Sliding recovery torque adjusting method, device and equipment, storage medium and vehicle

Abstract

The invention discloses a sliding recovery torque adjusting method and device, equipment, a storage medium and a vehicle. The method comprises the steps that braking parameters of the vehicle are obtained; according to a comparison result of the braking parameters of the vehicle and a preset execution condition, the braking state of the vehicle is judged; and in response to the fact that the braking state of the vehicle is converted from the non-emergency braking state to the emergency braking state, a control instruction is sent to the driving motor so as to instruct the driving motor to increase the sliding recovery torque to the target sliding recovery torque based on the control instruction. On the basis, on the premise that the hydraulic braking torque of the vehicle is consistent, the braking torque of the vehicle is increased, the braking distance of the vehicle is reduced, and the driving safety of the vehicle is improved by increasing the target sliding recovery torque of the vehicle.

Description

Technical Field

[0001] The present application belongs to the field of vehicle control technology, and in particular, relates to a coasting recovery torque adjustment method, device, equipment, storage medium and vehicle. Background Art

[0002] When a vehicle is performing emergency braking, in theory, the greater the braking torque, the shorter the braking distance, and the more it can protect the driver's driving safety.

[0003] With the development of vehicle technology and social needs, new energy vehicles are becoming more and more popular. Compared with ordinary fuel vehicles, the braking torque of new energy vehicles is not only the hydraulic braking torque, but also includes the gliding recovery torque output by the drive motor.

[0004] However, the coasting recovery torque is a calibrated value, which means that during each braking process of new energy vehicles, its coasting recovery torque will not affect the braking distance of the vehicle. Therefore, in theory, the braking method and braking effect of new energy vehicles are no different from those of conventional fuel vehicles, and the driving safety of the vehicle has not been improved. Summary of the invention

[0005] The embodiments of the present application provide a coasting recovery torque adjustment method, device, equipment, storage medium and vehicle, which improve the safety of vehicle driving.

[0006] According to a first aspect of the present application, a method for adjusting a coasting recovery torque is provided, the method comprising:

[0007] Obtain the braking parameters of the vehicle;

[0008] Determining the braking state of the vehicle according to the comparison result between the braking parameters of the vehicle and the preset execution conditions;

[0009] In response to the braking state of the vehicle changing from a non-emergency braking state to an emergency braking state, a control instruction is sent to the drive motor to instruct the drive motor to increase the coasting recovery torque to a target coasting recovery torque based on the control instruction.

[0010] Optionally, the braking duration of the brake pedal, the first brake pedal depth of the brake pedal at a first moment and the rate of change of the brake pedal depth, the first moment being the current moment;

[0011] According to the braking parameters of the vehicle, the braking state of the vehicle is judged, including:

[0012] When the braking duration is greater than the braking duration threshold, the first brake pedal depth is greater than the depth threshold, and the brake pedal depth change rate is greater than the change rate threshold, it is determined that the braking state of the vehicle is an emergency braking state.

[0013] Optionally, obtaining the brake pedal depth change rate includes:

[0014] Obtain a second brake pedal depth of the brake pedal at a second moment, the second moment being before the first moment;

[0015] Calculating the difference between the second brake pedal depth and the first brake pedal depth to obtain a brake pedal depth change value;

[0016] The ratio of the brake pedal depth change value to the time difference is calculated to obtain the brake pedal depth change rate, and the time difference is the difference between the first moment and the second moment.

[0017] Optionally, before sending a control instruction to the drive motor so that the drive motor increases the coasting recovery torque to the target coasting recovery torque based on the control instruction, the method further includes:

[0018] Obtain the actual road condition information of the vehicle;

[0019] The target coasting recovery torque matching the actual road condition information is determined from the corresponding relationship between the road condition information and the coasting recovery torque.

[0020] Optionally, before sending a control instruction to the drive motor so that the drive motor increases the coasting recovery torque to the target coasting recovery torque based on the control instruction, the method further includes:

[0021] Obtain the actual road condition information of the vehicle;

[0022] Determining a target coasting recovery torque increase gradient that matches the actual road condition information from a correspondence between the road condition information and the coasting recovery torque increase gradient;

[0023] Sending a control instruction to the drive motor so that the drive motor increases the coasting recovery torque to a target coasting recovery torque based on the control instruction, including:

[0024] A control instruction is sent to the driving motor, so that the driving motor increases the coasting recovery torque to the target coasting recovery torque according to the target coasting recovery torque increase gradient based on the control instruction.

