Vehicle braking control method and device, vehicle and storage medium

Abstract

The invention relates to the technical field of vehicles, in particular to a braking control method and device of a vehicle, the vehicle and a storage medium, and the method comprises the steps that braking information of the current vehicle is obtained, and target required braking torque is calculated according to the braking information; the actual braking torque of the motor is obtained, and whether the actual braking torque of the motor meets the target required braking torque or not is judged; and if the actual braking torque of the motor does not meet the target demand braking torque, the difference value between the target demand braking torque and the actual braking torque of the motor is calculated, a target hydraulic braking torque is obtained, and braking control is conducted on the current vehicle based on the actual braking torque of the motor and the target hydraulic braking torque. Therefore, by monitoring the actual braking torque of the motor in real time and dynamically adjusting intervention of hydraulic braking, the problems that in the prior art, motor braking and hydraulic braking are poor in coordination, low in response speed and poor in smoothness are solved, and therefore more stable and reliable braking experience is provided.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle braking control method, device, vehicle and storage medium. Background Art

[0002] With the development of new energy vehicle technology, the application of wire-controlled (decoupled) braking systems in new energy vehicles is becoming more and more extensive. In new energy vehicles, coordinated regenerative braking systems are one of the key technologies to improve energy recovery efficiency and reduce energy consumption.

[0003] The matching of coordinated regenerative braking of new energy vehicles equipped with a wire-controlled (decoupled) braking system usually requires joint adjustment of wire-controlled brake control and motor control to improve the braking coordination of the coordinated regenerative braking system.

[0004] However, in actual development, due to factors such as tight project development cycles and constant adjustments to the vehicle controller software, the coordinated regenerative braking system is prone to problems such as not being able to coordinate and control hydraulic braking and motor braking well. For example, in actual applications, the torque (theoretical value) generated by the motor brake (regenerative braking) meets the braking torque requirements of the vehicle. At this time, the hydraulic brake should theoretically stop working, and the vehicle braking torque relies entirely on the motor brake. However, if the motor brake responds very slowly to the target value, the vehicle will show no braking feel or a sudden change in the vehicle deceleration, which will cause users to have poor braking smoothness and lack of braking confidence, which needs to be solved urgently. Summary of the invention

[0005] The present application provides a vehicle braking control method, device, vehicle and storage medium to solve the problems of poor coordination, slow response speed and poor smoothness between motor braking and hydraulic braking in the prior art. By real-time monitoring of the actual braking torque of the motor and dynamically adjusting the intervention of hydraulic braking, a smoother and more reliable braking experience is provided.

[0006] A first aspect of the present application provides a vehicle braking control method, comprising the following steps:

[0007] Acquiring braking information of the current vehicle, and calculating a target required braking torque according to the braking information;

[0008] Obtaining an actual braking torque of the motor, and determining whether the actual braking torque of the motor meets the target required braking torque;

[0009] If the actual braking torque of the motor does not meet the target required braking torque, the difference between the target required braking torque and the actual braking torque of the motor is calculated to obtain the target hydraulic braking torque, and the current vehicle is braked based on the actual braking torque of the motor and the target hydraulic braking torque.

[0010] According to one embodiment of the present application, the braking control of the current vehicle based on the actual braking torque of the motor and the target hydraulic braking torque includes:

[0011] The motor brake system of the current vehicle is controlled to perform brake control based on the actual brake torque, and the hydraulic brake system is controlled to perform brake control based on the target hydraulic brake torque.

[0012] According to an embodiment of the present application, after determining whether the actual braking torque of the motor meets the target required braking torque, the method further includes:

[0013] If the actual braking torque of the motor meets the target required braking torque, the motor braking system is controlled to perform braking control based on the actual braking torque.

[0014] According to one embodiment of the present application, the braking information includes at least one of a brake pedal opening, a braking duration, a vehicle speed at the braking moment, and a current vehicle mass.

[0015] According to one embodiment of the present application, after performing braking control on the current vehicle, the method further includes:

[0016] Acquire new braking information of the current vehicle, adjust the actual braking torque of the motor and / or the target hydraulic braking torque according to the new braking information, and perform braking control according to the adjusted actual braking torque of the motor and / or the target hydraulic braking torque.

