Vehicle control method and system and vehicle

Abstract

The embodiment of the invention provides a vehicle control method and system and a vehicle. The method comprises the steps that when the current state of a vehicle meets a first condition and the comprehensive braking acceleration of the vehicle is larger than or equal to a first threshold value, a brake lamp of the vehicle is controlled to be turned on; the first condition is that the vehicle is in a running state, the braking device is in a non-working state and the vehicle is in a non-sliding state; when the brake lamp of the vehicle is in the first lightening state and the comprehensive braking acceleration of the vehicle is larger than or equal to a second threshold value, the brake lamp of the vehicle is controlled to be kept in the lightening state; wherein the first lightening state means that the brake lamp of the vehicle is lightened on the basis that the comprehensive braking acceleration is larger than or equal to the first threshold value, and the second threshold value is smaller than the first threshold value; and when the brake lamp of the vehicle is in an off state and the comprehensive brake acceleration is smaller than a first threshold value, the brake lamp of the vehicle is controlled to be kept in the off state. The embodiment of the invention is used for providing an accurate driving judgment basis for the rear vehicle.

Description

[Technical field]

[0001] The present application relates to the field of vehicle control, and in particular to a vehicle control method, system and vehicle. [Background technology]

[0002] With the development of automobile technology and the gradual improvement of automobile safety standards, the lighting of brake lights during vehicle driving plays an important role in the safety of the following vehicles and the vehicle itself. In order to improve the applicable fields of vehicles, the vehicle's brake light lighting mechanism needs to match the local industry standards. In order to improve international competitiveness, the vehicle's brake light lighting mechanism needs to match the relevant international industry standards. In order to make their products meet the corresponding industry standards, some automobile manufacturers use energy recovery to light up the brake lights, and some use a lower limit value to light up the brake lights.

[0003] Among them, the energy recovery brake light turns on when the braking acceleration provided by the energy recovery reaches the threshold. The energy recovery brake light mechanism will cause the braking force given by the brake light to be too large. When the rear vehicle finds that the brake light of the front vehicle is on, it will not have time to react, which may easily cause a rear-end collision.

[0004] The mechanism of lighting the brake light at the lower limit is to calculate the total value of the braking acceleration generated by all resistances, and light up the brake light when the total value of the braking acceleration reaches the set lower limit. This will cause the brake light to light up frequently during driving, which will affect the following car to misjudge the safe distance and speed. [Summary of the invention]

[0005] In view of this, the embodiments of the present application provide a vehicle control method, system and vehicle. The present application is used to improve the lighting mechanism of the vehicle brake lights to provide an accurate driving judgment basis for the following vehicle, and ultimately ensure the safety of the own vehicle and the following vehicle.

[0006] In a first aspect, an embodiment of the present application provides a vehicle control method, including:

[0007] When the current state of the vehicle satisfies a first condition and the comprehensive braking acceleration of the vehicle is greater than or equal to a first threshold, the brake lights of the vehicle are controlled to light up; the first condition is that the vehicle is in a driving state, the brake device is in an inoperative state, and the vehicle is in a non-slipping state;

[0008] When the brake lights of the vehicle are in a first lighting state and when the comprehensive braking acceleration of the vehicle is greater than or equal to a second threshold, the brake lights of the vehicle are controlled to remain in a lighting state; wherein the first lighting state means that the brake lights of the vehicle are lit based on the comprehensive braking acceleration being greater than or equal to the first threshold, and the second threshold is less than the first threshold;

[0009] When the brake lights of the vehicle are in the off state, when the comprehensive braking acceleration is less than the first threshold, the brake lights of the vehicle are controlled to remain in the off state.

[0010] In an implementation of the first aspect, the first condition also includes that an energy recovery system of the vehicle is effective.

[0011] In an implementation of the first aspect, before the step of controlling the brake lights of the vehicle to light up when the current state of the vehicle satisfies the first condition and the comprehensive braking acceleration of the vehicle is greater than or equal to the first threshold, the method further includes:

[0012] The comprehensive braking acceleration of the vehicle is obtained. The comprehensive braking acceleration of the vehicle is related to the braking factors. The braking factors include energy recovery braking force, and the braking factors also include at least one of rolling braking force, airflow braking force of the current vehicle speed, and braking force generated by charging and discharging current.

[0013] In an implementation of the first aspect, obtaining the comprehensive braking acceleration of the vehicle includes: obtaining the braking acceleration of the vehicle corresponding to each braking factor, and obtaining the comprehensive braking acceleration of the vehicle based on the braking acceleration of the vehicle corresponding to each braking factor.

[0014] In an implementation of the first aspect, obtaining a comprehensive braking acceleration of the vehicle based on the braking acceleration of the vehicle corresponding to each braking factor includes:

[0015] Based on the braking acceleration corresponding to each braking factor of the vehicle and the corresponding weight, a weighted sum operation is performed to obtain the comprehensive braking acceleration of the vehicle.

[0016] In an implementation of the first aspect, obtaining the braking acceleration of the vehicle corresponding to each braking factor includes obtaining the braking acceleration of the vehicle under energy recovery braking force; wherein obtaining the braking acceleration of the vehicle under energy recovery braking force includes:

[0017] determining an energy recovery mode of the vehicle, and acquiring a corresponding first braking acceleration reference value based on the energy recovery mode of the vehicle,

[0018] Determine the current speed of the vehicle, and based on the current speed of the vehicle and the corresponding relationship between the speed and the braking acceleration, obtain a second braking acceleration reference value corresponding to the current speed of the vehicle,

[0019] Based on the first acceleration reference value and the second acceleration reference value, a braking acceleration of the vehicle under energy recovery braking force is obtained.

[0020] In an implementation of the first aspect, obtaining the braking acceleration of the vehicle corresponding to each braking factor includes obtaining the braking acceleration of the vehicle under a rolling braking force; wherein obtaining the braking acceleration of the vehicle under a rolling braking force includes:

[0021] Obtain the current requested speed value of the vehicle, the actual value of the current speed of the vehicle, and the current temperature of the environment where the vehicle is located;

[0022] The difference between the current vehicle speed request value and the actual value of the current vehicle speed is the first difference. Based on the first difference, the current temperature of the vehicle's environment, the vehicle's weight, and the corresponding relationship between the rolling resistance and the first difference and temperature, the braking acceleration of the vehicle under rolling braking force is obtained.

