A vehicle and a method, device, system and medium for brake energy recovery thereof

Abstract

The application discloses a vehicle and a brake energy recovery method, device and system thereof and a medium, and relates to the technical field of vehicle brake control. The vehicle brake energy recovery method comprises the following steps: acquiring brake slip ratios of wheels of the vehicle when a motor brake system controls the vehicle to brake; determining a motor torque reduction value of the vehicle according to the brake slip ratios of the wheels when the brake slip ratios of the wheels are greater than preset slip ratios of the wheels; determining a motor brake 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; and controlling brake air pressure provided to the trailer valve according to the required air pressure of the trailer valve. The technical scheme of the application can ensure the stability of the vehicle during the brake energy recovery process of the vehicle, and ensure the smoothness of the deceleration of the vehicle.

Description

Technical Field

[0001] The present invention relates to the field of vehicle braking control technology, and in particular to a vehicle and its braking energy recovery method, device, system and medium. Background Technology

[0002] With the development of technology, the requirements for vehicle safety and stability are getting higher and higher. Vehicles are usually equipped with regenerative braking function, which uses the kinetic energy of the vehicle during braking to drive the motor in reverse through the drive wheels to generate electricity, which is then converted into charging current to charge the vehicle's power battery and extend the vehicle's driving range.

[0003] When a vehicle is driving on a wet or slippery surface, pressing the brake pedal or operating the retarder to regenerate braking energy can easily cause the drive wheels to lock up and slip, potentially leading to dangerous situations such as fishtailing and skidding. To address this issue, current technology reduces the braking torque of the electric motor to maintain vehicle stability.

[0004] However, reducing the braking torque of the electric motor may also prevent the vehicle from achieving the desired braking effect. Reducing the transmission of braking force may cause the vehicle to stall, that is, the braking distance becomes longer or the braking effect is not as expected. This may affect the driver's control of the vehicle and the safety of driving. Summary of the Invention

[0005] This invention provides a vehicle and its braking energy recovery method, device, system and medium to ensure vehicle driving stability and improve the smoothness of vehicle deceleration during the braking energy recovery process.

[0006] The first aspect of this invention provides a method for recovering braking energy in a vehicle, the method comprising:

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

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

[0009] Based on the decrease in motor torque, determine the motor braking fade value;

[0010] Based on the motor brake fade value, determine the required air pressure of the trailer valve in the vehicle;

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

[0012] Optionally, before obtaining the braking slip ratio of each wheel of the vehicle when the electric braking system controls the vehicle to brake, the following steps are included:

[0013] Obtain the actual percentage of electric 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 based on the actual percentage of motor braking.

[0015] Optionally, obtain the actual percentage of the vehicle's electric motor braking, including:

[0016] Obtain the gear position information of the auxiliary brake lever in the vehicle;

[0017] Based on the gear position information of the auxiliary brake lever, a braking percentage request is sent to the vehicle controller of the vehicle, so that the vehicle controller can determine the actual percentage of the vehicle's motor braking according to the vehicle's operating conditions and the braking percentage request.

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

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

[0020] When the electric motor braking system brakes the vehicle, the wheel speed of each wheel of the vehicle is obtained;

[0021] Based on the wheel speed of each wheel, the braking slip ratio of each wheel is determined.

[0022] Optionally, after determining the reduction in motor torque of the vehicle based on the braking slip ratio of each of the said wheels, the method further includes:

[0023] Based on the decrease in motor torque, reduce the motor torque of the vehicle;

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

[0025] Optionally, the motor braking fade value is determined based on the motor torque reduction value, including:

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

[0027] The percentage reduction in motor torque is determined based on the reduction in motor torque and the current braking torque of the motor.

[0028] The motor braking fade value is determined based on the percentage reduction in torque and the motor reference torque.

[0029] Optionally, determining the required air pressure for the trailer valve in the vehicle based on the motor brake fade value includes:

[0030] Based on the motor brake fade value, and using a first calculation formula, the required air pressure for the trailer valve in the vehicle is determined; the first calculation formula is:

[0031]

[0032] Among them, P 挂 The required air pressure for the trailer valve is given by n, where ΔT is the brake fade value of the motor, and n is the brake fade value of the motor. 主 R is the rear axle final drive ratio of the vehicle, k is the trailer brake torque gradient of the vehicle, and R d Let n be the effective radius of the brake disc of the vehicle. 挂 The number of trailer brake wheel sets of the vehicle.

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

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

[0035] The motor torque reduction value determination module is used to determine the motor torque reduction value of the vehicle based on the braking slip ratio of each wheel when there is a braking slip ratio greater than the preset slip ratio of the wheel.

