Vehicle, braking energy recovery method, device and system thereof and medium

Abstract

The invention discloses a vehicle, a braking energy recovery method, device and system thereof and a medium, and relates to the technical field of vehicle braking control. The vehicle braking energy recovery method comprises the steps that when a motor braking system controls a vehicle to brake, the braking slip rate of each wheel of the vehicle is obtained; when the braking slip rate in the vehicle is larger than the preset slip rate of the wheels, the motor torque reduction value of the vehicle is determined according to the braking slip rate of each wheel; determining a motor brake recession value according to the motor torque reduction value; according to the motor brake recession value, the required air pressure of a trailer valve in the vehicle is determined; brake air pressure provided for the trailer valve is controlled according to the required air pressure of the trailer valve. According to the technical scheme, in the vehicle braking energy recovery process, the vehicle running stability is guaranteed, and meanwhile the vehicle deceleration stability is guaranteed.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of vehicle braking control, and in particular to a vehicle and a braking energy recovery method, device, system and medium thereof. Background Art

[0002] With the development of science and technology, the requirements for vehicle safety and stability are getting higher and higher. Vehicles are usually equipped with a brake energy recovery function to convert the vehicle's kinetic energy during braking into charging current through the drive wheel reverse drive motor to charge the vehicle's power battery, thereby extending the vehicle's cruising range.

[0003] When a vehicle is driving on a slippery road, when the brake pedal is pressed or the retarder is operated to implement brake energy recovery, the drive wheels are prone to lock and slip, which may cause dangerous conditions such as the vehicle skidding. In order to solve the problem of drive wheel locking and slipping, the existing technology maintains the stability of the vehicle by reducing the motor braking torque.

[0004] However, reducing the motor braking torque may also cause the vehicle to fail to achieve the ideal braking effect, reduce the transmission of braking force, and the vehicle may stall, that is, the braking distance becomes longer or the braking effect is not as expected, which may affect the driver's control of the vehicle and the safety of vehicle driving. Summary of the invention

[0005] The present invention provides a vehicle and a braking energy recovery method, device, system and medium thereof, so as to ensure the driving stability of the vehicle and improve the stability of the vehicle deceleration during the braking energy recovery process of the vehicle.

[0006] A first aspect of the present invention provides a vehicle braking energy recovery method, the vehicle braking energy recovery method comprising:

[0007] When the motor brake system controls the vehicle to brake, the braking slip rate of each wheel of the vehicle is obtained;

[0008] When there is a braking slip ratio greater than a preset slip ratio of the wheel, determining a motor torque reduction value of the vehicle according to the braking slip ratio of each of the wheels;

[0009] Determining a motor braking decay value according to the motor torque reduction value;

[0010] determining a required air pressure of a trailer valve in the vehicle according to the motor brake decay value;

[0011] The brake air pressure provided to the trailer valve is controlled according to the required air pressure of the trailer valve.

[0012] Optionally, when the motor brake system controls the vehicle to brake, before obtaining the braking slip rate of each wheel of the vehicle, the method includes:

[0013] Get the actual percentage of motor braking of the vehicle;

[0014] When the actual percentage of motor braking is greater than a preset percentage, the motor braking system is activated to brake the vehicle, and the braking force of the motor braking system on the vehicle is determined according to the actual percentage of motor braking.

[0015] Optionally, obtaining the actual percentage of motor braking of the vehicle includes:

[0016] Acquiring gear position information of an auxiliary brake handle in the vehicle;

[0017] Sending a braking percentage request to a vehicle controller of the vehicle according to the gear position information of the auxiliary brake handle, so that the vehicle controller determines an actual percentage of motor braking of the vehicle according to the operating condition of the vehicle and the braking percentage request;

[0018] An actual percentage of motor braking of the vehicle is obtained based on the vehicle controller.

[0019] Optionally, when the motor brake system controls the vehicle to brake, the braking slip rate of each wheel of the vehicle is obtained, including:

[0020] When the motor brake system brakes the vehicle, obtaining the wheel speed of each wheel of the vehicle;

[0021] The braking slip ratio of each wheel is determined according to the wheel speed of each wheel.

[0022] Optionally, after determining the motor torque reduction value of the vehicle according to the braking slip rate of each of the wheels, the method further includes:

[0023] reducing the motor torque of the vehicle according to the motor torque reduction value;

[0024] When the motor torque of the vehicle is reduced, a warning reminder message is sent to the dashboard of the vehicle.

[0025] Optionally, determining the motor braking decay value according to the motor torque reduction value includes:

[0026] Acquire a current braking torque and a motor reference torque of a motor in the vehicle;

[0027] Determining a torque reduction percentage of the motor according to the motor torque reduction value and the current braking torque of the motor;

[0028] The motor braking decay value is determined according to the torque reduction percentage and the motor reference torque.

[0029] Optionally, determining the required air pressure of the trailer valve in the vehicle according to the motor brake decay value includes:

[0030] According to the motor brake decay value, based on a first calculation formula, the required air pressure of the trailer valve in the vehicle is determined; the first calculation formula is:

[0031]

[0032] Among them, P 挂 is the required air pressure of the trailer valve, ΔT is the motor brake decay value, n 主 is the rear axle main reduction ratio of the vehicle, k is the trailer brake torque gradient of the vehicle, R d is the effective radius of the brake disc of the vehicle, n 挂 is the number of brake wheel sets of the trailer of the vehicle.

