment parameter and the braking force adjustment object.

4. The braking control method according to claim 3, characterized in that: The adjustment strategy includes at least one of the following: controlling the drive motor to adjust the motor force based on the target adjustment parameter, and controlling the mechanical braking force of the mechanical brake system to remain unchanged, so as to provide the adjusted motor force and the mechanical braking force to continue to respond to the braking request; The driving motor is controlled to adjust the motor force based on the target adjustment parameter, and the mechanical brake system is controlled to adjust the mechanical braking force based on the target adjustment parameter to provide the adjusted motor force and the adjusted mechanical braking force to continue to respond to the braking request.

5. The brake control method according to any one of claims 1 to 4, characterized in that: The step of determining, in response to a braking request of the vehicle, whether a driving motor of the vehicle satisfies a braking condition of the braking request comprises: In response to a braking request of the vehicle, obtaining a current rotation speed of a driving motor of the vehicle; Determining the motor power that the drive motor can currently provide based on the current rotation speed; It is determined whether the motor force reaches the target braking force to determine whether the drive motor meets the braking condition of the brake request.

6. The brake control method according to claim 5, characterized in that: The determining, based on the current rotation speed, the motor power that the drive motor can currently provide comprises: Obtaining peak external characteristic parameters of the drive motor; determining a first braking force corresponding to the current speed based on the peak external characteristic parameter; Obtaining a battery power threshold of the vehicle; determining a second braking force based on the battery power threshold; The motor braking force that the drive motor can currently provide is determined according to the first braking force and the second braking force.

7. The brake control method according to any one of claims 1 to 4, characterized in that: If the braking condition is not met, the driving motor is controlled to perform motor braking, and the mechanical braking system is controlled to perform mechanical braking to provide motor braking force and mechanical braking force in response to the braking request, including: If the braking condition is not met, determining the motor braking force that the drive motor can currently provide; determining a braking force distribution parameter between the motor braking force and the mechanical braking force based on the motor braking force and the target braking force required by the braking request; Determining a target motor braking force and a target mechanical braking force according to the braking force distribution parameter; The drive motor is controlled to perform motor braking based on the target motor braking force, and the mechanical brake system is controlled to perform mechanical braking based on the target mechanical braking force to provide the target motor braking force and the target mechanical braking force in response to the braking request.

8. A brake control device, characterized in that: The brake control device comprises: a braking judgment module, configured to judge, in response to a braking request of a vehicle, whether a driving motor of the vehicle satisfies a braking condition of the braking request, wherein the braking condition includes providing a target braking force required for the braking request; a first braking response module, configured to control the drive motor to perform motor braking to provide motor force to respond to the braking request if the braking condition is met; The second braking response module is used to control the driving motor to perform motor braking and control the mechanical braking system to perform mechanical braking if the braking condition is not met, so as to provide motor braking force and mechanical braking force to respond to the braking request.

9. A brake control device, characterized in that: The brake control device comprises: a memory, a processor, and a brake control program stored in the memory and executable on the processor, wherein the brake control program is configured to implement the brake control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a brake control program, and when the brake control program is executed by a processor, the brake control method according to any one of claims 1 to 7 is implemented.

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