[0036] The motor braking fade value determination module is used to determine the motor braking fade value based on the reduction value of the motor torque;

[0037] The required air pressure determination module is used to determine the required air pressure of the trailer valve in the vehicle based on the motor brake fade value.

[0038] The brake air pressure control module is used to control the brake air pressure supplied 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, an electric motor braking system, and a trailer valve;

[0040] The braking control device is communicatively connected to the electric motor braking system, and the electric motor braking system is communicatively connected to the trailer valve;

[0041] The braking control device is used to perform the vehicle braking energy recovery method described above.

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

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

[0044] The technical solution provided by this invention, when the electric motor braking system controls the vehicle to brake, acquires the braking slip ratio of each wheel of the vehicle. If any wheel's braking slip ratio exceeds a preset slip ratio, the system determines the reduction value of the vehicle's motor torque based on the braking slip ratio of each wheel. This prevents the drive wheels from locking up and slipping, ensuring that the vehicle's braking slip ratio remains within a safe range during braking and guaranteeing vehicle stability. Simultaneously, based on the reduction value of the motor torque, the system determines the motor brake fade value. Based on this fade value, the system determines the required air pressure for the trailer valve and controls the brake air pressure supplied to the trailer valve. This ensures that the trailer's braking force precisely compensates for the reduced braking force of the drive wheels, achieving coordination of braking forces between the drive wheels and the trailer. This ensures the balance of the vehicle's braking force, thereby reducing the motor's braking torque while achieving an ideal braking effect, guaranteeing smooth vehicle deceleration, and improving vehicle operational safety.

[0045] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a schematic flowchart of a vehicle braking energy recovery method provided in Embodiment 1 of the present invention;

[0048] Figure 2 This is a schematic flowchart of a vehicle braking energy recovery method provided in Embodiment 2 of the present invention;

[0049] Figure 3 This is a schematic flowchart of a vehicle braking energy recovery method provided in Embodiment 3 of the present invention;

[0050] Figure 4 This is a schematic flowchart of a vehicle braking energy recovery method provided in Embodiment 4 of the present invention;

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

[0052] Figure 6 This is a schematic diagram of a vehicle braking system provided in Embodiment Six of the present invention;

[0053] Figure 7 This is a schematic diagram of the structure of a braking control device for a vehicle braking system provided in Embodiment 8 of the present invention. Detailed Implementation

[0054] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0056] Example 1

[0057] Figure 1 This is a flowchart illustrating a vehicle braking energy recovery method according to Embodiment 1 of the present invention. This embodiment ensures both vehicle driving stability and smooth deceleration during the braking energy recovery process. This method can be executed by a vehicle braking energy recovery device, which can be implemented in software and / or hardware, and is generally integrated into the braking control device of the vehicle braking system. Correspondingly, as... Figure 1 As shown, the vehicle braking energy recovery method may include:

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

[0059] Braking slip ratio can be specifically understood as the ratio between the actual sliding speed of the wheel during braking and the actual travel speed of the vehicle. Braking slip occurs when there is a difference between the actual sliding speed of the wheel and the vehicle's travel speed. Specifically, when the electric braking system controls the vehicle to brake, the braking control device of the vehicle braking system obtains the wheel speed of each wheel and calculates the braking slip ratio of each wheel based on that speed, thus achieving the acquisition of the braking slip ratio of each wheel of the vehicle.

[0060] S102. When the braking slip ratio is greater than the preset slip ratio of the wheel, determine the reduction value of the vehicle's motor torque based on the braking slip ratio of each wheel.

[0061] Specifically, the preset slip ratio can be understood as a target value of the vehicle braking system during the design phase, designed to ensure that the vehicle maintains stability and achieves optimal braking performance during braking. When the braking slip ratio of each wheel exceeds the preset slip ratio, it means that the braking force applied by the vehicle is too large, increasing the risk of wheel lock-up or slippage. The motor torque reduction value can be understood as the amount of motor output torque that needs to be reduced during vehicle braking to avoid wheel lock-up or slippage. Motor torque can be 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 on the wheels, thereby controlling the vehicle's braking slip ratio.

[0062] Specifically, when the vehicle braking system's brake control device detects that the vehicle's braking slip ratio is greater than the preset slip ratio of the wheels, the vehicle braking system determines the amount of motor braking torque that needs to be reduced based on the braking slip ratio of each wheel. This reduces the braking slip ratio of each wheel to less than or equal to the preset slip ratio of the wheels, thereby adjusting the distribution of braking force and ensuring that the vehicle's braking slip ratio remains within a safe range during braking, thus ensuring the stability and safety of the vehicle during braking.