[0033] A second aspect of the present invention provides a vehicle braking energy recovery device, comprising:

[0034] The slip rate acquisition module is used to acquire the braking slip rate of each wheel of the vehicle when the motor braking system controls the vehicle to brake;

[0035] a motor torque reduction value determining module, configured to determine a motor torque reduction value of the vehicle according to the brake slip ratio of each of the wheels when a brake slip ratio is greater than a preset slip ratio of the wheels;

[0036] A motor braking decay value determination module, used to determine the motor braking decay value according to the motor torque reduction value;

[0037] A required air pressure determination module, used to determine the required air pressure of the trailer valve in the vehicle according to the motor brake decay value;

[0038] The brake air pressure control module is used to control the brake air pressure provided to the trailer valve according to the required air pressure of the trailer valve.

[0039] A third aspect of the present invention provides a vehicle braking system, comprising: a braking control device, a motor braking system and a trailer valve;

[0040] The brake control device is in communication connection with the motor brake system, and the motor brake system is in communication connection with the trailer valve;

[0041] The brake control device is used to execute the vehicle brake energy recovery method as described above.

[0042] A fourth aspect of the present invention provides a vehicle, comprising: a frame, a plurality of wheels arranged on the frame, a motor arranged in the frame, and the vehicle braking system as described above.

[0043] A fifth aspect of the present invention provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the vehicle braking energy recovery method as described above.

[0044] The technical solution provided by the present invention is that when the motor brake system controls the vehicle to brake, the brake slip rate of each wheel of the vehicle is obtained, so that when there is a brake slip rate in the vehicle that is greater than the preset slip rate of the wheel, the motor torque reduction value of the vehicle is determined according to the brake slip rate of each wheel, thereby avoiding the locking and slipping of the driving wheel, ensuring that the vehicle brake slip rate is kept within a safe range during the vehicle braking process, and ensuring the stability of the vehicle driving. At the same time, according to the motor torque reduction value, the motor brake decay value is determined, and the required air pressure of the trailer valve in the vehicle is determined according to the motor brake decay value, and the brake air pressure provided to the trailer valve is controlled according to the required air pressure of the trailer valve, so that the braking force of the trailer just compensates for the reduced braking force of the driving wheel, realizes the coordination of the braking force between the driving wheel and the trailer, and ensures the balance of the braking force of the whole vehicle, so that while reducing the motor brake torque, the vehicle achieves an ideal braking effect, ensures the stability of the vehicle deceleration, and improves the operation safety of the vehicle.

[0045] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0047] Figure 1 It is a flow chart of a vehicle braking energy recovery method provided by Embodiment 1 of the present invention;

[0048] Figure 2 is a flow chart of a vehicle braking energy recovery method provided by Embodiment 2 of the present invention;

[0049] Figure 3 is a flow chart of a vehicle braking energy recovery method provided by Embodiment 3 of the present invention;

[0050] Figure 4 It is a flow chart of a vehicle braking energy recovery method provided by a fourth embodiment of the present invention;

[0051] Figure 5 is a structural schematic diagram of a vehicle braking energy recovery device provided in Embodiment 5 of the present invention;

[0052] Figure 6 is a structural schematic diagram of a vehicle braking system provided by Embodiment 6 of the present invention;

[0053] Figure 7 It is a structural schematic diagram of a braking control device of a vehicle braking system provided in Embodiment 8 of the present invention. DETAILED DESCRIPTION

[0054] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0055] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0056] Embodiment 1

[0057] Figure 1 This is a flow chart of a vehicle braking energy recovery method provided by the first embodiment of the present invention. This embodiment can achieve the stability of vehicle deceleration while ensuring vehicle driving stability during vehicle braking energy recovery. The method can be executed by a vehicle braking energy recovery device, which can be implemented by software and / or hardware, and can generally be integrated into a braking control device of a vehicle braking system. Figure 1 As shown, the vehicle braking energy recovery method may include:

[0058] S101. When the motor brake system controls the vehicle to brake, obtain the braking slip rate of each wheel of the vehicle.

[0059] The braking slip ratio can be specifically understood as the ratio between the actual sliding speed of the wheel and the actual driving speed of the vehicle during braking. When there is a certain difference between the actual sliding speed of the wheel and the driving speed of the vehicle, braking slip will occur. Specifically, when the motor braking system controls the vehicle to brake, the braking control device of the vehicle braking system obtains the wheel speed of each wheel of the vehicle, and calculates the braking slip ratio of each wheel according to the wheel speed of each wheel, thereby obtaining the braking slip ratio of each wheel of the vehicle.

[0060] S102: When there is a braking slip ratio greater than a preset slip ratio of a wheel, determine a motor torque reduction value of the vehicle according to the braking slip ratio of each wheel.

[0061] Among them, the preset slip rate can be specifically understood as a target value of the vehicle braking system during the design stage, which aims to ensure that the vehicle can maintain stability during braking and achieve the best braking effect. When the braking slip rate of each wheel of the vehicle exceeds the preset slip rate of the wheel, it means that the braking force of the vehicle is too large, resulting in an increased risk of wheel locking or slipping. The motor torque reduction value can be specifically understood as the amount of motor output torque that needs to be reduced during vehicle braking to avoid wheel locking or slipping. The motor torque can be specifically understood as the torque output by the motor, that is, the rotational torque provided by the motor. By reducing the motor torque, the vehicle braking system can reduce the braking force of the wheel, thereby controlling the braking slip rate of the vehicle.

[0062] Specifically, when the braking control device of the vehicle braking system detects that the braking slip rate of the vehicle is greater than the preset slip rate of the wheel, the vehicle braking system determines the motor braking torque value that needs to be reduced based on the braking slip rate of each wheel, so that the braking slip rate of each wheel after reducing the motor torque is less than or equal to the preset slip rate of the wheel, so as to adjust the distribution of braking force and ensure that the braking slip rate of the vehicle remains within a safe range during the vehicle braking process, thereby ensuring the stability and safety of the vehicle during the braking process.