[0025] Optionally, determining a target coasting recovery torque increase gradient that matches the actual road condition information from the correspondence between the road condition information and the coasting recovery torque increase gradient includes:

[0026] Determining an initial coasting recovery torque increase gradient that matches the actual road condition information from a correspondence between the road condition information and the coasting recovery torque increase gradient;

[0027] When the initial coasting recovery torque increase gradient is greater than the coasting recovery torque increase gradient threshold corresponding to the drive motor, determining the coasting recovery torque increase gradient threshold as the target coasting recovery torque increase gradient;

[0028] When the initial coasting recovery torque increase gradient is less than or equal to the coasting recovery torque increase gradient threshold corresponding to the driving motor, the initial coasting recovery torque increase gradient is determined as the target coasting recovery torque increase gradient.

[0029] According to a second aspect of the present application, a sliding recovery torque adjustment device is provided, comprising:

[0030] A first acquisition module, used to acquire braking parameters of the vehicle;

[0031] A judgment module, used to judge the braking state of the vehicle according to the comparison result of the braking parameters of the vehicle and the preset execution conditions;

[0032] The sending module is used to send a control instruction to the drive motor in response to the vehicle's braking state changing from a non-emergency braking state to an emergency braking state, so as to instruct the drive motor to increase the coasting recovery torque to a target coasting recovery torque based on the control instruction.

[0033] According to a third aspect of the present application, an embodiment of the present application provides a coasting recovery torque adjustment device, which includes: a processor and a memory storing computer program instructions;

[0034] When the processor executes the computer program instructions, the coasting recovery torque adjustment method as described in any one of the first aspects is implemented.

[0035] According to the fourth aspect of the present application, an embodiment of the present application provides a computer storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the sliding recovery torque adjustment method of any one of the first aspects is implemented.

[0036] According to the fifth aspect of the present application, an embodiment of the present application provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the glide recovery torque adjustment method of any one of the first aspects.

[0037] According to the sixth aspect of the present application, an embodiment of the present application provides a vehicle, which includes a coasting recovery torque adjustment device as described in any one of the second aspects and / or a coasting recovery torque adjustment device as described in any one of the third aspects.

[0038] The technical solution provided by the embodiments of the present application brings at least the following beneficial effects:

[0039] The embodiment of the present application provides a sliding recovery torque adjustment method, device, equipment, storage medium and vehicle. After obtaining the braking parameters of the vehicle, the braking state of the vehicle is judged according to the comparison result of the braking parameters of the vehicle and the preset execution conditions. When the braking parameters meet the preset conditions, it is determined that the vehicle changes from a non-emergency braking state to an emergency braking state. Thus, in response to the vehicle's braking state changing from a non-emergency braking state to an emergency braking state, a control instruction is sent to the drive motor to instruct the drive motor to increase the sliding recovery torque to a target sliding recovery torque based on the control instruction. Based on this, under the premise that the hydraulic braking torque of the vehicle is consistent, by increasing the target sliding recovery torque of the vehicle, the braking torque of the vehicle is increased, the braking distance of the vehicle is reduced, and the driving safety of the vehicle is improved.

[0040] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0042] Figure 1 is a flow chart of a coasting recovery torque adjustment method according to an exemplary embodiment;

[0043] Figure 2 is another flow chart of a coasting recovery torque adjustment method according to an exemplary embodiment;

[0044] Figure 3 is another flow chart of a coasting recovery torque adjustment method according to an exemplary embodiment;

[0045] Figure 4 is another flow chart of a coasting recovery torque adjustment method according to an exemplary embodiment;

[0046] Figure 5 is another flow chart of a coasting recovery torque adjustment method according to an exemplary embodiment;

[0047] Figure 6 is a structural block diagram of a coasting recovery torque adjustment device according to an exemplary embodiment;

[0048] Figure 7 It is a structural block diagram of a coasting recovery torque adjustment device according to an exemplary embodiment. DETAILED DESCRIPTION

[0049] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0050] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0051] As described in the background technology, the coasting recovery torque is a calibrated value, which means that during each braking process of new energy vehicles, the coasting recovery torque will not affect the braking distance of the vehicle. Therefore, in theory, the braking method and braking effect of new energy vehicles are no different from those of conventional fuel vehicles, and the driving safety of the vehicle is still not improved.

