Vehicle braking control method and device, new energy vehicle and storage medium

Abstract

The invention discloses a vehicle braking control method and device, a new energy vehicle and a storage medium, and relates to the technical field of new energy vehicles. The method comprises the steps that under the condition that an electric braking function of the vehicle is activated, an electric braking initial torque is determined; determining current driving intention information based on the driving operation information for the vehicle; the driving intention information is acceleration intention information or deceleration intention information; based on a correction strategy corresponding to the driving intention information, the electric braking initial torque is corrected, and an electric braking target torque is obtained; different driving intention information corresponds to different correction strategies; and the motor output torque of the vehicle is adjusted according to the electric braking target torque so as to control vehicle braking. By adopting the method, the safety of the electric braking process of the vehicle can be improved.

Description

Technical Field

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

[0002] New energy vehicle technology is updated day by day, and it is very necessary to improve the safety of new energy vehicles, especially the safety of the vehicle's braking process.

[0003] At present, the braking control of vehicles is mainly carried out by the driver operating the braking system. However, in the event of a failure of the braking system, in order to ensure that the vehicle has sufficient deceleration, the maximum recovery torque available from the motor is generally used as the electric braking target torque. In this way, the motor output torque determined based on the electric braking target torque may not be accurate enough, which will affect braking safety.

[0004] Therefore, how to improve the safety of the vehicle's electric braking process has become an urgent problem to be solved. Summary of the invention

[0005] The embodiments of the present application provide a vehicle braking control method, device, new energy vehicle and storage medium, which can improve the safety of the vehicle's electric braking process.

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

[0007] determining an electric brake initial torque when an electric brake function of the vehicle is activated;

[0008] Determine current driving intention information based on the driving operation information for the vehicle; the driving intention information is acceleration intention information or deceleration intention information;

[0009] Based on the correction strategy corresponding to the driving intention information, the initial torque of the electric brake is corrected to obtain the target torque of the electric brake; different correction strategies correspond to different driving intention information;

[0010] The vehicle's motor output torque is adjusted according to the electric brake target torque to control vehicle braking.

[0011] In one of the embodiments, based on the correction strategy corresponding to the driving intention information, the electric braking initial torque is corrected to obtain the electric braking target torque, including: when the driving intention information is deceleration intention information, the electric braking initial torque is corrected based on the deceleration correction strategy to obtain the electric braking target torque; when the driving intention information is acceleration intention information, the electric braking initial torque is corrected based on the acceleration correction strategy to obtain the electric braking target torque; wherein, the electric braking target torque obtained based on the deceleration correction strategy is greater than the electric braking target torque obtained based on the acceleration correction strategy.

[0012] In one of the embodiments, when the driving intention information is deceleration intention information, the electric braking initial torque is corrected based on the deceleration correction strategy to obtain the electric braking target torque, including: when the deceleration intention information belongs to the preset mild deceleration intention information, the electric braking initial torque is corrected based on the first ratio to obtain the electric braking target torque; the first ratio is less than 1 and greater than 0; when the deceleration intention information belongs to the preset moderate deceleration intention information, the electric braking initial torque is used as the electric braking target torque; when the deceleration intention information belongs to the preset heavy deceleration intention information, the maximum available recovery torque of the vehicle's motor is used as the electric braking target torque.

[0013] In one of the embodiments, when the driving intention information is acceleration intention information, the electric braking initial torque is corrected based on the acceleration correction strategy to obtain the electric braking target torque, including: when the acceleration intention information belongs to the preset mild acceleration intention information, the electric braking initial torque is corrected based on the second ratio to obtain the electric braking target torque; the second ratio is less than the first ratio and greater than 0; when the acceleration intention information belongs to the preset moderate acceleration intention information or heavy acceleration intention information, the electric braking initial torque is attenuated to 0 to obtain the electric braking target torque.

[0014] In one embodiment, based on driving operation information for the vehicle, determining current driving intention information includes: obtaining driving operation information, the driving operation information includes at least one of the following information: a key pressing duration for a target control, a number of key pressing times within a first preset time period, a throttle opening for a throttle pedal of the vehicle, and a number of stepping on the throttle pedal within a second preset time period; wherein the target control is a control in the vehicle for activating an electric braking function; determining current deceleration intention information based on a key pressing duration and / or a number of key pressing times for the target control, and determining current acceleration intention information based on a throttle opening and / or a number of stepping on the throttle pedal.

[0015] In one embodiment, when the electric braking function of the vehicle is activated, the electric braking initial torque is determined, including: when the electric braking function of the vehicle is activated, the electric braking initial torque is determined based on the vehicle's current ground speed and the slope of the road on which the vehicle is located.

[0016] In one embodiment, the slope of the road on which the vehicle is located is determined in the following manner: when the electric braking function is activated, the longitudinal acceleration collected by the vehicle's sensor is obtained, and based on the vehicle's ground speed, the actual acceleration of the vehicle is derived; the difference between the longitudinal acceleration and the actual acceleration is determined; based on the difference, the slope of the road on which the vehicle is located is determined by looking up a table.

[0017] In one embodiment, the method further includes: activating the electric braking function when at least one of the following conditions is met: a first condition that the key pressing duration for a target control of the vehicle is greater than a preset duration threshold; a second condition that the number of key pressings for the target control within a preset time period is greater than a preset key pressing threshold.

[0018] In a second aspect, an embodiment of the present application provides a vehicle braking control device, the device comprising:

[0019] a determination module, configured to determine an electric brake initial torque when an electric brake function of the vehicle is activated;

[0020] The determination module is further used to determine current driving intention information based on the driving operation information for the vehicle; the driving intention information is acceleration intention information or deceleration intention information;

[0021] A correction module, used to correct the initial torque of the electric brake based on the correction strategy corresponding to the driving intention information to obtain the target torque of the electric brake; different correction strategies correspond to different driving intention information;

[0022] The torque regulation module is used to adjust the motor output torque of the vehicle according to the electric brake target torque to control the vehicle braking.

[0023] In a third aspect, an embodiment of the present application provides a new energy vehicle, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the method described in the first aspect are implemented.

[0024] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the method described in the first aspect when the computer program is executed by a processor.

[0025] In a fifth aspect, the present application further provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the method described in the first aspect above.

[0026] The above-mentioned vehicle braking control method, device, new energy vehicle and storage medium, the new energy vehicle (hereinafter referred to as the vehicle) can determine the initial electric braking torque when the electric braking function of the vehicle is activated; determine the current driving intention information based on the driving operation information for the vehicle; the driving intention information is acceleration intention information or deceleration intention information; based on the correction strategy corresponding to the driving intention information, the electric braking initial torque is corrected to obtain the electric braking target torque; different driving intention information corresponds to different correction strategies; the vehicle's motor output torque is adjusted according to the electric braking target torque to control vehicle braking. By adopting this method, the vehicle can determine the initial electric braking torque and driving intention information when the electric braking function of the vehicle is activated, and correct the initial electric braking torque based on the correction strategy corresponding to the driving intention information to obtain the electric braking target torque. Then, the motor output torque of the vehicle is adjusted according to the electric braking target torque. In this way, during the electric braking process, the current acceleration intention information or deceleration intention information can be determined based on the actual driving situation (such as operation information of intended acceleration or operation information of intended deceleration). Then, based on the correction strategy corresponding to the current acceleration intention information or the current deceleration intention information, the initial electric braking torque is corrected, so that the corrected electric braking target torque is more in line with the actual driving situation, that is, the accuracy of the electric braking target torque is higher, thereby improving the safety of the vehicle's electric braking process during the electric braking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 It is a schematic diagram of an application scenario of a vehicle braking control method provided in an embodiment of the present application;

[0029] Figure 2 It is a flow chart of a vehicle braking control method provided in an embodiment of the present application;

[0030] Figure 3 is a flow chart of another vehicle braking control method provided in an embodiment of the present application;

[0031] Figure 4 is a structural schematic diagram of a vehicle braking control device provided in an embodiment of the present application;

[0032] Figure 5 It is a structural schematic diagram of a new energy vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0034] First, the terms / nouns involved in the embodiments of the present application are briefly explained.