[0063] S103: Determine the motor braking decay value according to the motor torque reduction value.

[0064] The motor brake decay value can be specifically understood as the vehicle brake system adjusting the output of the motor brake system according to the motor torque reduction value, and gradually reducing the motor brake force value to achieve the decay or weakening of the braking effect, thereby ensuring that the vehicle brake slip rate remains within a safe range during the vehicle braking process. Specifically, the vehicle brake system can control the braking force output by the motor brake system according to the motor torque reduction value, determine the motor brake decay value, ensure the stability of the vehicle during the braking process, and avoid wheel locking or slipping.

[0065] S104: Determine the required air pressure of the trailer valve in the vehicle according to the motor brake decay value.

[0066] Among them, the required air pressure of the trailer valve can be specifically understood as the air pressure value output to the trailer valve by the brake control device of the vehicle braking system according to the motor decay value when the motor braking system controls the vehicle to brake. The purpose is to achieve the braking force of the trailer air pressure brake by outputting air pressure to the trailer valve, to supplement the braking force of the driving wheel reduced when the vehicle brakes to avoid wheel locking or slipping, thereby reducing the motor braking torque while ensuring the ideal braking effect of the vehicle and ensuring the smoothness of the vehicle deceleration.

[0067] Optionally, the required air pressure of the trailer valve in the vehicle is determined according to the motor brake decay value based on a first calculation formula; the first calculation formula is:

[0068]

[0069] Among them, P 挂 is the required air pressure of the trailer valve, △T is the motor brake decay value, n 主 is the vehicle's rear axle main reduction ratio, k is the vehicle's trailer brake torque gradient, R d is the effective radius of the vehicle's brake disc, n 挂 is the number of brake wheel sets of the vehicle's trailer. n 主 , k, R d , and n 挂 is a fixed value and can be pre-stored in the brake control device of the vehicle brake system. 挂 The value of can be 6.

[0070] Specifically, the braking control device of the vehicle braking system calculates the air pressure value that needs to be output to the trailer valve according to the motor decay value and based on the first calculation formula, thereby realizing precise adjustment of the required air pressure of the trailer valve. This precise adjustment enables the braking force of the trailer to just compensate for the reduced braking force of the driving wheels when the vehicle brakes in order to avoid wheel locking or slipping, thereby realizing coordination of the braking force between the driving wheels and the trailer, ensuring the balance of the braking force of the entire vehicle, and achieving an ideal braking effect for the vehicle while reducing the braking torque of the motor, thereby ensuring the smoothness of the vehicle's deceleration and making the vehicle more controllable and safe during braking.

[0071] S105: Control the brake air pressure provided to the trailer valve according to the required air pressure of the trailer valve.

[0072] The brake air pressure may be specifically understood to be adjusted according to the required air pressure value of the trailer valve, and is used to provide the corresponding brake air pressure to the trailer valve to control the braking force output of the trailer brake.

[0073] Specifically, the brake control device of the vehicle braking system sends a trailer air pressure brake activation signal to the motor braking system at the same time according to the calculated required air pressure of the trailer valve, and controls the motor braking system to adjust the switching state of the trailer valve, thereby providing corresponding brake air pressure to the trailer valve, and controlling the braking force output of the trailer brake, so as to make the braking force of the trailer just compensate for the braking force of the driving wheel reduced in order to avoid wheel locking or slipping when the vehicle brakes, thereby ensuring the balance of the braking force of the whole vehicle, and achieving an ideal braking effect for the vehicle while reducing the motor braking torque.

[0074] The embodiment of the present invention obtains the braking slip rate of each wheel of the vehicle when the motor brake system controls the vehicle to brake, so that when there is a braking slip rate in the vehicle that is greater than the preset slip rate of the wheel, the motor torque reduction value of the vehicle is determined according to the braking slip rate of each wheel, thereby avoiding the locking and slipping of the driving wheel, ensuring that the vehicle braking slip rate is kept within a safe range during the vehicle braking process, and ensuring the stability of the vehicle driving. At the same time, according to the motor torque reduction value, the motor brake decay value is determined, and the required air pressure of the trailer valve in the vehicle is determined according to the motor brake decay value, and the brake air pressure provided to the trailer valve is controlled according to the required air pressure of the trailer valve, so that the braking force of the trailer just compensates for the reduced braking force of the driving wheel, realizes the coordination of the braking force between the driving wheel and the trailer, and ensures the balance of the braking force of the whole vehicle, so that while reducing the motor braking torque, the vehicle achieves an ideal braking effect, ensures the stability of the vehicle deceleration, and improves the safety of vehicle operation.

[0075] Embodiment 2

[0076] Figure 2is a flow chart of a vehicle braking energy recovery method provided by Embodiment 2 of the present invention. Based on the above embodiments, this embodiment describes in detail a method for determining whether to activate the motor braking system to brake the vehicle. Accordingly, Figure 2 As shown, the vehicle braking energy recovery method of this embodiment may include:

[0077] S201. When the motor braking system controls the vehicle to brake, obtain an actual percentage of the motor braking of the vehicle.

[0078] The actual percentage of motor braking can be specifically understood as the percentage of the actually applied motor braking force to the theoretical maximum motor braking force during the process of the motor braking system controlling the vehicle braking.

[0079] Optionally, obtaining the actual percentage of motor braking of the vehicle includes: obtaining the gear information of an auxiliary brake handle in the vehicle; sending a braking percentage request to a vehicle controller of the vehicle based on the gear information of the auxiliary brake handle, so that the vehicle controller determines the actual percentage of motor braking of the vehicle based on the operating conditions of the vehicle and the braking percentage request; and obtaining the actual percentage of motor braking of the vehicle based on the vehicle controller.

