Vehicle brake control method and device, vehicle and storage medium

Abstract

This invention relates to the field of automotive braking control, specifically to a vehicle braking control method, device, vehicle, and storage medium. The method includes: identifying the current driving mode of the vehicle and obtaining the total braking demand; determining a controller corresponding to the driving mode; allocating the total braking demand through the controller to obtain an electric braking request torque and a hydraulic braking request torque; sending the electric braking request torque to an electric brake actuator and the hydraulic braking request torque to a hydraulic brake actuator to achieve vehicle braking. This method can shorten the controller signal link, reduce latency, and ensure braking smoothness.

Description

Technical Field

[0001] This invention relates to the field of automotive braking control, and more specifically to a vehicle braking control method, device, vehicle, and storage medium. Background Technology

[0002] With the continuous development and progress of new energy vehicle technology, the superior performance of new energy vehicles in terms of economy, comfort, and power has attracted more and more users. Coasting energy recovery is an essential function of new energy vehicles. For example, CN109130874A uses the VCU as the main control center to control the orderly operation of various modules. While ensuring braking safety, it can achieve a high energy recovery rate, and the energy recovery process is smooth, resulting in good economy and driving experience.

[0003] As users demand higher performance from their users, such as maintaining a consistent deceleration feel when coasting with the accelerator released after a full charge (where recoil reduction is possible during coasting with a partially charged battery, while a fully charged battery lacks this capability), a coasting fluid replenishment function has been added. This function is managed by the brake controller for electro-hydraulic distribution. Currently, both brake energy recovery and coasting energy recovery in the current solution are controlled by the brake controller for electro-hydraulic coordination, which leads to issues such as long signal transmission links and poor braking smoothness during the intelligent driving / human driving transition. Summary of the Invention

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

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] In a first aspect, the present invention provides a vehicle braking control method, comprising:

[0007] Identify the current vehicle's driving mode and obtain the total braking demand;

[0008] A controller corresponding to the driving mode is determined, and the total braking demand is allocated through the controller to obtain the electric braking request torque and the hydraulic braking request torque;

[0009] The electric braking request torque is sent to the electric braking actuator, and the hydraulic braking request torque is sent to the hydraulic braking actuator to achieve vehicle braking.

[0010] Furthermore, the driving modes include human driving mode and intelligent driving mode.

[0011] In response to the vehicle's driving mode being human-driven, the total braking demand is allocated through the brake controller to obtain a first electric braking request torque and a first hydraulic braking request torque. The brake controller sends the first electric braking request torque to the electric brake actuator and the first hydraulic braking request torque to the hydraulic brake actuator, so that the electric brake actuator outputs the first electric braking request torque and the hydraulic brake actuator outputs the first hydraulic braking request torque, thereby achieving vehicle braking.

[0012] In response to the vehicle's driving mode being set to intelligent driving mode, the intelligent driving controller allocates the total braking demand to obtain a second electric braking request torque and a second hydraulic braking request torque. The brake controller sends the second electric braking request torque to the electric brake actuator and the second hydraulic braking request torque to the brake controller. The brake controller controls the hydraulic brake actuator so that the electric brake actuator outputs the first electric braking request torque and the hydraulic brake actuator outputs the second hydraulic braking request torque, thereby achieving vehicle braking.

[0013] Furthermore, the method also includes: in response to the vehicle's driving mode being human-driven mode, the vehicle controller parses and obtains the coasting request torque and the maximum permissible output torque of the electric braking, and sends the total braking demand, the coasting request torque, and the maximum permissible output torque of the electric braking to a 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 permissible output torque of the electric braking to obtain the electric braking request torque and the hydraulic braking request torque.

[0014] Furthermore, the intelligent driving controller is connected to an electric brake switch. In response to the vehicle's driving mode switching from intelligent driving mode to human driving mode, the intelligent driving controller opens 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 switching from human driving mode to intelligent driving mode, the intelligent driving controller closes the electro-hydraulic distribution of the brake controller through the electric brake switch, and distributes the total braking demand through the intelligent driving controller.

