Vehicle braking recovery torque switching method and device and electronic equipment

Abstract

The invention discloses a vehicle braking recovery torque switching method and device and electronic equipment. The method comprises the steps that electric braking communication data of a vehicle are obtained; determining an execution end of brake management according to the electric brake communication data, and executing brake management based on a brake recovery torque provided by the execution end; when brake management is executed based on the brake recovery torque provided by the execution end, electric brake communication data are continuously monitored, and whether the execution end is switched or not is determined according to the electric brake communication data; when the execution ends are switched, the braking recovery torque provided by the two execution ends before and after switching is subjected to stepped transition treatment; and executing brake management based on the brake recovery torque obtained by the transition processing. Bidirectional switching between the controller and the electric braking system is achieved by continuously monitoring electric braking communication data, stepped transition processing is conducted on the braking recovery torque before and after switching, the comfort of braking recovery torque path switching can be improved, and the braking feeling of a driver and passengers is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of braking capacity recovery control, and in particular to a vehicle braking recovery torque switching method, device and electronic equipment. Background Art

[0002] The braking energy recovery system is an important technology for modern new energy vehicles. It recovers the kinetic energy of the vehicle during braking and converts it into electrical energy for storage, thereby improving energy utilization and extending driving range. During the braking process, the motor runs in a power generation state, using the vehicle's driving inertia to drive the motor to generate electricity and achieve energy recovery.

[0003] In vehicles equipped with an electronic brake system (EBS) or an electronic hydraulic brake system (EHB), the electric brake system is usually used to distribute the braking recovery torque. When the signal of the electric brake system is lost or the electric brake system fails, the vehicle controller is used to brake and take over the distribution of the braking recovery torque. However, the prior art has the following problems: the vehicle controller cannot simulate the electric braking effect of the electric brake system (such as EBS or EHB), and the electric brake recovery torque calculated by the vehicle controller is not equal to the electric brake recovery torque calculated by the electric brake system (such as EBS or EHB). There are problems of discontinuous and uneven braking during switching, which affects the driving experience of the vehicle. Summary of the invention

[0004] The present invention provides a vehicle braking recovery torque switching method, device and electronic equipment to solve the problem that the existing vehicle controller cannot simulate the electric braking effect of the electric braking system, resulting in discontinuous and uneven braking when the braking recovery torque path is switched, and can improve the comfort of the braking recovery torque path switching.

[0005] According to one aspect of the present invention, a vehicle braking recovery torque switching method is provided, wherein the vehicle comprises a controller and an electric braking system, and the method comprises: acquiring electric braking communication data of the vehicle; determining an execution end of braking management according to the electric braking communication data, and executing braking management based on the braking recovery torque provided by the execution end; wherein the execution end is any one of the following: a controller or an electric braking system; when executing braking management based on the braking recovery torque provided by the execution end, continuously monitoring the electric braking communication data, and determining whether to switch the execution end according to the electric braking communication data; when switching the execution end, performing a step-by-step transition processing on the braking recovery torques provided by the two execution ends before and after the switching; and executing braking management based on the braking recovery torque obtained by the transition processing.

[0006] Optionally, when switching the execution end, a step-by-step transition processing is performed on the braking recovery torque provided by the two execution ends before and after the switching, including: obtaining a first braking recovery torque calculated by the controller at a moment before the switching moment and a second braking recovery torque calculated by the electric braking system; calculating a torque difference based on the first braking recovery torque and the second braking recovery torque; when the torque difference exceeds a preset torque difference threshold, establishing at least one transition slope based on the torque difference, and correcting the braking recovery torque based on the transition slope.

[0007] Optionally, when executing braking management based on the braking recovery torque provided by the execution end, the electric braking communication data is continuously monitored, and whether to switch the execution end is determined based on the electric braking communication data, including: obtaining the first electric braking communication data of the vehicle in the braking management mode of the electric braking system; when the first electric braking communication data is in a failed state, switching the execution end to the controller, the controller can establish a real vehicle recovery curve based on the torque data of the electric braking system under different driving conditions, and calculate the braking recovery torque based on the real vehicle recovery curve; when the first electric braking communication data is in a non-failed state, determining the electric braking system as the execution end.

[0008] Optionally, after switching the execution end to the controller, the method further includes: obtaining a brake pedal opening threshold and a vehicle speed threshold of the vehicle; and when the actual vehicle recovery curve contains data corresponding to the brake pedal opening threshold and the vehicle speed threshold, calculating the brake recovery torque based on the actual vehicle recovery curve.

[0009] Optionally, when executing braking management based on the braking recovery torque provided by the execution end, the electric braking communication data is continuously monitored, and determining whether to switch the execution end according to the electric braking communication data includes: obtaining second electric braking communication data of the vehicle in the braking management mode executed by the controller; when the second electric braking communication data is in a non-failure state, switching the execution end to the electric braking system.