[0023] In an implementation of the first aspect, obtaining the braking acceleration of the vehicle corresponding to each braking factor includes obtaining the braking acceleration of the vehicle under the airflow braking force at the current vehicle speed; wherein obtaining the braking acceleration of the vehicle under the airflow braking force at the current vehicle speed includes:

[0024] Determine the current speed of the vehicle;

[0025] Based on the current speed of the vehicle, the corresponding relationship between the vehicle speed and the wind resistance, and the vehicle weight, the braking acceleration of the vehicle under the airflow braking force at the current vehicle speed is obtained.

[0026] In an implementation manner of the first aspect, the vehicle being in a driving state includes that the gear information of the vehicle is a forward gear or the gear information of the vehicle is a reverse gear.

[0027] In a second aspect, an embodiment of the present application provides a control system for a vehicle, including:

[0028] A processing unit, configured to control the vehicle's brake lights to light up when the current state of the vehicle satisfies a first condition and the vehicle's integrated braking acceleration is greater than or equal to a first threshold; the first condition is that the vehicle is in a driving state, the brake device is not working, and the vehicle is in a non-slipping state;

[0029] The processing unit is further used to control the brake light of the vehicle to remain in the lighting state when the brake light of the vehicle is in the first lighting state and when the comprehensive braking acceleration of the vehicle is greater than or equal to a second threshold; wherein the first lighting state means that the brake light of the vehicle is lit based on the comprehensive braking acceleration being greater than or equal to the first threshold, and the second threshold is less than the first threshold;

[0030] The processing unit is further used to control the brake lights of the vehicle to remain in the off state when the comprehensive braking acceleration is less than a first threshold value.

[0031] In a third aspect, an embodiment of the present application provides a vehicle, which is controlled by the method of the first aspect.

[0032] In the embodiment of the present application, when the comprehensive braking acceleration of the vehicle is greater than or equal to the first threshold, the brake light is turned on, and the state of the brake light being turned on will be maintained until the comprehensive braking acceleration of the vehicle drops below the second threshold. At the same time, when the brake light of the vehicle is off, when the comprehensive braking acceleration of the vehicle is less than the first threshold, the brake light remains off. The embodiment of the present application provides a differentiated control strategy for the comprehensive braking acceleration of the vehicle between the first threshold and the second threshold, which can provide a reasonable and accurate judgment basis for the following vehicle, thereby increasing driving safety.

Brief Description of the Drawings

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 A flow chart of a vehicle control method provided in an embodiment of the present application;

[0035] Figure 2 A logic diagram of a vehicle control method provided in an embodiment of the present application;

[0036] Figure 3 A flow chart of a vehicle control method provided in an embodiment of the present application;

[0037] Figure 4 A flow chart for obtaining the braking acceleration of a vehicle under energy recovery braking force provided in an embodiment of the present application;

[0038] Figure 5 A flowchart for obtaining the braking acceleration of a vehicle under rolling braking force provided in an embodiment of the present application

[0039] Figure 6 A flow chart for obtaining the braking acceleration of a vehicle under the airflow braking force at the current vehicle speed provided in an embodiment of the present application;

[0040] Figure 7 A flow chart of a vehicle control method provided in an embodiment of the present application;

[0041] Figure 8 A flow chart of a vehicle control method provided in an embodiment of the present application;

[0042] Fig. 9 A flow chart of a vehicle control method provided in an embodiment of the present application;

[0043] Fig.10A flow chart of a vehicle control method provided in an embodiment of the present application. [Specific implementation method]

[0044] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0045] It should be clear that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0046] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "an", "the" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0047] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0048] In the description of this specification, it is necessary to understand that the words such as "substantially", "approximately", "approximately", "about", "roughly", "substantially" and the like described in the claims and embodiments of the present application refer to what can be generally recognized within a reasonable process operation range or tolerance range, rather than an exact value.

[0049] It should be understood that although the terms first, second, third, etc. may be used to describe regions, etc. in the embodiments of the present application, these regions, etc. should not be limited to these terms. These terms are only used to distinguish regions, etc. from each other. For example, without departing from the scope of the embodiments of the present application, the first region may also be referred to as the second region, and similarly, the second region may also be referred to as the first region.

[0050] The working principle of the energy recovery brake light mechanism is that only by assessing the braking acceleration given by energy recovery, when the braking acceleration reaches the set threshold, the VCU (Vehicle Control Unit) will receive the braking signal and send it to the CAN line. After receiving the braking signal from the CAN line, the IBC will request to light up the brake light accordingly. This scheme is a more common operation to light up the brake light. If you want to meet local safety standards, you only need to modify the logic program without increasing the hardware cost. However, the energy recovery brake light mechanism does not take into account the influence of wind resistance, rolling braking force and internal mechanical resistance during driving, and the braking acceleration during driving is the sum of various resistances divided by the vehicle weight. Therefore, simply considering the energy recovery brake light mechanism, the absolute value of the calculated braking acceleration will be greater than the actual demand value of the vehicle because the braking acceleration given by energy recovery is part of the actual braking acceleration of the vehicle. For example, the actual braking acceleration required by the vehicle is M1, which should be provided by all resistances during driving. In the calculation process, the calculation module considers the braking force given by energy recovery, so the braking acceleration value given by the energy recovery given by the calculation module should be M1, but the actual deceleration braking force of the vehicle body also includes wind resistance, rolling braking force and internal mechanical resistance, that is, the actual value of the final driving braking acceleration is greater than M1. When the driving braking acceleration is greater than the required value, it will cause the vehicle to stop unexpectedly, such as emergency braking. Unexpected stops of vehicles during driving will cause the following situations: When the rear vehicle finds that the front vehicle has turned on the lights, there is a risk of rear-end collision due to the close distance between the following vehicles.

[0051] The working principle of the mechanism of setting a lower limit to light up the brake lights is: the braking acceleration generated by all the resistance of the vehicle is compared with the set lower limit, and the brake lights will be turned on as long as the braking acceleration is greater than the lower limit. The mechanism of setting a lower limit to light up will cause the brake lights to light up frequently during driving, as the lower limit of the braking force is compared with the threshold, which will cause the following vehicles to misjudge the safety distance and speed.

[0052] In view of this, the applicant in this case has provided a solution to the above problem through careful and in-depth research.

[0053] like Figure 1 As shown, an embodiment of the present application provides a vehicle control method, including:

[0054] S110, when the current state of the vehicle satisfies a first condition and the comprehensive braking acceleration of the vehicle is greater than or equal to a first threshold, the brake lights of the vehicle are controlled to light up. The first condition is that the vehicle is in a driving state, the brake device is in an inoperative state, and the vehicle is in a non-slipping state.