[0017] According to the vehicle braking control method provided by the embodiment of the present application, the target required braking torque is calculated according to the braking information, and when the actual braking torque of the motor does not meet the target required braking torque, the difference between the target required braking torque and the actual braking torque of the motor is calculated to obtain the target hydraulic braking torque, and the current vehicle is braked based on the actual braking torque of the motor and the target hydraulic braking torque. Therefore, by real-time monitoring of the actual braking torque of the motor and dynamically adjusting the intervention of the hydraulic brake, the problems of poor coordination, slow response speed and poor smoothness of the motor braking and hydraulic braking in the prior art are solved, thereby providing a smoother and more reliable braking experience.

[0018] A second aspect of the present application provides a vehicle braking control device, including:

[0019] A calculation module, used to obtain the braking information of the current vehicle and calculate the target required braking torque according to the braking information;

[0020] A judgment module, used to obtain the actual braking torque of the motor and judge whether the actual braking torque of the motor meets the target required braking torque;

[0021] A control module is used to calculate the difference between the target required braking torque and the actual braking torque of the motor to obtain a target hydraulic braking torque if the actual braking torque of the motor does not meet the target required braking torque, and to perform braking control on the current vehicle based on the actual braking torque of the motor and the target hydraulic braking torque.

[0022] According to one embodiment of the present application, the control module is used to:

[0023] The motor brake system of the current vehicle is controlled to perform brake control based on the actual brake torque, and the hydraulic brake system is controlled to perform brake control based on the target hydraulic brake torque.

[0024] According to an embodiment of the present application, after determining whether the actual braking torque of the motor meets the target required braking torque, the determination module is further configured to:

[0025] If the actual braking torque of the motor meets the target required braking torque, the motor braking system is controlled to perform braking control based on the actual braking torque.

[0026] According to one embodiment of the present application, the braking information includes at least one of a brake pedal opening, a braking duration, a vehicle speed at the braking moment, and a current vehicle mass.

[0027] According to one embodiment of the present application, after performing braking control on the current vehicle, the control module is further configured to:

[0028] Acquire new braking information of the current vehicle, adjust the actual braking torque of the motor and / or the target hydraulic braking torque according to the new braking information, and perform braking control according to the adjusted actual braking torque of the motor and / or the target hydraulic braking torque.

[0029] According to the braking control device of the vehicle provided in the embodiment of the present application, the target required braking torque is calculated according to the braking information, and when the actual braking torque of the motor does not meet the target required braking torque, the difference between the target required braking torque and the actual braking torque of the motor is calculated to obtain the target hydraulic braking torque, and the braking control of the current vehicle is performed based on the actual braking torque of the motor and the target hydraulic braking torque. Therefore, by real-time monitoring of the actual braking torque of the motor and dynamically adjusting the intervention of the hydraulic brake, the problems of poor coordination, slow response speed and poor smoothness of the motor braking and hydraulic braking in the prior art are solved, thereby providing a smoother and more reliable braking experience.

[0030] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle braking control method as described in the above embodiment.

[0031] A fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the vehicle braking control method as described in the above embodiments.

[0032] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0034] Figure 1 is a schematic diagram of a braking control principle of a vehicle according to an embodiment of the present application;

[0035] Figure 2 A flowchart of a vehicle braking control method provided according to an embodiment of the present application;

[0036] Figure 3 is a block diagram of a braking control device for a vehicle according to an embodiment of the present application;

[0037] Figure 4 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0039] The following describes the vehicle braking control method, device, vehicle and storage medium according to embodiments of the present application with reference to the accompanying drawings.

[0040] Before introducing the vehicle braking control method of the embodiment of the present application, the braking control principle of the vehicle involved in the vehicle braking control method of the present application is briefly introduced.