[0080] Among them, the gear information of the auxiliary brake handle can be specifically understood as the braking force level or gear selected by the driver by operating the auxiliary brake handle, which is used to request the vehicle controller to implement the corresponding theoretical braking percentage in the motor brake system.

[0081] Specifically, after the vehicle controller receives the corresponding braking percentage request determined by the braking control device of the vehicle braking system according to the gear information of the auxiliary brake handle, the vehicle controller will combine the braking percentage request with the current operating conditions of the vehicle to determine the actual percentage of motor braking actually applied; finally, the braking control device of the vehicle braking system will obtain the actual percentage of motor braking determined by the vehicle controller. In this way, by combining the current operating conditions of the vehicle with the braking percentage request to determine the actual percentage of motor braking of the vehicle, the vehicle controller can dynamically adjust the motor braking force to ensure the braking effect and stability of the vehicle under different conditions, and can adjust the actual percentage of motor braking in real time according to the driver's choice and actual conditions, thereby providing the best braking performance and driving experience. Among them, the operating conditions of the vehicle may include but are not limited to factors such as vehicle speed, acceleration, and road conditions.

[0082] Exemplarily, the gear information of the auxiliary brake handle may include 5 gears. For example, in the first gear, the vehicle can be braked in real time at 20% of the maximum braking force of the vehicle. In the second gear, the vehicle can be braked in real time at 40% of the maximum braking force of the vehicle. In the third gear, the vehicle can be braked in real time at 60% of the maximum braking force of the vehicle. In the fourth gear, the vehicle can be braked in real time at 80% of the maximum braking force of the vehicle. In the fifth gear, the vehicle can be braked in real time at 100% of the maximum braking force of the vehicle. This is only an example and does not limit the specific braking force.

[0083] S202: When the actual percentage of motor braking is greater than a preset percentage, activate the motor braking system to brake the vehicle, and determine the braking force of the motor braking system on the vehicle according to the actual percentage of motor braking.

[0084] The preset percentage may be specifically understood as a set value used to determine whether the actual percentage of motor braking has reached the condition for energy recovery.

[0085] Specifically, when the actual percentage of motor braking is greater than the preset percentage, the brake control device of the vehicle braking system will consider that energy recovery can be performed at this time, and will activate the motor braking system to brake the vehicle. The brake control device of the vehicle braking system will determine the braking force of the motor braking system on the vehicle according to the actual braking percentage obtained from the vehicle controller, and control the motor braking system to brake. In this way, by accurately controlling the timing of energy recovery, the vehicle braking system effectively utilizes kinetic energy to convert it into electrical energy storage, improves energy recovery efficiency, optimizes vehicle performance and driving safety, extends the life of the vehicle braking system, effectively improves driving comfort, and reduces energy waste and exhaust emissions, meeting environmental protection standards.

[0086] S203: Obtain the braking slip rate of each wheel of the vehicle.

[0087] S204: When the braking slip ratio is greater than the preset slip ratio of the wheel, determine a motor torque reduction value of the vehicle according to the braking slip ratio of each wheel.

[0088] S205: Determine the motor braking decay value according to the motor torque reduction value.

[0089] S206: Determine the required air pressure of the trailer valve in the vehicle according to the motor brake decay value.

[0090] S207: Control the brake air pressure provided to the trailer valve according to the required air pressure of the trailer valve.

[0091] This embodiment sends a braking percentage request to the vehicle controller of the vehicle according to the gear information of the auxiliary brake handle, so that the vehicle controller determines the actual percentage of the motor braking of the vehicle according to the operating conditions of the vehicle and the braking percentage request, and obtains the actual percentage of the motor braking of the vehicle based on the vehicle controller, so that when the actual percentage of the motor braking is greater than the preset percentage, the motor braking system is activated to brake the vehicle, and the braking force of the motor braking system on the vehicle is determined according to the actual percentage of the motor braking, so that the vehicle controller can dynamically adjust the motor braking force to ensure the braking effect and stability of the vehicle under different working conditions, and can adjust the actual percentage of the motor braking in real time according to the driver's choice and actual situation, so as to provide the best braking performance and driving experience. At the same time, by accurately controlling the timing of energy recovery, the vehicle braking system effectively converts kinetic energy into electrical energy storage, improves energy recovery efficiency, and optimizes vehicle performance and driving safety.

[0092] Embodiment 3

[0093] Figure 3 is a flow chart of a vehicle braking energy recovery method provided by Embodiment 3 of the present invention. Based on the above embodiments, this embodiment describes in detail a method for obtaining the braking slip rate of each wheel of the vehicle. Accordingly, Figure 3 As shown, the vehicle braking energy recovery method of this embodiment may include:

[0094] S301. When the motor brake system brakes the vehicle, the wheel speed of each wheel of the vehicle is obtained.

[0095] Specifically, the motor brake system may include wheel speed sensors for each wheel, for example, a front axle left wheel speed sensor, a front axle right wheel speed sensor, a rear axle left wheel speed sensor, and a rear axle right wheel speed sensor. During the braking process, the speed data of each wheel can be obtained in real time through the wheel speed sensor, so that the wheel speed of each wheel can be determined according to the speed data of each wheel, thereby determining the motion state of the vehicle and the braking force of each wheel. In this way, by monitoring the wheel speed of each wheel, the vehicle braking system can accurately control the braking force of each wheel, avoid locking and slipping of the drive wheel caused by excessive braking, improve the braking effect and vehicle stability, and ensure driving safety and comfort.

