Vehicle braking recovery torque switching method, device and electronic equipment

Abstract

The present invention discloses a vehicle braking recovery torque switching method, device and electronic device, the method comprising: acquiring the vehicle's electric braking communication data; determining the execution end of braking management based on the electric braking communication data, and executing 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 monitoring the electric braking communication data, and determining whether to switch the execution end based on the electric braking communication data; when switching the execution end, performing a step-by-step transition processing on the braking recovery torque 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. The present invention realizes bidirectional 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, which can improve the comfort of switching the braking recovery torque path and enhance the braking experience of the driver and passengers.

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] Braking energy recovery is a key technology in modern new energy vehicles. It recovers kinetic energy during braking and converts it into electrical energy for storage, thereby improving energy utilization and extending driving range. During braking, the motor operates in a power generation mode, using the vehicle's inertia to generate electricity and achieve energy recovery.

[0003] In vehicles equipped with electronic brake systems (EBS) or electronic hydraulic brake systems (EHB), electric brake systems are 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 existing technology 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 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 includes a controller and an electric braking system, and the method includes: acquiring electric braking communication data of the vehicle; determining an execution end of braking management based on 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 based on 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 through the transition processing.

[0006] Optionally, when switching the execution end, 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: obtaining the first braking recovery torque calculated by the controller at a moment before the switching moment and the second braking recovery torque calculated by the electric braking system; calculating the 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 an invalid state, switching the execution end to the controller, the controller can establish an actual 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 actual 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 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, executing the calculation of 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 whether to switch the execution end is determined based on the electric braking communication data, including: obtaining the 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, the execution end of braking management is determined according to the electric braking communication data, and braking management is performed based on the braking recovery torque provided by the execution end, including: obtaining third electric braking communication data of the vehicle in the normal operation mode of the power system; when the third electric braking 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 braking communication data is in a non-failed state, the electric braking system is determined as the execution end.

[0011] Optionally, before obtaining the electric brake communication data of the vehicle, the method further 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 a normal power system operation mode, and starting 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 of the interaction 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 includes a controller and an electric braking system, and the device includes: 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 when 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 as to enable the at least one processor to execute the above-mentioned vehicle braking recovery torque switching method.

[0015] The technical solution of the embodiment of the present invention is to obtain the vehicle's electric braking communication data; select a controller or an electric braking system as the execution end of braking management according to the electric braking communication data, and execute 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 monitor the electric braking communication data, and determine whether to switch the execution end according to the electric braking communication data; when switching the execution end, perform a step-by-step transition processing on the braking recovery torque provided by the two execution ends before and after the switching; execute 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 to achieve two-way switching between the controller and the electric braking system, and performing a step-by-step transition processing on the braking recovery torque before and after the switching, the comfort and smoothness of the braking recovery torque path switching can be improved, the braking feel of the driver and passengers can be improved, and the NVH performance of the vehicle can be indirectly improved.

[0016] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily 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 regenerative torque switching method provided by an embodiment of the present invention;

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

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

[0021] Figure 4 Flowchart 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 solutions of the present invention, the technical solutions 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 embodiments described 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 making creative efforts should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the description 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 numbers 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 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 flowchart 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 of 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. The controller may be a vehicle control unit (VCU). The electric brake system may be an EBS or EHB. In the present application, the controller and the electric brake system have different specific strategies for calculating the braking recovery torque, 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 representing the data exchange status and content between the vehicle's electric brake system and the controller. Optionally, the electric brake communication data includes at least one of the following: the message status of the electric brake system and the controller, and the electric brake fault status.

[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, it can be determined whether the EBS / EHB has failed based on the message status (such as missing data volume or changes in the frequency of sending and receiving messages).

[0033] S2: 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.

[0034] The execution end may be any of the following: a controller or an electric braking 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 brake management is determined based on the electric brake communication data, and brake management is performed based on the brake regeneration torque provided by the execution end, including: obtaining third electric brake communication data of the vehicle in the normal operating mode of the power system; when the third electric brake communication data is in a failed state, determining the controller as the execution end, and the controller calculating the brake regeneration torque based on a preset recovery curve; when the third electric brake communication data is in a valid state, determining the electric brake system as the execution end, and having the electric brake system calculate the brake regeneration torque. The preset recovery curve can be understood as a recovery curve calibrated and established based on different operating states of the power system (such as different battery states or motor operating states), which can reflect the corresponding relationship between the brake regeneration torque, brake pedal opening, and vehicle speed.

[0037] Specifically, the powertrain includes a motor and a battery. When establishing a preset regenerative braking curve, the relationship between regenerative braking torque, brake pedal position, and vehicle speed is calibrated by adjusting the operating conditions corresponding to the battery status (charge level or voltage) and the motor operating state (motor speed). Based on this calibrated data relationship, the preset regenerative braking curve is established and stored in the vehicle controller. During normal operation of the vehicle's powertrain, if the electric brake communication data is in a failed state, the controller calculates the regenerative braking torque a based on the preset regenerative braking curve and distributes regenerative braking energy based on this regenerative braking torque a. If the electric brake communication data is in a valid state, the electric brake system calculates the regenerative braking torque b and distributes regenerative braking energy based on this regenerative braking torque b.