[0055] The current state of the vehicle is used to characterize the vehicle speed information and the usage status of the relevant hardware inside the vehicle. For example, in one possible implementation, the current state of the vehicle includes: the vehicle's driving speed (i.e., vehicle speed), the vehicle's current gear information, the current state of the vehicle's braking device, the vehicle's current onboard electrical equipment, the vehicle's energy recovery system status, etc.

[0056] Before step S110, it is possible to first determine whether the current state of the vehicle satisfies the first condition and whether the comprehensive braking acceleration of the vehicle is greater than or equal to the first threshold to obtain the vehicle. Determining whether the current state of the vehicle satisfies the first condition and determining whether the comprehensive braking acceleration of the vehicle is greater than or equal to the first threshold can be performed simultaneously or in series, and the serial order of the two is not limited. For example, in one possible implementation, it is possible to first determine whether the current state of the vehicle satisfies the first condition, and after the current state of the vehicle satisfies the first condition, it is then determined whether the comprehensive braking acceleration of the vehicle is greater than or equal to the first threshold. If the current state of the vehicle does not satisfy the first condition, the method is terminated.

[0057] The comprehensive braking acceleration of a vehicle refers to the braking acceleration obtained by comprehensively considering the braking factors of the vehicle. The braking factors include the energy recovery braking force, the rolling braking force, the airflow braking force of the current vehicle speed, and at least one of the braking forces generated by the charging and discharging current.

[0058] The first condition is used to characterize whether the state of the vehicle is applicable to the control logic provided in the embodiment of the present application. In the embodiment of the present application, the brake lights of the vehicle are lit only when the vehicle state meets the first condition and the comprehensive braking acceleration of the vehicle is greater than or equal to the first threshold. For example, if the vehicle is in a rolling state, the brake lights of the vehicle will not be lit regardless of whether the comprehensive braking acceleration of the vehicle is greater than or equal to the first threshold.

[0059] The first threshold is used to indicate whether the brake light needs to be turned on. The first threshold may be a threshold specified by a corresponding industry standard, for example, the first threshold is a threshold specified by the ECE R13-H international regulation, that is, the first threshold is 1.3 m / s 2 .

[0060] S120, when the brake light of the vehicle is in a first lighting state and when the comprehensive braking acceleration of the vehicle is greater than or equal to a second threshold, control the brake light of the vehicle to remain in a lighting state. The second threshold is less than the first threshold. The first lighting state means that the brake light of the vehicle is lit based on the comprehensive braking acceleration being greater than or equal to the first threshold.

[0061] In step S120, the first lighting state refers to a state in which the brake lights of the vehicle are lit when the comprehensive braking acceleration of the vehicle is greater than or equal to the first threshold. It can be understood that when the comprehensive braking acceleration of the vehicle is greater than or equal to the first threshold, the brake lights of the vehicle are controlled to be lit, and before the comprehensive braking acceleration of the vehicle drops to the second threshold (excluding the second threshold, that is, drops to less than the second threshold), the brake lights of the vehicle will remain lit.

[0062] In the specific implementation process of step S120, the vehicle's comprehensive braking acceleration can be filtered and delayed so that the lighting state of the brake light can be maintained until the second threshold is reached before being changed. The second threshold can be the lower limit value specified by the corresponding industry standard, for example, the second threshold is 0.7m / s 2 .

[0063] Step S120 achieves that: after the brake lights of the vehicle are turned on, the brake lights of the vehicle remain on until the integrated braking acceleration drops to the second threshold value. Therefore, since the integrated braking acceleration of the vehicle decreases from the larger value to the second threshold value, the deceleration force of the speed decreases from the larger value, which can provide a ready judgment standard for the following vehicle, thereby avoiding the following situation: although the brake lights of the current vehicle are not turned on, the braking force actually exists, and the following vehicle misjudges that it can accelerate because the brake lights are off, which eventually leads to a rear-end collision.

[0064] Based on step S120, when the vehicle's integrated braking acceleration is greater than the first threshold value and then decreases to the second threshold value, the vehicle's brake lights remain on. Therefore, since the vehicle's integrated braking acceleration decreases from a larger value to the second threshold value, the deceleration force of the speed decreases from a larger value, which can provide a prepared judgment standard for the following vehicle, thereby avoiding the following situation: although the brake lights of the current vehicle are not on, the braking force actually exists, and the following vehicle misjudges that it can accelerate because the brake lights are off, which eventually leads to a rear-end collision.

[0065] Therefore, the embodiment of the present application can achieve: when the vehicle is driving, if the brake lights are turned on because the comprehensive braking acceleration is greater than or equal to a first threshold, then before the comprehensive braking acceleration is greater than or equal to a second threshold, the brake lights of the vehicle remain on, thereby providing an accurate judgment basis for the following vehicle.

[0066] S130: When the brake lights of the vehicle are in an off state, when the comprehensive braking acceleration is less than a first threshold, the brake lights of the vehicle are controlled to remain in an off state.

[0067] In step S130, when the brake lights of the vehicle are off, when the comprehensive braking acceleration is less than the first threshold, the brake lights of the vehicle remain off. It can be understood that after the brake lights of the vehicle are off due to the control strategy, and before the comprehensive acceleration of the vehicle rises to the first threshold (including the first threshold),

[0068] In step S130, when the brake lights of the vehicle are off, it means that the comprehensive braking acceleration of the vehicle during driving is lower than the first threshold. When the vehicle is driving, if the comprehensive braking acceleration of the vehicle is always lower than the first threshold, then there is no need to light up the brake lights. Because when the comprehensive braking acceleration is lower than the first threshold, it means that the braking acceleration of the vehicle is small. At this time, if the brake lights are turned on, the rear vehicle will brake to maintain a safe distance, so that the actual distance between the rear vehicle and the front vehicle is greater than the predicted distance, which will eventually cause road congestion or traffic jams.

[0069] It should be noted that there is no order of precedence between step S110 and step S130 , but which step to execute is determined based on actual conditions.

[0070] Combination Figure 2 and Figure 3 , an embodiment of the present application provides a vehicle control method, comprising:

[0071] S210, determining whether the current state of the vehicle satisfies a preset first condition.

[0072] The first condition is: the vehicle is in a driving state, the brake device is not in a working state, the vehicle is in a non-slip state, and the energy recovery system of the vehicle is effective. The driving state of the vehicle can be obtained through the gear information of the vehicle. In a possible implementation, the vehicle is in a driving state including that the gear information of the vehicle is a forward gear or the gear information of the vehicle is a reverse gear. For example, the forward gear can be D gear or S gear, and the reverse gear can be R gear.