[0063] S103. Determine the motor braking fade value based on the motor torque reduction value.

[0064] Specifically, the motor brake fade value can be understood as the vehicle's braking system adjusting its output based on the decrease in motor torque. This gradual reduction in motor force aims to diminish or weaken the braking effect, thereby ensuring the vehicle's brake slip ratio remains within a safe range during braking. In essence, the vehicle's braking system controls the output braking force based on the decrease in motor torque, determining the motor brake fade value to ensure vehicle stability during braking and prevent wheel lock-up or slippage.

[0065] S104. Determine the required air pressure for the trailer valve in the vehicle based on the motor brake fade value.

[0066] Specifically, the required air pressure of the trailer valve can be understood as the air pressure value that the vehicle braking system's braking control device adjusts to output to the trailer valve based on the motor's fade value when the electric motor braking system controls the vehicle to brake. The aim is to supplement the braking force of the drive wheels, which is reduced during vehicle braking to prevent wheel lock-up or slippage, by supplying air pressure to the trailer valve to achieve the desired braking effect and ensure smooth vehicle deceleration.

[0067] Optionally, based on the motor brake fade value and using the first calculation formula, the required air pressure for the trailer valve in the vehicle is determined; the first calculation formula is:

[0068]

[0069] Among them, P 挂 The required air pressure for the trailer valve, ΔT is the motor brake fade value, n 主 R is the rear axle final drive ratio of the vehicle, k is the torque gradient of the vehicle's trailer brakes, and R is the final drive ratio of the vehicle's final drive ratio. d n is the effective radius of the vehicle's brake disc. 挂 n represents the number of trailer brake wheel sets on the vehicle. 主 ,k,R d and n 挂 This is a fixed value and can be pre-stored in the brake control device of the vehicle's braking system. For example, n 挂 The value can be 6.

[0070] Specifically, the vehicle braking system's braking control device calculates the required air pressure value to be output to the trailer valve based on the motor fade value and the first calculation formula. This achieves precise adjustment of the required air pressure to the trailer valve. This precise adjustment ensures that the trailer's braking force precisely compensates for the reduced braking force of the drive wheels when the vehicle is braking to prevent wheel lock-up or slippage. This achieves coordination of braking forces between the drive wheels and the trailer, ensuring the balance of the vehicle's braking force. While reducing the motor's braking torque, it enables the vehicle to achieve the ideal braking effect, ensuring the smoothness of vehicle deceleration. The vehicle becomes more controllable and safer during braking.

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

[0072] Specifically, the brake air pressure can be understood as being adjusted according to the required air pressure value of the trailer valve, used to provide the corresponding brake air pressure to the trailer valve in order to control the braking force output of the trailer brake.

[0073] Specifically, the vehicle braking system's braking control device, based on the calculated required air pressure of the trailer valve, simultaneously sends a trailer air pressure braking activation signal to the electric motor braking system. This controls the electric motor braking system to adjust the opening and closing state of the trailer valve, thereby providing the corresponding braking air pressure to the trailer valve and controlling the braking force output of the trailer brake. The aim is to ensure that the trailer's braking force precisely compensates for the reduced braking force of the drive wheels when the vehicle is braking to prevent wheel lock-up or slippage, thus ensuring the balance of the vehicle's braking force. While reducing the electric motor braking torque, the vehicle achieves the ideal braking effect.

[0074] This invention, in its embodiments, acquires the braking slip ratio of each wheel of the vehicle during braking control via the electric motor braking system. When a braking slip ratio exceeds a preset wheel slip ratio, the reduction value of the vehicle's motor torque is determined based on the braking slip ratio of each wheel. This prevents the drive wheels from locking up and slipping, ensuring the vehicle's braking slip ratio remains within a safe range during braking and guaranteeing vehicle stability. Simultaneously, based on the reduction value of the motor torque, a motor brake fade value is determined. Based on this fade value, the required air pressure of the trailer valve is determined, and the brake air pressure supplied to the trailer valve is controlled accordingly. This ensures that the trailer's braking force precisely compensates for the reduced braking force of the drive wheels, achieving coordination of braking forces between the drive wheels and the trailer. This ensures a balance of overall vehicle braking force, thereby reducing the motor braking torque while achieving an ideal braking effect, guaranteeing smooth vehicle deceleration, and improving vehicle operational safety.