[0052] In order to solve the problems of the prior art, the embodiment of the present application determines the braking state of the vehicle according to the comparison result between the braking parameters of the vehicle and the preset execution conditions after obtaining the braking parameters of the vehicle. When the braking parameters meet the preset conditions, it is determined that the vehicle changes from the non-emergency braking state to the emergency braking state. Thus, in response to the change of the braking state of the vehicle from the non-emergency braking state to the emergency braking state, a control instruction is sent to the drive motor to instruct the drive motor to increase the sliding recovery torque to the target sliding recovery torque based on the control instruction. Based on this, under the premise that the hydraulic braking torque of the vehicle is consistent, the braking torque of the vehicle is increased by increasing the target sliding recovery torque of the vehicle, the braking distance of the vehicle is reduced, and the driving safety of the vehicle is improved.

[0053] Based on this, the present application provides a sliding recovery torque adjustment method, device, equipment, storage medium and vehicle. The sliding recovery torque adjustment method provided in the embodiment of the present application is first introduced below. The system includes:

[0054] Figure 1 FIG. 1 is a block diagram showing a method for adjusting the coasting recovery torque according to an embodiment of the present application. Figure 1 As shown, in one embodiment, the method may include:

[0055] S101, obtaining braking parameters of the vehicle;

[0056] S102, judging the braking state of the vehicle according to the comparison result of the braking parameters of the vehicle and the preset execution conditions;

[0057] S103, in response to the braking state of the vehicle changing from the non-emergency braking state to the emergency braking state, sending a control instruction to the drive motor to instruct the drive motor to increase the coasting recovery torque to a target coasting recovery torque based on the control instruction.

[0058] Based on the above embodiment, after the braking parameters of the vehicle are obtained, the braking state of the vehicle is judged according to the comparison result between the braking parameters of the vehicle and the preset execution conditions. When the braking parameters meet the preset conditions, it is determined that the vehicle is changed from a non-emergency braking state to an emergency braking state. Thus, a control instruction is sent to the drive motor to instruct the drive motor to increase the coasting recovery torque to the target coasting recovery torque based on the control instruction. Based on this, under the premise that the hydraulic braking torque of the vehicle is consistent, the target coasting recovery torque of the vehicle is increased, the braking torque of the vehicle is increased, the braking distance of the vehicle is reduced, and the driving safety of the vehicle is improved.

[0059] In the above S101, the vehicle is provided with a vehicle controller, and the vehicle controller can obtain the braking parameters of the vehicle brake in real time.

[0060] As an example, a vehicle brake may include a brake pedal and a brake pump, etc.

[0061] As an example, the braking parameters may include: the braking duration of the brake pedal, and a first brake pedal depth and a brake pedal depth change rate of the brake pedal at a first moment, wherein the first moment is the current moment.

[0062] In the above S102, by comparing the braking parameters of the vehicle with the preset braking conditions, if the braking parameters meet the preset braking conditions, the braking state of the vehicle is an emergency braking state;

[0063] If the braking parameters do not meet the preset braking conditions, the vehicle's braking state is a non-emergency braking state.

[0064] As an example, braking parameters satisfying preset braking conditions include: braking duration greater than a braking duration threshold, a first brake pedal depth greater than a depth threshold, and a brake pedal depth change rate greater than a change rate threshold; wherein, the braking duration may be the working duration of the brake pedal, that is, the duration for which the driver operates the brake pedal; and the brake pedal depth may be referenced relative to the initial position of the brake pedal (the position where the brake pedal is not operated).

[0065] Specifically, the duration threshold may be: 20 ms; the depth threshold may be: 50% of the maximum braking depth of the brake pedal; and the brake pedal depth change rate may be: 1% / 10 ms of the maximum braking depth of the brake pedal.

[0066] In the above S103, when it is determined that the vehicle changes from a non-emergency braking state to an emergency braking state, in order to ensure the driving safety of the vehicle, the braking torque of the vehicle should be increased, thereby reducing the braking distance. Therefore, a control instruction can be sent to the drive motor through the vehicle controller. After receiving the control instruction, the drive motor increases the gliding recovery torque corresponding to the drive motor when it is in the non-emergency braking state to the target gliding torque.