[0035] 1. Electric brake target torque

[0036] The electric braking target torque is divided into deceleration torque and hill-holding torque. Generally speaking, the deceleration torque, dynamic torque or braking torque is used when the vehicle is dynamic, and the hill-holding torque is used when the vehicle is static. The hill-holding torque can make the vehicle stationary on different slopes. The main goal of the braking torque is deceleration, which can be dynamically adjusted according to the deceleration requirements. The braking torque can occur at various speeds of the vehicle and is not limited to use when stopped. The main function of the hill-holding torque is not to decelerate the vehicle, but to maintain the vehicle's stationary state. It is usually applied when the vehicle speed is low or even close to 0. In some cases, the hill-holding torque can be continuously increased from 0 to ensure that the vehicle remains as stationary as possible on uphill or downhill road conditions, thereby obtaining a suitable hill-holding torque.

[0037] 2. Motor output torque

[0038] The motor output torque can also be called motor torque. It is one of the basic parameters of the motor and is usually expressed in Nm (Newton-meter). The motor speed and output torque are usually inversely proportional. For example, at the start or low speed stage, the vehicle speed is low, the motor speed is low, and the motor output torque is high to provide sufficient driving force to overcome inertia and resistance; at the high speed stage, the vehicle speed is high, the motor speed is high, and the output torque is low to meet the cruising needs and improve efficiency.

[0039] 3. Maximum available regenerative torque of the motor

[0040] The maximum available regenerative torque of the motor refers to the maximum value of the negative torque generated by the motor during energy recovery. When the driver releases the accelerator pedal or steps on the brake pedal, the motor control will generate a negative torque to slow down the car and achieve energy recovery. The value depends on factors such as the vehicle's control strategy, driving status, and the battery's energy storage capacity.

[0041] 4. Vehicle 3D Coordinate System

[0042] In the vehicle's three-dimensional coordinate system, the three directions are: the lateral x direction refers to the left and right direction of the vehicle; the longitudinal y direction refers to the front and back direction of the vehicle; the up and down direction (vertical direction) of the vehicle is the z direction; among them, the synthesis of the lateral velocity and the longitudinal velocity is the vehicle's velocity.

[0043] Combine the following Figure 1 , introduces the application scenarios of the vehicle braking control method provided by the embodiment of the present application. Figure 1 , Figure 1 Schematic diagram of an application scenario of a vehicle braking control method provided in an embodiment of the present application. Figure 1 As shown, the vehicle 100 includes a cockpit software system 101, an on-board interconnection terminal T-BOX (TelematicsBOX) 102, a vehicle controller 103, a traditional braking system 104, a power battery system 105, a motor and a motor controller 106, etc. connected via a bus 107.

[0044] The cockpit software system 101 can be used to control the user interface in the car, including the instrument panel, touch screen, entertainment system and navigation system, and provide interactive functions for the driver and passengers.

[0045] As the vehicle's telematics unit, T-BOX 102 can connect the vehicle and the cloud through a communication network and is responsible for collecting, uploading and remotely controlling vehicle data.

[0046] The vehicle controller 103, as the brain of the new energy vehicle, is responsible for coordinating and controlling the operation of components such as batteries, motors, motor controllers, and thermal management systems, to achieve intelligent control of the vehicle's power distribution, energy management, and vehicle functions.

[0047] The conventional braking system 104, including the conventional brake system, mainly controls the deceleration and parking process of the vehicle by adjusting the clamping torque.

[0048] The power battery system 105 is mainly used to provide a main power source for the vehicle and to provide power for the motor when driving.

[0049] The motor and motor controller 106, where the motor is the core component that converts electrical energy into mechanical energy and provides power when the vehicle is driving, and the motor controller is responsible for controlling the speed and torque output of the motor. It receives instructions from the vehicle control system and adjusts the working state of the motor so that the motor can achieve the functions of acceleration, deceleration and braking. Specifically, the motor controller can change the working state of the motor by adjusting the current and voltage, and decide whether the motor drives the vehicle forward or recovers energy.

[0050] Among them, the motor and the motor controller 106 can also constitute an electric braking system. The electric braking system can be understood as adjusting the reverse torque of the motor through the motor controller to achieve vehicle deceleration or parking. In this process, the vehicle is braked by converting electrical energy into mechanical energy. The principles involved include energy recovery and braking control. Energy recovery can be understood as when the vehicle decelerates or stops, the motor controller controls the motor to generate reverse torque, converts the vehicle's kinetic energy into electrical energy, and stores it back in the battery, thereby extending the cruising range. This control method can reduce dependence on traditional mechanical brakes. Correspondingly, the electric braking process can be understood as the process of braking the vehicle mainly through the electric braking system.

[0051] For new energy vehicles, braking can be performed through a traditional braking system. When the traditional braking system fails, in order to ensure driving safety, the electric braking function can be activated to give the motor the maximum recoverable torque, thereby realizing electric braking of the vehicle through the motor. In the embodiment of the present application, the vehicle 100 can determine the electric braking initial torque and the current driving intention information when the electric braking function of the vehicle is activated, and correct the electric braking initial torque based on the correction strategy corresponding to the current driving intention information to obtain the electric braking target torque; then, adjust the motor output torque of the vehicle according to the electric braking target torque to control the vehicle braking, so that during the electric braking process, the current acceleration intention information or deceleration intention information can be determined based on the actual driving situation (such as the operation information of the intention to accelerate or the operation information of the intention to decelerate), and then, based on the correction strategy corresponding to the current acceleration intention information or the current deceleration intention information, the electric braking initial torque is corrected, so that the corrected electric braking target torque can be more consistent with the actual driving situation, that is, the accuracy of the electric braking target torque is higher, thereby improving the safety of the vehicle electric braking process.

[0052] The vehicle braking control method provided in the embodiment of the present application is explained below.

[0053] See also Figure 2 , Figure 2 1 is a flow chart of a vehicle braking control method provided by an embodiment of the present application. The method can be executed by a vehicle controller, or by a vehicle controller and a motor and a motor controller in collaboration, etc. For ease of explanation, the present application uses a vehicle controller (e.g. Figure 1 The vehicle controller 103 in the vehicle 100 shown in the figure performs a vehicle braking control method as an example. Figure 2 As shown, the vehicle braking control method may include but is not limited to the following steps:

[0054] S201 : When the electric brake function of the vehicle is activated, determine an initial electric brake torque.

[0055] Among them, the electric braking function and the activation conditions of the electric braking function can be pre-configured in the vehicle in the present application. The electric braking function can be understood as a function of controlling vehicle braking based on the above-mentioned electric braking system. When this function is activated, it can replace the traditional braking system to achieve vehicle deceleration and parking. The activation conditions of the electric braking function can include one or more conditions.

[0056] Among them, the motor under the electric braking function is the same motor as the motor during normal driving of the vehicle. It can be understood that the electric braking function and the vehicle driving function are two working modes of the motor. The motor can switch to the electric braking function mode, or exit the electric braking function mode and switch to the vehicle driving function mode based on the preset activation conditions and return conditions of the electric braking function.

[0057] The electric brake initial torque may be understood as the motor torque initially determined for braking the vehicle when the electric brake function of the vehicle is activated.