[0073] In one embodiment of the present application, the specific process of determining whether the current state of the vehicle satisfies a preset first condition may include: determining whether the gear of the vehicle is in a preset gear, the preset gear being a forward gear or a reverse gear; determining whether the energy recovery system of the vehicle is effective, determining whether the braking device of the vehicle is in an inoperative state, and determining whether the vehicle is in a rolling state.

[0074] Among them, the vehicle's VCU can obtain the vehicle's gear information by identifying the voltage signal of the gear switch.

[0075] The vehicle's VCU can determine whether energy recovery is effective by identifying the set signal or valid signal of energy recovery. For example, when the set signal is 1, energy recovery is effective; when the set signal is 0, energy recovery is ineffective.

[0076] The vehicle's VCU can determine whether the vehicle's brake device is in a working state by detecting whether the brake pedal is pressed or whether the vehicle is in a state of intelligent driving and maintaining a distance from the vehicle in front. When the vehicle's brake pedal is pressed or the vehicle is in a state of intelligent driving and maintaining a distance from the vehicle in front, the vehicle's brake device is in a working state. When the vehicle's brake pedal is not pressed, and the vehicle is not in a state of intelligent driving and maintaining a distance from the vehicle in front, the vehicle's brake device is in a non-working state. In one possible implementation, a sensor can be provided on the brake device to monitor whether the brake device is in a working state. The brake device can be a disc brake device, a drum brake device, a gas brake device, or other forms of brake devices.

[0077] Determine whether the vehicle is in a non-slipping state. If the vehicle is slipping, the brake lights are not lit. When the vehicle is in a non-slipping state and the vehicle's comprehensive braking acceleration is greater than or equal to a first threshold, control the vehicle's brake lights to light up. Whether the vehicle is slipping can be determined by the vehicle gear information and the power motor speed value. For example, when the vehicle is in D gear but the power motor speed is a negative value, it is determined to be slipping. Among them, when the power motor speed is a positive value, the vehicle can move forward. Conversely, when the power motor speed is a negative value, the vehicle can move backward.

[0078] In an embodiment of the present application, it is determined whether the gear of the vehicle is in a preset gear, the preset gear is a forward gear or a reverse gear; it is determined whether the energy recovery system of the vehicle is effective, it is determined whether the braking device of the vehicle is in an inoperative state, and it is determined whether the vehicle is in a slipping state. The four determination processes can be performed synchronously or in series. When in series, the four determination processes do not have a strict execution order, which is conducive to execution based on the execution order preset by the technician. When the four determination processes are in series, if any one of the determination structures is no, the subsequent determination process can be omitted, and it is directly determined that the current state of the vehicle does not meet the first condition, and the method ends.

[0079] S220, obtaining the comprehensive braking acceleration of the vehicle, the comprehensive braking acceleration of the vehicle is related to the braking factors. The braking factors include energy recovery braking force, and the braking factors also include at least one of rolling braking force, airflow braking force of the current vehicle speed, and braking force generated by charging and discharging current.

[0080] In this embodiment, the execution order of step S220 and step S210 is not limited. In a possible implementation, step S220 can be executed after step S210, that is, when the current state of the vehicle meets the first condition, steps S220-S250 are executed, and when the current state of the vehicle does not meet the first condition, the method ends. It can be understood that the definition of steps S220-S250 is valid only if the current state of the vehicle meets the first condition.

[0081] In a possible implementation, obtaining the comprehensive braking acceleration of the vehicle includes: obtaining the braking acceleration of the vehicle corresponding to each braking factor, and obtaining the comprehensive braking acceleration of the vehicle based on the braking acceleration of the vehicle corresponding to each braking factor.

[0082] In a possible implementation, obtaining the comprehensive braking acceleration of the vehicle based on the braking acceleration of the vehicle corresponding to each braking factor includes: performing a weighted sum operation based on the braking acceleration of the vehicle corresponding to each braking factor and the corresponding weight to obtain the comprehensive braking acceleration of the vehicle.

[0083] In this implementation, when the current state of the vehicle satisfies the first condition, it can be further determined whether to light the brake lights. The comprehensive braking acceleration of the vehicle can more accurately reflect the actual braking acceleration of the vehicle. Therefore, it can be determined whether to light the brake lights by the comprehensive braking acceleration of the vehicle. Therefore, when the current state of the vehicle satisfies the first condition, it is necessary to determine the comprehensive braking acceleration of the vehicle. The comprehensive acceleration of the vehicle is related to a variety of braking factors, so if you want to determine the comprehensive braking acceleration of the vehicle, you need to first determine the braking acceleration of the vehicle under various braking factors.

[0084] In a possible implementation, obtaining the braking acceleration of the vehicle corresponding to each braking factor includes obtaining the braking acceleration of the vehicle under energy recovery braking force. Figure 4 As shown, obtaining the braking acceleration of the vehicle under the energy recovery braking force includes:

[0085] S121, determining an energy recovery mode of the vehicle, and acquiring a corresponding first braking acceleration reference value based on the energy recovery mode of the vehicle.

[0086] The VCU of the vehicle can obtain the energy recovery mode of the vehicle through an internal recognition mechanism, and determine the first braking acceleration reference value based on the correspondence between the preset energy recovery mode of the vehicle and the first braking acceleration reference value. For example, the energy recovery mode of a certain vehicle is divided into a strong recovery mode, a weak recovery mode and a standard recovery mode. Among them, the first braking acceleration reference value corresponding to the strong recovery mode is a1, the first braking acceleration reference value corresponding to the weak recovery mode is a2, and the first braking acceleration reference value corresponding to the standard recovery mode is a3.

[0087] In a possible implementation, the correspondence between the energy recovery mode and the first braking acceleration reference value can be stored in a memory in the form of a table, a graph, or a function. Therefore, the vehicle VCU can obtain the first braking acceleration reference value based on the energy recovery mode of the vehicle and in combination with the correspondence between the energy recovery mode and the first braking acceleration reference value.

[0088] S122, determining the current speed of the vehicle, and based on the current speed of the vehicle and the corresponding relationship between the speed and the braking acceleration, obtaining a second braking acceleration reference value corresponding to the current speed of the vehicle.