[0067] As an example, the coasting recovery torque corresponding to the non-emergency braking state is related to the drive motor, which may be 1000 Nm.

[0068] As an example, the target coasting torque corresponding to the emergency braking state may be adjusted; optionally, the target coasting torque may be 2000 Nm.

[0069] In order to accurately obtain the brake pedal depth change rate in the braking parameters, the present application also provides another implementation of the coasting recovery torque adjustment method.

[0070] Figure 2 Another schematic diagram of the process of the coasting recovery torque adjustment method provided by an embodiment of the present application is shown as follows: Figure 2 As shown, the above S101 may also include:

[0071] S201, obtaining a second brake pedal depth of the brake pedal at a second moment, the second moment being before the first moment;

[0072] S202, calculating the difference between the second brake pedal depth and the first brake pedal depth to obtain a brake pedal depth change value;

[0073] S203, calculating the ratio of the brake pedal depth change value to the time difference to obtain the brake pedal depth change rate, where the time difference is the difference between the first moment and the second moment.

[0074] Based on the above embodiment, by obtaining the second brake pedal depth of the brake pedal at the second moment and then combining it with the first brake pedal depth at the first moment, the brake pedal depth change value of the brake pedal from the first moment to the second moment can be calculated, thereby accurately calculating the brake pedal depth change rate of the brake pedal based on the brake pedal depth change value.

[0075] In the above S201, the vehicle controller can not only obtain the braking parameters in real time, but also store the obtained braking parameters in a database.

[0076] Therefore, after obtaining a first brake pedal depth of the vehicle at a first moment, a second brake pedal depth at a second moment before the first moment may be obtained from the database.

[0077] As an example, the time difference between the first moment and the second moment is 10 ms.

[0078] In S202 above, by calculating the difference between the second brake pedal depth and the first brake pedal depth, the change value of the brake pedal depth that changes between the first moment and the second moment of the brake pedal can be obtained.

[0079] In S203 above, by calculating the difference between the first moment and the second moment, the time difference between the first moment and the second moment is obtained. The ratio of the change value of the brake pedal depth obtained in S202 above to the time difference can obtain the brake pedal depth change rate.

[0080] In order to effectively obtain the target coasting recovery torque, the present application also provides another implementation manner of the coasting recovery torque adjustment method.

[0081] Figure 3 Another flow schematic diagram of the coasting recovery torque adjustment method provided by an embodiment of the present application is shown. As Figure 3 shown, before S103 above, the method may further include:

[0082] S301, obtaining the actual road condition information of the vehicle;

[0083] S302, determining the target coasting recovery torque that matches the actual road condition information from the correspondence between the road condition information and the coasting recovery torque.

[0084] Based on the above embodiments, based on different road condition information, the braking requirements of the vehicle are also different. Therefore, by obtaining the actual road condition information of the vehicle during actual driving, the target coasting recovery torque suitable for the actual road condition information can be determined according to the actual road condition information.

[0085] In S301 above, various sensors are provided on the vehicle, and the actual road condition information of the vehicle during driving is obtained through various sensors.

[0086] As an example, the actual road condition information may include: the actual obstacle distance, the actual road surface roughness, and the actual road surface slope value. Among them, the actual obstacle distance may be the distance between the vehicle and the nearest obstacle to the vehicle; the actual road surface roughness may be the roughness of the road surface when the vehicle is driving; the actual road surface slope value may be the slope of the road surface when the vehicle is driving.

[0087] In the above S302, the obstacle distance, the road roughness and the road slope value each correspond to a coasting recovery torque, so a corresponding coasting recovery torque can be obtained according to the actual obstacle distance, the actual road roughness and the actual road slope value in the actual road condition information; optionally, the minimum value is determined from multiple coasting recovery torques as the target coasting recovery torque; optionally, the target coasting recovery torque is obtained by performing weighted average calculation on multiple coasting recovery torques.

[0088] As an example, the smaller the obstacle distance is, that is, the smaller the braking distance that the vehicle can brake is, and accordingly, the greater the corresponding sliding recovery torque is.

[0089] As an example, the rougher the actual road surface is, the greater the friction between the vehicle and the road surface is, and the corresponding sliding recovery torque is smaller.