[0041] Specifically, the braking control principle of the vehicle of the present application is as follows: Figure 1As shown, the master cylinder push rod stroke and the wire control brake ECU together constitute the wire control brake control unit. When the user performs normal braking, the brake information is transmitted to the wire control brake ECU (Electronic Control Unit) through the brake switch and the master cylinder push rod stroke. After the wire control brake ECU analyzes the data fed back by the user, the entire wire control brake control unit calculates the braking torque required for the whole vehicle. The wire control brake control unit receives the motor braking capacity value and the actual torque value of the motor braking issued by the vehicle controller through the CAN (Controller Area Network) transceiver, and compares the motor braking capacity value and the actual torque issued by the motor braking with the braking torque required for the whole vehicle, and adjusts the current actual total braking torque (the sum of the motor braking torque and the hydraulic braking torque) by adjusting the brake pressure to meet the braking target requirements of the whole vehicle and improve the braking smoothness.

[0042] Therefore, the wire control brake control unit monitors the actual torque generated by the motor braking in real time, compares it with the braking torque required by the entire vehicle, and controls the timing and amount of intervention of the hydraulic braking system, thereby providing the driver with a good braking feel and sufficient braking confidence.

[0043] The vehicle braking control method proposed in this application is introduced below.

[0044] Specifically, Figure 2 A schematic flow chart of a vehicle braking control method provided in an embodiment of the present application.

[0045] like Figure 2 As shown, the vehicle braking control method includes the following steps:

[0046] In step S201, the braking information of the current vehicle is obtained, and the target required braking torque is calculated according to the braking information.

[0047] In some embodiments, the braking information includes at least one of the brake pedal opening, braking duration, vehicle speed at the braking moment, and the current vehicle mass.

[0048] Specifically, the embodiment of the present application can obtain the brake pedal opening through the vehicle's opening sensor, obtain the braking duration through a timer, or obtain the braking information of the current vehicle through other methods in the prior art when the user brakes, and transmit the braking information to the wire control brake ECU through the brake switch and the brake master cylinder push rod stroke. The wire control brake ECU analyzes the received braking information and calculates the target required braking torque through the wire control brake control unit.

[0049] In step S202, the actual braking torque of the motor is obtained, and it is determined whether the actual braking torque of the motor meets the target required braking torque.

[0050] Specifically, the embodiment of the present application can collect the actual braking torque signal of the motor, that is, the actual torque generated by the motor, in real time through the wire control brake control unit, which is not specifically limited here.

[0051] In step S203, if the actual braking torque of the motor does not meet the target required braking torque, the difference between the target required braking torque and the actual braking torque of the motor is calculated to obtain the target hydraulic braking torque, and the current vehicle is braked based on the actual braking torque of the motor and the target hydraulic braking torque.

[0052] Specifically, under the premise that the motor braking capacity value can meet the target braking torque requirement, if the torque actually generated by the motor braking cannot meet the target braking torque, the wire control brake ECU is used to analyze and calculate the user's demand for braking torque, and calculate the difference between the target braking torque and the actual braking torque of the motor to obtain the target hydraulic braking torque, and send a command to the hydraulic braking system, which makes up for the insufficient braking torque based on the target hydraulic braking torque, and controls the braking of the current vehicle based on the actual braking torque of the motor and the target hydraulic braking torque to meet the target braking torque of the whole vehicle and improve braking smoothness.

[0053] Further, in some embodiments, braking control is performed on the current vehicle based on the actual braking torque of the motor and the target hydraulic braking torque, including: controlling the motor braking system of the current vehicle to perform braking control based on the actual braking torque, and controlling the hydraulic braking system to perform braking control based on the target hydraulic braking torque.

[0054] Specifically, when the actual torque generated by the motor brake cannot meet the target braking torque, the motor braking system of the current vehicle is controlled to continue to perform braking control based on the actual braking torque, and the hydraulic braking system is controlled to intervene to provide additional target hydraulic braking torque to supplement the braking torque and avoid impact and unevenness during braking.

[0055] Furthermore, in some embodiments, after determining whether the actual braking torque of the motor meets the target required braking torque, it also includes: if the actual braking torque of the motor meets the target required braking torque, controlling the motor braking system to perform braking control based on the actual braking torque.

[0056] Specifically, under the premise that the motor braking capacity value can meet the target braking torque requirements, if the torque actually generated by the motor braking can meet the target braking torque, the motor braking will be used first, that is, the motor braking system will be controlled to perform braking control based on the actual braking torque. At this time, the hydraulic braking system will stop working, and the target braking torque of the whole vehicle will be completely generated by the motor braking.