[0075] Example 2

[0076] Figure 2This is a flowchart illustrating a vehicle braking energy recovery method according to Embodiment 2 of the present invention. Based on the above embodiments, this embodiment provides a detailed description of the method for determining whether to activate the electric motor braking system to brake the vehicle. Accordingly, as shown... Figure 2 As shown, the vehicle braking energy recovery method of this embodiment may include:

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

[0078] Specifically, the actual percentage of motor braking can be understood as the percentage of the actual applied motor power relative to the theoretical maximum motor power during the process of the motor braking system controlling the vehicle's braking.

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

[0080] Specifically, the gear information of the auxiliary brake lever can be understood as the braking force level or gear selected by the driver through operating the auxiliary brake lever, in order to request the vehicle controller to implement the corresponding theoretical braking percentage in the electric motor braking system.

[0081] Specifically, after the vehicle controller receives the braking percentage request determined by the vehicle braking system's braking control device based on the auxiliary brake lever's position information, the vehicle controller combines the braking percentage request with the current vehicle operating conditions to determine the actual applied electric motor braking percentage. Finally, the vehicle braking system's braking control device obtains the actual electric motor braking percentage determined by the vehicle controller. In this way, by combining the current vehicle operating conditions and the braking percentage request to determine the vehicle's actual electric motor braking percentage, the vehicle controller can dynamically adjust the motor's power, ensuring the vehicle's braking effect and stability under different operating conditions. It can adjust the actual electric motor braking percentage in real time based on the driver's choices and actual conditions, thereby providing optimal braking performance and driving experience. The vehicle's operating conditions may include, but are not limited to, factors such as vehicle speed, acceleration, and road conditions.

[0082] For example, the gear information of the auxiliary brake lever may include 5 gears. For instance, in first gear, the vehicle can brake in real time at 20% of the vehicle's maximum braking force; in second gear, the vehicle can brake in real time at 40% of the vehicle's maximum braking force; in third gear, the vehicle can brake in real time at 60% of the vehicle's maximum braking force; in fourth gear, the vehicle can brake in real time at 80% of the vehicle's maximum braking force; and in fifth gear, the vehicle can brake in real time at 100% of the vehicle's maximum braking force. 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 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 motor braking.

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

[0085] Specifically, when the actual percentage of electric braking exceeds a preset percentage, the vehicle's braking system control unit determines that energy recovery is possible and activates the electric braking system to brake the vehicle. The control unit then determines the braking force required by the electric braking system based on the actual braking percentage obtained from the vehicle controller and controls the system to apply the brakes. By precisely controlling the timing of energy recovery, the vehicle's braking system effectively converts kinetic energy into electrical energy for storage, improving energy recovery efficiency, optimizing vehicle performance and driving safety, extending the lifespan of the braking system, effectively improving driving comfort, and simultaneously reducing energy waste and emissions, thus meeting environmental standards.

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

[0087] S204. When the braking slip ratio is greater than the preset slip ratio of the wheel, determine the reduction value of the vehicle's motor torque based on the braking slip ratio of each wheel.

[0088] S205. Determine the motor braking fade value based on the reduction in motor torque.

[0089] S206. Determine the required air pressure for the trailer valve in the vehicle based on the motor brake fade value.

[0090] S207. Control the brake air pressure supplied 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 based on the auxiliary brake lever's position information. The vehicle controller then determines the actual percentage of electric motor braking based on the vehicle's operating conditions and the request. Based on this actual percentage, the controller activates the electric motor braking system to brake the vehicle when it exceeds a preset percentage. The braking force of the electric motor braking system is determined based on this percentage, allowing the vehicle controller to dynamically adjust the motor braking force. This ensures optimal braking performance and stability under different operating conditions. The system can adjust the actual electric motor braking percentage in real time based on driver selection and actual conditions, providing optimal braking performance and driving experience. Simultaneously, by precisely controlling the timing of energy recovery, the vehicle braking system effectively converts kinetic energy into electrical energy for storage, improving energy recovery efficiency and optimizing vehicle performance and driving safety.

[0092] Example 3

[0093] Figure 3 This is a flowchart illustrating a vehicle braking energy recovery method according to Embodiment 3 of the present invention. Based on the above embodiments, this embodiment provides a detailed description of the method for obtaining the braking slip ratio of each wheel of the vehicle. Accordingly, as shown... Figure 3 As shown, the vehicle braking energy recovery method of this embodiment may include:

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

[0095] Specifically, the electric braking system can include wheel speed sensors for each wheel, such as 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 braking, the wheel speed sensors can acquire the rotational speed data of each wheel in real time, allowing the system to determine the wheel speed of each wheel, thereby determining the vehicle's motion state and the appropriate braking force for each wheel. In this way, by monitoring the wheel speed, the vehicle braking system can precisely control the braking force of each wheel, preventing wheel lock-up and slippage caused by over-braking, improving braking performance and vehicle stability, and ensuring driving safety and comfort.