[0038] S3: When executing brake management based on the brake recovery torque provided by the execution end, continuously monitor the electric brake communication data, and determine whether to switch the execution end according to the electric brake 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 performing braking management based on the braking recovery torque provided by the controller, if the electric braking communication data is valid, the execution end will be switched to the electric braking system; and when performing braking management based on the braking recovery torque provided by the electric braking system, if the electric braking communication data is invalid, the execution end will be 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 stepped transition processing can be understood as a multi-step and step-by-step adjustment of the braking recovery torque, which gradually adjusts the braking recovery torque before the switch to be consistent with the braking recovery torque after the switch.

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

[0044] S5: Execute braking management based on the braking regenerative torque obtained through 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 limits it before forwarding it to the motor controller, and finally the motor controller executes the recovery torque.

[0046] Specifically, the braking recovery torque switching of the present application 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, and 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 the braking recovery torque calculated by the vehicle controller at the moment before the switching (the execution end 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 (the execution end after the switching). The braking recovery torque e obtained by the torque transition process 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 the braking recovery torque calculated by the EBS / EHB (the execution end before the switching) at the moment before the switching is performed in a step-by-step transition until it gradually transitions to the braking recovery torque calculated by the vehicle controller (the execution end after the switching). 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 bidirectional 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 This is a flow chart of a braking regenerative torque switching transition processing method provided by an embodiment of the present invention, which exemplarily shows a specific implementation method of performing a step-by-step transition processing on the braking regenerative torque. Figure 2 As shown, in the above step 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, including:

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

[0054] S402: Calculate a torque difference according to the first regenerative braking torque and the second regenerative braking 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 user-defined, and are not limited thereto.

[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 customized without limitation.

[0058] It should be noted that when establishing multiple transition slopes, the multiple transition slopes gradually become larger as the correction time goes by, that is, the transition slope in the initial stage of the step-by-step transition processing is less than or equal to the transition slope in the middle stage of the step-by-step transition processing, and the transition slope in the middle stage of the step-by-step transition processing is less than or equal to the transition slope in the end stage of the step-by-step transition processing, which 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 regenerative braking torque by the electric brake system, the controller uses a calibrated transition slope (one or more) to transition the EBS / EHB calculated torque to the controller calculated torque. After the slope is progressively increased to the first target torque (the first target torque satisfies 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 using the transition slope, but is directly output to form the controller calculated torque after slope processing (such as the regenerative braking torque d mentioned above). During this process, it is necessary to monitor whether the EBS / EHB continues to fail. If the EBS / EHB continues to fail, the regenerative braking torque will still be calculated by the controller; if the EBS / EHB is restored to validity, the electric brake system will take over the controller's calculation of the regenerative braking torque.

[0060] When the electric brake system takes over the controller's calculation of the regenerative braking torque, the controller uses a calibrated transition slope (one or more) to transition the controller's calculated torque to the EBS / EHB's calculated torque. After the slope reaches the second target torque (the second target torque satisfies the requirement 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 using the transition slope, but is instead directly output using the EBS / EHB's calculated torque, forming the slope-processed EBS / EHB's calculated torque (such as the regenerative braking torque e described above). During this process, it is necessary to monitor whether the EBS / EHB fails at all times. If the EBS / EHB fails, the controller takes over the path for calculating the regenerative braking torque using the electric brake system. If the EBS / EHB remains valid, the regenerative braking torque is still calculated by the electric brake system.

[0061] Therefore, by introducing a transition slope, the braking regeneration torque before and after the braking regeneration path switching is subjected to a step-by-step transition process, thus avoiding the problem of discontinuous and uneven braking caused by the sudden change of the braking regeneration torque during the path switching process. The algorithm is simple and can effectively improve the comfort and smoothness of the braking regeneration path switching, thereby enhancing the braking experience of the driver and passengers.

[0062] Figure 3 This is a flow chart of another method for switching vehicle braking recovery torque provided by an embodiment of the present invention, which exemplarily shows a decision-making method for different execution terminals to participate in torque recovery switching. Figure 3As shown, in the above step S3, 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, including:

[0063] S301: Acquire first electric brake communication data of a vehicle in a brake management mode executed by an electric brake system.

[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: Switching the execution end to a controller, 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.

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

[0068] In this embodiment, driving conditions can be set based on vehicle load, speed, and brake pedal opening. Typically, vehicle load includes, but is not limited to, heavy load, light load, and no load. Brake pedal opening ranges from 0 to 100%. Speed ​​ranges from 0 to maximum speed or maximum speed * margin. 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 the preset recovery curve or the 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 executing the braking management 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 further includes:

[0072] S305: Acquire second electric brake communication data of the vehicle in a brake management mode executed by the controller.

