Brake control method and system of electric vehicle, vehicle and equipment

Abstract

The invention discloses a brake control method and system of an electric vehicle, the vehicle and equipment. The braking control method of the electric automobile comprises the steps that an EBS controller obtains the currently needed total braking force according to a brake pedal opening signal; when the current required total braking force is larger than the current maximum braking force capable of being executed by the motor, the current maximum braking force capable of being executed by the motor is distributed to the motor for braking, and the difference value of the current required total braking force and the current maximum braking force capable of being executed by the motor is distributed to mechanical braking; and otherwise, only distributing the currently required total braking force to the motor for braking. According to the invention, motor braking is preferential, energy recovery is carried out to the maximum extent, and the energy consumption of the whole vehicle is reduced; motor braking and mechanical braking are processed by the EBS controller in a unified mode, stable braking force can be provided under various working conditions, the braking stability and safety are improved, and the braking effect of the vehicle is effectively guaranteed.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a braking control method, system, vehicle and equipment for an electric vehicle. Background Art

[0002] Negative torque braking of the motor does not always exist. For example, high battery power, manual closing of the braking energy recovery function, and failure of the negative torque of the motor to execute due to a fault will all cause the motor braking to fail. In this case, only mechanical braking is used. However, because the two systems are independent of each other, the mechanical braking will not increase when the motor braking fails, which will lead to a decrease in the total braking force of the vehicle and a worse braking experience for the driver. The expected deceleration cannot be achieved, and safety accidents are prone to occur. The motor braking and mechanical braking act at the same time, and the motor braking power cannot be utilized to the maximum. Mechanical braking will consume some energy, and the energy recovery brought by the motor braking cannot reach the maximum value. Summary of the invention

[0003] Based on this, it is necessary to provide a braking control method, system, vehicle and equipment for electric vehicles to address the above technical problems, with motor braking given priority to maximize energy recovery and reduce vehicle energy consumption. In addition, motor braking and mechanical braking are uniformly processed by the EBS controller, which can provide stable braking force under various working conditions, improve braking stability and safety, and effectively ensure the braking effect of the vehicle.

[0004] In a first aspect, a braking control method for an electric vehicle is provided, comprising:

[0005] The EBS controller obtains the total braking force currently required based on the brake pedal opening signal;

[0006] Determining whether the currently required total braking force is greater than the maximum braking force that the current motor can perform;

[0007] If yes, the maximum braking force that the current motor can perform is allocated to the motor brake, and the difference between the current required total braking force and the maximum braking force that the current motor can perform is allocated to the mechanical brake;

[0008] If the currently required total braking force is less than or equal to the current maximum braking force that the electric motor can perform, the currently required total braking force is allocated only to electric motor braking.

[0009] In some examples, the EBS controller obtains the currently required total braking force according to the brake pedal opening signal, including:

[0010] The EBS controller receives a brake pedal opening degree signal fed back from the brake pedal;

[0011] obtaining a deceleration demand according to the brake pedal opening degree signal;

[0012] The currently required total braking force is obtained according to the deceleration requirement and the vehicle weight.

[0013] In some examples, determining whether the currently required total braking force is greater than the maximum braking force that the current motor can perform includes:

[0014] The EBS controller receives the maximum braking force that the current motor can perform, which is fed back by the vehicle controller;

[0015] The currently required total braking force is compared with the current maximum braking force that can be performed by the motor to determine whether the currently required total braking force is greater than the current maximum braking force that can be performed by the motor.

[0016] In some examples, before the EBS controller receives the maximum braking force that the current motor can perform as fed back by the vehicle controller, the process includes:

[0017] The motor controller provides real-time feedback to the vehicle controller on the maximum negative torque that the motor can currently perform based on the motor's external characteristic curve;

[0018] The vehicle controller obtains the maximum braking force that the current motor can perform based on the maximum negative torque that the motor can currently perform as fed back by the motor controller, the gear position of the transmission as fed back by the transmission controller, the main reduction ratio of the drive axle, and the rolling radius of the tire.