[0096] S302. Determine the braking slip ratio of each wheel based on the wheel speed of each wheel.

[0097] Specifically, the real-time wheel speeds of each wheel of the vehicle are acquired through wheel speed sensors. Based on these wheel speeds, the braking slip ratio of each wheel can be calculated, which is the ratio of the wheel's actual sliding speed to its rotational speed. By comparing the braking slip ratio of each wheel with a preset slip ratio, it can be determined whether there is a braking slip ratio greater than the vehicle's preset slip ratio, thus determining whether the braking force of each wheel needs to be adjusted. In this way, by acquiring the braking slip ratio of each wheel, the vehicle's braking system can dynamically adjust the braking force of each wheel to ensure that the wheels remain within an appropriate braking slip ratio range, thereby achieving optimal 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 reduction value of the vehicle's motor torque based on the braking slip ratio of each wheel.

[0099] S304. Determine the motor braking fade value based on the motor torque reduction value.

[0100] S305. Determine the required air pressure for the trailer valve in the vehicle based on the motor brake fade value.

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

[0102] This embodiment acquires the wheel speed of each wheel of the vehicle when the electric braking system brakes the vehicle, and determines the braking slip ratio of each wheel based on the wheel speed. By monitoring the wheel speed, the vehicle braking system can precisely control the braking force of each wheel, avoiding wheel lock-up and slippage caused by over-braking, improving braking effect and vehicle stability, and ensuring driving safety and comfort. Simultaneously, by acquiring the braking slip ratio of each wheel, the vehicle braking system can dynamically adjust the braking force of each wheel, ensuring that the wheels remain within an appropriate braking slip ratio range, thereby achieving optimal braking effect and vehicle stability, and improving driving safety and comfort.

[0103] Example 4

[0104] Figure 4 This is a flowchart illustrating a vehicle braking energy recovery method according to Embodiment 4 of the present invention. Based on the above embodiments, this embodiment provides a detailed description of the method for determining the required air pressure of the trailer valve in the vehicle. Accordingly, as shown... Figure 4 As shown, the vehicle braking energy recovery method of this embodiment may include:

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

[0106] S402. When the braking slip ratio is greater than the preset slip ratio of the wheel, determine the reduction value of the vehicle's motor torque based on the braking slip ratio of each wheel.

[0107] S403. Reduce the vehicle's motor torque based on the motor torque reduction value.

[0108] Specifically, when the vehicle braking system's brake control device detects that the vehicle's braking slip ratio is greater than the preset slip ratio of the wheels, the vehicle braking system determines the amount of motor braking torque that needs to be reduced based on the braking slip ratio of each wheel. The system then controls the motor braking system to reduce the vehicle's motor torque according to the required reduction value, so that the braking slip ratio of each wheel after the reduction is less than or equal to the preset slip ratio of the wheel. This adjusts the distribution of braking force and ensures that the vehicle's braking slip ratio remains within a safe range during vehicle braking, thereby ensuring the stability and safety of the vehicle during braking.

[0109] S404. When reducing the motor torque of the vehicle, send a warning message to the vehicle's instrument panel.

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

[0111] Specifically, when it is determined that the braking slip ratio in the vehicle exceeds the preset wheel slip ratio, requiring a reduction in the vehicle's motor torque, an audible alarm can be used to attract the driver's attention and indicate a potential risk, urging careful driving. For example, a buzzer or siren can emit a continuous or intermittent audible alarm. Similarly, visual cues can also be used to draw the driver's attention, such as flashing warning lights or LED indicators that flash or change color on the vehicle's instrument panel. Furthermore, text prompts can help operators quickly identify potential risks, such as displaying a text message indicating a risk of vehicle lock-up and slippage on a screen or digital panel. Finally, the driver can be remotely notified of a potential risk via email, text message, or other remote notifications through a network-connected system. Timely alerts and vehicle risk displays can enhance drivers' awareness of vehicle conditions, help them better cope with potential risks, and ensure driving safety.