[0073] S306: Determine whether the second electric brake communication data is in a failed 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 controller to calculate the braking recovery torque path, 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 up multiple brake recovery torque calculation strategies, it is ensured that reliable electric braking torque can still be output even when the actual driving condition data record is incomplete.

[0078] Optionally, before obtaining the vehicle's electric brake communication data, the vehicle braking recovery torque switching method of the present application further includes: obtaining the vehicle's power system status data; when the power system status data is normal, determining that the vehicle is in normal power system operation mode, and initiating the braking recovery torque switching strategy. The power system status data can be understood as data characterizing the operation and braking status of the vehicle's 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. Power components include but are not limited to batteries and motors. The normal power system operation mode can be understood as an operation mode capable of completing normal driving and normal braking.

[0079] Specifically, the system monitors the vehicle's powertrain's high and low voltage status data, powertrain fault status data, and power component online status data in real time. If the powertrain status data is normal (e.g., the vehicle's powertrain is fault-free, the power components are online, and both high and low voltages are normal), the system determines that the vehicle is in normal powertrain operation mode and initiates the regenerative braking torque switching strategy. By establishing a system anomaly identification strategy, it can avoid abnormal regenerative braking torque calculation or switching caused by system anomalies, thereby improving the reliability of regenerative braking energy.

[0080] Figure 4 This is 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 vehicle power system status data.

[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 operating 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 second electric brake communication data of the vehicle in a brake management mode executed by the controller.

[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 valid state, the process proceeds to step S109 .

[0094] S109: Calculating a first torque difference between a first regenerative braking torque calculated by the controller at a moment before the switching and a second regenerative braking 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 regenerative braking torque until it gradually transitions to the second regenerative braking torque. Continuing with step S106'.

[0098] S107': Acquire first electric brake communication data of the vehicle in a brake management mode executed by the electric brake system.

[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 valid 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 regenerative torque based on the actual vehicle regenerative curve. Continuing with 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 valid 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': Performing a step-by-step transition process on the third regenerative braking torque until gradually transitioning to the fourth regenerative braking 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 valid state, the process proceeds to step S109 .

[0112] Based on the same inventive concept as the above embodiments, an embodiment of the present invention also 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 vehicle's electric braking communication data; the first decision module 102 is used to determine the execution end of 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 moment before 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 an invalid 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-failure 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 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 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 a failed 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 further 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 of the interaction 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 structural diagram 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, workstations, 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 claimed herein.

[0124] like Figure 6 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. 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 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0125] Multiple 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 magnetic 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 via a computer network such as the Internet and / or various telecommunication networks.

[0126] The processor 11 can be any general-purpose and / or specialized processing component 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 specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the aforementioned vehicle braking regenerative 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 embodiments of the systems and techniques described 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), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes 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, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0130] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0131] To provide interaction with a user, the systems and techniques described herein can 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 pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0132] The systems and techniques described herein can be implemented in a computing system that includes back-end 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 front-end components (e.g., a user computer with a graphical user interface or 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 back-end components, middleware components, or front-end components. The components of the system can 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 clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0134] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0135] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A method for switching a vehicle's braking regenerative torque, 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; Determining an execution end of brake management according to the electric brake communication data, and executing 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 braking 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; executing brake management based on the braking regenerative torque obtained through the transition process; 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 regenerative braking torque calculated by the controller and a second regenerative braking 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, establishing at least one transition slope according to the torque difference, and correcting the braking recovery torque according to the transition slope; The method of continuously monitoring the electric brake communication data while executing the brake management based on the brake recovery torque provided by the execution end, and determining whether to switch the execution end according to the electric brake communication data, includes: 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.

2. The vehicle braking regenerative torque switching method according to claim 1, characterized in that: 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; 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.

3. The vehicle braking regenerative torque switching method according to claim 1, characterized in that: The method of continuously monitoring the electric brake communication data while executing the brake management based on the brake recovery torque provided by the execution end, and determining whether to switch the execution end according to the electric brake communication data, includes: 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-failed state, the execution end is switched to the electric brake system.

4. The vehicle braking regenerative 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 includes: 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 an invalid 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.

5. The vehicle braking recovery torque switching method according to any one of claims 1 to 4, 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 regenerative torque switching strategy is initiated.

6. The vehicle braking regenerative torque switching method according to claim 5, 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.

7. A vehicle braking regenerative torque switching device, wherein the vehicle comprises a controller and an electric brake system, and is controlled by the vehicle braking regenerative torque switching method according to any one of claims 1 to 6, characterized in that: The device comprises: A monitoring module, configured to obtain electric brake communication data of the vehicle; a first decision module, configured 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, configured 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, configured to perform a step-by-step transition processing on the braking recovery torque provided by the two actuating ends before and after the switching when the actuating end is switched; An execution module is configured to execute braking management based on the braking recovery torque obtained through the transition process.

8. 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 to enable the at least one processor to execute the vehicle braking regenerative torque switching method according to any one of claims 1 to 6.

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