[0010] Optionally, determining the execution end of braking management according to the electric braking communication data, and executing braking management based on the braking recovery torque provided by the execution end, includes: obtaining third electric braking communication data of the vehicle under the normal operation mode of the power system; when the third electric braking communication data is in a failed state, determining the controller as the execution end, and the controller calculates the braking recovery torque based on a preset recovery curve; when the third electric braking communication data is in a non-failed state, determining the electric braking system as the execution end.

[0011] Optionally, before acquiring the electric brake communication data of the vehicle, the method further includes: acquiring power system status data of the vehicle; when there is no abnormality in the power system status data, determining that the vehicle is in a normal power system operation mode, and initiating a braking recovery torque switching strategy.

[0012] Optionally, the power system status data includes at least one of the following: high and low voltage status data, power system fault status data, power component online status data; and / or, the electric brake communication data includes at least one of the following: the message status exchanged between the electric brake system and the controller, and the electric brake fault status.

[0013] According to another aspect of the present invention, a vehicle braking recovery torque switching device is provided, wherein the vehicle comprises a controller and an electric braking system, and the device comprises: a monitoring module for acquiring electric braking communication data of the vehicle; a first decision module for determining an execution end of braking management according to the electric braking communication data, and performing braking management based on the braking recovery torque provided by the execution end; wherein the execution end is any one of the following: a controller or an electric braking system; a second decision module for continuously monitoring the electric braking communication data while performing braking management based on the braking recovery torque provided by the execution end, and determining whether to switch the execution end according to the electric braking communication data; a transition processing module for performing a step-by-step transition processing on the braking recovery torque provided by the two execution ends before and after the switching when switching the execution end; and an execution module for performing braking management based on the braking recovery torque obtained by the transition processing.

[0014] According to another aspect of the present invention, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the above-mentioned vehicle braking recovery torque switching method.

[0015] The technical solution of the embodiment of the present invention obtains the electric braking communication data of the vehicle; selects a controller or an electric braking system as the execution end of braking management according to the electric braking communication data, and executes braking management based on the braking recovery torque provided by the execution end; when executing braking management based on the braking recovery torque provided by the execution end, continuously monitors the electric braking communication data, and determines whether to switch the execution end according to the electric braking communication data; when switching the execution end, performs a step-by-step transition processing on the braking recovery torque provided by the two execution ends before and after the switching; performs braking management based on the braking recovery torque obtained by the transition processing, which solves the problem that the existing vehicle controller cannot simulate the electric braking effect of the electric braking system, resulting in discontinuous and uneven braking when the braking recovery torque path is switched. By continuously monitoring the electric braking communication data, two-way switching between the controller and the electric braking system is realized, and the braking recovery torque before and after the switching is performed in a step-by-step transition processing, which can improve the comfort and smoothness of the braking recovery torque path switching, improve the braking feeling of the driver and passengers, and indirectly improve the NVH performance of the vehicle.

[0016] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 A flow chart of a vehicle braking recovery torque switching method provided by an embodiment of the present invention;

[0019] Figure 2 A flowchart of a braking recovery torque switching transition processing method provided by an embodiment of the present invention;

[0020] Figure 3 A flow chart of another vehicle braking recovery torque switching method provided by an embodiment of the present invention;

[0021] Figure 4 A flow chart of another vehicle braking recovery torque switching method provided by an embodiment of the present invention

[0022] Figure 5 A schematic structural diagram of a vehicle braking recovery torque switching device provided by an embodiment of the present invention;

[0023] Figure 6A schematic structural diagram of an electronic device for implementing the vehicle braking recovery torque switching method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] Figure 1 A flow chart of a vehicle braking recovery torque switching method provided in an embodiment of the present invention. This embodiment can be applied to braking recovery torque path management for vehicles equipped with EBS or EHB. The method can be executed by a vehicle braking recovery torque switching device. The vehicle braking recovery torque switching device can be implemented in the form of hardware and / or software. The vehicle braking recovery torque switching device can be configured in a vehicle controller or an independent electronic device.

[0027] In the present application, the vehicle includes a controller and an electric brake system. Among them, the controller may be a vehicle control unit (VCU). The electric brake system may be an EBS or an EHB. In the present application, the specific strategies for calculating the braking recovery torque of the controller and the electric brake system are different, and there is a difference in the braking recovery torque before and after the path switching. The vehicle braking recovery torque switching method of the present application can reduce the difference between the braking recovery torque before and after the path switching.

[0028] See also Figure 1 As shown, the vehicle braking recovery torque switching method of the present application specifically includes:

[0029] S1: Acquire the vehicle's electric brake communication data.

[0030] The electric brake communication data can be understood as data characterizing the data interaction state and interaction content between the electric brake system and the controller of the vehicle. Optionally, the electric brake communication data includes at least one of the following: the message state of the interaction between the electric brake system and the controller, and the electric brake fault state.

[0031] In this embodiment, the electric brake communication data may be acquired based on the vehicle communication network (such as the CAN network).