[0089] In one possible implementation, the current speed of the vehicle is the actual speed of the vehicle at the current moment. The current actual speed of the vehicle can be obtained based on the ESC (Electronic Stability Controller). After the ESC detects the actual speed of the vehicle, it will send the speed to the CAN bus, and the ECU obtains the current actual speed of the vehicle from the CAN bus. After obtaining the current actual speed of the vehicle, the ECU combines the correspondence between the speed and the braking acceleration to obtain a second braking acceleration reference value. The correspondence between the speed and the braking acceleration can be stored in the memory in the form of a table, a graph or a function. Therefore, after the vehicle VCU obtains the current speed of the vehicle, it obtains the second braking acceleration reference value through the correspondence between the speed and the braking acceleration in the memory.

[0090] In one possible implementation, the current speed of the vehicle is the requested speed of the vehicle at the current moment. The current requested speed of the vehicle can be obtained through the VCU. The VCU can obtain the requested speed of the vehicle at the current moment based on the degree of depression of the accelerator pedal. After obtaining the current requested speed of the vehicle, the ECU combines the correspondence between the speed and the braking acceleration to obtain the second braking acceleration reference value. The correspondence between the speed and the braking acceleration can be stored in the memory in the form of a table, a graph or a function. Therefore, after the vehicle VCU obtains the current speed of the vehicle, it obtains the second braking acceleration reference value through the correspondence between the speed and the braking acceleration in the memory.

[0091] S123, obtaining a braking acceleration of the vehicle under energy recovery braking force based on the first acceleration reference value and the second acceleration reference value.

[0092] In order to comprehensively consider the braking acceleration of the vehicle under the energy recovery braking force, the first acceleration reference value and the second acceleration reference value may be calculated by a preset algorithm.

[0093] In a possible implementation, the preset algorithm is a summation algorithm. For example, the first braking acceleration reference value corresponding to the current energy recovery mode of the vehicle is a 基准1 The second braking acceleration reference value corresponding to the current vehicle speed is a 基准2 Therefore, the braking acceleration of the vehicle under energy recovery braking force is A1 = a 基准1 +a 基准2 .

[0094] In another possible implementation, the preset algorithm may be a weighted summation algorithm, that is, by multiplying the first acceleration reference value by the weight corresponding to the first acceleration reference value, and multiplying the second acceleration reference value by the weight corresponding to the second acceleration reference value, and then adding the multiplied structures to obtain the braking acceleration of the vehicle under energy recovery braking force.

[0095] In one embodiment of the present application, obtaining the braking acceleration of the vehicle corresponding to each braking factor includes obtaining the braking acceleration of the vehicle under rolling braking force. Figure 5 As shown, obtaining the braking acceleration of the vehicle under rolling braking force includes:

[0096] S221, obtaining the current vehicle speed request value of the vehicle, the actual value of the current vehicle speed of the vehicle, and the current temperature of the environment where the vehicle is located.

[0097] The current requested speed of the vehicle can be obtained through the VCU. The actual value of the current speed of the vehicle can be obtained based on the ESC. The current temperature of the environment where the vehicle is located can be obtained through the temperature sensor.

[0098] S222: The difference between the current vehicle speed request value and the current vehicle speed actual value is a first difference. Based on the first difference, the current temperature of the environment where the vehicle is located, the vehicle weight, and the corresponding relationship between the rolling braking force and the first difference and the temperature, the braking acceleration of the vehicle under the rolling braking force is obtained.

[0099] The first difference △V=V 请求 -V ESC , where V 请求 is the speed request value, V ESC is the actual speed value detected by the ESC. The corresponding relationship between the rolling braking force and the first difference and the temperature can be stored in the memory in the form of a three-dimensional table, a three-dimensional graph or a ternary function. After obtaining the first difference, the VCU obtains the rolling braking force of the vehicle in combination with the corresponding relationship between the rolling braking force and the first difference and the temperature, and then obtains the braking acceleration of the vehicle under the rolling braking force by dividing the rolling braking force by the vehicle speed.

[0100] In one embodiment of the present application, obtaining the braking acceleration of the vehicle corresponding to each braking factor includes obtaining the braking acceleration of the vehicle under the airflow braking force of the current vehicle speed. Figure 6 As shown, obtaining the braking acceleration of the vehicle under the airflow braking force at the current vehicle speed includes:

[0101] S321, determining the current speed of the vehicle.

[0102] S322, based on the current speed of the vehicle, the corresponding relationship between the vehicle speed and the wind resistance, and the vehicle weight, obtain the braking acceleration of the vehicle under the airflow braking force at the current vehicle speed.

[0103] The current speed in step S321 may be the current actual speed or the current requested speed. The specific implementation of determining the current speed of the vehicle may refer to step S122, which will not be described in detail here.

[0104] When a vehicle is driving, the convection between the vehicle and the air will form wind resistance, and the main factor of wind resistance is the airflow resistance caused by the relative movement of the vehicle and the air. In one possible implementation, the natural wind force in the vehicle's environment has little effect on the wind resistance in the vehicle speed engineering and can be ignored. In another possible implementation, the location of the vehicle is in a state of long-term strong winds, and the impact of the natural wind force in the vehicle's environment on wind resistance will be considered.

[0105] The correspondence between vehicle speed and wind resistance is stored in the memory in the form of a table, graph or function. After the VCU obtains the current speed of the vehicle, it can obtain the current airflow braking force of the vehicle by combining the correspondence between the vehicle speed and wind resistance, and then divide the airflow braking force by the vehicle weight to obtain the braking acceleration of the vehicle under the airflow braking force.

[0106] In one embodiment of the present application, obtaining the braking acceleration of the vehicle corresponding to each braking factor includes obtaining the braking acceleration of the vehicle under the braking force generated by the charging / discharging current. Wherein, obtaining the braking acceleration of the vehicle under the braking force generated by the charging / discharging current includes:

[0107] The SOC value is obtained. When the SOC value is at a low level (for example, the SOC value is lower than the first SOC threshold), the intelligent power conservation function is turned on and the energy recovery is pre-controlled to optimize the recovery current. The VCU controls the energy recovery output braking acceleration according to the charging and discharging requirements. In a possible implementation, when the SOC is at a low level, the braking acceleration of the vehicle under the braking force generated by the charging / discharging current is positively correlated with the SOC value.

[0108] When the SOC value is at a high level (the SOC value is greater than or equal to the second SOC threshold), the VCU identifies the energy recovery current through the sensor and controls the energy recovery output braking acceleration to control the energy recovery current, thereby avoiding BMS failure caused by overcurrent and battery overcharging.