[0058] In an optional embodiment, during vehicle driving, the vehicle controller can obtain multiple status information of the vehicle in real time or periodically, and determine whether the activation conditions of the electric braking function are met based on one or more of the multiple status information. If it is determined that the activation conditions are met, the aforementioned electric braking function can be activated, and the initial torque of the electric braking and the current deceleration intention information can be determined.

[0059] For example, during the driving process of the vehicle, the vehicle controller can obtain multiple status information of the vehicle in real time, and match the multiple status information with the activation conditions of the electric brake function to determine whether the activation conditions of the electric brake function are met. When the vehicle controller determines that the activation conditions of the electric brake function are met, it can activate the electric brake function and determine the initial torque of the electric brake.

[0060] Optionally, the vehicle controller determines the initial electric braking torque by looking up a table based on the vehicle's current ground speed and the slope of the road on which the vehicle is located, or by inputting the vehicle's current ground speed and the slope of the road on which the vehicle is located into a pre-built electric braking initial torque determination model to obtain the electric braking initial torque, etc., which is not limited here. Among them, the above-mentioned table includes a correspondence between multiple vehicle speed slope combinations and multiple electric braking initial torques. Optionally, the table can be a table preset in the vehicle controller, or a table preset in a database and readable by the vehicle controller, etc., which is not limited here.

[0061] S202. Determine current driving intention information based on driving operation information for the vehicle; the driving intention information is acceleration intention information or deceleration intention information.

[0062] The driving operation information may refer to the operation information input by the driver on a certain control in the vehicle, for example, the driver's key operation on a certain button in the vehicle; the driving operation information may also refer to the driver's stepping operation on a certain pedal in the vehicle cabin, for example, the driver's stepping operation on the accelerator pedal; the driving operation information may also refer to the driver's rotation operation on a certain component / button in the vehicle cabin, for example, the driver's rotation operation on the steering wheel, etc. Optionally, the driving operation information may be detected by the vehicle controller in real time or periodically.

[0063] Among them, the driving intention information represents the driver's current driving intention for accelerating or decelerating the vehicle. Acceleration intention information can be understood as information that the driver currently wants to control the vehicle to increase the driving speed; deceleration intention information can be understood as information that the driver currently wants to control the vehicle to reduce the driving speed. Driving intention information (acceleration intention information and deceleration intention information) can be obtained by obtaining and analyzing the driver's operating behavior on the vehicle. For example, if it is obtained that the driver continuously operates the accelerator pedal, it can be obtained that he has an acceleration intention. If it is obtained that the driver continuously operates the brake pedal, it can be obtained that he has a deceleration intention.

[0064] In addition, multiple different levels may be predefined for acceleration intention information or deceleration intention information. For example, deceleration intention information may include mild deceleration intention information, moderate deceleration intention information, and severe deceleration intention information. Correspondingly, severe deceleration intention information reflects that the driver wants to decelerate in a shorter time or at a greater deceleration rate relative to moderate deceleration intention information, and moderate deceleration intention information reflects that the driver wants to decelerate in a shorter time or at a greater deceleration rate relative to mild deceleration intention information. Acceleration intention information may include mild acceleration intention information, moderate acceleration intention information, and severe acceleration intention information. Correspondingly, severe acceleration intention information reflects that the driver wants to accelerate in a shorter time or at a greater acceleration rate relative to moderate acceleration intention information, and moderate acceleration intention information reflects that the driver wants to accelerate in a shorter time or at a greater acceleration rate relative to mild acceleration intention information.

[0065] Optionally, the vehicle controller determines the current driving intention information based on the driving operation information for the vehicle, and can determine the current driving intention information by searching a correspondence table based on the driving operation information, wherein the correspondence table includes a correspondence table between multiple driving operation information and multiple driving intention information. The correspondence table can be a table preset in the vehicle controller, or a table preset in a database and readable by the vehicle controller, which is not limited here.

[0066] Exemplarily, assuming that in the correspondence table, the driving operation information is that the pressing duration for a certain button (a button used to activate the electric braking function) is in the range of 1s to 2s, and / or the driving intention information corresponding to the number of key presses is less than or equal to 2 times is deceleration intention information, then when the vehicle controller detects that the pressing duration for the button is 1s, and / or the number of key presses is 2, it determines that the current driving intention information is deceleration intention information based on the correspondence table.

[0067] S203 . Based on the correction strategy corresponding to the driving intention information, correct the electric brake initial torque to obtain the electric brake target torque; different driving intention information corresponds to different correction strategies.

[0068] Among them, different driving intention information corresponds to different correction strategies. That is to say, when the driving intention information is different, the correction strategy determined by the vehicle controller may also be different.

[0069] For example, when the driving intention information is deceleration intention information, the correction strategy determined by the vehicle controller based on the deceleration intention information may be correction strategy 1. When the driving intention information is acceleration intention information, the correction strategy determined by the vehicle controller based on the acceleration intention information may be correction strategy 2. For another example, when the driving intention information is deceleration intention information, if it corresponds to different levels of deceleration intention, the deceleration correction strategy may also be different; when the driving intention information is acceleration intention information, if it corresponds to different levels of acceleration intention, the correction strategy may also be different.

[0070] S204: Adjust the motor output torque of the vehicle according to the electric braking target torque to control vehicle braking.

[0071] In an optional embodiment, the vehicle controller may control the motor controller in the vehicle to adjust the motor output torque to gradually switch to the electric braking target torque to control vehicle braking.

[0072] In an embodiment of the present application, a vehicle controller in a vehicle can determine the initial electric braking torque when the electric braking function of the vehicle is activated; determine the current driving intention information based on driving operation information for the vehicle; the driving intention information is acceleration intention information or deceleration intention information; based on a correction strategy corresponding to the driving intention information, the electric braking initial torque is corrected to obtain an electric braking target torque; different driving intention information corresponds to different correction strategies; and the vehicle's motor output torque is adjusted according to the electric braking target torque to control vehicle braking. By adopting this method, when the electric braking function of the vehicle is activated, the electric braking initial torque and the driving intention information can be determined, and the electric braking initial torque can be corrected based on the correction strategy corresponding to the driving intention information to obtain the electric braking target torque. Then, the vehicle's motor output torque can be adjusted according to the electric braking target torque. In this way, during the electric braking process, the current acceleration intention information or deceleration intention information can be determined based on the actual driving situation (such as operation information of intention to accelerate or operation information of intention to decelerate). Then, based on the correction strategy corresponding to the current acceleration intention information or deceleration intention information, the electric braking initial torque can be corrected, so that the corrected electric braking target torque can be more in line with the actual braking demand, that is, the accuracy of the electric braking target torque is higher, thereby improving the safety of the vehicle's electric braking process during the electric braking process.

[0073] In an optional embodiment, Figure 2 In the vehicle braking control method shown, the vehicle controller determines the current driving intention information based on the driving operation information for the vehicle, which may include: obtaining driving operation information, the driving operation information including at least one of the following information: the key pressing duration for the target control, the number of key pressings within a first preset time period, the throttle opening of the throttle pedal of the vehicle, and the number of stepping on the throttle pedal within a second preset time period; wherein the target control is a control in the vehicle for activating the electric braking function; determining the current deceleration intention information based on the key pressing duration and / or the number of key pressings for the target control, and determining the current acceleration intention information based on the throttle opening and / or the number of stepping on the throttle pedal.

[0074] The target control may be a physical button or a virtual button inside the vehicle, and the association between the target button and the electric brake function is predefined. The target button may be a dedicated button for activating or deactivating the electric brake function, or may be a button that realizes other functions and is configured to activate or deactivate the electric brake function under specific operating conditions.