[0032] Specifically, the frequency of sending and receiving message data and the amount of interactive data are calibrated. When the electric brake system communicates with the vehicle controller for data exchange, it is possible to determine whether the EBS / EHB has failed based on the message status (such as missing data or changes in the frequency of sending and receiving messages).

[0033] S2: Determine the execution end of the braking management according to the electric braking communication data, and execute the braking management based on the braking recovery torque provided by the execution end.

[0034] The execution end may be any of the following: a controller or an electric brake system.

[0035] In this embodiment, when the electric brake system is in a failed state, the execution end needs to be switched to the controller; when the electric brake system is in a valid state, the execution end needs to be switched to the electric brake system.

[0036] Optionally, the execution end of the brake management is determined according to the electric brake communication data, and the brake management is performed based on the brake recovery torque provided by the execution end, including: obtaining the third electric brake communication data of the vehicle in the normal operation mode of the power system; when the third electric brake communication data is in an invalid state, the controller is determined as the execution end, and the controller calculates the brake recovery torque based on a preset recovery curve; when the third electric brake communication data is in a non-failed state, the electric brake system is determined as the execution end, and the brake recovery torque is calculated by the electric brake system. Among them, the preset recovery curve can be understood as a recovery curve calibrated and established based on different working states of the power system (such as different battery states or motor operating states), and the curve can reflect the corresponding relationship between the brake recovery torque and the brake pedal opening and the vehicle speed.

[0037] Specifically, the power system includes a motor and a battery. When establishing a preset recovery curve, the corresponding relationship between the braking recovery torque and the brake pedal opening and the vehicle speed is calibrated by adjusting the working conditions corresponding to the battery state (electricity or voltage) and the motor operating state (motor speed). The preset recovery curve is established based on the calibrated data corresponding relationship, and the preset recovery curve is stored in the vehicle controller. When the power system of the vehicle is operating normally, if the electric brake communication data is in a failed state, the controller calculates the braking recovery torque a based on the preset recovery curve, and performs braking recovery energy distribution based on the braking recovery torque a; if the electric brake communication data is in a non-failed state, the electric brake system calculates the braking recovery torque b, and performs braking recovery energy distribution based on the braking recovery torque b.

[0038] S3: When executing the braking management based on the braking recovery torque provided by the execution end, continuously monitor the electric braking communication data, and determine whether to switch the execution end according to the electric braking communication data.

[0039] In this embodiment, switching the execution end includes: switching the execution end from the controller to the electric brake system, and switching the execution end from the electric brake system to the controller.

[0040] Specifically, when braking management is performed based on the braking recovery torque provided by the controller, if the electric braking communication data is valid, the execution end is switched to the electric braking system; and when braking management is performed based on the braking recovery torque provided by the electric braking system, if the electric braking communication data is invalid, the execution end is switched to the controller.

[0041] S4: When the execution end is switched, a step-by-step transition process is performed on the braking recovery torque provided by the two execution ends before and after the switching.

[0042] Among them, the step-by-step transition process can be understood as a multi-step and step-by-step adjustment of the braking recovery torque, so that the braking recovery torque before the switch is gradually adjusted to be consistent with the braking recovery torque after the switch.

[0043] In this embodiment, the braking recovery torque provided by the two execution ends before and after the switching is subjected to a step-by-step transition process, including: when the execution end is switched from the controller to the electric braking system, the braking recovery torque calculated by the vehicle controller at the moment before the switching is subjected to a step-by-step transition process until it gradually transitions to the braking recovery torque calculated by the EBS / EHB, and when the execution end is switched from the electric braking system to the controller, the braking recovery torque calculated by the EBS / EHB at the moment before the switching is subjected to a step-by-step transition process until it gradually transitions to the braking recovery torque calculated by the vehicle controller.

[0044] S5: Execute braking management based on the braking regeneration torque obtained by the transition process.

[0045] In this embodiment, the braking recovery torque calculated by the vehicle controller is forwarded to the motor controller (MCU for short) after the decision of the vehicle controller, and the motor controller executes the recovery torque; the braking recovery torque calculated by the EBS / EHB is sent to the vehicle controller, the vehicle controller receives the torque and forwards it to the motor controller after limiting it, and finally the motor controller executes the recovery torque.

[0046] Specifically, the braking recovery torque switching of the present application specifically includes the following paths: the electric braking system first calculates the braking recovery torque, the controller first calculates the braking recovery torque, the controller takes over the electric braking system to calculate the braking recovery torque, and the electric braking system takes over the controller to calculate the braking recovery torque.

[0047] When the vehicle's power system operates normally and the electric brake communication data is valid, the electric brake system selects the path for first calculating the brake recovery torque to obtain the brake recovery torque b. The electric brake system sends the brake recovery torque b to the vehicle controller. The vehicle controller receives the brake recovery torque b, limits it, and then forwards it to the motor controller. Finally, the motor controller executes brake recovery energy distribution according to the brake recovery torque b and continuously monitors the validity of the electric brake communication data.

