Vehicle braking control method and device, vehicle and storage medium

Abstract

The invention relates to the field of automobile braking control, in particular to a vehicle braking control method and device, a vehicle and a storage medium. The method comprises the steps that the current driving mode of the vehicle is recognized, and the total braking requirement is obtained; determining a controller corresponding to the driving mode, and distributing a total braking demand through the controller to obtain an electric braking request torque and a hydraulic braking request torque; and the electric braking request torque is sent to an electric braking actuator, the hydraulic braking request torque is sent to a hydraulic braking actuator, and vehicle braking is achieved. A controller signal link can be shortened, delay is reduced, and braking smoothness is guaranteed.

Description

Technical Field

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

[0002] With the continuous development and progress of new energy vehicle technology, the superior performance of new energy vehicles in economy, comfort and power performance has attracted more and more users. Coasting energy recovery is a necessary function of new energy vehicles. For example, CN109130874A uses VCU as the main control center to control the orderly operation of each module. On the basis of ensuring braking safety, it can achieve a higher energy recovery rate, and the energy recovery process is smooth, with good economy and driving experience.

[0003] As users have higher demands on energy recovery performance experience, such as when the battery is fully charged, releasing the accelerator to coast, the vehicle is required to still have the same deceleration feeling as when it is not fully charged (when it is not fully charged, the power has the ability to recover and can provide deceleration through the coasting recovery torque; when it is fully charged, the power has no recovery ability and cannot provide deceleration through the coasting recovery torque), so a coasting rehydration function is added, and the brake controller performs electro-hydraulic distribution. At present, in the coasting rehydration solution, brake energy recovery and coasting energy recovery are both controlled by the brake controller for electro-hydraulic coordinated distribution. There are problems such as long signal transmission link and poor braking smoothness during the intelligent driving-human driving switching process. Summary of the invention

[0004] The object of the present invention is to provide a vehicle braking control method, device, vehicle and storage medium, which can shorten the controller signal link, reduce delay and ensure braking smoothness.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows: In a first aspect, the present invention provides a vehicle braking control method, comprising: Identify the current vehicle driving mode and obtain the total braking demand; Determine a controller corresponding to the driving mode, and distribute the total braking demand through the controller to obtain an electric brake request torque and a hydraulic brake request torque; The electric brake request torque is sent to an electric brake actuator, and the hydraulic brake request torque is sent to a hydraulic brake actuator to achieve vehicle braking.

[0006] Furthermore, the driving mode includes a human driving mode and an intelligent driving mode.

[0007] In response to the vehicle's driving mode being a human driving mode, the total braking demand is distributed through a brake controller to obtain a first electric brake request torque and a first hydraulic brake request torque; the brake controller sends the first electric brake request torque to the electric brake actuator, and sends the first hydraulic brake request torque to the hydraulic brake actuator, so that the electric brake actuator outputs the first electric brake request torque and the hydraulic brake actuator outputs the first hydraulic brake request torque to achieve vehicle braking.

[0008] In response to the vehicle's driving mode being the intelligent driving mode, the total braking demand is allocated through the intelligent driving controller to obtain a second electric brake request torque and a second hydraulic brake request torque; the brake controller sends the second electric brake request torque to the electric brake actuator, and sends the second hydraulic brake request torque to the brake controller, and the brake controller controls the hydraulic brake actuator so that the electric brake actuator outputs the first electric brake request torque and the hydraulic brake actuator outputs the second hydraulic brake request torque to achieve vehicle braking.

[0009] Furthermore, the method also includes: in response to the vehicle's driving mode being a human driving mode, the vehicle controller parses and obtains a coasting request torque and a maximum allowable output torque of the electric brake, and sends the total braking demand, the coasting request torque and the maximum allowable output torque of the electric brake to a first torque arbitration module on the brake controller, and the first torque arbitration module allocates the total braking demand according to the total braking demand, the coasting request torque and the maximum allowable output torque of the electric brake to obtain an electric brake request torque and a hydraulic brake request torque.

[0010] Furthermore, the intelligent driving controller is connected to an electric brake switch. In response to the vehicle's driving mode being switched from the intelligent driving mode to the human driving mode, the intelligent driving controller turns on the electro-hydraulic distribution of the brake controller through the electric brake switch, and distributes the total braking demand through the brake controller; in response to the vehicle's driving mode being switched from the human driving mode to the intelligent driving mode, the intelligent driving controller turns off the electro-hydraulic distribution of the brake controller through the electric brake switch, and distributes the total braking demand through the intelligent driving controller.