[0096] S302: Determine the braking slip rate of each wheel according to the wheel speed of each wheel.

[0097] Specifically, the real-time wheel speed of each wheel of the vehicle is obtained by the wheel speed sensor, and the braking slip rate of each wheel can be calculated according to the wheel speed of each wheel, that is, the ratio of the actual sliding speed of the wheel to the rotation speed. By comparing the braking slip rate of each wheel with the preset slip rate, it is determined whether there is a braking slip rate greater than the preset slip rate of the vehicle, so as to determine whether the braking force of each wheel needs to be adjusted. In this way, by obtaining the braking slip rate of each wheel, the vehicle braking system can dynamically adjust the braking force of each wheel to ensure that the wheel remains within the appropriate braking slip rate range, thereby achieving the best braking effect and vehicle stability, and improving driving safety and comfort.

[0098] S303: When the braking slip ratio is greater than the preset slip ratio of the wheel, determine the motor torque reduction value of the vehicle according to the braking slip ratio of each wheel.

[0099] S304: Determine the motor braking decay value according to the motor torque reduction value.

[0100] S305: Determine the required air pressure of the trailer valve in the vehicle according to the motor brake decay value.

[0101] S306: Control the brake air pressure provided to the trailer valve according to the required air pressure of the trailer valve.

[0102] This embodiment obtains the wheel speed of each wheel of the vehicle when the motor brake system brakes the vehicle, so as to determine the braking slip rate of each wheel according to the wheel speed of each wheel. By monitoring the wheel speed of each wheel, the vehicle braking system can accurately control the braking force of each wheel, avoid locking and slipping of the driving wheel caused by excessive braking, improve the braking effect and vehicle stability, and ensure driving safety and comfort. At the same time, by obtaining the braking slip rate of each wheel, the vehicle braking system can dynamically adjust the braking force of each wheel to ensure that the wheel remains within the appropriate braking slip rate range, thereby achieving the best braking effect and vehicle stability, and improving driving safety and comfort.

[0103] Embodiment 4

[0104] Figure 4 is a flow chart of a vehicle braking energy recovery method provided by a fourth embodiment of the present invention. Based on the above embodiments, this embodiment describes in detail a method for determining the required air pressure of a trailer valve in a vehicle. Accordingly, Figure 4 As shown, the vehicle braking energy recovery method of this embodiment may include:

[0105] S401. When the motor brake system controls the vehicle to brake, obtain the braking slip rate of each wheel of the vehicle.

[0106] S402: When there is a braking slip ratio greater than a preset slip ratio of a wheel, determine a motor torque reduction value of the vehicle according to the braking slip ratio of each wheel.

[0107] S403: Reduce the motor torque of the vehicle according to the motor torque reduction value.

[0108] Specifically, when the braking control device of the vehicle braking system detects that the braking slip rate of the vehicle is greater than the preset slip rate of the wheel, the vehicle braking system determines the motor braking torque value that needs to be reduced according to the braking slip rate of each wheel, and controls the motor braking system to reduce the motor torque of the vehicle according to the motor braking torque value that needs to be reduced, so that the braking slip rate of each wheel after the motor torque is reduced is less than or equal to the preset slip rate of the wheel, so as to adjust the distribution of braking force and ensure that the braking slip rate of the vehicle remains within a safe range during the vehicle braking process, thereby ensuring the stability and safety of the vehicle during the braking process.

[0109] S404: When the motor torque of the vehicle is reduced, a warning reminder message is sent to the dashboard of the vehicle.

[0110] Among them, warning reminder information includes sound alarms, visual prompts, text prompts, and remote notifications.

[0111] Specifically, when it is determined that the braking slip rate in the vehicle is greater than the preset slip rate of the wheel and the motor torque of the vehicle needs to be reduced, a sound alarm can be used to attract the driver's attention and indicate that the vehicle is at potential risk and should be driven carefully, such as a buzzer or alarm can emit a continuous or intermittent sound alarm; when it is determined that the braking slip rate in the vehicle is greater than the preset slip rate of the wheel and the motor torque of the vehicle needs to be reduced, a visual indication can also be used to attract the driver's attention, such as a flashing warning light or an LED indicator can flash or change color on the vehicle instrument; when it is determined that the braking slip rate in the vehicle is greater than the preset slip rate of the wheel and the motor torque of the vehicle needs to be reduced, text prompts can also be used to help the operator quickly identify the potential risk of the vehicle, such as a text prompt that the vehicle has a risk of locking and skidding displayed on a display screen or a digital panel; when it is determined that the braking slip rate in the vehicle is greater than the preset slip rate of the wheel and the motor torque of the vehicle needs to be reduced, the driver can also be notified remotely that the vehicle is at potential risk, such as by sending an email, text message or other remote notification through a system connected to the network. Timely alerts and vehicle risk displays can enhance the driver's awareness of the vehicle's condition, help the driver better respond to potential risks, and ensure driving safety.

[0112] S405 : Obtain the current braking torque and the motor reference torque of the motor in the vehicle.

[0113] Among them, the current braking torque can be specifically understood as the braking torque being applied by the vehicle's braking system, which is used to control the vehicle's braking process and reflects the motor's current braking output. The motor reference torque can be specifically understood as a fixed parameter of the motor, which is the expected torque value determined based on vehicle performance requirements and braking control strategies. This reference torque value is determined during the vehicle design phase and is intended to guide the operation of the motor to achieve smooth operation and optimized performance of the vehicle.