[0048] When the vehicle's power system operates normally and the electric brake communication data fails, the vehicle controller selects the path for first calculating the braking recovery torque. The vehicle controller calculates the braking recovery torque a based on the preset recovery curve. The vehicle controller forwards the braking recovery torque a to the motor controller. Finally, the motor controller executes braking recovery energy distribution according to the braking recovery torque a and continuously monitors the validity of the electric brake communication data.

[0049] When braking management is performed based on the braking recovery torque provided by the controller and the electric braking communication data is valid, the electric braking system is selected to take over the path of the controller to calculate the braking recovery torque, and a step-by-step transition is performed on the braking recovery torque calculated by the vehicle controller (the execution end before the switching) until it gradually transitions to the braking recovery torque calculated by the EBS / EHB (the execution end after the switching). The braking recovery torque e obtained by the torque transition processing calculated by the vehicle controller is forwarded to the motor controller. Finally, the motor controller executes braking recovery energy distribution according to the braking recovery torque e, and continuously monitors the validity of the electric braking communication data.

[0050] When braking management is performed based on the braking recovery torque provided by the electric braking system and the electric braking communication data fails, the controller is selected to take over the path of the electric braking system to calculate the braking recovery torque, and a step-by-step transition is performed on the braking recovery torque calculated by the EBS / EHB (the execution end before the switching) at the moment before the switching, until it gradually transitions to the braking recovery torque calculated by the vehicle controller (the execution end after the switching), and the braking recovery torque d obtained by the transition processing of the torque calculated by the EBS / EHB is forwarded to the motor controller. Finally, the motor controller executes braking recovery energy distribution according to the braking recovery torque d, and continuously monitors the validity of the electric braking communication data.

[0051] Therefore, the technical solution of the present application realizes two-way switching between the controller and the electric braking system by continuously monitoring the electric braking communication data, and performs a step-by-step transition processing on the braking recovery torque before and after the switching, so that the torque switching is smoother and more natural when the vehicle EBS / EHB fails or becomes effective again. It solves the problem that the existing vehicle controller cannot simulate the electric braking effect of the electric braking system, resulting in discontinuous and uneven braking when the braking recovery torque path is switched. It can improve the comfort and smoothness of the braking recovery torque path switching, enhance the braking feel of the driver and passengers, and indirectly improve the NVH performance of the vehicle.

[0052] Figure 2 The flowchart of a braking recovery torque switching transition processing method provided by an embodiment of the present invention exemplarily shows a specific implementation method of performing a step-by-step transition processing on the braking recovery torque. Figure 2 As shown, in the above step S4, when the execution end is switched, the braking recovery torque provided by the two execution ends before and after the switching is subjected to a step-by-step transition process, including:

[0053] S401: Acquire a first braking recovery torque calculated by a controller at a moment before a switching moment and a second braking recovery torque calculated by an electric brake system.

[0054] S402: Calculate a torque difference according to the first braking recovery torque and the second braking recovery torque.

[0055] S403: When the torque difference exceeds a preset torque difference threshold, at least one transition slope is established according to the torque difference, and the braking recovery torque is corrected according to the transition slope.

[0056] The transition slope can be understood as the change in torque value per unit time. In this embodiment, the number and value of the transition slope can be calibrated or established by the user, and there is no limitation on it.

[0057] The preset torque difference threshold can be understood as the upper limit of the braking recovery torque deviation before and after the path switching, which can be calibrated or custom established without limitation.

[0058] It should be noted that when establishing multiple transition slopes, the multiple transition slopes gradually increase with the passage of correction time. That is, the transition slope in the initial stage of the step-by-step transition process is less than or equal to the transition slope in the middle stage of the step-by-step transition process, and the transition slope in the middle stage of the step-by-step transition process is less than or equal to the transition slope in the final stage of the step-by-step transition process. This can avoid the problem of uneven and discontinuous braking caused by sudden changes in torque values.

[0059] Specifically, when the controller takes over the calculation of the braking recovery torque by the electric brake system, the controller uses the transition slope (one or more) established by calibration to transition the EBS / EHB calculated torque to the controller calculated torque. When the slope is progressively increased to the first target torque (the first target torque satisfies that the torque difference before and after the switching is less than or equal to the preset torque difference threshold), the torque is no longer output with the transition slope, but the controller calculated torque is directly output to form the controller calculated torque after slope processing (such as the above-mentioned braking recovery torque d). In this process, it is necessary to monitor whether the EBS / EHB continues to fail at any time. If the EBS / EHB continues to fail, the controller still calculates the braking recovery torque; if the EBS / EHB is restored to be valid, the electric brake system takes over the path of the controller to calculate the braking recovery torque.