[0019] In some examples, allocating the maximum braking force that the current motor can perform to the motor brake, and allocating the difference between the current required total braking force and the maximum braking force that the current motor can perform to the mechanical brake, includes:

[0020] The EBS controller sends the maximum braking force that the current motor can perform to the vehicle controller, so that the vehicle controller obtains the corresponding motor torque according to the gearbox gear, the drive axle final reduction ratio and the vehicle transmission efficiency fed back by the gearbox controller, and inputs the motor torque to the motor controller, so that the motor controller drives the motor to perform the corresponding torque to perform motor braking;

[0021] The EBS controller obtains the corresponding brake air pressure based on the difference between the current required total braking force and the maximum braking force that the current motor can perform and the brake parameters, and controls the solenoid valves of the front and rear axle modules to open so that the brake air chamber reaches the target brake air pressure for mechanical braking.

[0022] In some examples, during the braking process of the electric vehicle, the process further includes:

[0023] Determine whether the braking of the electric vehicle reaches the braking target;

[0024] If not, the braking force of the mechanical brake is increased.

[0025] In a second aspect, a braking control system for an electric vehicle is provided, comprising: an EBS controller, wherein:

[0026] The EBS controller obtains the current required total braking force based on the brake pedal opening signal, and determines whether the current required total braking force is greater than the maximum braking force that the current motor can perform. If so, the maximum braking force that the current motor can perform is allocated to motor braking, and the difference between the current required total braking force and the current maximum braking force that the motor can perform is allocated to mechanical braking. If the current required total braking force is less than or equal to the maximum braking force that the current motor can perform, the current required total braking force is only allocated to motor braking.

[0027] In a third aspect, a vehicle is provided, comprising: a braking control system of an electric vehicle according to the second aspect.

[0028] In a fourth aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of the braking control method for an electric vehicle according to the first aspect and any possible implementation method of the first aspect are implemented.

[0029] In a fifth aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the steps of the braking control method of an electric vehicle according to the first aspect and any possible implementation of the first aspect are implemented.

[0030] In a sixth aspect, a computer program product is provided, on which a computer program is stored, and when the program is executed by a processor, the steps of the braking control method of an electric vehicle according to the first aspect and any possible implementation of the first aspect are implemented.

[0031] According to the embodiment of the present application, the EBS controller obtains the total braking force currently required according to the brake pedal opening signal, and when the total braking force currently required is greater than the maximum braking force that the current motor can perform, the maximum braking force that the current motor can perform is allocated to the motor braking, and the mechanical brake performs auxiliary braking. If the total braking force currently required is not greater than the maximum braking force that the current motor can perform, the total braking force currently required is only allocated to the motor braking. Thus, the motor braking is given priority, energy recovery is performed to the maximum extent, and the energy consumption of the whole vehicle is reduced. In addition, the motor braking and mechanical braking are uniformly processed by the EBS controller, which can provide stable braking force under various working conditions, improve braking stability and safety, and effectively ensure the braking effect of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0033] Figure 1 A flowchart of a braking control method for an electric vehicle provided in an embodiment of the present application;

[0034] Figure 2 A schematic diagram of an application of a braking control method for an electric vehicle provided in an embodiment of the present application;

[0035] Figure 3 is a schematic diagram of the pedal opening-deceleration target curve;

[0036] Figure 4 A structural block diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0037] The present application is further described in detail below in conjunction with the embodiments and drawings. It is to be understood that the specific embodiments described herein are only used to explain the relevant application, rather than to limit the application. It is also necessary to explain that, for ease of description, only the parts related to the application are shown in the drawings.

[0038] It should be noted that, in the absence of conflict, the embodiments of the present application, that is, the features of the embodiments, can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0039] The following describes in detail the braking control method, system, device and medium of the electric vehicle according to the embodiments of the present application in conjunction with the accompanying drawings.

[0040] Figure 1 FIG. 1 is a flow chart of a braking control method for an electric vehicle according to an embodiment of the present application. Figure 1 As shown, the braking control method of the electric vehicle according to the embodiment of the present application includes the following steps:

[0041] S101: The EBS controller obtains the currently required total braking force according to the brake pedal opening signal.