[0015] Furthermore, when switching driving modes, the vehicle controller controls the vehicle's electric braking torque output, and the brake controller controls the vehicle's hydraulic braking torque output to ensure smoothness.

[0016] Furthermore, the method further 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 determining the electric braking target torque according to the vehicle status and the electric braking request torque, and the second torque arbitration module sending the electric braking target torque to the motor controller so that the motor outputs the electric braking target torque.

[0017] Secondly, the present invention provides a vehicle braking control device, comprising: an identification and acquisition module, a plurality of controllers, an electric brake actuator, and a hydraulic brake actuator. The identification and 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 allocate the total braking demand through the controllers to obtain the electric braking request torque and the hydraulic braking request torque; the electric brake actuator is used to receive the electric braking request torque and perform electric braking; the hydraulic brake actuator is used to receive the hydraulic braking request torque and perform hydraulic braking.

[0018] Furthermore, the device further includes: a first torque arbitration module and / or a second torque arbitration module. The first torque arbitration module allocates the total braking demand based on the total braking demand and the coasting request torque and the maximum permissible output torque of the electric braking obtained by the vehicle controller, thereby obtaining the electric braking request torque and the hydraulic braking request torque. The second torque arbitration module determines the electric braking target torque based on the vehicle status and the electric braking request torque, and sends the electric braking target torque to the motor controller so that the motor outputs the electric braking target torque.

[0019] Thirdly, the present invention provides a vehicle including the aforementioned vehicle braking control device.

[0020] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a computer processor, causes the computer to perform the steps of the above-described vehicle braking control method.

[0021] The present invention has the following unexpected beneficial effects: The present invention determines the controller corresponding to the identified driving mode, and allocates the total braking demand through the controller to obtain the electric braking request torque and the hydraulic braking request torque. In this way, the corresponding controller can be used to allocate the electro-hydraulic braking torque in different driving modes according to actual needs. This solves the problem of long signal transmission links and high delays caused by using only a brake controller for electro-hydraulic allocation in the prior art, and improves braking smoothness. Attached Figure Description

[0022] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention.

[0023] Figure 1 A schematic flowchart of the vehicle braking control method of the present invention is shown.

[0024] Figure 2 A flowchart illustrating the vehicle braking control method in human-driven mode is shown.

[0025] Figure 3 A flowchart illustrating the vehicle braking control method in intelligent driving mode is shown.

[0026] Figure 4 The diagram shows the operation of the first and second arbitration modules in human-driven mode.

[0027] Figure 5 A schematic diagram of the second arbitration module in intelligent driving mode is shown. Detailed Implementation

[0028] The embodiments of the present invention will be described below 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 content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed 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 and not for limiting the scope of protection of the present invention.

[0029] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. The drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0030] In one embodiment, see Figure 1 As shown, the present invention provides a vehicle braking control method, which includes:

[0031] Identify the current vehicle's driving mode and obtain the total braking demand;

[0032] A controller corresponding to the driving mode is determined, and the total braking demand is allocated through the controller to obtain the electric braking request torque and the hydraulic braking request torque;

[0033] The electric braking request torque is sent to the electric braking actuator, and the hydraulic braking request torque is sent to the hydraulic braking actuator to achieve vehicle braking.

[0034] This invention determines a controller corresponding to the identified driving mode, and allocates the total braking demand through the controller to obtain the electric braking request torque and the hydraulic braking request torque. In this way, the corresponding controller can be used to allocate the electro-hydraulic braking torque in different driving modes according to actual needs. This solves the problem of long signal transmission links and high delays caused by using only a brake controller for electro-hydraulic allocation in the prior art, and improves braking smoothness.

[0035] The vehicle braking control method of the present invention achieves a significant improvement in braking performance by identifying the driving mode, selecting the corresponding controller, and dynamically allocating braking demand. It not only improves the braking response speed and accuracy, but also optimizes the distribution and use of energy, providing the driver with a smoother and more stable driving experience.