[0060] When the electric brake system takes over the controller to calculate the braking recovery torque, the controller uses the calibrated transition slope (one or more) to transition the controller calculated torque to the EBS / EHB calculated torque. When the slope is progressively increased to the second target torque (the second target torque satisfies that the torque difference before and after the switch is less than or equal to the preset torque difference threshold), the torque is no longer output with the transition slope, but the EBS / EHB calculated torque is directly output to form the slope-processed EBS / EHB calculated torque (such as the above-mentioned braking recovery torque e). In this process, it is necessary to monitor whether the EBS / EHB fails at any time. If the EBS / EHB fails, the controller takes over the path of calculating the braking recovery torque of the electric brake system; if the EBS / EHB is continuously valid, the braking recovery torque is still calculated by the electric brake system.

[0061] Therefore, by introducing a transition slope, the braking recovery torque before and after the braking recovery path is switched is processed in a step-by-step manner to avoid the problem of incoherent and uneven braking caused by the sudden change of the braking recovery torque during the path switching process. The algorithm is simple and can effectively improve the comfort and smoothness of the braking recovery path switching and enhance the braking feeling of the driver and passengers.

[0062] Figure 3 A flowchart of another vehicle braking recovery torque switching method provided by an embodiment of the present invention exemplarily shows a decision method for different execution terminals to participate in torque recovery switching. Figure 3As shown, in the above step S3, when the braking management is performed based on the braking recovery torque provided by the execution end, the electric braking communication data is continuously monitored, and it is determined whether to switch the execution end according to the electric braking communication data, including:

[0063] S301: Acquire first electric brake communication data of the vehicle when the electric brake system executes a brake management mode.

[0064] S302: Determine whether the first electric brake communication data is in a failed state.

[0065] If the first electric brake communication data is in a failed state, step S303 is executed; if the first electric brake communication data is in a non-failed state, step S304 is executed.

[0066] S303: Switch the execution end to a controller, which can establish a real vehicle recovery curve based on the torque data of the electric brake system under different driving conditions, and calculate the braking recovery torque based on the real vehicle recovery curve.

[0067] Among them, the actual vehicle recovery curve can be understood as a curve established based on the torque value calibration of EBS / EHB under different driving conditions. The actual vehicle recovery curve can reflect the corresponding relationship between the braking recovery torque and the brake pedal opening and vehicle speed under actual driving conditions.

[0068] In this embodiment, the driving condition can be set based on vehicle load, vehicle speed, brake pedal opening and other conditions. Typically, vehicle load includes but is not limited to: heavy load, light load and no load. Brake pedal opening includes 0-100%. Vehicle speed includes 0 to maximum speed or maximum speed*margin. Among them, the maximum speed and margin can be established based on calibration data or custom data.

[0069] Optionally, after switching the execution end to the controller, the method also includes: obtaining the brake pedal opening threshold and vehicle speed threshold of the vehicle; when the actual vehicle recovery curve contains data corresponding to the brake pedal opening threshold and the vehicle speed threshold, the actual vehicle recovery curve is determined to be complete, and the controller calculates the braking recovery torque based on the actual vehicle recovery curve; when the actual vehicle recovery curve does not contain data corresponding to the brake pedal opening threshold or the vehicle speed threshold, the actual vehicle recovery curve is determined to be incomplete, and the controller calculates the braking recovery torque based on a preset recovery curve or a controller calculated torque after transition processing (calculated based on the actual vehicle recovery curve). The controller of the present application uses actual driving condition data as a data sample to record and process the EBS / EHB braking recovery torque. When the EBS / EHB fails, the VCU can still maintain the electric braking effect under the same conditions when it is valid, which more accurately fits the electric braking effect of the entire vehicle before the EBS / EHB fails, and can improve the comfort and smoothness when the EBS / EHB and VCU switch electric braking control with each other.

[0070] S304: The electric brake system is determined as the execution end, and the electric brake system calculates the braking recovery torque.

[0071] See also Figure 3 As shown, in the above step S3, when the braking management is performed based on the braking recovery torque provided by the execution end, the electric braking communication data is continuously monitored, and it is determined whether to switch the execution end according to the electric braking communication data, and it also includes:

[0072] S305: Acquire the second electric brake communication data of the vehicle when the controller executes the brake management mode.

[0073] S306: Determine whether the second electric brake communication data is in an invalid state.

[0074] If the second electric brake communication data is in a failed state, the process returns to step S303 ; if the second electric brake communication data is in a valid state, the process proceeds to step S304 .

[0075] Specifically, referring to the contents recorded in the above steps S301 to S304, when the electric brake system performs brake management, if the EBS / EHB fails, the controller takes over the path of calculating the brake recovery torque of the electric brake system. The controller first detects whether the actual vehicle recovery curve established based on the torque data of the electric brake system under different driving conditions is complete. If the actual vehicle recovery curve is complete, the controller calculates the brake recovery torque based on the actual vehicle recovery curve; if the actual vehicle recovery curve is incomplete, the controller further performs brake recovery energy distribution based on the brake recovery torque calculated by the preset recovery curve (such as the above-mentioned brake recovery torque a) or the controller-calculated torque after slope processing (such as the above-mentioned brake recovery torque d).