[0109] In an embodiment of the present application, the process of obtaining the comprehensive braking acceleration of the vehicle may be:

[0110] The VCU calculates the braking acceleration corresponding to each braking factor with the weight corresponding to the braking acceleration under each braking factor, and performs calculations according to the preset first algorithm, so that the error between the vehicle's comprehensive braking acceleration and the vehicle's actual braking acceleration is controlled within a reasonable range. The first algorithm is a weighted summation algorithm that can comprehensively consider the role of each braking factor in the braking process, thereby obtaining a more accurate comprehensive braking acceleration.

[0111] Take the braking factors including: energy recovery braking force, rolling braking force, airflow braking force at the current vehicle speed and braking force generated by charging and discharging current as an example. Among them, the energy recovery braking acceleration is A1, the energy recovery braking acceleration weight is x1, the rolling braking acceleration is A2, the rolling braking acceleration weight is x2, the airflow braking acceleration at the current vehicle speed is A3, the airflow braking acceleration weight at the current vehicle speed is x3, the braking acceleration generated by charging and discharging current is A4, and the braking acceleration weight generated by charging and discharging current is x4. Then, the comprehensive braking acceleration A = x1*A1+x2*A2+x3*A3+x4*A4. Among them, * is the multiplication sign.

[0112] In order to obtain a relatively stable braking acceleration, the braking acceleration under each braking factor is filtered after being obtained to make it stable. For example, through filtering, the change of braking acceleration under each braking factor is less than or equal to 0.1m / s 2 .

[0113] S230: When the comprehensive braking acceleration of the vehicle is greater than or equal to a first threshold, control the brake lights of the vehicle to light up.

[0114] After the comprehensive braking acceleration of the vehicle is determined, it is determined whether the comprehensive braking acceleration is greater than or equal to a first threshold.

[0115] S240, when the brake light of the vehicle is in a first lighting state and when the comprehensive braking acceleration of the vehicle is greater than or equal to a second threshold, control the brake light of the vehicle to remain in a lighting state. The second threshold is less than the first threshold. The first lighting state means that the brake light of the vehicle is lit based on the comprehensive braking acceleration being greater than or equal to the first threshold.

[0116] In step S240, the vehicle's integrated braking acceleration may be filtered and delayed so that the lighting state of the brake light can be maintained until the second threshold is reached before being changed. The second threshold may be the lower limit value specified by the corresponding industry standard, for example, the second threshold is 0.7 m / s 2 .

[0117] S250: When the brake lights of the vehicle are in an off state, when the comprehensive braking acceleration of the vehicle is less than a first threshold, control the brake lights of the vehicle to remain in an off state.

[0118] In step S250, when the brake lights of the vehicle are off, it means that the comprehensive braking acceleration of the vehicle during driving is lower than the first threshold. When the vehicle is driving, if the comprehensive braking acceleration of the vehicle is always lower than the first threshold, then there is no need to light up the brake lights. Because when the comprehensive braking acceleration is lower than the first threshold, it means that the braking acceleration of the vehicle is small. At this time, if the brake lights are turned on, the rear vehicle will brake to maintain a safe distance, so that the actual distance between the rear vehicle and the front vehicle is greater than the predicted distance, which will eventually cause road congestion or traffic jams.

[0119] It should be noted that there is no order of precedence between step S250 and step S230 , but which step to execute is determined based on actual conditions.

[0120] In an embodiment of the present application, the vehicle control method further includes: S260, when the vehicle comprehensive braking acceleration is less than a second threshold, controlling the brake lights of the vehicle to be off.

[0121] like Figure 7 and Figure 8 As shown, the embodiment of the present application also provides a vehicle control method, including:

[0122] S410, determining whether the current state of the vehicle satisfies a preset first condition. The first condition is: the vehicle is in a preset gear, the brake device is in an inoperative state, and the energy recovery system of the vehicle is effective. The preset gear is a forward gear or a reverse gear.

[0123] The specific implementation process of step S410 can refer to step S210 and will not be described in detail here.

[0124] S420, when the current state of the vehicle satisfies the first condition, obtain the braking acceleration of the vehicle corresponding to each braking factor, and obtain the comprehensive braking acceleration of the vehicle based on the braking acceleration of the vehicle corresponding to each braking factor. The braking factor includes energy recovery braking force, and the braking factor also includes at least one of rolling braking force, airflow braking force of the current vehicle speed, and braking force generated by charging and discharging current.

[0125] The specific implementation process of step S420 can refer to step S220 and will not be repeated here.

[0126] S430: When the vehicle is in a non-slipping state and the comprehensive braking acceleration of the vehicle is greater than or equal to a first threshold, control the brake lights of the vehicle to light up.

[0127] The specific implementation process of step S430 can refer to step S230 and will not be repeated here.

[0128] S440: When the brake light of the vehicle is in the first lighting state and the comprehensive braking acceleration of the vehicle is greater than a second threshold, the brake light of the vehicle is controlled to remain in the lighting state. Alternatively, when the brake light of the vehicle is in the first lighting state and the comprehensive braking acceleration of the vehicle is greater than or equal to the second threshold, the brake light of the vehicle is controlled to remain in the lighting state.

[0129] The first lighting state means that the brake lights of the vehicle are lit based on the comprehensive braking acceleration being greater than or equal to a first threshold.

[0130] The specific implementation process of step S440 can refer to step S240 and will not be repeated here.

[0131] S450: When the brake lights of the vehicle are in an off state, when the comprehensive braking acceleration of the vehicle is less than a first threshold, the brake lights of the vehicle are controlled to remain in an off state.

[0132] The specific implementation process of step S450 can refer to step S250 and will not be repeated here.

[0133] S460: When the vehicle integrated braking acceleration is less than a second threshold, the brake lights of the vehicle are controlled to be off. Alternatively, when the vehicle integrated braking acceleration is less than or equal to the second threshold, the brake lights of the vehicle are controlled to be off.

[0134] Among them, if in step S440, when the brake lights of the vehicle are in the first lighting state and when the comprehensive braking acceleration of the vehicle is greater than the second threshold, the brake lights of the vehicle are controlled to remain in the lighting state, then in step S460, when the comprehensive braking acceleration of the vehicle is less than or equal to the second threshold, the brake lights of the vehicle are controlled to be in the off state.

[0135] If in step S440, when the brake lights of the vehicle are in the first lighting state and when the comprehensive braking acceleration of the vehicle is greater than or equal to the second threshold, the brake lights of the vehicle are controlled to remain in the lighting state, then in step S460, when the comprehensive braking acceleration of the vehicle is less than the second threshold, the brake lights of the vehicle are controlled to be in the off state.

[0136] The specific implementation process of step S460 can refer to step S260 and will not be repeated here.