[0036] In a preferred embodiment, the driving modes include human driving mode and intelligent driving mode.

[0037] See Figure 2 As shown, in response to the vehicle's driving mode being human-driven, the total braking demand is allocated through the brake controller to obtain a first electric braking request torque and a first hydraulic braking request torque. The brake controller sends the first electric braking request torque to the electric brake actuator and the first hydraulic braking request torque to the hydraulic brake actuator, so that the electric brake actuator outputs the first electric braking request torque and the hydraulic brake actuator outputs the first hydraulic braking request torque, thereby achieving vehicle braking.

[0038] See Figure 3 As shown, in response to the vehicle's driving mode being intelligent driving mode, the intelligent driving controller allocates the total braking demand to obtain a second electric braking request torque and a second hydraulic braking request torque. The brake controller sends the second electric braking request torque to the electric brake actuator and the second hydraulic braking request torque to the brake controller. The brake controller controls the hydraulic brake actuator so that the electric brake actuator outputs the first electric braking request torque and the hydraulic brake actuator outputs the second hydraulic braking request torque, thereby achieving vehicle braking.

[0039] When the vehicle's driving mode is identified as driver-only, the system uses the brake controller to allocate the total braking demand. This step calculates the first electric braking request torque and the first hydraulic braking request torque based on the driver's braking intention and the vehicle's current state. The brake controller then sends these two requested torques to the electric brake actuator and the hydraulic brake actuator, respectively. The electric brake actuator outputs the corresponding braking force based on the received first electric braking request torque, while the hydraulic brake actuator outputs the corresponding braking force based on the first hydraulic braking request torque. In this way, the vehicle can achieve smooth and efficient braking.

[0040] When the vehicle's driving mode is identified as Intelligent Driving Mode, the system uses the Intelligent Driving Controller to allocate total braking demand. The Intelligent Driving Controller typically integrates more advanced algorithms and sensor data, enabling it to more accurately predict and respond to the vehicle's braking needs. In this mode, the Intelligent Driving Controller calculates the second electric braking request torque and the second hydraulic braking request torque, and sends both to the brake controller. It's worth noting that in Intelligent Driving Mode, although the calculation of the requested torque is performed by the Intelligent Driving Controller, the brake controller still plays a crucial role. It is responsible for forwarding the second electric braking request torque to the electric brake actuator and directly controlling the hydraulic brake actuator to output the second hydraulic braking request torque. This setup aims to ensure a faster and more accurate braking response in Intelligent Driving Mode. Through the precise calculations 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.

[0041] In summary, the preferred embodiment of the present invention distinguishes between human driving mode and intelligent driving mode, and uses a brake controller and an intelligent driving controller respectively to allocate braking demand, thereby achieving more flexible and efficient braking control. This not only improves the response speed and accuracy of the braking system, but also optimizes the distribution and use of energy, providing drivers with a safer, more comfortable and convenient driving experience.

[0042] In a preferred embodiment, see Figure 4 As shown, the vehicle braking control method further includes: in response to the vehicle's driving mode being human-driven mode, the vehicle controller parses and obtains the coasting request torque and the maximum permissible output torque of the electric braking, and sends the total braking demand, the coasting request torque, and the maximum permissible output torque of the electric braking to a first torque arbitration module on the braking controller. The first torque arbitration module allocates the total braking demand according to the total braking demand, the coasting request torque, and the maximum permissible output torque of the electric braking to obtain the electric braking request torque and the hydraulic braking request torque.

[0043] In human-driven mode, in addition to the total braking demand, the vehicle controller also analyzes the coasting request torque and the maximum permissible output torque of the electric brakes. The coasting request torque typically represents the torque demand generated when the vehicle coasts using its own gravity or inertia without requiring additional power. The maximum permissible output torque of the electric brakes represents the maximum torque limit that the electric braking system can output in the current state. This limit may be affected by various factors such as battery status and motor temperature.