[0042] In one embodiment of the present application, the EBS controller obtains the currently required total braking force based on the brake pedal opening signal, including: the EBS controller receives the brake pedal opening signal fed back by the brake pedal; obtains the deceleration requirement based on the brake pedal opening signal; and obtains the currently required total braking force based on the deceleration requirement and the vehicle weight.

[0043] S102: Determine whether the currently required total braking force is greater than the maximum braking force that the current motor can perform.

[0044] In one embodiment of the present application, determining whether the currently required total braking force is greater than the maximum braking force that the current motor can perform includes: the EBS controller receiving the maximum braking force that the current motor can perform as feedback from the vehicle controller; comparing the currently required total braking force with the maximum braking force that the current motor can perform to determine whether the currently required total braking force is greater than the maximum braking force that the current motor can perform.

[0045] It should be noted that before the EBS controller receives the maximum braking force that the current motor can perform as fed back by the vehicle controller, it also includes: the motor controller feeds back the maximum negative torque that the motor can currently perform to the vehicle controller in real time based on the motor external characteristic curve; the vehicle controller obtains the maximum braking force that the current motor can perform based on the maximum negative torque that the motor can currently perform as fed back by the motor controller, the gear position fed back by the gearbox controller, the main reduction comparison of the drive axle, and the tire rolling radius.

[0046] S103: If yes, the maximum braking force that the current motor can perform is allocated to the motor brake, and the difference between the current required total braking force and the maximum braking force that the current motor can perform is allocated to the mechanical brake.

[0047] In one embodiment of the present application, the maximum braking force that the current motor can perform is allocated to motor braking, and the difference between the current required total braking force and the current maximum braking force that the motor can perform is allocated to mechanical braking, including: the EBS controller sends the current maximum braking force that the motor can perform to the vehicle controller, so that the vehicle controller obtains the corresponding motor torque according to the gearbox gear, the drive axle main reduction ratio and the vehicle transmission efficiency fed back by the gearbox controller, and inputs the motor torque to the motor controller so that the motor controller drives the motor to perform the corresponding torque for motor braking; the EBS controller obtains the corresponding brake air pressure according to the difference between the current required total braking force and the current maximum braking force that the motor can perform and the brake parameters, and controls the front and rear axle module solenoid valves to open, so that the brake air chamber reaches the target brake air pressure for mechanical braking.

[0048] S104: If the currently required total braking force is less than or equal to the current maximum braking force that the motor can perform, the currently required total braking force is allocated only to motor braking.

[0049] As a specific application, combined with Figure 2 As shown, the application process of steps S101-S104 is as follows:

[0050] The maximum braking force that the current motor can perform: The MCU (motor controller) feeds back the maximum negative torque that the motor can currently perform to the VDCU (vehicle control unit) in real time based on the motor's external characteristic curve. The VDCU feeds back the maximum braking force that the current motor can perform to the EBS controller based on the torque value fed back by the MCU, the gearbox gear fed back by the TCU (transmission controller), the main reduction comparison of the drive axle, the tire rolling radius and other information.

[0051] For example: Assume that the current vehicle status is as follows: the vehicle has dual motors, the current maximum torque of the motor is 500N.m, the current gear reduction ratio of the gearbox is 5, the main reduction ratio of the drive axle is 3, and the tire rolling radius is 0.524 meters.

[0052] The maximum braking force that the current motor can perform = 2×500×5×3÷0.524=28656N.

[0053] The total braking force currently required: The EBS controller receives the pedal opening signal sent back by the driver from the brake pedal, and obtains the driver's deceleration requirement based on the defined pedal opening-deceleration curve. The total braking force currently required is then calculated based on the current vehicle weight.

[0054] For example: Assume that the current brake pedal opening is 20% and the vehicle weighs 40 tons. Figure 3As shown in the figure, according to the target curve of pedal opening-deceleration, when the pedal opening is 20%, the corresponding target deceleration is -1m / s 2 .

[0055] The total braking force currently required is =40*1000*1=40000N.

[0056] Braking force distribution: To ensure maximum energy recovery, motor braking is used first to achieve the deceleration target. If single motor braking cannot meet the deceleration requirement, a mixed braking method of motor braking and mechanical braking is used to achieve the deceleration target. This not only maximizes energy recovery but also ensures that the driver's deceleration requirements are met.