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

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

[0114] Specifically, the electric motor braking system may include a torque sensor. During braking, the torque sensor can acquire the actual torque generated by the motor in real time. The vehicle braking system's braking control device can monitor the motor's current braking torque in real time using the torque sensor installed on the electric motor braking system. The motor reference torque is a fixed value preset according to vehicle design requirements and braking control strategy. During the system design phase, the braking control device sets the motor reference torque to the ideal torque that the motor should achieve to realize smooth vehicle braking and performance optimization. By acquiring the current braking torque and the motor reference torque in the electric motor braking system, the vehicle braking system's braking control device can monitor the motor's operating status during braking in real time. This data also provides a crucial information basis for subsequently determining the percentage of motor torque reduction and the motor braking fade value.

[0115] S406. Determine the percentage reduction in motor torque based on the reduction in motor torque and the current braking torque of the motor.

[0116] The percentage reduction in motor torque is calculated as the ratio of the reduction in motor torque to the current braking torque multiplied by 100%. By monitoring the percentage reduction in motor torque, it is possible to promptly determine whether the motor's operating status meets expectations, and it also provides a crucial information basis for subsequently determining the motor's braking fade value.

[0117] S407. Determine the motor braking fade value based on the percentage reduction in torque and the motor reference torque.

[0118] Specifically, the vehicle braking system's brake control device calculates the product of the calculated torque reduction percentage and the motor reference torque in the electric braking system to determine the motor brake fade value. By determining the motor brake fade value, the required reduction in the driving wheel braking force can be determined to ensure that the vehicle's braking slip ratio remains within a safe range during braking. This provides crucial information for subsequently determining the required air pressure for the trailer valve in the vehicle.

[0119] S408. Determine the required air pressure for the trailer valve in the vehicle based on the motor brake fade value.

[0120] Specifically, the vehicle's braking system's brake control device determines the required air pressure value to be supplied to the trailer valve based on the calculated motor brake fade value. When the motor braking system reduces the vehicle's motor torque to prevent wheel lock-up or slippage, it reduces the braking force on the drive wheels, which may prevent the vehicle from achieving the desired braking effect. With reduced braking force, the vehicle may stall. The vehicle's braking system's brake control device precisely controls the trailer's air pressure by providing the required air pressure value to the trailer valve. This ensures that the trailer's braking force exactly compensates for the reduced braking force on the drive wheels, achieving coordination between the driving wheels and the trailer's braking force. This ensures the balance of the vehicle's braking force, achieving the ideal braking effect while reducing the motor braking torque, guaranteeing smooth vehicle deceleration, and making the vehicle more controllable and safer during braking.

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

[0122] This embodiment reduces the vehicle's motor torque based on the motor torque reduction value. While reducing the motor torque, a warning message is sent to the vehicle's instrument panel to ensure the vehicle's braking slip ratio remains within a safe range during braking, thereby ensuring vehicle stability and safety during braking and helping the driver better manage potential risks. Simultaneously, the current braking torque and reference torque of the vehicle's motor are acquired. Based on the motor torque reduction value and the current braking torque, the percentage of torque reduction is determined. Based on the percentage reduction and the reference torque, the motor brake fade value is determined. Based on this value, the required air pressure of the trailer valve is determined. This allows for real-time monitoring of the motor's operating status during braking and precise control of the trailer's air pressure, ensuring that the trailer's braking force precisely compensates for the reduced braking force of the drive wheels. This achieves coordination of braking forces between the drive wheels and the trailer, ensuring overall vehicle braking balance. While reducing the motor's braking torque, the vehicle achieves ideal braking performance, guaranteeing smooth deceleration.

[0123] Example 5

[0124] Figure 5 This is a schematic diagram of a vehicle braking energy recovery device provided in Embodiment 5 of the present invention. This device can implement the vehicle braking energy recovery method provided in this embodiment of the invention. The device can be implemented by software and / or hardware, and is generally integrated into 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 fade value determination module 503, a required air pressure determination module 504, 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 electric 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 based on the braking slip ratio of each wheel when there is a braking slip ratio greater than the preset slip ratio of the wheel.

[0127] The motor brake fade value determination module 503 is used to determine the motor brake fade value based on the reduction value of motor torque;

[0128] The demand air pressure determination module 504 is used to determine the demand air pressure of the trailer valve in the vehicle based on the motor brake fade value.

[0129] The brake air pressure control module 505 is used to control the brake air pressure supplied 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 may also be used to: acquire 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 to brake 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 may also be used to: acquire the gear position information of the auxiliary brake lever in the vehicle; send a braking percentage request to the vehicle controller of the vehicle according to the gear position information of the auxiliary brake lever, so that the vehicle controller determines the actual percentage of the vehicle's motor braking according to the vehicle's operating conditions and the braking percentage request; and acquire 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 can also be used to: acquire the wheel speed of each wheel of the vehicle when the electric motor braking 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 can 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 vehicle's dashboard when reducing the motor torque of the vehicle.