[0011] Furthermore, when the driving mode is switched, the vehicle electric brake torque output is controlled by the vehicle controller, and the vehicle hydraulic brake torque output is controlled by the brake controller to ensure smoothness.

[0012] Furthermore, the method also includes: after obtaining the electric braking request torque, sending the electric braking request torque to a second torque arbitration module of the vehicle controller, the second torque arbitration module determines the electric braking target torque according to the vehicle state and the electric braking request torque, and the second torque arbitration module sends the electric braking target torque to the motor controller so that the motor outputs the electric braking target torque.

[0013] In a second aspect, the present invention provides a vehicle braking control device, which includes: an identification acquisition module, a plurality of controllers, an electric brake actuator and a hydraulic brake actuator. The identification acquisition module is used to identify the current driving mode of the vehicle and obtain the total braking demand; the plurality of controllers correspond to the driving mode, and the total braking demand is allocated by the controller to obtain the electric brake request torque and the hydraulic brake request torque; the electric brake actuator is used to receive the electric brake request torque and perform electric braking; the hydraulic brake actuator is used to receive the hydraulic brake request torque and perform hydraulic braking.

[0014] Furthermore, the device further comprises: a first torque arbitration module and / or a second torque arbitration module, wherein the first torque arbitration module allocates the total braking demand according to the total braking demand and the coasting request torque and the maximum allowable output torque of the electric brake obtained by parsing the vehicle controller to obtain the electric brake request torque and the hydraulic brake request torque. The second torque arbitration module determines the electric brake target torque according to the vehicle state and the electric brake request torque, and the second torque arbitration module sends the electric brake target torque to the motor controller so that the motor outputs the electric brake target torque.

[0015] In a third aspect, the present invention provides a vehicle, comprising the above-mentioned vehicle braking control device.

[0016] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor of a computer, enables the computer to execute the steps of the above-mentioned vehicle braking control method.

[0017] The present invention has the following unexpected beneficial effects: the present invention determines a controller corresponding to the driving mode according to the identified driving mode, distributes the total braking demand through the controller, obtains the electric braking request torque and the hydraulic braking request torque, and then can use the corresponding controller to distribute the electro-hydraulic braking torque in different driving modes according to actual needs, solves the problem of long signal transmission link and high delay caused by only using the brake controller for electro-hydraulic distribution in the prior art, and improves braking smoothness. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention.

[0019] Figure 1 A schematic flow chart of the vehicle braking control method of the present invention is shown.

[0020] Figure 2 A flow chart of a vehicle braking control method in human driving mode is shown.

[0021] Figure 3 A flow chart of the vehicle braking control method in the intelligent driving mode is shown.

[0022] Figure 4 A schematic diagram showing the operation of the first arbitration module and the second arbitration module in the human driving mode is shown.

[0023] Figure 5 The working diagram of the second arbitration module in the intelligent driving mode is shown. DETAILED DESCRIPTION

[0024] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0025] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention. The drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0026] In one embodiment, see Figure 1 As shown, the present invention provides a vehicle braking control method, which includes: Identify the current vehicle driving mode and obtain the total braking demand; Determine a controller corresponding to the driving mode, and distribute the total braking demand through the controller to obtain an electric brake request torque and a hydraulic brake request torque; The electric brake request torque is sent to an electric brake actuator, and the hydraulic brake request torque is sent to a hydraulic brake actuator to achieve vehicle braking.

[0027] The present invention determines a controller corresponding to the driving mode according to the identified driving mode, distributes the total braking demand through the controller, and obtains the electric braking request torque and the hydraulic braking request torque, so that the corresponding controller can be used to distribute the electro-hydraulic braking torque in different driving modes according to actual needs, which solves the problem of long signal transmission link and high delay caused by only using the brake controller for electro-hydraulic distribution in the prior art, and improves braking smoothness.

[0028] The vehicle braking control method of the present invention achieves a significant improvement in braking performance by identifying driving modes, selecting corresponding controllers and dynamically allocating braking requirements. It not only improves the response speed and accuracy of braking, but also optimizes the distribution and use of energy, providing the driver with a smoother and more stable driving experience.

[0029] In a preferred embodiment, the driving mode includes a human driving mode and an intelligent driving mode.