[0090] As an example, the actual road slope value, the vehicle is on the slope, according to the force analysis of the vehicle based on the slope, the larger the slope value, the greater the downward component force. Therefore, the larger the slope value and the vehicle's driving direction is consistent with the component force direction, the smaller the corresponding sliding recovery torque; the larger the slope value and the vehicle's driving direction is opposite to the component force direction, in order to prevent the vehicle from sliding down, the corresponding sliding recovery torque will be greater.

[0091] In order to effectively adjust the coasting recovery torque to the target coasting recovery torque, the present application also provides another implementation of the coasting recovery torque adjustment method.

[0092] Figure 4 Another schematic diagram of the process of the coasting recovery torque adjustment method provided by an embodiment of the present application is shown as follows: Figure 4 As shown, before the above S103, the method may further include:

[0093] S401, obtaining actual road condition information of the vehicle;

[0094] S402, determining a target coasting recovery torque increase gradient that matches the actual road condition information from a correspondence between the road condition information and the coasting recovery torque increase gradient;

[0095] The above S103 includes:

[0096] S403, sending a control instruction to the driving motor, so that the driving motor increases the coasting recovery torque to the target coasting recovery torque according to the target coasting recovery torque increase gradient based on the control instruction.

[0097] Based on the above embodiments, based on different road condition information, in order to ensure the safety of the vehicle during braking, the increasing gradient of the vehicle's coasting recovery torque is also different. Therefore, by obtaining the actual road condition information of the vehicle during actual driving, the increasing gradient of the coasting recovery torque suitable for the actual road condition information can be determined according to the actual road condition information, so that the coasting recovery torque can be increased to the target coasting recovery torque according to the increasing gradient of the coasting recovery torque, thereby effectively adjusting the coasting recovery torque.

[0098] In the above S401, the actual road condition information of the vehicle is obtained in accordance with the method introduced in the above S301.

[0099] In the above S402, consistent with the method introduced in the above S302, each type of information in the actual road condition information has a corresponding coasting recovery torque increase gradient. Therefore, according to the actual road condition information, from the correspondence between the road condition information and the coasting recovery torque increase gradient, a matching target coasting recovery torque increase gradient can be obtained.

[0100] As an example, the smaller the obstacle distance, that is, the smaller the braking distance of the vehicle, the greater the increase gradient of the sliding recovery torque for braking should be in order to ensure safety, so that braking can be done quickly and the braking distance can be reduced. Therefore, the smaller the obstacle distance, the greater the corresponding increase gradient of the sliding recovery torque.

[0101] As an example, the smoother the actual road surface roughness, the smaller the friction between the vehicle and the road surface. If the gradient of the sliding recovery torque is increased, the vehicle may experience safety accidents such as skidding, drifting and overturning. Therefore, the smoother the actual road surface roughness, the smaller the corresponding gradient of the sliding recovery torque increase.

[0102] As an example, consistent with the analysis in S302 above, the larger the slope value, and the vehicle's driving direction is consistent with the component force direction, in order to avoid vehicle safety accidents, the corresponding sliding recovery torque increase gradient is also greater; the larger the slope value, and the vehicle's driving direction is opposite to the component force direction, the corresponding sliding recovery torque is also smaller.

[0103] Optionally, a plurality of coasting recovery torque increase gradients are weighted averaged to obtain a target coasting recovery torque increase gradient.

[0104] In the above S403, the coasting recovery torque is increased and adjusted according to the target coasting recovery torque increase gradient until the target coasting recovery torque is reached.

[0105] In order to more effectively implement the target coasting recovery torque increase gradient, the present application also provides another implementation of the coasting recovery torque adjustment method.

[0106] Figure 5 Another schematic diagram of the process of the coasting recovery torque adjustment method provided by an embodiment of the present application is shown as follows: Figure 5 As shown, the above S402 may include:

[0107] S501, determining an initial coasting recovery torque increase gradient that matches the actual road condition information from a correspondence between the road condition information and the coasting recovery torque increase gradient;

[0108] S502, when the initial coasting recovery torque increase gradient is greater than the coasting recovery torque increase gradient threshold corresponding to the drive motor, determining the coasting recovery torque increase gradient threshold as the target coasting recovery torque increase gradient;

[0109] S503: When the initial coasting recovery torque increase gradient is less than or equal to the coasting recovery torque increase gradient threshold corresponding to the drive motor, determine the initial coasting recovery torque increase gradient as the target coasting recovery torque increase gradient.