[0075] That is, when the vehicle controller determines the current driving intention information based on the driving operation information for the vehicle, it may include but is not limited to the following situations:

[0076] Scenario 1: When the driving operation information includes the duration of pressing a key for a target control, the vehicle controller may determine the current deceleration intention information based on the duration of pressing the key for the target control.

[0077] Scenario 2: When the driving operation information includes the number of key presses on the target control within the first preset time period, the vehicle controller can determine the current deceleration intention information based on the number of key presses.

[0078] Scenario three: when the driving operation information includes the duration of pressing a key on a target control and the number of times the key is pressed on the target control within a first preset time period, the vehicle controller can determine the current deceleration intention information based on the duration of pressing the key and the number of times the key is pressed.

[0079] Scenario 4: When the driving operation information includes the accelerator opening of the accelerator pedal of the vehicle, the vehicle controller can determine the current acceleration intention information based on the accelerator opening.

[0080] Scenario 5: When the driving operation information includes the number of times the accelerator pedal of the vehicle is depressed within the second preset time period, the vehicle controller can determine the current acceleration intention information based on the number of times the accelerator pedal is depressed.

[0081] Scenario 6: When the driving operation information includes the throttle opening of the vehicle's accelerator pedal and the accelerator pedal of the vehicle within a second preset time period, the vehicle controller can determine the current acceleration intention information based on the throttle opening and the number of times the accelerator pedal is depressed.

[0082] By adopting this implementation mode, the vehicle controller can determine different driving intention information (including deceleration intention information and acceleration intention information) based on different driving operation information. In this way, the determined driving intention information is more in line with the actual driving situation, which is beneficial to the subsequent correction of the electric braking initial torque based on the correction strategy corresponding to the driving intention information to obtain the electric braking target torque. This improves the accuracy of the electric braking target torque, and further, helps to improve the safety of the vehicle's electric braking process during the electric braking process.

[0083] In an optional embodiment, Figure 2 In the vehicle braking control method shown, the vehicle controller corrects the electric braking initial torque based on the correction strategy corresponding to the driving intention information to obtain the electric braking target torque, which may include: when the driving intention information is deceleration intention information, correcting the electric braking initial torque based on the deceleration correction strategy to obtain the electric braking target torque; when the driving intention information is acceleration intention information, correcting the electric braking initial torque based on the acceleration correction strategy to obtain the electric braking target torque; wherein the electric braking target torque obtained based on the deceleration correction strategy is greater than the electric braking target torque obtained based on the acceleration correction strategy.

[0084] In some embodiments, when the driving intention information is deceleration intention information, the vehicle controller corrects the electric brake initial torque based on the deceleration correction strategy to obtain the electric brake target torque, which may include: when the deceleration intention information belongs to the preset mild deceleration intention information, the electric brake initial torque is corrected based on the first ratio to obtain the electric brake target torque; the first ratio is less than 1 and greater than 0; when the deceleration intention information belongs to the preset moderate deceleration intention information, the electric brake initial torque is used as the electric brake target torque; when the deceleration intention information belongs to the preset severe deceleration intention information, the available maximum recovery torque of the vehicle's motor is used as the electric brake target torque. Wherein, the first ratio is, for example, 80%.

[0085] Optionally, the vehicle controller may determine that the deceleration intention information belongs to the preset mild deceleration intention information when the following conditions are met: the key press duration for the target control key is greater than the first preset duration and less than or equal to the second preset duration, and / or the number of key presses for the target control key within the first preset time period is less than or equal to the first preset key press threshold. The relevant description of the target control can be found in the description above and will not be repeated here.

[0086] For example, assuming that the first preset duration is 1s, the second preset duration is 2s, and assuming that the vehicle controller obtains a key press duration of 1.5s for the target control, in this case, the vehicle controller can determine that the key press duration of 1.5s for the target control is greater than the first preset duration of 1s and less than the second preset duration of 2s. At this time, the vehicle controller can determine that the deceleration intention information belongs to the preset mild deceleration intention information. For another example, assuming that the duration of the first preset time period is 1s, the first preset key press threshold is 2 times, and assuming that the vehicle controller obtains a key press count of 2 times for the target control within 1s, in this case, the vehicle controller can determine that the key press count of 2 times for the target control within 1s is equal to the first preset key press threshold of 2 times. At this time, the vehicle controller can determine that the deceleration intention information belongs to the preset mild deceleration intention information. For another example, assuming that the first preset duration is 1s, the second preset duration is 2s, the duration of the first preset time period is 1s, the first preset key press threshold is 2 times, and assuming that the vehicle controller obtains that the key press duration for the target control is 1.5s, and the number of key presses for the target control within 1s is 2 times, in this case, the vehicle controller can determine that the key press duration for the target control of 1.5s is greater than the first preset duration of 1s and less than the second preset duration of 2s, and the number of key presses for the target control within 1s is 2 times equal to the first preset key press threshold of 2 times. At this time, the vehicle controller can determine that the deceleration intention information belongs to the preset mild deceleration intention information.

[0087] Optionally, the vehicle controller may determine that the deceleration intention information belongs to the preset moderate deceleration intention information if the following conditions are met: the pressing time for the target control key is greater than the second preset time and less than or equal to the third preset time, and / or the number of pressing times for the target control key within the first preset time period is greater than the first preset number of pressing threshold and less than or equal to the second preset number of pressing threshold.

[0088] For example, assuming that the second preset duration is 2s, the third preset duration is 3s, and assuming that the vehicle controller obtains a key press duration of 2.2s for the target control, in this case, the vehicle controller can determine that the key press duration of 2.2s for the target control is greater than the second preset duration of 2s and less than the third preset duration of 3s. At this time, the vehicle controller can determine that the deceleration intention information belongs to the preset moderate deceleration intention information. For another example, assuming that the duration of the first preset time period is 1s, the first preset key press threshold is 2 times, the second preset key press threshold is 3 times, and assuming that the vehicle controller obtains a key press duration of 3 times for the target control within 1s, in this case, the vehicle controller can determine that the key press duration of 3 times for the target control within 1s is equal to the second preset key press threshold of 3 times. At this time, the vehicle controller can determine that the deceleration intention information belongs to the preset moderate deceleration intention information. For another example, assuming that the second preset duration is 2s, the third preset duration is 3s, the duration of the first preset time period is 1s, the first preset key press threshold is 2 times, the second preset key press threshold is 3 times, and assuming that the vehicle controller obtains that the key press duration for the target control is 2.2s, and the number of key presses for the target control within 1s is 3 times, in this case, the vehicle controller can determine that the key press duration for the target control of 2.2s is greater than the second preset duration of 2s and less than the third preset duration of 3s, and the number of key presses for the target control within 1s is 3 times equal to the second preset key press threshold of 3 times. At this time, the vehicle controller can determine that the deceleration intention information belongs to the preset moderate deceleration intention information.

[0089] Optionally, the vehicle controller may determine that the deceleration intention information belongs to preset severe deceleration intention information if the following conditions are met: the pressing time for the target control key is greater than a third preset time, and / or the number of pressing times for the target control key within the first preset time period is greater than a second preset number of pressing times threshold.