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

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

[0136] The first calculation formula is:

[0137]

[0138] Among them, P 挂 The required air pressure for the trailer valve, ΔT is the motor brake fade value, n 主 R is the rear axle final drive ratio of the vehicle, k is the torque gradient of the vehicle's trailer brakes, and R is the final drive ratio of the vehicle's final drive ratio. d n is the effective radius of the vehicle's brake disc. 挂 This refers to the number of trailer brake wheel sets on the vehicle.

[0139] The above-described vehicle braking energy recovery device can execute the vehicle braking energy recovery method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method. Technical details not described in detail in this embodiment can be found in the vehicle braking energy recovery method provided in any embodiment of the present invention.

[0140] Since the vehicle braking energy recovery device described above is an apparatus capable of executing the vehicle braking energy recovery method in the embodiments of the present invention, those skilled in the art can understand the specific implementation methods and various variations of the vehicle braking energy recovery device in this embodiment based on the vehicle braking energy recovery method described in the embodiments of the present invention. Therefore, how the vehicle braking energy recovery device implements the vehicle braking energy recovery method in the embodiments of the present invention will not be described in detail here. Any apparatus used by those skilled in the art to implement the vehicle braking energy recovery method in the embodiments of the present invention falls within the scope of protection of this application.

[0141] Example 6

[0142] Figure 6 This is a schematic diagram of a vehicle braking system provided in Embodiment 6 of the present invention. The braking system can realize the vehicle braking energy recovery method provided in the embodiment of the present invention. The vehicle braking system includes: a braking control device 10, an electric motor braking system 20, and a trailer valve 30.

[0143] The braking control device 10 is communicatively connected to the electric braking system 20, and the electric braking system 20 is communicatively connected to the trailer valve 30.

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

[0145] The braking control device of the above-described vehicle braking system can execute the vehicle braking energy recovery method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method. Technical details not described in detail in this embodiment can be found in the vehicle braking energy recovery method provided in any embodiment of the present invention.

[0146] Since the vehicle braking system described above is capable of implementing the vehicle braking energy recovery method in the embodiments of the present invention, those skilled in the art can understand the specific implementation methods and various variations of the vehicle braking system in this embodiment based on the vehicle braking energy recovery method described in the embodiments of the present invention. Therefore, how this vehicle braking system implements the vehicle braking energy recovery method in the embodiments of the present invention will not be described in detail here. Any system used by those skilled in the art to implement the vehicle braking energy recovery method in the embodiments of the present invention falls within the scope of protection of this application.

[0147] Example 7

[0148] Based on the same inventive concept, Embodiment Seven of the present invention also provides a vehicle, which includes a frame, a plurality of wheels mounted on the frame, a motor mounted within the frame, and the vehicle braking system described in the above embodiments.

[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] Example 8

[0151] Figure 7 A schematic diagram of a braking control device for a vehicle braking system that can be used to implement embodiments of the present invention is shown. The braking control device can take various forms to suit the environment and needs within a vehicle, such as an onboard computer, onboard controller, onboard intelligent terminal, onboard embedded system, and onboard control unit. These devices are specifically designed to monitor and regulate the vehicle braking system to ensure vehicle braking performance and safety. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0152] like Figure 7As shown, the braking control device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the braking control device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

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

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

[0155] In some embodiments, the vehicle braking energy recovery method may be implemented as a computer program 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 into and / or installed on the vehicle of the above embodiments via 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 by any other suitable means (e.g., by means of firmware).

[0156] Optionally, a vehicle braking energy recovery method may include: when the electric motor braking system controls the vehicle to brake, acquiring the braking slip ratio of each wheel of the vehicle; when there is a braking slip ratio greater than a preset slip ratio of the wheel, determining the reduction value of the vehicle's motor torque based on the braking slip ratio of each wheel; determining the motor braking fade value based on the reduction value of the motor torque; determining the required air pressure of the trailer valve in the vehicle based on the motor braking fade value; and controlling the braking air pressure supplied to the trailer valve based on the required air pressure of the trailer valve.

[0157] Various embodiments 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-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0158] Computer programs used to implement 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, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0159] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

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

[0161] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0162] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[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 this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this invention can be achieved, and this is not limited herein.