[0110] Based on the above embodiment, by comparing the initial coasting recovery torque increase gradient and the coasting recovery torque increase gradient threshold corresponding to the drive motor, it is ensured that the drive motor can finally increase the coasting recovery torque to the target coasting recovery torque according to the target coasting recovery torque increase gradient, thereby ensuring the effectiveness of the execution of the target coasting recovery torque increase gradient.

[0111] In the above S501, as described in the above S402, the initial coasting recovery torque increase gradient matching the actual road condition information can be obtained.

[0112] In the above S502, since the coasting recovery torque is increased to the target coasting recovery torque by the driving motor, considering that the working capacity of the driving motor is limited and the maximum coasting recovery torque increase gradient threshold can be reached, it is necessary to compare the initial coasting recovery torque increase gradient and the coasting recovery torque increase gradient threshold. If the initial coasting recovery torque increase gradient is greater than the coasting recovery torque increase gradient threshold corresponding to the driving motor, the coasting recovery torque increase gradient threshold is the target coasting recovery torque increase gradient.

[0113] In the above S503, correspondingly, if the initial coasting recovery torque increase gradient is less than or equal to the coasting recovery torque increase gradient threshold corresponding to the driving motor, the initial coasting recovery torque increase gradient is the target coasting recovery torque increase gradient.

[0114] It should be noted that the application scenarios described in the above-mentioned embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Ordinary technicians in this field can know that with the emergence of new application scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems; and new embodiments of the present application can be combined with each other, and new solutions formed by the combination of various embodiments are all within the protection scope of the present application.

[0115] Based on the same inventive concept, the present application also provides a sliding recovery torque adjustment device 600. Figure 6 Provide detailed explanation.

[0116] Figure 6 A schematic diagram of the hardware structure of the coasting recovery torque adjustment device 600 provided in an embodiment of the present invention is shown.

[0117] like Figure 6 As shown, the coasting recovery torque adjustment device 600 may include:

[0118] A first acquisition module 610 is used to acquire a braking parameter of a vehicle;

[0119] The judging module 620 is used to judge the braking state of the vehicle according to the comparison result of the braking parameters of the vehicle and the preset execution conditions;

[0120] The sending module 630 is used to send a control instruction to the drive motor when the vehicle is in an emergency braking state, so that the drive motor increases the coasting recovery torque to the target coasting recovery torque based on the control instruction.

[0121] Based on the above embodiment, after the first acquisition module 610 acquires the braking parameters of the vehicle, the judgment module 620 judges the braking state of the vehicle according to the comparison result between the braking parameters of the vehicle and the preset execution conditions, and thus, the sending module 630 responds to the change of the braking state of the vehicle from the non-emergency braking state to the emergency braking state, and sends a control instruction to the drive motor to instruct the drive motor to increase the sliding recovery torque to the target sliding recovery torque based on the control instruction. Based on this, under the premise that the hydraulic braking torque of the vehicle is consistent, by increasing the target sliding recovery torque of the vehicle, the braking torque of the vehicle is increased, the braking distance of the vehicle is reduced, and the driving safety of the vehicle is improved.

[0122] Optionally, the first acquisition module 610 may include:

[0123] An acquiring unit, configured to acquire a second brake pedal depth of the brake pedal at a second moment, the second moment being before the first moment;

[0124] a first calculation unit, configured to calculate a difference between a second brake pedal depth and a first brake pedal depth to obtain a brake pedal depth change value;

[0125] The second calculation unit is used to calculate the ratio between the brake pedal depth change value and the difference between the first moment and the second moment to obtain the brake pedal depth change rate.

[0126] Optionally, the coasting recovery torque adjustment device 600 may include:

[0127] The second acquisition module is used to acquire the actual road condition information of the vehicle;

[0128] The first determination module is used to determine a target coasting recovery torque matching the actual road condition information from a corresponding relationship between the road condition information and the coasting recovery torque.