[0057] Furthermore, in some embodiments, after performing braking control on the current vehicle, it also includes: acquiring new braking information of the current vehicle, and adjusting the actual braking torque and / or target hydraulic braking torque of the motor according to the new braking information, and performing braking control according to the adjusted actual braking torque and / or target hydraulic braking torque of the motor.

[0058] Specifically, after the current vehicle is braked, the braking state of the vehicle is continuously monitored and new braking information of the current vehicle is obtained. The wire-controlled brake ECU will analyze the new braking information. If the new current electric motor braking torque can meet the new target required braking torque, the wire-controlled brake ECU will keep the new current electric motor braking torque unchanged and continue to use the new current braking torque for braking. If the current electric motor braking torque cannot meet the new target required braking torque, the new standard hydraulic braking torque is determined based on the difference between the new target required braking torque and the new current electric motor braking torque, and braking control is performed based on the new target hydraulic braking torque and the new current electric motor braking torque.

[0059] Therefore, by collecting the actual braking torque signal of the motor in real time, the regenerative braking system is coordinated to calculate whether the current actual total braking torque (motor braking torque + hydraulic braking torque) meets the total braking torque target requirement, and the hydraulic braking pressure is adjusted in real time to adjust the current actual total braking torque to meet the braking target requirement of the whole vehicle, ensuring that the braking deceleration does not change suddenly, improving braking smoothness, and providing users with a good braking experience.

[0060] According to the vehicle braking control method proposed in the embodiment of the present application, the target required braking torque is calculated based on the braking information, and when the actual braking torque of the motor does not meet the target required braking torque, the difference between the target required braking torque and the actual braking torque of the motor is calculated to obtain the target hydraulic braking torque, and the current vehicle is braked based on the actual braking torque of the motor and the target hydraulic braking torque. Therefore, by real-time monitoring of the actual braking torque of the motor and dynamically adjusting the intervention of the hydraulic brake, the problems of poor coordination, slow response speed and poor smoothness of the motor braking and hydraulic braking in the prior art are solved, thereby providing a smoother and more reliable braking experience.

[0061] Next, the braking control device of the vehicle proposed in accordance with the embodiment of the present application will be described with reference to the accompanying drawings.

[0062] Figure 3 It is a block diagram of a braking control device for a vehicle according to an embodiment of the present application.

[0063] like Figure 3 As shown, the vehicle braking control device 10 includes: a calculation module 100, a judgment module 200 and a control module 300.

[0064] Among them, the calculation module 100 is used to obtain the braking information of the current vehicle and calculate the target required braking torque based on the braking information; the judgment module 200 is used to obtain the actual braking torque of the motor and judge whether the actual braking torque of the motor meets the target required braking torque; the control module 300 is used to calculate the difference between the target required braking torque and the actual braking torque of the motor if the actual braking torque of the motor does not meet the target required braking torque, obtain the target hydraulic braking torque, and perform braking control on the current vehicle based on the actual braking torque of the motor and the target hydraulic braking torque.

[0065] Furthermore, in some embodiments, the control module 300 is used to: control the motor brake system of the current vehicle to perform braking control based on the actual braking torque, and control the hydraulic brake system to perform braking control based on the target hydraulic braking torque.

[0066] Furthermore, in some embodiments, after determining whether the actual braking torque of the motor meets the target required braking torque, the determination module 300 is further used to: if the actual braking torque of the motor meets the target required braking torque, control the motor braking system to perform braking control based on the actual braking torque.

[0067] Furthermore, in some embodiments, the braking information includes at least one of a brake pedal opening, a braking duration, a vehicle speed at the braking moment, and a current vehicle mass.

[0068] Furthermore, in some embodiments, after performing braking control on the current vehicle, the control module 300 is also used to: obtain new braking information of the current vehicle, and adjust the actual braking torque and / or target hydraulic braking torque of the motor according to the new braking information, and perform braking control according to the adjusted actual braking torque and / or target hydraulic braking torque of the motor.

[0069] It should be noted that the above explanation of the vehicle braking control method embodiment is also applicable to the vehicle braking control device of this embodiment, which will not be repeated here.