[0057] The EBS controller compares the total braking force currently required with the braking force that the electric motor is currently able to perform.

[0058] For example: the current required total braking force ≤ the braking force that the current motor can perform, the EBS controller inputs the current required total braking force value into the VDCU, and the VDCU converts the corresponding motor torque according to the gearbox gear, drive axle main reduction ratio, vehicle transmission efficiency and other information fed back by the TCU. The VDCU inputs the corresponding motor torque into the MCU, and the MCU controller drives the motor to execute the corresponding torque value to achieve the target deceleration.

[0059] For example, the total braking force currently required is greater than the maximum braking force that the current motor can perform.

[0060] The EBS controller inputs the braking force value that the current motor can perform into the VDCU. The VDCU converts the corresponding motor torque based on the gearbox gear, drive axle main reduction ratio, vehicle transmission efficiency and other information fed back by the TCU. The VDCU inputs the corresponding motor torque into the MCU. The MCU controller drives the motor to perform the corresponding torque value, and the motor provides part of the braking force.

[0061] The EBS controller calculates the remaining braking force (i.e., the total braking force currently required minus the maximum braking force currently available from the motor) according to the brake parameters to obtain the corresponding brake air pressure. By controlling the solenoid valves of the front and rear axle modules to open, the brake air chamber reaches the target brake air pressure (the air pressure is affected by the number of brakes and the brake model). The brake provides the remaining braking force.

[0062] The braking force provided by the motor and the braking force provided by the brake are applied simultaneously to achieve the target deceleration.

[0063] For example: the maximum braking force that the motor can provide is 28656N, and the required total braking force is 40000N>28656N, then: the EBS controller will request 28656N of braking force from the VDCU, and at the same time control the solenoid valves of the front axle, rear axle and trailer modules to open, so that the brake cylinder establishes 0.4bar air pressure (assuming the vehicle has 6 axles and 12 brakes, and the brake model is 1bar air pressure corresponding to 2.4Kn / m torque), providing the remaining 11344N of braking force.

[0064] In one embodiment of the present application, during the braking process of the electric vehicle, it also includes: determining whether the braking of the electric vehicle reaches the braking target; if not, increasing the braking force of the mechanical brake. That is, due to factors such as different road conditions (uphill, downhill, flat road), brake performance attenuation, partial brake failure, partial brake line failure, transmission efficiency changes, etc., the motor brake and mechanical brake actively applied by the EBS controller cannot reach the target deceleration. In order to avoid such problems affecting the braking performance, the EBS controller compares the deceleration signal fed back by the acceleration sensor with the target deceleration value. If the difference is greater than 20% of the target value, the brake air pressure of the mechanical brake is adjusted to achieve the target deceleration.

[0065] According to the braking control method of the electric vehicle of the embodiment of the present application, the EBS controller obtains the current required total braking force according to the brake pedal opening signal, and when the current required total braking force is greater than the current maximum braking force that the motor can perform, the maximum braking force that the motor can perform is allocated to the motor braking, and the mechanical brake performs auxiliary braking. If the current required total braking force is not greater than the current maximum braking force that the motor can perform, the current required total braking force is only allocated to the motor braking. As a result, the motor braking is given priority, energy recovery is performed to the maximum extent, and the energy consumption of the whole vehicle is reduced. In addition, the motor braking and mechanical braking are uniformly processed by the EBS controller, which can provide stable braking force under various working conditions, improve braking stability and safety, and effectively ensure the braking effect of the vehicle.

[0066] Combination Figure 2 As shown, a braking control system of an electric vehicle according to an embodiment of the present application includes: an EBS controller, wherein the EBS controller obtains a currently required total braking force based on a brake pedal opening signal, and determines whether the currently required total braking force is greater than the maximum braking force that the current motor can perform; if so, the current maximum braking force that the motor can perform is allocated to motor braking, and the difference between the currently required total braking force and the current maximum braking force that the motor can perform is allocated to mechanical braking; if the currently required total braking force is less than or equal to the current maximum braking force that the motor can perform, the currently required total braking force is allocated only to motor braking.