[0129] Optionally, the coasting recovery torque adjustment device 600 may include:

[0130] The third acquisition module is used to obtain the actual road condition information of the vehicle;

[0131] A second determination module is used to determine a target coasting recovery torque increase gradient that matches the actual road condition information from a correspondence between the road condition information and the coasting recovery torque increase gradient;

[0132] The sending module 630 includes:

[0133] The sending unit is used to send a control instruction to the driving motor, so that the driving motor increases the coasting recovery torque to the target coasting recovery torque according to the target coasting recovery torque increase gradient based on the control instruction.

[0134] Optionally, the second determining module may include:

[0135] A first determining unit, configured to determine an initial coasting recovery torque increase gradient matching the actual road condition information from a correspondence between the road condition information and the coasting recovery torque increase gradient;

[0136] a second determining unit, configured to determine the coasting recovery torque increase gradient threshold as a target coasting recovery torque increase gradient when the initial coasting recovery torque increase gradient is greater than the coasting recovery torque increase gradient threshold corresponding to the drive motor;

[0137] The third determining unit is configured to determine the initial coasting recovery torque increase gradient as the target coasting recovery torque increase gradient when the initial coasting recovery torque increase gradient is less than or equal to a coasting recovery torque increase gradient threshold corresponding to the driving motor.

[0138] The sliding recovery torque adjustment method provided in the embodiment of the present application can achieve Figures 1-5The various processes implemented by any embodiment of the coasting recuperation torque adjustment method can achieve the same technical effects. To avoid repetition, they will not be elaborated here.

[0139] Figure 7 FIG. shows a schematic hardware structure diagram of a coasting recuperation torque adjustment device provided by an embodiment of the present invention.

[0140] The coasting recuperation torque adjustment device may include a processor 701 and a memory 702 storing computer program instructions.

[0141] Specifically, the above-mentioned processor 701 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0142] The memory 702 may include a mass storage for data or instructions. By way of example and not limitation, the memory 702 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disc, a magneto-optical disc, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. In a suitable case, the memory 702 may include a removable or non-removable (or fixed) medium. In a suitable case, the memory 702 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, the memory 702 is a non-volatile solid state memory.

[0143] In a particular embodiment, the memory 702 may include a read only memory (ROM), a random access memory (RAM), a magnetic disk storage media device, an optical storage media device, a flash memory device, an electrical, optical, or other physical / tangible memory storage device. Thus, in general, the memory 702 includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors 701), it is operable to perform the operations described in reference to the method according to an aspect of the present application.

[0144] The processor 701 reads and executes the computer program instructions stored in the memory 702 to implement any one of the coasting recuperation torque adjustment methods in the above embodiments.

[0145] In one example, the coasting recuperation torque adjustment device may further include a communication interface 703 and a bus 704. Among them, as shown in the figure, the processor 701, the memory 702, and the communication interface 703 are connected through the bus 704 and complete communication with each other.

[0146] The communication interface 703 is mainly used to implement the communication between the modules, devices, units and / or equipment in the embodiment of the present invention.

[0147] The bus 704 includes hardware, software or both. For example and not limitation, the bus 704 may include an accelerated graphics port (AGP) or other graphics bus, an enhanced industry standard architecture (EISA) bus, a front-side bus (FSB), a hypertransport (HT) interconnect, an industry standard architecture (ISA) bus, a wireless bandwidth interconnect, a low pin count (LPC) bus, a memory bus, a microchannel architecture (MCA) bus, a peripheral control interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a serial advanced technology attachment (SATA) bus, a video electronics standard association local (VLB) bus or other suitable buses or a combination of two or more of these. Where appropriate, the bus 704 may include one or more buses 704. Although the present application embodiment describes and shows a specific bus 704, the present application considers any suitable bus 704 or interconnection.

[0148] The coasting recovery torque adjustment device can be based on the current coasting recovery torque adjustment method to achieve the combination of Figures 1-6 The coasting recovery torque adjustment method and the coasting recovery torque adjustment device 600 are described.

[0149] In addition, an embodiment of the present application further provides a computer program product, including computer program instructions, which can implement the steps and corresponding contents of the aforementioned method embodiment when the computer program product is executed by the processor 701.

[0150] Finally, an embodiment of the present application further provides a vehicle, which includes the above-mentioned coasting recovery torque adjustment device 600 and / or coasting recovery torque adjustment equipment.