[0044] For example, during specific allocation, the first torque arbitration module first considers the coasting request torque to ensure that the vehicle can maintain smooth deceleration when coasting is required. Then, based on meeting the coasting demand, the first torque arbitration module limits the magnitude of the electric braking request torque according to the maximum permissible output torque of the electric brakes to avoid placing excessive burden or damage on the electric braking system. Finally, the first torque arbitration module calculates and allocates the remaining braking demand to the hydraulic braking system to ensure that the vehicle can stop safely and smoothly.

[0045] After precise allocation by the first torque arbitration module, the obtained electric braking request torque and hydraulic braking request torque are sent to the electric braking actuator and hydraulic braking actuator respectively. These two actuators will output corresponding braking force according to the received request torque, thereby realizing the braking of the vehicle.

[0046] In summary, the vehicle braking control method of the present invention, in human-driven mode, introduces two key parameters—coasting request torque and maximum permissible output torque of electric braking—and uses a first torque arbitration module for precise allocation, achieving more intelligent and efficient braking control. This design not only improves the response speed and accuracy of the braking system but also optimizes energy distribution and use, providing the driver with a safer, more comfortable, and convenient driving experience.

[0047] Furthermore, in response to the vehicle's driving mode being intelligent driving mode, the vehicle controller analyzes and obtains the maximum permissible output torque of the electric braking, and sends the maximum permissible output torque of the electric braking to the intelligent driving controller. The intelligent driving controller comprehensively considers the total braking demand and the maximum permissible output torque of the electric braking to perform electro-hydraulic torque distribution.

[0048] 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 switching from intelligent driving mode to human driving mode, the intelligent driving controller opens 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 switching from human driving mode to intelligent driving mode, the intelligent driving controller closes the electro-hydraulic distribution of the brake controller through the electric brake switch, and distributes the total braking demand through the intelligent driving controller.

[0049] The participation of the brake controller in electro-hydraulic braking torque distribution is controlled by setting an electric brake switch. When the vehicle's driving mode switches from Smart Drive mode to Human Drive mode, the Smart Drive controller activates the electro-hydraulic distribution function of the brake controller via the electric brake switch. This means that after switching to Human Drive mode, the brake controller regains control of the electro-hydraulic braking torque distribution. At this time, the brake controller performs precise torque distribution based on the total braking demand, coasting request torque, and maximum permissible electric braking output torque sent by the vehicle controller (these parameters are parsed by the vehicle controller in Human Drive mode). The distributed electric braking request torque and hydraulic braking request torque are then sent to the electric brake actuator and hydraulic brake actuator, respectively, to achieve vehicle braking. Conversely, when the vehicle's driving mode switches from Human Drive mode to Smart Drive mode, the Smart Drive controller deactivates the electro-hydraulic distribution function of the brake controller via the electric brake switch. This means that after switching to Smart Drive mode, the brake controller no longer participates in the electro-hydraulic braking torque distribution. At this time, the Smart Drive controller directly takes over the task of distributing braking torque. The intelligent driving controller calculates the electric braking request torque and the hydraulic braking request torque based on its own algorithm and sensor data, and sends the hydraulic braking request torque to the brake controller (but the brake controller only acts as a relay station at this time and no longer performs torque distribution), and directly controls the hydraulic brake actuator to output the hydraulic braking request torque to achieve vehicle braking.

[0050] In summary, the vehicle braking control method of this invention achieves seamless switching between the brake controller and the intelligent driving controller via an electric brake switch during driving mode switching. This not only improves the response speed and accuracy of the braking system but also ensures the continuity and stability of braking control in different driving modes. Furthermore, this refined braking control logic provides strong support for the seamless integration and efficient operation of intelligent driving systems, laying a solid foundation for the future development and application of intelligent driving technology.

[0051] In a preferred embodiment, when switching driving modes, the vehicle controller controls the vehicle's electric braking torque output, and the brake controller controls the vehicle's hydraulic braking torque output to ensure smoothness.

[0052] When switching driving modes, the vehicle controller smoothly adjusts the electric braking torque based on the current driving environment and vehicle status. This adjustment is designed to ensure that the output of the electric braking torque does not suddenly increase or decrease during the switching process, thereby avoiding an uncomfortable braking sensation for the driver.