[0067] According to the braking control system of the electric vehicle of the embodiment of the present application, the EBS controller obtains the current required total braking force according to the brake pedal opening signal, and when the current required total braking force is greater than the current maximum braking force that the motor can perform, the maximum braking force that the motor can perform is allocated to the motor braking, and the mechanical brake performs auxiliary braking. If the current required total braking force is not greater than the current maximum braking force that the motor can perform, the current required total braking force is only allocated to the motor braking. As a result, the motor braking is given priority, energy recovery is performed to the maximum extent, and the energy consumption of the whole vehicle is reduced. In addition, the motor braking and mechanical braking are uniformly processed by the EBS controller, which can provide stable braking force under various working conditions, improve braking stability and safety, and effectively ensure the braking effect of the vehicle.

[0068] The specific definition of the braking control system of the electric vehicle can be found in the definition of the braking control method of the electric vehicle mentioned above, which will not be repeated here. The various modules of the braking control system of the electric vehicle can be implemented in whole or in part by software, hardware and a combination thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0069] In one embodiment, a vehicle is provided, comprising: a braking control system of an electric vehicle according to any one of the above embodiments. The EBS controller of the vehicle can obtain the current required total braking force according to the brake pedal opening signal, and when the current required total braking force is greater than the maximum braking force that the current motor can perform, the maximum braking force that the current motor can perform is allocated to the motor braking, and the mechanical brake performs auxiliary braking. If the current required total braking force is not greater than the maximum braking force that the current motor can perform, the current required total braking force is only allocated to the motor braking. As a result, the motor braking is given priority, energy recovery is performed to the maximum extent, and the energy consumption of the whole vehicle is reduced. In addition, the motor braking and mechanical braking are uniformly processed by the EBS controller, and stable braking force can be provided under various working conditions, improving braking stability and safety, and effectively ensuring the braking effect of the vehicle.

[0070] In addition, other structures and functions of the vehicle according to the embodiment of the present application are known to ordinary technicians in the field and will not be elaborated here.

[0071] In one embodiment, a computer device is provided. Figure 4 This is a block diagram of the computer device provided in the embodiment of the present application, refer to Figure 4The computer device includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the above-mentioned electric vehicle braking control method embodiment is implemented. For example, the EBS controller obtains the current required total braking force according to the brake pedal opening signal;

[0072] Determining whether the currently required total braking force is greater than the maximum braking force that the current motor can perform;

[0073] If yes, the maximum braking force that the current motor can perform is allocated to the motor brake, and the difference between the current required total braking force and the maximum braking force that the current motor can perform is allocated to the mechanical brake;

[0074] If the currently required total braking force is less than or equal to the current maximum braking force that the electric motor can perform, the currently required total braking force is allocated only to electric motor braking.

[0075] The embodiment of the present application also provides a computer-readable storage medium, which stores a computer program, and the processor implements the above-mentioned electric vehicle braking control method embodiment when executing the computer program. For example, the EBS controller obtains the current required total braking force according to the brake pedal opening signal;

[0076] Determining whether the currently required total braking force is greater than the maximum braking force that the current motor can perform;

[0077] If yes, the maximum braking force that the current motor can perform is allocated to the motor brake, and the difference between the current required total braking force and the maximum braking force that the current motor can perform is allocated to the mechanical brake;

[0078] If the currently required total braking force is less than or equal to the current maximum braking force that the electric motor can perform, the currently required total braking force is allocated only to electric motor braking.

[0079] The present application embodiment provides a computer program product, which includes instructions. When the instructions are executed, the method described in the embodiment of the present application is executed. For example, it can be executed Figure 1 The various steps of the brake control method of the electric vehicle shown are, for example, performed as follows: the EBS controller obtains the currently required total braking force according to the brake pedal opening signal;

[0080] Determining whether the currently required total braking force is greater than the maximum braking force that the current motor can perform;

[0081] If yes, the maximum braking force that the current motor can perform is allocated to the motor brake, and the difference between the current required total braking force and the maximum braking force that the current motor can perform is allocated to the mechanical brake;

[0082] If the currently required total braking force is less than or equal to the current maximum braking force that the electric motor can perform, the currently required total braking force is allocated only to electric motor braking.