[0151] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0152] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0153] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0154] Aspects of the present disclosure are described above with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of the boxes in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable sliding recovery torque regulating device to produce a machine so that these instructions executed by the processor of the computer or other programmable sliding recovery torque regulating device enable the implementation of the functions / actions specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0155] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A method for adjusting the sliding recovery torque, It is characterized in that The method comprises: Obtain the braking parameters of the vehicle; Determining the braking state of the vehicle according to a comparison result of the braking parameters of the vehicle and a preset execution condition; In response to the braking state of the vehicle changing from a non-emergency braking state to an emergency braking state, a control instruction is sent to the drive motor to instruct the drive motor to increase the coasting recovery torque to a target coasting recovery torque based on the control instruction.

2. The method according to claim 1, It is characterized in that The braking parameters include: the braking duration of the brake pedal, the first brake pedal depth of the brake pedal at a first moment, and the rate of change of the brake pedal depth, wherein the first moment is the current moment; Judging the braking state of the vehicle according to the braking parameters of the vehicle includes: When the braking duration is greater than a braking duration threshold, the first brake pedal depth is greater than a depth threshold, and the brake pedal depth change rate is greater than a change rate threshold, it is determined that the braking state of the vehicle is an emergency braking state.

3. The method according to claim 2, It is characterized in that The obtaining of the brake pedal depth change rate comprises: Acquire a second brake pedal depth of the brake pedal at a second moment, where the second moment is before the first moment; Calculating a difference between the second brake pedal depth and the first brake pedal depth to obtain a brake pedal depth change value; The brake pedal depth change rate is obtained by calculating a ratio of the brake pedal depth change value to a time difference, wherein the time difference is a difference between the first moment and the second moment.

4. The method according to claim 1, It is characterized in that Before sending a control instruction to the drive motor so that the drive motor increases the coasting recovery torque to the target coasting recovery torque based on the control instruction, the method further includes: Acquiring actual road condition information of the vehicle; A target coasting recovery torque matching the actual road condition information is determined from the corresponding relationship between the road condition information and the coasting recovery torque.

5. The method as claimed in claim 1, It is characterized in that Before sending a control instruction to the drive motor so that the drive motor increases the coasting recovery torque to the target coasting recovery torque based on the control instruction, the method further includes: Acquiring actual road condition information of the vehicle; Determining a target coasting recovery torque increase gradient matching the actual road condition information from a correspondence between the road condition information and the coasting recovery torque increase gradient; The sending of a control instruction to the drive motor so that the drive motor increases the coasting recovery torque to a target coasting recovery torque based on the control instruction includes: A control instruction is sent to the driving motor, so that the driving motor increases the coasting recovery torque to the target coasting recovery torque according to the target coasting recovery torque increase gradient based on the control instruction.

6. The method according to claim 5, It is characterized in that The step of determining a target coasting recovery torque increase gradient matching the actual road condition information from the corresponding relationship between the road condition information and the coasting recovery torque increase gradient includes: Determining an initial coasting recovery torque increase gradient that matches the actual road condition information from the corresponding relationship between the road condition information and the coasting recovery torque increase gradient; When the initial coasting recovery torque increase gradient is greater than the coasting recovery torque increase gradient threshold corresponding to the drive motor, determining the coasting recovery torque increase gradient threshold as the target coasting recovery torque increase gradient; When the initial coasting recovery torque increase gradient is less than or equal to the coasting recovery torque increase gradient threshold corresponding to the drive motor, the initial coasting recovery torque increase gradient is determined as the target coasting recovery torque increase gradient.

7. A sliding recovery torque adjustment device, It is characterized in that The device comprises: A first acquisition module, used for acquiring braking parameters of the vehicle; A judgment module, used to judge the braking state of the vehicle according to the comparison result of the braking parameters of the vehicle and the preset execution conditions; The sending module is used to send a control instruction to the drive motor in response to the braking state of the vehicle changing from a non-emergency braking state to an emergency braking state, so as to instruct the drive motor to increase the coasting recovery torque to a target coasting recovery torque based on the control instruction.

8. A sliding recovery torque adjustment device, It is characterized in that The device comprises: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the method according to any one of claims 1 to 6 is implemented.

10. A vehicle, It is characterized in that The vehicle comprises the coasting recovery torque regulating device according to claim 7 and / or the coasting recovery torque regulating apparatus according to claim 8.

Images