[0053] To achieve this, the vehicle controller may employ advanced algorithms and sensor data to predict and calculate the electric braking torque demand during the switching process. The vehicle controller then gradually adjusts the electric braking torque output based on this demand to achieve a smooth transition. Simultaneously, the brake controller closely monitors changes in braking torque. During driving mode switching, it adjusts the hydraulic braking torque accordingly based on instructions or requests from the vehicle controller.

[0054] To ensure a smooth output of hydraulic braking torque, the brake controller may employ advanced hydraulic control components such as pressure control valves and flow control valves to precisely regulate the magnitude and rate of change of the braking hydraulic pressure. This ensures that the output of hydraulic braking torque remains stable and continuous, even when switching driving modes.

[0055] Through the coordinated operation of the vehicle controller and the brake controller, and the smooth adjustment of electric and hydraulic braking torque, this invention ensures smooth braking control during driving mode switching. This smoothness is reflected not only in the output of braking torque but also in the vehicle's braking performance and driving stability. Specifically, during the switching process, key parameters such as braking distance, braking time, and braking deceleration remain relatively stable and consistent, thus providing the driver with a more comfortable and safer driving experience.

[0056] In summary, the vehicle braking control method of the present invention optimizes the smoothness of braking control during driving mode switching through the coordinated action of the vehicle controller and the brake controller, as well as the smooth adjustment of electric braking torque and hydraulic braking torque. This optimization not only improves the vehicle's braking performance and driving stability, but also provides the driver with a more comfortable and safer driving experience.

[0057] In a preferred embodiment, see Figure 4 and Figure 5 As shown, the vehicle braking control method further 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 status 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.

[0058] After receiving the requested electric braking torque, the torque value is 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 braking target torque based on the vehicle's current state and the requested electric braking torque.

[0059] Vehicle status may include various parameters such as vehicle speed, acceleration, battery status, and motor temperature. These parameters directly affect the performance and safety of the electric braking system. Therefore, during the arbitration process, the second torque arbitration module comprehensively considers these factors to ensure the accuracy and rationality of the target electric braking torque.

[0060] After arbitration by the second torque arbitration module, a target electric braking torque is determined. This torque value not only meets the braking requirements but also fully considers the vehicle's safety and performance. Then, the second torque arbitration module sends this target electric braking torque to the motor controller. The motor controller is the core component of the electric braking system, responsible for controlling the motor's output based on the received torque command. Upon receiving the target electric braking torque, the motor controller outputs the corresponding braking torque based on its own control algorithm and motor characteristics. This braking torque, together with the torque output by the hydraulic braking system, acts on the wheels to achieve vehicle braking.

[0061] It is important to note that during braking, the electric braking system and the hydraulic braking system work together, and the torque distribution between them is dynamically adjusted based on factors such as vehicle condition, braking demand, and safety. This collaborative work not only improves the efficiency and response speed of the braking system but also optimizes energy distribution and utilization.

[0062] In one embodiment, the present invention provides a vehicle braking control device, the device comprising an identification and acquisition module, a plurality of controllers, an electric brake actuator, and a hydraulic brake actuator. The identification and 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 allocate the total braking demand through the controllers to obtain the electric braking request torque and the hydraulic braking request torque; the electric brake actuator is used to receive the electric braking request torque and perform electric braking; the hydraulic brake actuator is used to receive the hydraulic braking request torque and perform hydraulic braking.

[0063] In a preferred embodiment, the device further includes a first torque arbitration module and a second torque arbitration module. The first torque arbitration module allocates the total braking demand based on the total braking demand and the coasting request torque and the maximum permissible output torque of the electric braking obtained by the vehicle controller, thereby obtaining the electric braking request torque and the hydraulic braking request torque. The second torque arbitration module determines the electric braking target torque based on the vehicle status and the electric braking request torque, and sends the electric braking target torque to the motor controller so that the motor outputs the electric braking target torque.