[0114] Specifically, the motor brake system may include a torque sensor. During the braking process, the actual torque generated by the motor during the braking process can be obtained in real time through the torque sensor. The brake control device of the vehicle brake system can monitor the current braking torque of the motor in real time through the torque sensor installed on the motor brake system. The motor reference torque is a fixed value pre-set according to the vehicle design requirements and the brake control strategy. The brake control device sets the motor reference torque to the ideal torque that the motor should reach during the system design stage to achieve the smoothness and performance optimization of vehicle braking. The brake control device of the vehicle brake system can monitor the working state of the motor during braking in real time by obtaining the current braking torque and motor reference torque of the motor in the motor brake system. At the same time, these data provide key information basis for the subsequent determination of the motor torque reduction percentage and motor brake decay value.

[0115] S406 : Determine a torque reduction percentage of the motor according to the motor torque reduction value and the current braking torque of the motor.

[0116] The motor torque reduction percentage is the ratio of the motor torque reduction value to the current braking torque of the motor multiplied by 100%. By monitoring the motor torque reduction percentage, it is possible to timely find out whether the working state of the motor meets expectations, and at the same time provide key information basis for the subsequent determination of the motor braking decay value.

[0117] S407: Determine the motor braking decay value according to the torque reduction percentage and the motor reference torque.

[0118] Specifically, the brake control device of the vehicle brake system calculates the product of the torque reduction percentage and the motor reference torque according to the calculated torque reduction percentage and the motor reference torque in the motor brake system, thereby determining the motor brake decay value. By determining the motor brake decay value, it is possible to determine the braking force of the driving wheel that needs to be reduced in order to ensure that the vehicle brake slip rate remains within a safe range during the vehicle braking process, thereby providing key information basis for subsequently determining the required air pressure of the trailer valve in the vehicle.

[0119] S408: Determine the required air pressure of the trailer valve in the vehicle according to the motor brake decay value.

[0120] Specifically, the brake control device of the vehicle brake system determines the corresponding required air pressure value to be provided to the trailer valve in the vehicle according to the calculated motor brake decay value. When the motor brake system reduces the motor torque of the vehicle in order to avoid wheel locking or slipping, the braking force of the drive wheel will be reduced, which may cause the vehicle to fail to achieve the ideal braking effect. When the braking force is reduced, the vehicle may stall. The brake control device of the vehicle brake system provides the corresponding required air pressure value to the trailer valve in the vehicle to achieve precise control of the air pressure of the trailer, so that the braking force of the trailer just compensates for the reduced braking force of the drive wheel, realizes the coordination of the braking force between the drive wheel and the trailer, ensures the balance of the braking force of the whole vehicle, and achieves the ideal braking effect of the vehicle while reducing the motor braking torque, ensures the smoothness of vehicle deceleration, and makes the vehicle more controllable and safe during braking.

[0121] S409: Control the brake air pressure provided to the trailer valve according to the required air pressure of the trailer valve.

[0122] This embodiment reduces the motor torque of the vehicle according to the motor torque reduction value. When reducing the motor torque of the vehicle, a warning reminder message is sent to the vehicle's instrument panel to ensure that the vehicle's braking slip rate remains within a safe range during the vehicle's braking process, thereby ensuring the stability and safety of the vehicle during the braking process, and helping the driver to better deal with potential risks and ensure driving safety. At the same time, the current braking torque and the motor reference torque of the motor in the vehicle are obtained, and the motor torque reduction percentage is determined according to the motor torque reduction value and the current braking torque of the motor. The motor braking decay value is determined according to the torque reduction percentage and the motor reference torque, and the required air pressure of the trailer valve in the vehicle is determined according to the motor braking decay value. The working state of the motor during braking can be monitored in real time, and the air pressure pressure of the trailer can be accurately controlled, so that the braking force of the trailer just compensates for the reduced braking force of the driving wheel, and the braking force coordination between the driving wheel and the trailer is achieved, ensuring the balance of the braking force of the whole vehicle, while reducing the motor braking torque, so that the vehicle achieves an ideal braking effect and ensures the smoothness of vehicle deceleration.

[0123] Embodiment 5

[0124] Figure 5 : is a schematic diagram of the structure of a vehicle braking energy recovery device provided in the fifth embodiment of the present invention. The device can implement the vehicle braking energy recovery method provided in the embodiment of the present invention. The device can be implemented by software and / or hardware, and can generally be integrated in the braking control device of the vehicle braking system. Figure 5 As shown, the device includes: a slip ratio acquisition module 501, a motor torque reduction value determination module 502, a motor brake decay value determination module 503, a required air pressure determination module 503, and a brake air pressure control module 504. The specific structure of the device is as follows:

[0125] The slip ratio acquisition module 501 is used to acquire the braking slip ratio of each wheel of the vehicle when the motor braking system controls the vehicle to brake;

[0126] The motor torque reduction value determination module 502 is used to determine the motor torque reduction value of the vehicle according to the braking slip rate of each wheel when there is a braking slip rate greater than a preset slip rate of the wheel;

[0127] A motor braking decay value determining module 503, used to determine the motor braking decay value according to the motor torque reduction value;

[0128] A required air pressure determination module 504, for determining a required air pressure of a trailer valve in the vehicle according to the motor brake decay value;

[0129] The brake air pressure control module 505 is used to control the brake air pressure provided to the trailer valve according to the required air pressure of the trailer valve.

[0130] In an optional embodiment of the present invention, the slip ratio acquisition module 501 can also be used to: obtain the actual percentage of motor braking of the vehicle; when the actual percentage of motor braking is greater than a preset percentage, activate the motor braking system to brake the vehicle, and determine the braking force of the motor braking system on the vehicle based on the actual percentage of motor braking.