[0137] In a possible implementation, the first condition also includes that the vehicle is in a non-slipping state. The specific implementation of whether the vehicle is in a non-slipping state can refer to the determination of whether the vehicle is in a slipping state in step S210.

[0138] like Fig. 9 and Fig.10 As shown, the embodiment of the present application also provides a vehicle control method, including:

[0139] S510, determining whether the current state of the vehicle satisfies a preset first condition. The first condition is: the vehicle is in a preset gear, the brake device is in an inoperative state, and the energy recovery system of the vehicle is effective. The preset gear is a forward gear or a reverse gear.

[0140] The specific implementation process of step S510 can refer to step S210 and will not be described in detail here.

[0141] S520, when the current state of the vehicle satisfies the first condition, obtain the braking acceleration of the vehicle corresponding to each braking factor, and obtain the comprehensive braking acceleration of the vehicle based on the braking acceleration of the vehicle corresponding to each braking factor. The braking factor includes energy recovery braking force, and the braking factor also includes at least one of rolling braking force, airflow braking force of the current vehicle speed, and braking force generated by charging and discharging current.

[0142] The specific implementation process of step S520 can refer to step S220 and will not be repeated here.

[0143] S530: When the comprehensive braking acceleration of the vehicle is greater than or equal to a first threshold, control the brake lights of the vehicle to light up.

[0144] The specific implementation process of step S530 can refer to step S230 and will not be described in detail here.

[0145] In step S530, the brake lights are turned on when the comprehensive braking acceleration of the vehicle is greater than or equal to the first threshold, thereby alerting the following vehicle and facilitating the following vehicle to take remedial measures.

[0146] S540, when the brake lights of the vehicle are on and the comprehensive braking acceleration of the vehicle is greater than or equal to a second threshold, the brake lights of the vehicle are controlled to remain on. Alternatively, when the brake lights of the vehicle are on and the comprehensive braking acceleration of the vehicle is greater than the second threshold, the brake lights of the vehicle are controlled to remain on. The first lighting state means that the brake lights of the vehicle are lit based on the comprehensive braking acceleration being greater than or equal to the first threshold.

[0147] The specific implementation process of step S540 can refer to step S240 and will not be repeated here.

[0148] In step S540, when the brake lights of the vehicle are on, it includes: the brake lights of the vehicle are turned on based on the brake pedal being depressed, or the brake lights of the vehicle are turned on based on the comprehensive braking acceleration of the vehicle being greater than or equal to a first threshold.

[0149] S550: When the brake lights of the vehicle are in an off state, when the comprehensive braking acceleration of the vehicle is less than a first threshold, control the brake lights of the vehicle to remain in an off state.

[0150] The specific implementation process of step S550 can refer to step S250 and will not be repeated here.

[0151] S560: When the vehicle's integrated braking acceleration is less than a second threshold, the vehicle's brake lights are controlled to be off. Alternatively, when the vehicle's integrated braking acceleration is less than or equal to the second threshold, the vehicle's brake lights are controlled to be off.

[0152] Among them, if in step S540, when the vehicle's brake lights are on and when the vehicle's comprehensive braking acceleration is greater than a second threshold, the vehicle's brake lights are controlled to remain on, then in step S560, when the vehicle's comprehensive braking acceleration is less than or equal to the second threshold, the vehicle's brake lights are controlled to be off.

[0153] If in step S540, when the vehicle's brake lights are on and when the vehicle's comprehensive braking acceleration is greater than or equal to a second threshold, the vehicle's brake lights are controlled to remain on, then in step S560, when the vehicle's comprehensive braking acceleration is less than the second threshold, the vehicle's brake lights are controlled to be off.

[0154] The specific implementation process of step S560 can refer to step S260 and will not be repeated here.

[0155] The embodiment of the present application also provides a vehicle control system. The vehicle control system includes a processing unit. The processing unit is used to control the vehicle's brake lights to light up when the vehicle's current state meets a first condition and the vehicle's integrated braking acceleration is greater than or equal to a first threshold; the first condition is that the vehicle is in a driving state, the braking device is not working, and the vehicle is in a non-slipping state; the processing unit is also used to control the vehicle's brake lights to remain in a lit state when the vehicle's brake lights are in a first lit state and when the vehicle's integrated braking acceleration is greater than or equal to a second threshold; the second threshold is less than the first threshold; the processing unit is also used to control the vehicle's brake lights to remain in an off state when the vehicle's brake lights are in an off state and when the integrated braking acceleration is less than the first threshold.

[0156] In one embodiment of the present application, the processing unit is used to obtain the comprehensive braking acceleration of the vehicle. The comprehensive braking acceleration of the vehicle is related to the braking factors, which include energy recovery braking force. The braking factors also include rolling braking force, airflow braking force at the current vehicle speed, and at least one of the braking force generated by charging and discharging current.

[0157] In one embodiment of the present application, the processing unit is used to obtain the comprehensive braking acceleration of the vehicle, including: the processing unit is also used to calculate according to a preset first algorithm based on the braking acceleration corresponding to each braking factor of the vehicle and the corresponding weight, to obtain the comprehensive braking acceleration of the vehicle. In one possible manner, the first algorithm is a weighted summation algorithm.

[0158] In one embodiment of the present application, the processing unit is used to obtain the braking acceleration of the vehicle corresponding to each braking factor, including: the processing unit is used to obtain the braking acceleration of the vehicle under energy recovery braking force. The specific implementation process may be: the processing unit determines the energy recovery mode of the vehicle, and obtains the corresponding first braking acceleration reference value based on the energy recovery mode of the vehicle. The processing unit determines the current speed of the vehicle, and based on the current speed of the vehicle and the correspondence between the speed and the braking acceleration, obtains the second braking acceleration reference value corresponding to the current speed of the vehicle. Then the processing unit calculates according to a preset second algorithm based on the first acceleration reference value and the second acceleration reference value to obtain the braking acceleration of the vehicle under energy recovery braking force.

[0159] In a possible implementation, the processing unit is used to obtain the braking acceleration of the vehicle corresponding to each braking factor, including: the processing unit is used to obtain the braking acceleration of the vehicle under rolling braking force. The specific implementation process may be: the processing unit obtains the current vehicle speed request value of the vehicle, the actual value of the current vehicle speed of the vehicle, and the current temperature of the environment where the vehicle is located. The difference between the current vehicle speed request value and the actual value of the current vehicle speed is the first difference. The processing unit obtains the braking acceleration of the vehicle under rolling braking force based on the first difference, the current temperature of the environment where the vehicle is located, the vehicle weight, and the corresponding relationship between the rolling braking force and the first difference and the temperature.