[0030] See also Figure 2 As shown, in response to the vehicle's driving mode being a human driving mode, the total braking demand is distributed through a brake controller to obtain a first electric brake request torque and a first hydraulic brake request torque; the brake controller sends the first electric brake request torque to the electric brake actuator, and sends the first hydraulic brake request torque to the hydraulic brake actuator, so that the electric brake actuator outputs the first electric brake request torque and the hydraulic brake actuator outputs the first hydraulic brake request torque to achieve vehicle braking.

[0031] See also Figure 3 As shown, in response to the vehicle's driving mode being the intelligent driving mode, the total braking demand is allocated through the intelligent driving controller to obtain a second electric brake request torque and a second hydraulic brake request torque; the brake controller sends the second electric brake request torque to the electric brake actuator, and sends the second hydraulic brake request torque to the brake controller, and the hydraulic brake actuator is controlled by the brake controller so that the electric brake actuator outputs the first electric brake request torque and the hydraulic brake actuator outputs the second hydraulic brake request torque to achieve vehicle braking.

[0032] When the vehicle's driving mode is identified as human driving mode, the system uses the brake controller to distribute the total braking demand. This step calculates the first electric brake request torque and the first hydraulic brake request torque based on the driver's braking intention and the current state of the vehicle. Subsequently, the brake controller sends these two request torques to the electric brake actuator and the hydraulic brake actuator respectively. The electric brake actuator outputs the corresponding braking force according to the received first electric brake request torque, while the hydraulic brake actuator outputs the corresponding braking force according to the first hydraulic brake request torque. In this way, the vehicle can achieve smooth and efficient braking.

[0033] When the vehicle's driving mode is identified as the intelligent driving mode, the system uses the intelligent driving controller to distribute the total braking demand. The intelligent driving controller usually integrates more advanced algorithms and sensor data, and can more accurately predict and respond to the vehicle's braking needs. In this mode, the intelligent driving controller calculates the second electric brake request torque and the second hydraulic brake request torque, and sends these two request torques to the brake controller. It is worth noting that in the intelligent driving mode, although the calculation of the requested torque is completed by the intelligent driving controller, the brake controller still plays a key role. It is responsible for forwarding the second electric brake request torque to the electric brake actuator and directly controlling the hydraulic brake actuator to output the second hydraulic brake request torque. This setting is intended to ensure that the braking system responds more quickly and accurately in the intelligent driving mode. Through the precise calculation of the intelligent driving controller and the rapid response of the brake controller, the vehicle can achieve smoother and safer braking in various complex driving environments.

[0034] To summarize, the preferred embodiment of the present invention achieves more flexible and efficient braking control by distinguishing between human driving mode and intelligent driving mode, and respectively adopting a brake controller and an intelligent driving controller to allocate braking demands. It not only improves the response speed and accuracy of the braking system, but also optimizes the distribution and use of energy, providing the driver with a safer, more comfortable and convenient driving experience.

[0035] In a preferred embodiment, see Figure 4 As shown, the vehicle braking control method also includes: in response to the vehicle's driving mode being a human driving mode, the vehicle controller parses and obtains the coasting request torque and the maximum allowable output torque of the electric brake, and sends the total braking demand, the coasting request torque and the maximum allowable output torque of the electric brake to the first torque arbitration module on the brake controller, and the first torque arbitration module allocates the total braking demand according to the total braking demand, the coasting request torque and the maximum allowable output torque of the electric brake to obtain the electric brake request torque and the hydraulic brake request torque.

[0036] In the human driving mode, in addition to the total braking demand, the vehicle controller will also analyze the coasting request torque and the maximum allowable output torque of the electric brake. The coasting request torque usually indicates the torque demand generated when the vehicle coasts by its own gravity or inertia without the need for additional power. The maximum allowable output torque of the electric brake represents the maximum torque limit that the electric brake system can output in the current state, which may be affected by multiple factors such as battery status and motor temperature.

[0037] For example, during specific allocation, the first torque arbitration module will first consider the coasting request torque to ensure that the vehicle can maintain a smooth deceleration when coasting is required. Then, the first torque arbitration module will limit the size of the electric brake request torque based on the maximum allowable output torque of the electric brake on the basis of meeting the coasting demand to avoid excessive burden or damage to the electric brake system. Finally, the first torque arbitration module will calculate and allocate the remaining braking demand to the hydraulic brake system to ensure that the vehicle can stop safely and smoothly.

[0038] After precise allocation by the first torque arbitration module, the obtained electric brake request torque and hydraulic brake request torque will be sent to the electric brake actuator and the hydraulic brake actuator respectively. These two actuators will output corresponding braking force according to the received request torque, thereby realizing vehicle braking.