[0131] In an optional embodiment of the present invention, the slip ratio acquisition module 501 can also be used to: obtain the gear information of the auxiliary brake handle in the vehicle; send a braking percentage request to the vehicle controller of the vehicle based on the gear information of the auxiliary brake handle, so that the vehicle controller determines the actual percentage of the vehicle's motor braking based on the vehicle's operating conditions and the braking percentage request; and obtain the actual percentage of the vehicle's motor braking based on the vehicle controller.

[0132] In an optional embodiment of the present invention, the slip ratio acquisition module 501 may also be used to: acquire the wheel speed of each wheel of the vehicle when the motor brake system brakes the vehicle; and determine the braking slip ratio of each wheel according to the wheel speed of each wheel.

[0133] In an optional embodiment of the present invention, the motor torque reduction value determination module 502 may also be used to: reduce the motor torque of the vehicle according to the motor torque reduction value; and send a warning reminder message to the dashboard of the vehicle when reducing the motor torque of the vehicle.

[0134] In an optional embodiment of the present invention, the motor braking decay value determination module 503 can also be used to: obtain the current braking torque and the motor reference torque of the motor in the vehicle; determine the torque reduction percentage of the motor based on the motor torque reduction value and the current braking torque of the motor; determine the motor braking decay value based on the torque reduction percentage and the motor reference torque.

[0135] In an optional embodiment of the present invention, the required air pressure determination module 504 may also be used to determine the required air pressure of the trailer valve in the vehicle according to the motor brake decay value based on the first calculation formula.

[0136] Among them, the first calculation formula is:

[0137]

[0138] Among them, P 挂 is the required air pressure of the trailer valve, △T is the motor brake decay value, n 主 is the vehicle's rear axle main reduction ratio, k is the vehicle's trailer brake torque gradient, R d is the effective radius of the vehicle's brake disc, n 挂 is the number of brake wheel sets of the vehicle's trailer.

[0139] The above-mentioned vehicle braking energy recovery device can execute the vehicle braking energy recovery method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in this embodiment, please refer to the vehicle braking energy recovery method provided by any embodiment of the present invention.

[0140] Since the vehicle braking energy recovery device introduced above is a device that can execute the vehicle braking energy recovery method in the embodiment of the present invention, based on the vehicle braking energy recovery method introduced in the embodiment of the present invention, the technical personnel of the field can understand the specific implementation of the vehicle braking energy recovery device of the present embodiment and its various variations, so how the vehicle braking energy recovery device implements the vehicle braking energy recovery method in the embodiment of the present invention is not described in detail here. As long as the technical personnel of the field implement the device used in the vehicle braking energy recovery method in the embodiment of the present invention, it belongs to the scope of protection of this application.

[0141] Embodiment 6

[0142] Figure 6 1 is a structural schematic diagram of a vehicle braking system provided in Embodiment 6 of the present invention, the braking system can implement the vehicle braking energy recovery method provided in the embodiment of the present invention, the vehicle braking system comprises: a braking control device 10, a motor braking system 20 and a trailer valve 30;

[0143] The brake control device 10 is in communication connection with the motor brake system 20 , and the motor brake system 20 is in communication connection with the trailer valve 30 ;

[0144] The brake control device 10 is used to execute the vehicle brake energy recovery method provided in any of the above embodiments.

[0145] The braking control device of the vehicle braking system can execute the vehicle braking energy recovery method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not described in detail in this embodiment, please refer to the vehicle braking energy recovery method provided by any embodiment of the present invention.

[0146] Since the vehicle braking system described above is a system that can execute the vehicle braking energy recovery method in the embodiment of the present invention, based on the vehicle braking energy recovery method described in the embodiment of the present invention, the technical personnel of the field can understand the specific implementation of the vehicle braking system of the present embodiment and its various variations, so how the vehicle braking system implements the vehicle braking energy recovery method in the embodiment of the present invention is not described in detail here. As long as the technical personnel of the field implement the system adopted by the vehicle braking energy recovery method in the embodiment of the present invention, it belongs to the scope of protection of this application.

[0147] Embodiment 7

[0148] Based on the same inventive concept, embodiment seven of the present invention further provides a vehicle, the vehicle comprising a frame, a plurality of wheels arranged on the frame, a motor arranged in the frame, and the vehicle braking system of the above embodiment.

[0149] Therefore, the vehicle provided in this embodiment has the structure and operation of the vehicle braking system of the above embodiment, and can achieve the effect of the vehicle braking system of the above embodiment. The similarities can be referred to the above description and will not be repeated here.

[0150] Embodiment 8

[0151] Figure 7 The schematic diagram of the structure of the brake control device of the vehicle brake system that can be used to implement the embodiment of the present invention is shown. The brake control device can take various forms to adapt to the environment and requirements inside the vehicle, such as an on-board computer, an on-board controller, an on-board intelligent terminal, an on-board embedded system and an on-board control unit, which are specially designed to monitor and adjust the vehicle brake system to ensure the braking effect and safety of the vehicle. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0152] like Figure 7As shown, the brake control device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the brake control device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0153] Multiple components in the brake control device 10 are connected to the I / O interface 15, including: an input unit 16, such as an on-board control button, a steering wheel controller, etc.; an output unit 17, such as an on-board display screen, a voice prompt system, etc.; a storage unit 18, such as an on-board hard disk, a flash memory, etc.; and a communication unit 19, such as an on-board communication module, an on-board Wi-Fi device, etc. The communication unit 19 allows the brake control device 10 to exchange information / data with other vehicle devices through, for example, an internal vehicle network and / or a vehicle communication system.

[0154] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a vehicle braking energy recovery method.