[0076] Referring to the contents recorded in the above steps S305 to S306, when the controller performs braking management, if the EBS / EHB recovery is valid, the electric braking system takes over the path of the controller to calculate the braking recovery torque, and performs braking recovery energy distribution based on the EBS / EHB calculated torque (such as the above-mentioned braking recovery torque b) or the slope-processed EBS / EHB calculated torque (such as the above-mentioned braking recovery torque e).

[0077] Therefore, by optimizing the switching path, the torque switching is smoother and more natural when the vehicle's EBS / EHB fails or becomes effective again; by setting a variety of brake recovery torque calculation strategies, it is ensured that reliable electric braking torque can still be output when the actual driving condition data record is incomplete.

[0078] Optionally, before obtaining the electric brake communication data of the vehicle, the vehicle braking recovery torque switching method of the present application also includes: obtaining the power system status data of the vehicle; when there is no abnormality in the power system status data, determining that the vehicle is in the normal operation mode of the power system, and starting the braking recovery torque switching strategy. Among them, the power system status data can be understood as data that characterizes the operation and braking status of the vehicle power system. Optionally, the power system status data includes at least one of the following: high and low voltage status data, power system fault status data, and power component online status data. Among them, the power components include but are not limited to batteries and motors. The normal operation mode of the power system can be understood as an operation mode that can complete normal driving and normal braking.

[0079] Specifically, the high and low voltage status data of the vehicle power system, the power system fault status data, and the power component online status data are monitored in real time. If the power system status data is normal (such as the vehicle power system is fault-free, the power component is online, and the high and low voltages are normal), the vehicle is determined to be in the normal operation mode of the power system, and the braking recovery torque switching strategy is started. By establishing a system abnormality identification strategy, it is possible to avoid abnormal calculation or switching of the braking recovery torque caused by system abnormalities, thereby improving the reliability of braking energy recovery.

[0080] Figure 4 A flow chart of another vehicle braking recovery torque switching method provided by an embodiment of the present invention. Figure 4 As shown, the vehicle braking recovery torque switching method of the present application specifically includes:

[0081] S101: Acquire power system status data of the vehicle.

[0082] S102: Determine whether the power system status data is abnormal.

[0083] When there is no abnormality in the power system status data, step S103 is executed; when there is an abnormality in the power system status data, step S103' is executed.

[0084] S103: Start the braking regenerative torque switching strategy.

[0085] S103': Exit the braking regenerative torque switching strategy.

[0086] S104: Acquire third electric brake communication data of the vehicle in a normal power system operation mode.

[0087] S105: Determine whether the third electric brake communication data is in a failed state.

[0088] If the third electric brake communication data is in a failed state, step S106 is executed; if the third electric brake communication data is in a non-failed state (valid state), step S106' is executed.

[0089] S106: The controller is determined as the execution end, and the controller calculates the braking recovery torque based on a preset recovery curve.

[0090] S106': The electric brake system is determined as the execution end, and the braking recovery torque is calculated by EBS / EHB.

[0091] S107: Acquire the second electric brake communication data of the vehicle when the controller executes the brake management mode.

[0092] S108: Determine whether the second electric brake communication data is in a failed state.

[0093] If the second electric brake communication data is in a failed state, the process returns to step S106 ; if the second electric brake communication data is in a non-failed state, the process proceeds to step S109 .

[0094] S109: A first torque difference between a first braking recovery torque calculated by the controller at a moment before the switching and a second braking recovery torque calculated by the EBS / EHB.

[0095] S110: Determine whether the first torque difference exceeds a preset torque difference threshold.

[0096] If the first torque difference exceeds the preset torque difference threshold, step S111 is executed; if the first torque difference does not exceed the preset torque difference threshold, step S106 ′ is executed.

[0097] S111: Perform a step-by-step transition process on the first braking recovery torque until it gradually transitions to the second braking recovery torque. Continue to execute step S106'.

[0098] S107': Acquire the first electric brake communication data of the vehicle when the electric brake system executes the brake management mode.

[0099] S108': Determine whether the first electric brake communication data is in a failed state.

[0100] If the first electric brake communication data is in a failed state, step S109' is executed; if the first electric brake communication data is in a non-failed state, the process returns to step S106'.

[0101] S109': Determine whether the actual vehicle recovery curve established by the controller is complete.

[0102] If the actual vehicle recovery curve is complete, step S110' is executed; if the actual vehicle recovery curve is incomplete, step S111' is executed.

[0103] S110': Calculate the braking recovery torque based on the actual vehicle recovery curve. Continue to step S120'.

[0104] S120': Determine whether the electric brake communication data is in a failed state.