[0039] In summary, the vehicle braking control method of the present invention achieves more intelligent and efficient braking control in the human driving mode by introducing the two key parameters of the coasting request torque and the maximum allowable output torque of the electric brake, and accurately allocating them with the help of the first torque arbitration module. This design not only improves the response speed and accuracy of the braking system, but also optimizes the distribution and use of energy, providing the driver with a safer, more comfortable and convenient driving experience.

[0040] Furthermore, in response to the vehicle's driving mode being the intelligent driving mode, the vehicle controller parses and obtains the maximum allowable output torque of the electric brake, and sends the maximum allowable output torque of the electric brake to the intelligent driving controller, and the intelligent driving controller comprehensively considers the total braking demand and the maximum allowable output torque of the electric brake to distribute the electro-hydraulic torque.

[0041] In a preferred embodiment, see Figure 5As shown, the intelligent driving controller is connected to an electric brake switch. In response to the vehicle's driving mode being switched from the intelligent driving mode to the human driving mode, the intelligent driving controller turns on the electro-hydraulic distribution of the brake controller through the electric brake switch, and distributes the total braking demand through the brake controller; in response to the vehicle's driving mode being switched from the human driving mode to the intelligent driving mode, the intelligent driving controller turns off the electro-hydraulic distribution of the brake controller through the electric brake switch, and distributes the total braking demand through the intelligent driving controller.

[0042] The electric brake switch is set to control whether the brake controller participates in the distribution of the electro-hydraulic brake torque. When the vehicle's driving mode is switched from the intelligent driving mode to the human driving mode, the intelligent driving controller turns on the electro-hydraulic distribution function of the brake controller through the electric brake switch. This means that after switching to the human driving mode, the brake controller will regain control of the electro-hydraulic brake torque distribution. At this time, the brake controller will accurately distribute the torque according to the total braking demand, the coasting request torque, and the maximum allowable output torque of the electric brake sent by the vehicle controller (these parameters are parsed by the vehicle controller in the human driving mode). The distributed electric brake request torque and hydraulic brake request torque will be sent to the electric brake actuator and the hydraulic brake actuator respectively to achieve the braking of the vehicle. On the contrary, when the vehicle's driving mode is switched from the human driving mode to the intelligent driving mode, the intelligent driving controller turns off the electro-hydraulic distribution function of the brake controller through the electric brake switch. This means that after switching to the intelligent driving mode, the brake controller will no longer participate in the distribution of the electro-hydraulic brake torque. At this time, the intelligent driving controller will directly take over the task of distributing the braking torque. The intelligent driving controller will calculate the electric brake request torque and the hydraulic brake request torque based on its own algorithm and sensor data, and send the hydraulic brake request torque to the brake controller (but the brake controller only acts as a transfer station at this time and no longer performs torque distribution), and directly control the hydraulic brake actuator to output the hydraulic brake request torque to achieve vehicle braking.

[0043] In summary, the vehicle braking control method of the present invention realizes seamless switching between the brake controller and the intelligent driving controller through the electric brake switch when the driving mode is switched, which not only improves the response speed and accuracy of the braking system, but also ensures the continuity and stability of the braking control under different driving modes. In addition, this refined braking control logic also provides strong support for the seamless integration and efficient operation of the intelligent driving system, laying a solid foundation for the future development and application of intelligent driving technology.

[0044] In a preferred embodiment, when the driving mode is switched, the vehicle electric brake torque output is controlled by the vehicle controller, and the vehicle hydraulic brake torque output is controlled by the brake controller to ensure smoothness.

[0045] When the driving mode is switched from one to another, the vehicle controller will smoothly adjust the electric brake torque according to the current driving environment and vehicle status. This adjustment is designed to ensure that the output of the electric brake torque does not suddenly increase or decrease during the switching process, thereby avoiding causing uncomfortable braking feeling to the driver.

[0046] To achieve this, the vehicle controller may use advanced algorithms and sensor data to predict and calculate the electric brake torque demand during the switching process. The vehicle controller then gradually adjusts the output of the electric brake torque based on this demand to achieve a smooth transition. At the same time, the brake controller is also paying close attention to the changes in brake torque. When the driving mode is switched, it will adjust the hydraulic brake torque accordingly based on the instructions or requests sent by the vehicle controller.