[0090] For example, assuming that the third preset duration is 3s, and assuming that the vehicle controller obtains a key press duration of 4s for the target control, in this case, the vehicle controller can determine that the key press duration of 4s for the target control is greater than the third preset duration of 3s. At this time, the vehicle controller can determine that the deceleration intention information belongs to the preset severe deceleration intention information. For another example, assuming that the duration of the first preset time period is 1s, the second preset key press threshold is 3 times, and assuming that the vehicle controller obtains a key press count of 4 times for the target control within 1s, in this case, the vehicle controller can determine that the key press count of 4 times for the target control within 1s is greater than the second preset key press threshold of 3 times. At this time, the vehicle controller can determine that the deceleration intention information belongs to the preset severe deceleration intention information. For another example, assuming that the third preset duration is 3s, the duration of the first preset time period is 1s, the second preset key press threshold is 3 times, and assuming that the vehicle controller obtains that the key press duration for the target control is 4s, and the number of key presses for the target control within 1s is 4 times, in this case, the vehicle controller can determine that the key press duration for the target control of 4s is greater than the third preset duration of 3s, and the number of key presses for the target control of 3 times within 1s is greater than the second preset key press threshold of 3 times. At this time, the vehicle controller can determine that the deceleration intention information belongs to the preset heavy deceleration intention information.

[0091] In some embodiments, when the driving intention information is acceleration intention information, the vehicle controller corrects the electric brake initial torque based on the acceleration correction strategy to obtain the electric brake target torque, which may include: when the acceleration intention information belongs to the preset mild acceleration intention information, correcting the electric brake initial torque based on the second ratio to obtain the electric brake target torque; the second ratio is less than the first ratio and greater than 0; when the acceleration intention information belongs to the preset moderate acceleration intention information or heavy acceleration intention information, attenuating the electric brake initial torque to 0 to obtain the electric brake target torque. Wherein, the second ratio is, for example, 50%.

[0092] Optionally, the vehicle controller may determine that the acceleration intention information belongs to preset mild acceleration intention information if the following conditions are met: the throttle opening is less than or equal to a first preset opening threshold, and / or the number of throttle depressions within a second preset time period is less than or equal to a first preset depression number threshold.

[0093] For example, assuming that the first preset opening threshold is 20%, and assuming that the vehicle controller obtains that the throttle opening is 18%, in this case, the vehicle controller can determine that the throttle opening of 18% is less than the first preset opening threshold, at this time, the vehicle controller can determine that the acceleration intention information belongs to the preset mild acceleration intention information. For another example, assuming that the second preset time period is 10s, the first preset stepping threshold is 2 times, and assuming that the vehicle controller obtains that the number of throttle steppings within 10s is 1 time, in this case, the vehicle controller can determine that the number of throttle steppings within 10s is 1 time, which is less than the first preset stepping threshold of 2 times, at this time, the vehicle controller can determine that the acceleration intention information belongs to the preset mild acceleration intention information. For another example, assuming that the first preset opening threshold is 20%, the duration of the second preset time period is 10s, the first preset stepping count threshold is 2 times, and assuming that the vehicle controller obtains that the throttle opening is 18%, and the number of throttle presses within 10s is 1 time, in this case, the vehicle controller can determine that the throttle opening of 18% is less than the first preset opening threshold, and the number of throttle presses within 10s is 1 time, which is less than the first preset stepping count threshold of 2 times. At this time, the vehicle controller can determine that the acceleration intention information belongs to the preset mild acceleration intention information.

[0094] Optionally, the vehicle controller may determine that the acceleration intention information belongs to the preset moderate acceleration intention information when the following conditions are met: the throttle opening is greater than the first preset opening threshold and is less than or equal to the second preset opening threshold, and / or the number of accelerator pedal presses within the second preset time period is greater than the first preset pedal press count threshold and is less than or equal to the second preset pedal press count threshold.

[0095] For example, assuming that the first preset opening threshold is 20%, the second preset opening threshold is 80%, and the vehicle controller obtains that the throttle opening is 50%, in this case, the vehicle controller can determine that the throttle opening of 50% is greater than the first preset opening threshold of 20%, and less than the second preset opening threshold of 80%. At this time, the vehicle controller can determine that the acceleration intention information belongs to the preset moderate acceleration intention information. For another example, assuming that the second preset time period is 10s, the first preset stepping threshold is 2 times, the second stepping threshold is 3 times, and assuming that the vehicle controller obtains that the number of throttle steppings within 10s is 3 times, in this case, the vehicle controller can determine that the number of throttle steppings within 10s is 3 times, which is greater than the first preset stepping threshold of 2 times and less than or equal to the second preset stepping threshold of 3 times. At this time, the vehicle controller can determine that the acceleration intention information belongs to the preset moderate acceleration intention information. For another example, assuming that the first preset opening threshold is 20%, the second preset opening threshold is 80%, the duration of the second preset time period is 10s, the first preset stepping count threshold is 2 times, the second stepping count threshold is 3 times, and assuming that the vehicle controller obtains that the throttle opening is 50%, and the number of throttle presses within 10s is 3 times, in this case, the vehicle controller can determine that the throttle opening of 50% is greater than the first preset opening threshold of 20%, and less than the second preset opening threshold of 80%, and the number of throttle presses within 10s is 3 times, which is greater than the first preset stepping count threshold of 2 times and less than or equal to the second preset stepping count threshold of 3 times. At this time, the vehicle controller can determine that the acceleration intention information belongs to the preset moderate acceleration intention information.

[0096] Optionally, the vehicle controller may determine that the acceleration intention information belongs to preset heavy acceleration intention information when the following conditions are met: the throttle opening is greater than a second preset opening threshold, and / or the number of throttle depressions within a second preset time period is greater than a second preset number of depressions threshold.

[0097] For example, assuming that the second preset opening threshold is 80%, and assuming that the vehicle controller obtains that the throttle opening is 90%, in this case, the vehicle controller can determine that the throttle opening of 90% is greater than the second preset opening threshold of 80%. At this time, the vehicle controller can determine that the acceleration intention information belongs to the preset heavy acceleration intention information. For another example, assuming that the second preset time period is 10s, the second step-down threshold is 3 times, and assuming that the vehicle controller obtains that the number of throttle step-downs within 10s is 4 times, in this case, the vehicle controller can determine that the number of throttle step-downs within 10s is 4 times, which is greater than the second preset step-down threshold of 3 times. At this time, the vehicle controller can determine that the acceleration intention information belongs to the preset heavy acceleration intention information. For another example, assuming that the second preset opening threshold is 80%, the duration of the second preset time period is 10s, the second step-on count threshold is 3 times, and assuming that the vehicle controller obtains the throttle opening as 90%, and the number of throttle presses within 10s is 4 times, in this case, the vehicle controller can determine that the throttle opening of 90% is greater than the second preset opening threshold of 80%, and the number of throttle presses within 10s is 4 times, which is greater than the second preset step-on count threshold of 3 times. At this time, the vehicle controller can determine that the acceleration intention information belongs to the preset heavy acceleration intention information.

[0098] By adopting this implementation mode, the vehicle controller can determine different correction strategies based on different driving intention information, and correct the electric braking initial torque based on the determined correction strategies, so that the corrected electric braking target torque can be more in line with the actual braking requirements, that is, the accuracy of the electric braking target torque is higher, and thus, the safety of the vehicle's electric braking process can be improved during the electric braking process.

[0099] In an optional embodiment, Figure 2 In the vehicle braking control method shown, the vehicle controller determines the initial electric braking torque when the electric braking function of the vehicle is activated, which may include: when the electric braking function of the vehicle is activated, determining the initial electric braking torque based on the vehicle's current ground speed and the slope of the road on which the vehicle is located.

[0100] In some embodiments, the slope is determined by the vehicle controller in the following manner: when the electric braking function is activated, the longitudinal acceleration collected by the vehicle's sensor is obtained, and based on the vehicle's current ground speed, the actual acceleration of the vehicle is derived; the difference between the longitudinal acceleration and the actual acceleration is determined; based on the difference, the slope of the road surface on which the vehicle is located is determined by looking up a table.