[0105] If the electric brake communication data is in a failed state, the process returns to step S110 ′; if the electric brake communication data is in a non-failed state, the process returns to step S106 ′.

[0106] S111': A second torque difference between a third braking recovery torque calculated based on EBS / EHB at a moment before the switching moment and a fourth braking recovery torque calculated by the controller based on an actual vehicle recovery curve.

[0107] S112': Determine whether the second torque difference exceeds a preset torque difference threshold.

[0108] If the second torque difference exceeds the preset torque difference threshold, step S113 ′ is executed; if the second torque difference does not exceed the preset torque difference threshold, the process returns to step S106 .

[0109] S113': Perform a step-by-step transition process on the third braking recovery torque until gradually transitioning to the fourth braking recovery torque.

[0110] S114': Determine whether the electric brake communication data is in a failed state.

[0111] If the electric brake communication data is in a failed state, the process returns to step S113 ′; if the electric brake communication data is in a non-failed state, the process proceeds to step S109 .

[0112] Based on the same inventive concept as the above embodiments, an embodiment of the present invention further provides a vehicle braking recovery torque switching device. The vehicle braking recovery torque switching device provided by the embodiment of the present invention can execute the vehicle braking recovery torque switching method provided by any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0113] Figure 5 This is a schematic diagram of the structure of a vehicle braking recovery torque switching device provided by an embodiment of the present invention. Figure 5 As shown, the vehicle braking recovery torque switching device of the present application includes: a monitoring module 101 , a first decision module 102 , a second decision module 103 , a transition processing module 104 and an execution module 105 .

[0114] Among them, the monitoring module 101 is used to obtain the electric braking communication data of the vehicle; the first decision module 102 is used to determine the execution end of the braking management according to the electric braking communication data, and perform braking management based on the braking recovery torque provided by the execution end; wherein the execution end is any one of the following: a controller or an electric braking system; the second decision module 103 is used to continuously monitor the electric braking communication data when performing braking management based on the braking recovery torque provided by the execution end, and determine whether to switch the execution end according to the electric braking communication data; the transition processing module 104 is used to perform a step-by-step transition processing on the braking recovery torque provided by the two execution ends before and after the switching when switching the execution end; the execution module 105 is used to perform braking management based on the braking recovery torque obtained by the transition processing.

[0115] Optionally, the transition processing module 104 is configured to: obtain a first braking recovery torque calculated by the controller at a previous moment of the switching moment and a second braking recovery torque calculated by the electric braking system; calculate a torque difference based on the first braking recovery torque and the second braking recovery torque; when the torque difference exceeds a preset torque difference threshold, establish at least one transition slope based on the torque difference, and correct the braking recovery torque based on the transition slope.

[0116] Optionally, the second decision module 103 is configured to: obtain the first electric brake communication data of the vehicle when the electric brake system executes the brake management mode; when the first electric brake communication data is in a failed state, switch the execution end to the controller, and the controller can establish a real vehicle recovery curve based on the torque data of the electric brake system under different driving conditions, and calculate the braking recovery torque based on the real vehicle recovery curve; when the first electric brake communication data is in a non-failed state, determine the electric brake system as the execution end.

[0117] Optionally, the second decision module 103 is further configured to: obtain the vehicle's brake pedal opening threshold and vehicle speed threshold; when the actual vehicle recovery curve contains data corresponding to the brake pedal opening threshold and the vehicle speed threshold, calculate the braking recovery torque based on the actual vehicle recovery curve.

[0118] Optionally, the second decision module 103 is further configured to: obtain second electric brake communication data of the vehicle in the controller execution brake management mode; and switch the execution end to the electric brake system when the second electric brake communication data is in a non-failure state.

[0119] Optionally, the first decision module 102 is configured to: obtain third electric brake communication data of the vehicle under normal operation mode of the power system; when the third electric brake communication data is in a failure state, determine the controller as the execution end, and the controller calculates the braking recovery torque based on a preset recovery curve; when the third electric brake communication data is in a non-failure state, determine the electric brake system as the execution end.

[0120] Optionally, the vehicle braking recovery torque switching device of the present application is also configured to: obtain the vehicle's power system status data; when there is no abnormality in the power system status data, determine that the vehicle is in a normal power system operation mode, and start the braking recovery torque switching strategy.

[0121] Optionally, the power system status data includes at least one of the following: high and low voltage status data, power system fault status data, power component online status data; and / or, the electric brake communication data includes at least one of the following: the message status exchanged between the electric brake system and the controller, and the electric brake fault status.

[0122] Based on the above embodiments, an embodiment of the present invention also provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the above-mentioned vehicle braking recovery torque switching method.

[0123] Figure 6 A schematic diagram of the structure of an electronic device for implementing the vehicle braking recovery torque switching method of an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0124] like Figure 6 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0125] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0126] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the above-mentioned vehicle braking recovery torque switching method.