[0064] In one embodiment, the present invention provides a vehicle including the vehicle braking control device described in any of the above embodiments.

[0065] In one embodiment, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a computer's processor, causes the computer to perform the steps of the vehicle braking control method described in any of the above embodiments.

[0066] The above embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention.

Claims

1. A vehicle braking control method, characterized in that, include: Identify the current vehicle's driving mode and obtain the total braking demand; A controller corresponding to the driving mode is determined, and the total braking demand is allocated through the controller to obtain the electric braking request torque and the hydraulic braking request torque; The electric braking request torque is sent to the electric braking actuator, and the hydraulic braking request torque is sent to the hydraulic braking actuator to achieve vehicle braking; The driving modes include human driving mode and intelligent driving mode; In response to the vehicle's driving mode being human-driven, the total braking demand is allocated through the brake controller to obtain a first electric braking request torque and a first hydraulic braking request torque. The brake controller sends the first electric braking request torque to the electric brake actuator and the first hydraulic braking request torque to the hydraulic brake actuator, so that the electric brake actuator outputs the first electric braking request torque and the hydraulic brake actuator outputs the first hydraulic braking request torque, thereby achieving vehicle braking; In response to the vehicle's driving mode being intelligent driving mode, the total braking demand is allocated through the intelligent driving controller to obtain the second electric braking request torque and the second hydraulic braking request torque. The brake controller sends the second electric braking request torque to the electric brake actuator and the second hydraulic braking request torque to the brake controller. The brake controller controls the hydraulic brake actuator so that the electric brake actuator outputs the first electric braking request torque and the hydraulic brake actuator outputs the second hydraulic braking request torque, thereby achieving vehicle braking. In response to the vehicle's driving mode being human-driven, the vehicle controller parses and obtains the coasting request torque and the maximum permissible output torque of the electric braking system. It then sends the total braking demand, the coasting request torque, and the maximum permissible output torque of the electric braking system to the first torque arbitration module on the brake controller. The first torque arbitration module allocates the total braking demand based on the total braking demand, the coasting request torque, and the maximum permissible output torque of the electric braking system to obtain the electric braking request torque and the hydraulic braking request torque.

2. The vehicle braking control method according to claim 1, characterized in that: The intelligent driving controller is connected to an electric brake switch. In response to the vehicle's driving mode switching from intelligent driving mode to human driving mode, the intelligent driving controller opens 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 switching from human driving mode to intelligent driving mode, the intelligent driving controller closes the electro-hydraulic distribution of the brake controller through the electric brake switch, and distributes the total braking demand through the intelligent driving controller.

3. The vehicle braking control method according to claim 2, characterized in that: When switching driving modes, the vehicle controller controls the output of electric braking torque, and the brake controller controls the output of hydraulic braking torque to ensure smoothness.

4. The vehicle braking control method according to claim 1, characterized in that, Also includes: After receiving 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 based on the vehicle status and the electric braking request torque. 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.

5. A vehicle braking control device, characterized in that, include: The identification and acquisition module is used to identify the current driving mode of the vehicle and obtain the total braking demand; Several controllers, corresponding to the driving mode, allocate the total braking demand through the controllers to obtain the electric braking request torque and the hydraulic braking request torque; An electric brake actuator is used to receive the electric brake request torque and perform electric braking; A hydraulic brake actuator is used to receive the hydraulic brake request torque and perform hydraulic braking; The first torque arbitration module allocates the total braking demand based on the total braking demand and the coasting request torque and the maximum allowable output torque of electric braking obtained by the vehicle controller, thereby obtaining the electric braking request torque and the hydraulic braking request torque. And / or, a second torque arbitration module, which determines the electric braking target torque based on the vehicle status and the electric braking request torque, and sends the electric braking target torque to the motor controller so that the motor outputs the electric braking target torque.

6. A vehicle, characterized in that, Includes the vehicle braking control device as described in claim 5.

7. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by the computer's processor, causes the computer to perform the steps of the vehicle braking control method as described in any one of claims 1 to 4.

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