[0047] In order to ensure the smooth output of hydraulic brake torque, the brake controller may use advanced hydraulic control components such as pressure control valves and flow control valves to accurately adjust the size and change rate of the brake hydraulic pressure. In this way, the output of hydraulic brake torque can remain smooth and continuous even when the driving mode is switched.

[0048] Through the synergy of the vehicle controller and the brake controller, as well as the smooth adjustment of the electric brake torque and the hydraulic brake torque, the present invention can ensure the smoothness of the brake control when the driving mode is switched. This smoothness is not only reflected in the output of the brake torque, but also in the braking performance and driving stability of the vehicle. Specifically, during the switching process, the key parameters of the vehicle such as the braking distance, braking time and braking deceleration will remain relatively stable and consistent, thus giving the driver a more comfortable and safe driving experience.

[0049] In summary, the vehicle braking control method of the present invention achieves the optimization of the smoothness of braking control through the synergy of the vehicle controller and the brake controller, as well as the smooth adjustment of the electric braking torque and the hydraulic braking torque when the driving mode is switched. This optimization not only improves the braking performance and driving stability of the vehicle, but also provides the driver with a more comfortable and safe driving experience.

[0050] In a preferred embodiment, see Figure 4 and Figure 5 As shown, the vehicle braking control method also includes: after obtaining the electric braking request torque, sending the electric braking request torque to the second torque arbitration module of the vehicle controller, the second torque arbitration module determines the electric braking target torque according to the vehicle state and the electric braking request torque, and the second torque arbitration module sends the electric braking target torque to the motor controller to enable the motor to output the electric braking target torque.

[0051] After obtaining the electric brake request torque, the torque value will be sent to the second torque arbitration module of the vehicle controller. The second torque arbitration module is an intelligent decision-making unit responsible for determining a more accurate and reasonable electric brake target torque based on the current state of the vehicle and the electric brake request torque.

[0052] The vehicle status may include various parameters such as vehicle speed, acceleration, battery status, motor temperature, etc. These parameters will directly affect the performance and safety of the electric brake system. Therefore, during the arbitration process, the second torque arbitration module will comprehensively consider these factors to ensure the accuracy and rationality of the electric brake target torque.

[0053] After arbitration by the second torque arbitration module, an electric braking target torque will be determined. This torque value not only meets the braking requirements, but also fully considers the safety and performance of the vehicle. Then, the second torque arbitration module will send this electric braking target torque to the motor controller. The motor controller is the core component of the electric braking system, which is responsible for controlling the output of the motor according to the received torque command. After receiving the electric braking target torque, the motor controller will output the corresponding braking torque according to its own control algorithm and motor characteristics. This braking torque will act on the wheels together with the torque output by the hydraulic braking system to achieve vehicle braking.

[0054] It is important to note that during braking, the electric brake system and the hydraulic brake system work together, and the torque distribution between them is dynamically adjusted according to factors such as vehicle status, braking requirements, and safety. This collaborative work not only improves the efficiency and response speed of the braking system, but also optimizes the distribution and use of energy.

[0055] In one embodiment, the present invention provides a vehicle brake control device, the device comprising an identification acquisition module, a plurality of controllers, an electric brake actuator and a hydraulic brake actuator. The identification acquisition module is used to identify the current vehicle driving mode and obtain the total braking demand; the plurality of controllers correspond to the driving mode, and the total braking demand is allocated by the controller to obtain the electric brake request torque and the hydraulic brake request torque; the electric brake actuator is used to receive the electric brake request torque and perform electric braking; the hydraulic brake actuator is used to receive the hydraulic brake request torque and perform hydraulic braking.

[0056] In a preferred embodiment, the device further includes a first torque arbitration module and a second torque arbitration module, wherein the first torque arbitration module allocates the total braking demand according to the total braking demand and the coasting request torque and the maximum allowable output torque of the electric brake obtained by parsing the vehicle controller to obtain the electric brake request torque and the hydraulic brake request torque. The second torque arbitration module determines the electric brake target torque according to the vehicle state and the electric brake request torque, and the second torque arbitration module sends the electric brake target torque to the motor controller so that the motor outputs the electric brake target torque.

[0057] In one embodiment, the present invention provides a vehicle, comprising the vehicle braking control device described in any one of the above embodiments.

[0058] In one embodiment, the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor of a computer, the computer is caused to execute the steps of the vehicle braking control method described in any of the above embodiments.

[0059] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or change made by a person skilled in the art based on the present invention is within the protection scope of the present invention.