[0127] In some embodiments, the above-mentioned vehicle braking recovery torque switching method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the vehicle braking recovery torque switching method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the above-mentioned vehicle braking recovery torque switching method in any other appropriate manner (for example, by means of firmware).

[0128] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0129] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0130] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0131] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0132] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0133] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0134] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0135] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle braking recovery torque switching method, wherein the vehicle comprises a controller and an electric braking system, characterized in that: The method comprises: Acquiring electric brake communication data of the vehicle; Determine the execution end of the brake management according to the electric brake communication data, and execute the brake management based on the brake recovery torque provided by the execution end; wherein the execution end is any one of the following: a controller or an electric brake system; When executing brake management based on the brake recovery torque provided by the execution end, continuously monitoring the electric brake communication data, and determining whether to switch the execution end according to the electric brake communication data; When the execution end is switched, a step-by-step transition process is performed on the braking recovery torque provided by the two execution ends before and after the switching; Braking management is performed based on the braking regeneration torque obtained by the transition process.

2. The vehicle braking recovery torque switching method according to claim 1, characterized in that: When the execution end is switched, a step-by-step transition process is performed on the braking recovery torque provided by the two execution ends before and after the switching, including: Acquire a first braking recovery torque calculated by the controller and a second braking recovery torque calculated by the electric brake system at a moment before the switching moment; Calculating a torque difference according to the first braking recovery torque and the second braking recovery torque; When the torque difference exceeds a preset torque difference threshold, at least one transition slope is established according to the torque difference, and the braking recovery torque is corrected according to the transition slope.

3. The vehicle braking recovery torque switching method according to claim 1, characterized in that: When executing the braking management based on the braking recovery torque provided by the execution end, continuously monitoring the electric braking communication data, and determining whether to switch the execution end according to the electric braking communication data, comprises: Acquire first electric brake communication data of the vehicle when the electric brake system performs a brake management mode; When the first electric brake communication data is in an invalid state, the execution end is switched to the controller, and the controller is capable of establishing a real vehicle recovery curve based on the torque data of the electric brake system under different driving conditions, and calculating the braking recovery torque based on the real vehicle recovery curve; When the first electric brake communication data is in a non-failure state, the electric brake system is determined as the execution end.

4. The vehicle braking recovery torque switching method according to claim 3, characterized in that: After the execution end is switched to the controller, the method further includes: Obtaining a brake pedal opening threshold and a vehicle speed threshold of the vehicle; When the actual vehicle recovery curve includes data corresponding to the brake pedal opening threshold and the vehicle speed threshold, the braking recovery torque is calculated based on the actual vehicle recovery curve.

5. The vehicle braking recovery torque switching method according to claim 1, characterized in that: When executing the braking management based on the braking recovery torque provided by the execution end, continuously monitoring the electric braking communication data, and determining whether to switch the execution end according to the electric braking communication data, comprises: Acquire second electric brake communication data of the vehicle when the controller executes a brake management mode; When the second electric brake communication data is in a non-failure state, the execution end is switched to the electric brake system.

6. The vehicle braking recovery torque switching method according to claim 1, characterized in that: The step of determining an execution end of brake management according to the electric brake communication data, and executing brake management based on a brake recovery torque provided by the execution end, comprises: Acquiring third electric brake communication data of the vehicle in a normal power system operating mode; When the third electric brake communication data is in a failed state, the controller is determined as the execution end, and the controller calculates the braking recovery torque based on a preset recovery curve; When the third electric brake communication data is in a non-failure state, the electric brake system is determined as the execution end.

7. The vehicle braking recovery torque switching method according to any one of claims 1 to 6, characterized in that: Before acquiring the electric brake communication data of the vehicle, the method further includes: Acquiring power system status data of the vehicle; When there is no abnormality in the power system status data, it is determined that the vehicle is in a normal power system operation mode, and a braking recovery torque switching strategy is initiated.

8. The vehicle braking recovery torque switching method according to claim 7, characterized in that: The power system status data includes at least one of the following: high and low voltage status data, power system fault status data, power component online status data; and / or, The electric brake communication data includes at least one of the following: a message status exchanged between the electric brake system and the controller, and an electric brake fault status.

9. A vehicle braking recovery torque switching device, the vehicle comprising a controller and an electric braking system, characterized in that: The device comprises: A monitoring module, used for acquiring electric brake communication data of the vehicle; A first decision module is used to determine an execution end of brake management according to the electric brake communication data, and execute brake management based on the brake recovery torque provided by the execution end; wherein the execution end is any one of the following: a controller or an electric brake system; A second decision module is used to continuously monitor the electric brake communication data when executing brake management based on the brake recovery torque provided by the execution end, and determine whether to switch the execution end according to the electric brake communication data; A transition processing module, used for performing a step-by-step transition processing on the braking recovery torque provided by the two execution ends before and after the switching when the execution end is switched; An execution module is used to execute braking management based on the braking recovery torque obtained by transition processing.

10. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle braking recovery torque switching method according to any one of claims 1-8.

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