[0101] The accuracy of the sensor's measurement of longitudinal acceleration may be related to its posture. For example, when the vehicle is on a slope, the sensor installed on the vehicle may be in a non-horizontal state, and the longitudinal acceleration measured by the sensor may not be accurate enough. Therefore, there may be a certain deviation between the longitudinal acceleration and the actual acceleration calculated based on the vehicle's ground speed. Therefore, based on the difference between the two, the current slope of the vehicle can be reversely inferred.

[0102] Optionally, the vehicle controller may pre-establish a correspondence table (referred to as a first correspondence table) based on multiple sets of difference data (differences between longitudinal acceleration and actual acceleration) and slope input by the user, and the fifth correspondence table includes correspondences between multiple sets of difference data and slopes. Exemplarily, the first correspondence table may be shown in Table 1 below.

[0103] Table 1 The first correspondence table

[0104]

[0105] Among them, a positive slope indicates an uphill slope, and a negative slope indicates a downhill slope. It can be seen from Table 1 above that the greater the absolute value of the difference between the longitudinal acceleration and the actual acceleration, the greater the current road slope; the smaller the absolute value of the difference between the longitudinal acceleration and the actual acceleration, the smaller the current road slope. By looking up the table, the current road slope of the vehicle can be determined simply and efficiently.

[0106] Optionally, since both the longitudinal acceleration and the actual acceleration can be detected or calculated in real time, the vehicle controller can determine the corresponding slope in real time based on the latest determined longitudinal acceleration and actual acceleration, and use the latest determined slope to update the previously determined slope to ensure that the recorded slope better matches the actual situation.

[0107] In some embodiments, when the electric braking function of the vehicle is activated, the vehicle controller determines the initial electric braking torque based on the vehicle's current speed relative to the ground and the slope of the road on which the vehicle is located. The initial electric braking torque can be obtained by looking up a table based on the vehicle's current speed relative to the ground and the slope of the road on which the vehicle is located.

[0108] Optionally, the vehicle controller may pre-establish a correspondence table (referred to as a second correspondence table) based on the vehicle speed and slope input by the user, wherein the second correspondence table includes a plurality of correspondences between the vehicle speed and slope. Exemplarily, the second correspondence table may be as shown in Table 2 below.

[0109] Table 2 Second correspondence table

[0110]

[0111] Among them, a positive slope indicates an uphill slope, and a negative slope indicates a downhill slope. As can be seen from Table 2, when the vehicle is in the deceleration stage (the ground speed is not 0), since the vehicle has less resistance when traveling downhill than when traveling uphill, if the ground speed remains unchanged, the greater the absolute value of the electric brake initial torque required for the vehicle to travel downhill relative to that of traveling uphill; when the vehicle is stationary (i.e., the ground speed is 0), the greater the slope, the greater the absolute value of the required electric brake initial torque. By looking up the table, the electric brake initial torque corresponding to the activation of the vehicle's electric brake function can be determined simply and efficiently.

[0112] By adopting this implementation mode, when the electric braking function of the vehicle is activated, the vehicle controller can simply and efficiently determine the initial torque of the electric braking based on the vehicle's current ground speed and the slope of the road on which the vehicle is located by looking up a table, thereby facilitating the subsequent determination of the electric braking target torque. The vehicle braking can then be quickly controlled, thereby increasing the rate of the vehicle's electric braking process.

[0113] In an optional embodiment, Figure 2 In the vehicle braking control method shown, the vehicle controller can also activate the electric braking function when at least one of the following conditions is met:

[0114] (1) A first condition that the duration of pressing a target control of the vehicle is greater than a preset duration threshold;

[0115] (2) A second condition that the number of key presses on the target control within a preset time period is greater than a preset key press threshold;

[0116] The target control may be a physical button or a virtual button inside the vehicle, and the association between the target button and the electric brake function is predefined. The target button may be a dedicated button for activating or deactivating the electric brake function, or may be a button that realizes other functions and is configured to activate or deactivate the electric brake function under specific operating conditions.

[0117] That is to say, the vehicle controller can activate the electric braking function when at least one of the first condition and the second condition is met.

[0118] For example, assuming that the preset duration threshold corresponding to the target control is 1s, and the driver presses the target control for 2s, the vehicle controller can determine that the pressing duration of 2s for the target control exceeds the preset duration threshold of 1s. In this case, it can be determined that there is an intention to decelerate. At this time, the vehicle controller can activate the electric braking function.

[0119] For another example, assuming that the duration of the preset time period is 1s, the preset key count threshold for the target control within 1s is 2 times, and the driver presses the target control 3 times within 1s, the vehicle controller can determine that the number of key presses for the target control 3 times within 1s is greater than the preset key count threshold of 2 times. In this case, it can be determined that there is an intention to decelerate, and the vehicle controller can activate the electric braking function.

[0120] Optionally, the vehicle controller may also exit the electric braking function when it is determined that the following conditions are met: the accelerator pedal opening is greater than a preset proportional value.

[0121] For example, assuming that the accelerator opening is 30% and the preset ratio value is 20%, the vehicle controller can determine that the accelerator opening of 30% is greater than the preset ratio value of 20%. In this case, it can be determined that there is an acceleration intention. At this time, the vehicle controller can exit the electric braking function.

[0122] By adopting this implementation mode, the vehicle controller can determine under what circumstances to activate the electric braking function, so that when the triggering conditions for activating the electric braking function are detected, the electric braking function can be activated in time, which is conducive to timely control of vehicle braking.

[0123] Combine the following Figure 3 , the overall process of the vehicle braking control method provided by the embodiment of the present application is described. Figure 3 , Figure 3 FIG. 1 is a flow chart of another vehicle braking control method provided in an embodiment of the present application, which can be executed by a vehicle controller. Figure 3 As shown, the vehicle braking control method may include but is not limited to the following steps.

[0124] S301, monitor the motor speed, gear position, longitudinal acceleration, and throttle opening of the vehicle in real time.

[0125] S302: Calculate vehicle speed based on motor speed.

[0126] In an optional implementation, the vehicle controller may use the following formula when calculating the vehicle speed based on the motor speed.

[0127]

[0128] In the above formula, V represents the vehicle speed (unit: km / h); n represents the motor speed; r represents the tire radius (unit: meter); i represents the speed ratio; and μ is the conversion coefficient from speed to vehicle speed.

[0129] Based on the vehicle speed and the current driving direction of the vehicle, the ground speed can be obtained. The driving direction can be forward or reverse; the forward direction is the direction the front of the vehicle is facing. In some possible embodiments, the driving direction of the vehicle can be determined by the positive and negative of the motor speed, that is, forward and reverse. For example, a positive motor speed can correspond to a forward driving direction, and a negative motor speed can correspond to a reverse driving direction. For example, V Direction Indicates the vehicle's driving direction. When the motor speed is less than -50rpm, the driving direction is reverse, then V Direction Equal to -1, when the motor speed is greater than 50rpm, the driving direction is forward, V Direction Equal to 1. Of course, the motor speed threshold here can also take other values. In order to ensure the accuracy of the judgment, the threshold is generally not close to 0.

[0130] S303: Based on the button status and the throttle opening, determine the activation flag of the electric brake function.

[0131] Exemplarily, the vehicle controller may also activate the electric braking function when at least one of the following conditions is met: (1) the duration of pressing the key for the target control exceeds a preset duration threshold of 1 second; (2) the number of key presses for the target control within a preset time period (1 second) exceeds a preset key press threshold of 2.

[0132] Exemplarily, the vehicle controller may also exit the electric braking function when the following conditions are met: the accelerator opening is greater than 80%.