[0083] Those of ordinary skill in the art can understand that all or part of the processes in the methods for implementing the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0084] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0085] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A braking control method for an electric vehicle, characterized in that: include: The EBS controller obtains the total braking force currently required based on the brake pedal opening signal; Determining whether the currently required total braking force is greater than the maximum braking force that the current motor can perform; If yes, the maximum braking force that the current motor can perform is allocated to the motor brake, and the difference between the current required total braking force and the maximum braking force that the current motor can perform is allocated to the mechanical brake; If the currently required total braking force is less than or equal to the current maximum braking force that the electric motor can perform, the currently required total braking force is allocated only to electric motor braking.

2. The braking control method of an electric vehicle according to claim 1, characterized in that: The EBS controller obtains the currently required total braking force according to the brake pedal opening signal, including: The EBS controller receives a brake pedal opening degree signal fed back from the brake pedal; obtaining a deceleration demand according to the brake pedal opening degree signal; The currently required total braking force is obtained according to the deceleration requirement and the vehicle weight.

3. The braking control method of an electric vehicle according to claim 1, characterized in that: The determining whether the currently required total braking force is greater than the maximum braking force that can be performed by the current motor includes: The EBS controller receives the maximum braking force that the current motor can perform, which is fed back by the vehicle controller; The currently required total braking force is compared with the current maximum braking force that can be performed by the motor to determine whether the currently required total braking force is greater than the current maximum braking force that can be performed by the motor.

4. The braking control method of an electric vehicle according to claim 1, characterized in that: Before the EBS controller receives the maximum braking force that the current motor can perform as fed back by the vehicle controller, the method includes: The motor controller provides real-time feedback to the vehicle controller on the maximum negative torque that the motor can currently perform based on the motor's external characteristic curve; The vehicle controller obtains the maximum braking force that the current motor can perform based on the maximum negative torque that the motor can currently perform as fed back by the motor controller, the gear position of the transmission as fed back by the transmission controller, the main reduction ratio of the drive axle, and the rolling radius of the tire.

5. The braking control method of an electric vehicle according to claim 1, characterized in that: The method of allocating the maximum braking force that can be currently performed by the motor to the motor brake, and allocating the difference between the currently required total braking force and the maximum braking force that can be currently performed by the motor to the mechanical brake, comprises: The EBS controller sends the maximum braking force that the current motor can perform to the vehicle controller, so that the vehicle controller obtains the corresponding motor torque according to the gearbox gear, the drive axle final reduction ratio and the vehicle transmission efficiency fed back by the gearbox controller, and inputs the motor torque to the motor controller, so that the motor controller drives the motor to perform the corresponding torque to perform motor braking; The EBS controller obtains the corresponding brake air pressure based on the difference between the current required total braking force and the maximum braking force that the current motor can perform and the brake parameters, and controls the solenoid valves of the front and rear axle modules to open so that the brake air chamber reaches the target brake air pressure for mechanical braking.

6. The braking control method of an electric vehicle according to any one of claims 1 to 5, characterized in that: The braking process of the electric vehicle also includes: Determine whether the braking of the electric vehicle reaches the braking target; If not, the braking force of the mechanical brake is increased.

7. A braking control system for an electric vehicle, characterized in that: include: EBS controller, where The EBS controller obtains the current required total braking force based on the brake pedal opening signal, and determines whether the current required total braking force is greater than the maximum braking force that the current motor can perform. If so, the maximum braking force that the current motor can perform is allocated to motor braking, and the difference between the current required total braking force and the current maximum braking force that the motor can perform is allocated to mechanical braking. If the current required total braking force is less than or equal to the maximum braking force that the current motor can perform, the current required total braking force is only allocated to motor braking.

8. A vehicle, characterized in that: include: The brake control system of the electric vehicle according to claim 7.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the braking control method of the electric vehicle according to any one of claims 1 to 6 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the braking control method of the electric vehicle according to any one of claims 1 to 6 is implemented.

Images