Claims

1. A vehicle braking control method, characterized in that: include: Identify the current vehicle driving mode and obtain the total braking demand; Determine a controller corresponding to the driving mode, and distribute the total braking demand through the controller to obtain an electric brake request torque and a hydraulic brake request torque; The electric brake request torque is sent to an electric brake actuator, and the hydraulic brake request torque is sent to a hydraulic brake actuator to achieve vehicle braking.

2. The vehicle braking control method according to claim 1, characterized in that: The driving modes include human driving mode and intelligent driving mode; In response to the driving mode of the vehicle being a human driving mode, the total braking demand is distributed through a brake controller to obtain a first electric brake request torque and a first hydraulic brake request torque; The brake controller sends the first electric brake request torque to the electric brake actuator, and sends the first hydraulic brake request torque to the hydraulic brake actuator, so that the electric brake actuator outputs the first electric brake request torque and the hydraulic brake actuator outputs the first hydraulic brake request torque, thereby achieving vehicle braking; In response to the driving mode of the vehicle being the intelligent driving mode, the total braking demand is distributed through the intelligent driving controller to obtain a second electric brake request torque and a second hydraulic brake request torque; The brake controller sends the second electric brake request torque to the electric brake actuator, and sends the second hydraulic brake request torque to the brake controller. The brake controller controls the hydraulic brake actuator so that the electric brake actuator outputs the first electric brake request torque and the hydraulic brake actuator outputs the second hydraulic brake request torque to achieve vehicle braking.

3. The vehicle braking control method according to claim 2, characterized in that: Also includes: In response to the vehicle's driving mode being the human driving mode, the vehicle controller parses and obtains the coasting request torque and the maximum allowable output torque of the electric brake, and sends the total braking demand, the coasting request torque and the maximum allowable output torque of the electric brake to the first torque arbitration module on the brake controller. The first torque arbitration module allocates the total braking demand according to the total braking demand, the coasting request torque and the maximum allowable output torque of the electric brake to obtain the electric brake request torque and the hydraulic brake request torque.

4. The vehicle braking control method according to claim 2, characterized in that: The intelligent driving controller is connected to an electric brake switch. In response to the vehicle's driving mode being switched from the intelligent driving mode to the human driving mode, the intelligent driving controller turns on the electro-hydraulic distribution of the brake controller through the electric brake switch, and distributes the total braking demand through the brake controller. In response to the vehicle's driving mode being switched from the human driving mode to the intelligent driving mode, the intelligent driving controller turns off the electro-hydraulic distribution of the brake controller through the electric brake switch, and distributes the total braking demand through the intelligent driving controller.

5. The vehicle braking control method according to claim 4, characterized in that: When the driving mode is switched, the vehicle electric brake torque output is controlled by the vehicle controller, and the vehicle hydraulic brake torque output is controlled by the brake controller to ensure smoothness.

6. The vehicle braking control method according to claim 1, characterized in that: Also includes: After obtaining the electric braking request torque, the electric braking request torque is sent to the second torque arbitration module of the vehicle controller, the second torque arbitration module determines the electric braking target torque according to the vehicle state and the electric braking request torque, and the second torque arbitration module sends the electric braking target torque to the motor controller to enable the motor to output the electric braking target torque.

7. A vehicle brake control device, characterized in that: include: An identification and acquisition module, used to identify the current driving mode of the vehicle and obtain the total braking demand; A plurality of controllers, corresponding to the driving modes, through which the total braking demand is distributed to obtain an electric brake request torque and a hydraulic brake request torque; an electric brake actuator, configured to receive the electric brake request torque and perform electric braking; The hydraulic brake actuator is used to receive the hydraulic brake request torque and perform hydraulic braking.

8. The vehicle brake control device according to claim 7, characterized in that: Also includes: a first torque arbitration module, which allocates the total braking demand according to the total braking demand and the coasting request torque and the maximum allowable output torque of the electric brake obtained by parsing the vehicle controller to obtain the electric brake request torque and the hydraulic brake request torque; And / or, a second torque arbitration module, which determines the electric braking target torque according to the vehicle state and the electric braking request torque, and sends the electric braking target torque to the motor controller to enable the motor to output the electric braking target torque.

9. A vehicle, characterized in that: Comprising the vehicle brake control device as claimed in claim 7 or 8.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor of a computer, the computer is caused to execute the steps of the vehicle braking control method as claimed in any one of claims 1 to 7.

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