[0133] S304: Determine the slope of the road on which the vehicle is located based on the longitudinal acceleration and the vehicle speed relative to the ground.

[0134] In an optional embodiment, the vehicle controller calculates the slope based on the longitudinal acceleration and the vehicle speed relative to the ground, which may include: taking the derivative of the vehicle speed relative to the ground to obtain the actual acceleration of the vehicle; determining the difference between the longitudinal acceleration and the actual acceleration; and determining the slope of the road surface on which the vehicle is located by looking up a table based on the difference.

[0135] Optionally, the specific description of this implementation mode can be found in the above description of the method for determining the slope, which will not be repeated here.

[0136] S305. Distinguish deceleration intention information based on the electric brake function activation flag, the key press duration, and the number of key presses within a preset time period.

[0137] Exemplarily, when the electric brake function flag is activated, the vehicle controller can classify the deceleration intention information into mild deceleration intention information, moderate deceleration intention information and severe deceleration intention information based on the key press duration and the number of key presses within a preset time period.

[0138] For example, assuming that the key pressing time is greater than 1s and less than or equal to 2s, and / or the number of key pressing times within the preset time period is less than or equal to the set threshold of 2 times, the vehicle controller can determine that the deceleration intention information is mild deceleration intention information; assuming that the key pressing time is greater than 2s and less than or equal to 3s, and / or the number of key pressing times within the preset time period is greater than 2 times and less than or equal to 3 times, the vehicle controller can determine that the deceleration intention information is moderate deceleration intention information; assuming that the key pressing time is greater than 3 times, and / or the number of key pressing times within the preset time period is greater than 3 times, the vehicle controller can determine that the deceleration intention information is severe deceleration intention information.

[0139] S306: Distinguish acceleration intention information based on the electric brake function activation flag, the throttle opening, and the number of times the throttle is depressed.

[0140] Exemplarily, when the electric brake function flag is activated, the vehicle controller can classify the acceleration intention information into mild acceleration intention information, moderate acceleration intention information and severe acceleration intention information based on the throttle opening and the number of times the throttle is depressed within a preset time period.

[0141] For example, assuming that the throttle opening is less than or equal to 20%, and / or the number of times the accelerator is depressed within a preset time period is less than or equal to 2 times, the vehicle controller can determine that the acceleration intention information is mild acceleration intention information; assuming that the throttle opening is greater than 20% and less than or equal to 80%, and / or the number of times the accelerator is depressed within a preset time period is greater than 2 times and less than or equal to 3 times, the vehicle controller can determine that the acceleration intention information is moderate acceleration intention information; assuming that the throttle opening is greater than 80%, and / or the number of times the accelerator is depressed within a preset time period is greater than 3 times, the vehicle controller can determine that the acceleration intention information is severe acceleration intention information.

[0142] In an optional implementation, the vehicle controller may execute step S305 first and then execute step S306, or may execute step S306 first and then execute step S305, which is not limited here.

[0143] S307: Determine the electric braking target torque based on the electric braking function flag, driving intention information, vehicle speed over the ground, slope, and maximum regenerative torque available from the motor.

[0144] Exemplarily, the vehicle controller determines the electric braking target torque based on the electric braking function flag, the driving intention information determined in the above steps S305 and S306, the vehicle speed relative to the ground, the slope, and the maximum recovery torque available from the motor, which may include: when it is determined that the electric braking function flag is activated, using the vehicle speed relative to the ground as the horizontal coordinate and the slope as the vertical coordinate, and looking up a table (such as Table 2 above) to determine the electric braking initial torque; based on different driving intention information, correcting the electric braking initial torque to obtain the electric braking target torque.

[0145] Among them, the vehicle controller corrects the electric braking initial torque based on different driving intention information to obtain the electric braking target torque, for example: when the driving intention information belongs to light deceleration intention information, comfort is given priority, and the electric braking target torque can be set to 80% of the electric braking initial torque; when the driving intention information belongs to moderate deceleration intention information, taking into account both comfort and power, the electric braking initial torque can be used as the electric braking target torque; when the driving intention information belongs to severe deceleration intention information, power is given priority, and the maximum available recovery torque of the motor can be used as the electric braking target torque; when the driving intention information belongs to light acceleration intention information, comfort is given priority, and the electric braking target torque can be attenuated to 50% of the electric braking initial torque; when the driving intention information belongs to moderate acceleration intention information or severe acceleration intention information, the electric braking target torque can be attenuated to 0.

[0146] S308: Adjust the motor output torque of the vehicle according to the electric braking target torque to control vehicle braking.

[0147] In an embodiment of the present application, the vehicle controller can determine the activation flag of the electric braking function based on the button status and the throttle opening; when it is determined that the electric braking function flag is activated, determine the type of driving intention information (deceleration intention information and acceleration intention information) and the intention degree corresponding to the driving intention information; then, based on the correction strategies corresponding to different driving intention information of different degrees, correct the electric braking initial torque to obtain the electric braking target torque; finally, adjust the vehicle's electric braking output torque based on the electric braking target torque to control vehicle braking, so that the corrected electric braking target torque can be more in line with the actual braking requirements, that is, the accuracy of the electric braking target torque is higher, and thus, during the electric braking process, the safety of the vehicle's electric braking process can be improved.

[0148] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0149] Based on the same inventive concept, the embodiment of the present application also provides a vehicle brake control device for implementing the vehicle brake control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more vehicle brake control device embodiments provided below can refer to the limitations of the vehicle brake control method above, and will not be repeated here.

[0150] See also Figure 4 , Figure 4 Schematic diagram of the structure of a vehicle braking control device provided in an embodiment of the present application. Figure 4 As shown, the vehicle brake control device may include but is not limited to:

[0151] A determination module 401 is used to determine an electric brake initial torque when an electric brake function of the vehicle is activated;

[0152] The determination module 401 is further used to determine current driving intention information based on the driving operation information for the vehicle; the driving intention information is acceleration intention information or deceleration intention information;

[0153] A correction module 402 is used to correct the electric brake initial torque based on the correction strategy corresponding to the driving intention information to obtain the electric brake target torque; different driving intention information corresponds to different correction strategies;

[0154] The torque adjustment module 403 is used to adjust the motor output torque of the vehicle according to the electric braking target torque to control the braking of the vehicle.

[0155] In one embodiment, the correction module 402 is used to correct the electric braking initial torque based on the correction strategy corresponding to the driving intention information to obtain the electric braking target torque. It is specifically used to: when the driving intention information is deceleration intention information, correct the electric braking initial torque based on the deceleration correction strategy to obtain the electric braking target torque; when the driving intention information is acceleration intention information, correct the electric braking initial torque based on the acceleration correction strategy to obtain the electric braking target torque; wherein the electric braking target torque obtained based on the deceleration correction strategy is greater than the electric braking target torque obtained based on the acceleration correction strategy.

[0156] In one embodiment, the correction module 402 is used to correct the electric braking initial torque based on the deceleration correction strategy to obtain the electric braking target torque when the driving intention information is deceleration intention information. Specifically, it is used to: when the deceleration intention information belongs to the preset mild deceleration intention information, correct the electric braking initial torque based on the first ratio to obtain the electric braking target torque; the first ratio is less than 1 and greater than 0; when the deceleration intention information belongs to the preset moderate deceleration intention information, use the electric braking initial torque as the electric braking target torque; when the deceleration intention information belongs to the preset severe deceleration intention information, use the maximum available recovery torque of the vehicle's motor as the electric braking target torque.