[0070] According to the vehicle braking control device proposed in the embodiment of the present application, the target required braking torque is calculated according to the braking information, and when the actual braking torque of the motor does not meet the target required braking torque, the difference between the target required braking torque and the actual braking torque of the motor is calculated to obtain the target hydraulic braking torque, and the current vehicle is braked based on the actual braking torque of the motor and the target hydraulic braking torque. Therefore, by real-time monitoring of the actual braking torque of the motor and dynamically adjusting the intervention of the hydraulic brake, the problems of poor coordination, slow response speed and poor smoothness of the motor braking and hydraulic braking in the prior art are solved, thereby providing a smoother and more reliable braking experience.

[0071] Figure 4 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0072] Memory 401 , processor 402 , and a computer program stored in the memory 401 and executable on the processor 402 .

[0073] When the processor 402 executes the program, the vehicle braking control method provided in the above embodiment is implemented.

[0074] Furthermore, the vehicle also includes:

[0075] The communication interface 403 is used for communication between the memory 401 and the processor 402 .

[0076] The memory 401 is used to store computer programs that can be executed on the processor 402 .

[0077] The memory 401 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0078] If the memory 401, the processor 402 and the communication interface 403 are implemented independently, the communication interface 403, the memory 401 and the processor 402 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0079] Optionally, in a specific implementation, if the memory 401, the processor 402 and the communication interface 403 are integrated on a chip, the memory 401, the processor 402 and the communication interface 403 can communicate with each other through an internal interface.

[0080] The processor 402 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0081] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned vehicle braking control method is implemented.

[0082] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0083] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0084] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0085] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0086] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0087] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0088] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0089] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle braking control method, characterized in that: The following steps are involved: Acquiring braking information of the current vehicle, and calculating a target required braking torque according to the braking information; Obtaining an actual braking torque of the motor, and determining whether the actual braking torque of the motor meets the target required braking torque; If the actual braking torque of the motor does not meet the target required braking torque, the difference between the target required braking torque and the actual braking torque of the motor is calculated to obtain the target hydraulic braking torque, and the current vehicle is braked based on the actual braking torque of the motor and the target hydraulic braking torque.

2. The method according to claim 1, characterized in that The performing braking control on the current vehicle based on the actual braking torque of the motor and the target hydraulic braking torque includes: The motor brake system of the current vehicle is controlled to perform brake control based on the actual brake torque, and the hydraulic brake system is controlled to perform brake control based on the target hydraulic brake torque.

3. The method according to claim 1, characterized in that After determining whether the actual braking torque of the motor meets the target required braking torque, the method further includes: If the actual braking torque of the motor meets the target required braking torque, the motor braking system is controlled to perform braking control based on the actual braking torque.

4. The method according to claim 1, characterized in that: The braking information includes at least one of a brake pedal opening, a braking duration, a vehicle speed at the braking moment, and a current vehicle mass.

5. The method according to claim 1, characterized in that: After performing braking control on the current vehicle, the method further includes: Acquire new braking information of the current vehicle, adjust the actual braking torque of the motor and / or the target hydraulic braking torque according to the new braking information, and perform braking control according to the adjusted actual braking torque of the motor and / or the target hydraulic braking torque.

6. A vehicle braking control device, characterized in that: include: A calculation module, used to obtain the braking information of the current vehicle and calculate the target required braking torque according to the braking information; A judgment module, used to obtain the actual braking torque of the motor and judge whether the actual braking torque of the motor meets the target required braking torque; A control module is used to calculate the difference between the target required braking torque and the actual braking torque of the motor to obtain a target hydraulic braking torque if the actual braking torque of the motor does not meet the target required braking torque, and to perform braking control on the current vehicle based on the actual braking torque of the motor and the target hydraulic braking torque.

7. The device according to claim 6, characterized in that The control module is used for: The motor brake system of the current vehicle is controlled to perform brake control based on the actual brake torque, and the hydraulic brake system is controlled to perform brake control based on the target hydraulic brake torque.

8. The device according to claim 6, characterized in that After determining whether the actual braking torque of the motor meets the target required braking torque, the determination module is further configured to: If the actual braking torque of the motor meets the target required braking torque, the motor braking system is controlled to perform braking control based on the actual braking torque.

9. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle braking control method according to any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the vehicle braking control method according to any one of claims 1 to 5.

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