[0164] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle brake energy recovery method, characterized by, The method comprises: When the motor braking system controls the vehicle to brake, the brake slip ratios of each wheel of the vehicle are obtained; When the brake slip ratios are greater than preset slip ratios of the wheels, a motor torque reduction value of the vehicle is determined according to the brake slip ratios of each wheel; A motor braking decay value is determined according to the motor torque reduction value; A required air pressure of a trailer valve in the vehicle is determined according to the motor braking decay value; The brake air pressure provided to the trailer valve is controlled according to the required air pressure of the trailer valve; The motor braking decay value is determined according to the motor torque reduction value, which comprises: obtaining a current braking torque of the motor in the vehicle and a motor reference torque, the motor reference torque being a desired torque value determined according to the performance requirements and the braking control strategy of 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 torque reduction percentage of the motor being a ratio of the motor torque reduction value to the current braking torque of the motor multiplied by 100%; determining the motor braking decay value according to the torque reduction percentage and the motor reference torque, the motor braking decay value being a product of the torque reduction percentage and the motor reference torque.

2. The vehicle brake energy recovery method of claim 1, wherein, Before the step of obtaining the brake slip ratios of each wheel of the vehicle when the motor braking system controls the vehicle to brake, the method comprises: An actual motor braking percentage of the vehicle is obtained; When the actual motor braking percentage is greater than a preset percentage, the motor braking system is activated to brake the vehicle, and a braking force of the motor braking system for braking the vehicle is determined according to the actual motor braking percentage.

3. The vehicle brake energy recovery method of claim 2, wherein, The actual motor braking percentage of the vehicle is obtained, which comprises: Gear information of an auxiliary brake handle in the vehicle is obtained; According to the gear information of the auxiliary brake handle, a braking percentage request is sent to a vehicle controller of the vehicle, so that the vehicle controller determines the actual motor braking percentage of the vehicle according to the operating conditions of the vehicle and the braking percentage request; The actual motor braking percentage of the vehicle is obtained based on the vehicle controller.

4. The vehicle brake energy recovery method of claim 1, wherein, When the motor braking system controls the vehicle to brake, the brake slip ratios of each wheel of the vehicle are obtained, which comprises: When the motor braking system brakes the vehicle, the wheel speeds of each wheel of the vehicle are obtained; The brake slip ratios of each wheel are respectively determined according to the wheel speeds of each wheel.

5. The vehicle brake energy recovery method of claim 1, wherein, After the step of determining the motor torque reduction value of the vehicle according to the brake slip ratios of each wheel, the method further comprises: The motor torque of the vehicle is reduced according to the motor torque reduction value; When the motor torque of the vehicle is reduced, warning reminder information is sent to an instrument panel of the vehicle.

6. The vehicle brake energy recovery method of claim 1, wherein, The required air pressure of the trailer valve in the vehicle is determined according to the motor braking decay value, which comprises: The required air pressure of the trailer valve in the vehicle is determined according to the motor braking decay value based on a first calculation formula; the first calculation formula is: ； wherein, is the required air pressure of the trailer brake, ΔT is the motor brake fade value, is the main reduction ratio of the rear axle of the vehicle, k is the trailer brake torque gradient of the vehicle, is the effective radius of the brake disc of the vehicle, is the number of trailer brake wheel sets of the vehicle.

7. A vehicle brake energy recovery device characterized by comprising: The method comprises: The slip ratio acquisition module is configured to obtain the brake slip ratios of each wheel of the vehicle when the motor braking system controls the vehicle to brake. The motor torque reduction value determination module is configured to determine a motor torque reduction value of the vehicle according to the brake slip ratios of the wheels when the brake slip ratios of the wheels are greater than the preset slip ratio; The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value; The demand air pressure determination module is configured to determine a demand air pressure of a trailer valve in the vehicle according to the motor brake decay value; The brake air pressure control module is configured to control a brake air pressure provided to the trailer valve according to the demand air pressure of the trailer valve; The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy; The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy; 8. A vehicle brake system characterized by, The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy; The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy. The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy. The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy.

9. A vehicle characterized by comprising: The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy. The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy.

10. A computer-readable storage medium, characterized in that, The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy. The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy. The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy. The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy. The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy. The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy. The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy. The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy. The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy. The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy. The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy. The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy. The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy. The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy. The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy. The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy. The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy. The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy. The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy. The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy. The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy. The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy. The motor brake decay value determination module is configured to determine a motor brake decay value according to the motor torque reduction value, including: obtaining a current brake torque of the motor and a motor reference torque, the motor reference torque being a desired torque value determined according to the vehicle performance demand and a brake control strategy

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