[0155] In some embodiments, the vehicle braking energy recovery method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit. In some embodiments, part or all of the computer program may be loaded and / or installed on the vehicle of the above-described embodiment via a ROM and / or a communication unit. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle braking energy recovery method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the vehicle braking energy recovery method in any other appropriate manner (e.g., by means of firmware).

[0156] Optionally, a vehicle braking energy recovery method may include: obtaining the braking slip rate of each wheel of the vehicle when the motor braking system controls the vehicle to brake; determining the motor torque reduction value of the vehicle according to the braking slip rate of each wheel when there is a braking slip rate greater than a preset slip rate of the wheel; determining the motor braking decay value according to the motor torque reduction value; determining the required air pressure of the trailer valve in the vehicle according to the motor braking decay value; and controlling the braking air pressure supplied to the trailer valve according to the required air pressure of the trailer valve.

[0157] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0158] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0159] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, 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 foregoing.

[0160] To provide interaction with a user, the systems and techniques described herein may be implemented on a brake control device having: an onboard display device (e.g., an onboard LCD screen) for displaying information to the user; and an onboard keyboard and pointing device (e.g., a steering wheel controller or a touch screen) through which the user can provide input to the brake control device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0161] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0162] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0163] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and this document does not limit this.

[0164] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle braking energy recovery method, characterized in that: The method comprises: When the motor brake system controls the vehicle to brake, the braking slip rate of each wheel of the vehicle is obtained; When the braking slip ratio is greater than the preset slip ratio of the wheel, determining a motor torque reduction value of the vehicle according to the braking slip ratio of each of the wheels; Determining a motor braking decay value according to the motor torque reduction value; determining a required air pressure of a trailer valve in the vehicle according to the motor brake decay value; The brake air pressure provided to the trailer valve is controlled according to the required air pressure of the trailer valve.

2. The vehicle braking energy recovery method according to claim 1, characterized in that: When the motor brake system controls the vehicle to brake, before obtaining the brake slip rate of each wheel of the vehicle, it includes: Get the actual percentage of motor braking of the vehicle; When the actual percentage of motor braking is greater than a preset percentage, the motor braking system is activated to brake the vehicle, and the braking force of the motor braking system on the vehicle is determined according to the actual percentage of motor braking.

3. The vehicle braking energy recovery method according to claim 2, characterized in that: Get the actual percentage of the vehicle's motor braking, including: Acquiring gear position information of an auxiliary brake handle in the vehicle; Sending a braking percentage request to a vehicle controller of the vehicle according to the gear position information of the auxiliary brake handle, so that the vehicle controller determines an actual percentage of motor braking of the vehicle according to the operating condition of the vehicle and the braking percentage request; An actual percentage of motor braking of the vehicle is obtained based on the vehicle controller.

4. The vehicle braking energy recovery method according to claim 1, characterized in that: When the motor brake system controls the vehicle to brake, the braking slip rate of each wheel of the vehicle is obtained, including: When the motor brake system brakes the vehicle, obtaining the wheel speed of each wheel of the vehicle; The braking slip ratio of each wheel is determined according to the wheel speed of each wheel.

5. The vehicle braking energy recovery method according to claim 1, characterized in that: After determining the motor torque reduction value of the vehicle according to the braking slip ratio of each of the wheels, the method further includes: reducing the motor torque of the vehicle according to the motor torque reduction value; When the motor torque of the vehicle is reduced, a warning reminder message is sent to the dashboard of the vehicle.

6. The vehicle braking energy recovery method according to claim 1, characterized in that: Determining a motor braking decay value according to the motor torque reduction value includes: Acquire a current braking torque and a motor reference torque of a motor in the vehicle; Determining a torque reduction percentage of the motor according to the motor torque reduction value and the current braking torque of the motor; The motor braking decay value is determined according to the torque reduction percentage and the motor reference torque.

7. The vehicle braking energy recovery method according to claim 1, characterized in that: Determining the required air pressure of the trailer valve in the vehicle according to the motor brake decay value includes: According to the motor brake decay value, based on a first calculation formula, the required air pressure of the trailer valve in the vehicle is determined; the first calculation formula is: Among them, P 挂 is the required air pressure of the trailer valve, ΔT is the motor brake decay value, n 主 is the rear axle main reduction ratio of the vehicle, k is the trailer brake torque gradient of the vehicle, R d is the effective radius of the brake disc of the vehicle, n 挂 is the number of brake wheel sets of the trailer of the vehicle.

8. A vehicle braking energy recovery device, characterized in that: include: The slip rate acquisition module is used to acquire the braking slip rate of each wheel of the vehicle when the motor braking system controls the vehicle to brake; a motor torque reduction value determining module, configured to determine a motor torque reduction value of the vehicle according to the brake slip ratio of each of the wheels when a brake slip ratio is greater than a preset slip ratio of the wheels; A motor braking decay value determination module, used to determine the motor braking decay value according to the motor torque reduction value; A required air pressure determination module, used to determine the required air pressure of the trailer valve in the vehicle according to the motor brake decay value; The brake air pressure control module is used to control the brake air pressure provided to the trailer valve according to the required air pressure of the trailer valve.

9. A vehicle braking system, characterized in that: include: brake controls, motor brake systems and trailer valves; The brake control device is in communication connection with the motor brake system, and the motor brake system is in communication connection with the trailer valve; The brake control device is used to execute the vehicle brake energy recovery method according to any one of claims 1 to 7.

10. A vehicle, characterized in that: include: A vehicle frame, a plurality of wheels arranged on the frame, a motor arranged in the frame, and the vehicle braking system according to claim 9.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the vehicle braking energy recovery method as described in any one of claims 1 to 7.

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