[0160] In a possible implementation, the processing unit is used to obtain the braking acceleration of the vehicle corresponding to each braking factor, including: the processing unit is used to obtain the braking acceleration of the vehicle under the airflow braking force at the current vehicle speed. The specific implementation process may be: the processing unit determines the current speed of the vehicle. The processing unit obtains the braking acceleration of the vehicle under the airflow braking force at the current vehicle speed based on the current speed of the vehicle, the corresponding relationship between the vehicle speed and the wind resistance, and the vehicle weight.

[0161] In the embodiment of the present application, the vehicle weight can be the vehicle's own mass or the sum of the vehicle's own mass and the mass of the load. For example, the weight of a small vehicle is the vehicle's own mass, and the weight of a medium or heavy vehicle is the sum of the vehicle's own mass and the mass of the load. For example, the weight of a sedan is the vehicle's own mass. The weight of a medium-sized bus or heavy-duty vehicle is the sum of the vehicle's own mass and the mass of the load (people / objects).

[0162] An embodiment of the present application also provides a vehicle, which is controlled by the method of the aforementioned embodiment.

[0163] Controlling the vehicle based on the vehicle control method provided in the embodiment of the present application can provide a more reasonable and accurate judgment basis to the following vehicle while meeting the provisions of relevant industry standards, thereby increasing driving safety.

[0164] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A vehicle control method, characterized in that: include: When the current state of the vehicle satisfies the first condition and the comprehensive braking acceleration of the vehicle is greater than or equal to a first threshold, controlling the brake lights of the vehicle to light up; The first condition is that the vehicle is in a driving state, the brake device is in an inoperative state, and the vehicle is in a non-slip state; When the brake light of the vehicle is in a first lighting state and the integrated braking acceleration of the vehicle is greater than or equal to a second threshold, the brake light of the vehicle is controlled to remain in the lighting state; wherein the first lighting state means that the brake light of the vehicle is lit based on the integrated braking acceleration being greater than or equal to the first threshold, and the second threshold is less than the first threshold; When the brake lights of the vehicle are in an off state, when the comprehensive braking acceleration is less than a first threshold, the brake lights of the vehicle are controlled to remain in an off state.

2. The method according to claim 1, characterized in that The first condition also includes that the energy recovery system of the vehicle is effective.

3. The method according to claim 1, characterized in that Before the step of controlling the brake lights of the vehicle to light up when the current state of the vehicle satisfies the first condition and the comprehensive braking acceleration of the vehicle is greater than or equal to a first threshold, the step further includes: The comprehensive braking acceleration of the vehicle is obtained, where the comprehensive braking acceleration of the vehicle is related to braking factors, wherein the braking factors include energy recovery braking force, and the braking factors also include at least one of rolling braking force, airflow braking force of the current vehicle speed, and braking force generated by charging and discharging current.

4. The method according to claim 3, characterized in that Acquiring the comprehensive braking acceleration of the vehicle includes: acquiring the braking acceleration of the vehicle corresponding to each braking factor, and obtaining the comprehensive braking acceleration of the vehicle based on the braking acceleration of the vehicle corresponding to each braking factor.

5. The method according to claim 4, characterized in that The step of obtaining the comprehensive braking acceleration of the vehicle based on the braking acceleration of the vehicle corresponding to each braking factor includes: Based on the braking accelerations corresponding to the various braking factors of the vehicle and the corresponding weights, a weighted sum operation is performed to obtain the comprehensive braking acceleration of the vehicle.

6. The method according to claim 4, characterized in that The obtaining of the braking acceleration of the vehicle corresponding to each braking factor includes obtaining the braking acceleration of the vehicle under the energy recovery braking force; wherein obtaining the braking acceleration of the vehicle under the energy recovery braking force includes: determining an energy recovery mode of the vehicle, and acquiring a corresponding first braking acceleration reference value based on the energy recovery mode of the vehicle, Determine the current speed of the vehicle, and based on the current speed of the vehicle and the corresponding relationship between the speed and the braking acceleration, obtain a second braking acceleration reference value corresponding to the current speed of the vehicle, The braking acceleration of the vehicle under the energy recovery braking force is obtained based on the first acceleration reference value and the second acceleration reference value.

7. The method according to claim 4, characterized in that The obtaining of the braking acceleration of the vehicle corresponding to each braking factor includes obtaining the braking acceleration of the vehicle under a rolling braking force; wherein, the obtaining of the braking acceleration of the vehicle under a rolling braking force includes: Acquire a current vehicle speed request value of the vehicle, an actual value of the current vehicle speed of the vehicle, and a current temperature of an environment where the vehicle is located; The difference between the current vehicle speed request value and the actual value of the current vehicle speed is a first difference. Based on the first difference, the current temperature of the vehicle's environment, the vehicle weight, and the corresponding relationship between the rolling resistance and the first difference and temperature, the braking acceleration of the vehicle under rolling braking force is obtained.

8. The method according to claim 4, characterized in that The obtaining of the braking acceleration of the vehicle corresponding to each braking factor includes obtaining the braking acceleration of the vehicle under the airflow braking force at the current vehicle speed; wherein, the obtaining of the braking acceleration of the vehicle under the airflow braking force at the current vehicle speed includes: determining a current speed of the vehicle; Based on the current speed of the vehicle, the corresponding relationship between the vehicle speed and the wind resistance, and the vehicle weight of the vehicle, the braking acceleration of the vehicle under the airflow braking force at the current vehicle speed is obtained.

9. The method according to claim 1, characterized in that: The vehicle being in a driving state includes that the gear information of the vehicle is a forward gear or the gear information of the vehicle is a reverse gear.

10. A vehicle control system, characterized in that: include: a processing unit, configured to control the brake lights of the vehicle to light up when the current state of the vehicle satisfies the first condition and the comprehensive braking acceleration of the vehicle is greater than or equal to a first threshold; The first condition is that the vehicle is in a driving state, the brake device is not working, and the vehicle is not in a rolling state; The processing unit is further configured to control the brake light of the vehicle to remain in the lighting state when the brake light of the vehicle is in the first lighting state and when the integrated braking acceleration of the vehicle is greater than or equal to a second threshold; wherein the first lighting state means that the brake light of the vehicle is lit based on the integrated braking acceleration being greater than or equal to the first threshold, and the second threshold is less than the first threshold; The processing unit is further configured to control the brake lights of the vehicle to remain in the off state when the comprehensive braking acceleration is less than a first threshold value.

11. A vehicle, characterized in that: The vehicle is controlled by the method of claims 1-10.

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