[0157] In one embodiment, the correction module 402 is used to correct the electric braking initial torque based on the acceleration correction strategy to obtain the electric braking target torque when the driving intention information is acceleration intention information. Specifically, it is used to: when the acceleration intention information belongs to the preset mild acceleration intention information, correct the electric braking initial torque based on the second ratio to obtain the electric braking target torque; the second ratio is less than the first ratio and greater than 0; when the acceleration intention information belongs to the preset moderate acceleration intention information or heavy acceleration intention information, attenuate the electric braking initial torque to 0 to obtain the electric braking target torque.

[0158] In one embodiment, when the determination module 401 is used to determine the current driving intention information based on the driving operation information for the vehicle, it is specifically used to: obtain driving operation information, the driving operation information including at least one of the following information: the key pressing duration for the target control, the number of key pressing times within a first preset time period, the throttle opening of the throttle pedal of the vehicle, and the number of stepping on the throttle pedal within a second preset time period; wherein the target control is a control in the vehicle for activating the electric braking function; determine the current deceleration intention information based on the key pressing duration and / or the number of key pressing times for the target control, and determine the current acceleration intention information based on the throttle opening and / or the number of stepping on the throttle pedal.

[0159] In one embodiment, when the determination module 401 is used to determine the initial electric braking torque when the electric braking function of the vehicle is activated, it is specifically used to: when the electric braking function of the vehicle is activated, determine the initial electric braking torque based on the vehicle's current ground speed and the slope of the road on which the vehicle is located.

[0160] In one embodiment, the determination module 401 is also used to: when the electric braking function is activated, obtain the longitudinal acceleration collected by the vehicle's sensor, and derive the actual acceleration of the vehicle based on the vehicle's ground speed; determine the difference between the longitudinal acceleration and the actual acceleration; and based on the difference, determine the slope of the road surface on which the vehicle is located by looking up a table.

[0161] In one embodiment, the device may also include an electric braking function management module, which is used to activate the electric braking function when at least one of the following conditions is met: a first condition that the key pressing duration for the target control of the vehicle is greater than a preset duration threshold; a second condition that the number of key pressings for the target control within a preset time period is greater than a preset number threshold.

[0162] Each module in the above-mentioned vehicle brake control device can be implemented in whole or in part by software, hardware or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a vehicle control device in the form of software, so that the processor can call and execute the corresponding operations of each of the above modules.

[0163] In an exemplary embodiment, a new energy vehicle is provided, and its internal structure diagram can be as follows: Figure 5 As shown. The new energy vehicle includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. Among them, the processor of the new energy vehicle is used to provide computing and control capabilities. The memory of the new energy vehicle includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the new energy vehicle is used to exchange information between the processor and the external device. The communication interface of the new energy vehicle is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a vehicle braking control method is realized. The display unit of the new energy vehicle is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the new energy vehicle can be a touch layer covered on the display screen, or it can be a button, trackball or touchpad set in the new energy vehicle.

[0164] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the scheme of the present application, and does not constitute a limitation on the new energy vehicle to which the scheme of the present application is applied. A specific new energy vehicle may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0165] In an exemplary embodiment, the present application provides a new energy vehicle, including a memory and a processor, wherein the memory stores a computer program; when the processor executes the computer program, the steps in the above-mentioned vehicle braking control methods are implemented.

[0166] In an exemplary embodiment, the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned vehicle braking control methods are implemented.

[0167] In an exemplary embodiment, the present application provides a computer program product, including a computer program. When the computer program is executed by a processor, the steps in the above-mentioned vehicle braking control methods are implemented.

[0168] It should be noted that the data involved in this application (including but not limited to electric braking initial torque, driving intention information, driving operation information, electric braking target torque, etc.) are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0169] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0170] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0171] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A vehicle braking control method, characterized in that: The method comprises: determining an electric brake initial torque when an electric brake function of the vehicle is activated; Determining current driving intention information based on driving operation information for the vehicle; the driving intention information is acceleration intention information or deceleration intention information; Based on the correction strategy corresponding to the driving intention information, the electric brake initial torque is corrected to obtain the electric brake target torque; different driving intention information corresponds to different correction strategies; The motor output torque of the vehicle is adjusted according to the electric brake target torque to control vehicle braking.

2. The method according to claim 1, characterized in that: The correction strategy corresponding to the driving intention information is used to correct the electric brake initial torque to obtain the electric brake target torque, including: In a case where the driving intention information is deceleration intention information, the electric brake initial torque is corrected based on a deceleration correction strategy to obtain an electric brake target torque; In the case where the driving intention information is acceleration intention information, the electric brake initial torque is corrected based on an acceleration correction strategy to obtain an electric brake target torque; The electric braking target torque obtained based on the deceleration correction strategy is greater than the electric braking target torque obtained based on the acceleration correction strategy.

3. The method according to claim 2, characterized in that When the driving intention information is deceleration intention information, the electric brake initial torque is corrected based on the deceleration correction strategy to obtain the electric brake target torque, including: In the case where the deceleration intention information belongs to the preset mild deceleration intention information, the electric brake initial torque is corrected based on a first ratio to obtain an electric brake target torque; the first ratio is less than 1 and greater than 0; When the deceleration intention information belongs to the preset moderate deceleration intention information, the electric brake initial torque is used as the electric brake target torque; In a case where the deceleration intention information belongs to preset severe deceleration intention information, the available maximum recovery torque of the motor of the vehicle is used as the electric braking target torque.

4. The method according to claim 3, characterized in that When the driving intention information is acceleration intention information, the electric brake initial torque is corrected based on the acceleration correction strategy to obtain the electric brake target torque, including: In the case where the acceleration intention information belongs to the preset mild acceleration intention information, the electric brake initial torque is corrected based on a second ratio to obtain the electric brake target torque; the second ratio is less than the first ratio and greater than 0; When the acceleration intention information belongs to preset moderate acceleration intention information or heavy acceleration intention information, the electric brake initial torque is decayed to 0 to obtain the electric brake target torque.

5. The method according to claim 1, characterized in that The determining of current driving intention information based on driving operation information for the vehicle includes: Acquire driving operation information, the driving operation information including at least one of the following information: a key press duration for a target control, a key press number within a first preset time period, a throttle opening for an accelerator pedal of the vehicle, and a number of presses within a second preset time period; wherein the target control is a control in the vehicle for activating the electric brake function; Based on the key pressing duration and / or the number of key pressing times for the target control, the current deceleration intention information is determined, and based on the throttle opening and / or the number of times the throttle pedal is depressed, the current acceleration intention information is determined.

6. The method according to claim 1, characterized in that When an electric brake function of the vehicle is activated, determining an electric brake initial torque comprises: When the electric brake function of the vehicle is activated, an electric brake initial torque is determined based on the current vehicle speed relative to the ground and the gradient of the road on which the vehicle is located.

7. The method according to any one of claims 1 to 6, characterized in that: Also includes: The electric braking function is activated when at least one of the following conditions is met: A first condition that the duration of pressing a key of a target control of the vehicle is greater than a preset duration threshold; A second condition is that the number of key presses on the target control within a preset time period is greater than a preset key press number threshold.

8. A vehicle brake control device, characterized in that: The device comprises: a determination module, configured to determine an electric brake initial torque when an electric brake function of the vehicle is activated; The determination module is further used to determine current driving intention information based on the driving operation information for the vehicle; the driving intention information is acceleration intention information or deceleration intention information; a correction module, configured to correct the electric brake initial torque based on a correction strategy corresponding to the driving intention information to obtain an electric brake target torque; different driving intention information corresponds to different correction strategies; The torque adjustment module is used to adjust the motor output torque of the vehicle according to the electric braking target torque to control vehicle braking.

9. A new energy vehicle, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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