Vehicle braking control method, vehicle control device and vehicle

Abstract

The invention provides a vehicle braking control method, a vehicle control device and a vehicle. The vehicle braking control method is used for a vehicle braking system, the vehicle braking system comprises a braking energy recovery system and a mechanical braking system, and the vehicle braking control method comprises the steps that when the braking energy recovery system is started, the running state of an anti-lock braking system of a vehicle is obtained; when the anti-lock braking system is in a starting state, the braking power of the braking energy recovery system is reduced to 0 from the current braking power at a constant speed within a first set duration; and when the anti-lock braking system is in the closed state, the braking energy recovery system maintains the current braking power. When the anti-lock braking system is in the starting state, the braking energy recovery system stably stops working, so that the acceleration of the vehicle is uniformly changed, sudden change of the acceleration of the vehicle is avoided, the risk of forward rushing of the vehicle is reduced, and the driving safety and the riding comfort of the vehicle are facilitated.

Description

Technical Field

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

[0002] Traditional fuel buses mainly rely on mechanical friction braking when braking, dissipating the vehicle's kinetic energy in the form of heat energy, resulting in a large amount of energy waste. Pure electric buses introduce brake energy recovery technology to convert the kinetic energy during the vehicle's braking process into electrical energy and store it for subsequent driving use.

[0003] On the one hand, when the ABS (anti-lock braking system) is activated, if the brake energy recovery system cannot stop working quickly and smoothly, the additional braking torque generated by the motor due to the power generation state will conflict with the ABS system's goal of accurately controlling the wheel slip rate. This interference will lead to an imbalance in the distribution of wheel braking force, greatly reducing braking stability, and thus significantly extending the braking distance, causing the vehicle to have varying degrees of tail-swinging problems.

[0004] On the other hand, considering the riding comfort of passengers, if the braking energy recovery system is suddenly disabled, the vehicle's deceleration will change suddenly, which can easily cause the vehicle to rush forward, causing discomfort to the passengers in the car and even causing standing passengers to fall and get injured. Summary of the invention

[0005] The present application provides a vehicle braking control method, a vehicle control device and a vehicle that take into account both vehicle driving safety and riding comfort.

[0006] The present application provides a vehicle braking control method, which is used in the vehicle braking system, wherein the vehicle braking system includes a braking energy recovery system and a mechanical braking system, and the vehicle braking control method includes:

[0007] When the braking energy recovery system is activated, obtaining the operating state of the anti-lock braking system of the vehicle;

[0008] When the anti-lock braking system is in the activated state, within a first set time period, the braking energy recovery system uniformly reduces the braking power from the current braking power to 0;

[0009] When the anti-lock braking system is in the off state, the braking energy recovery system maintains the current braking power.

[0010] When the vehicle is drifting, skidding or in other situations that may cause the vehicle to lose control, the anti-lock braking system is activated to prevent the vehicle from locking. When the anti-lock braking system is activated, the braking energy recovery system uniformly reduces the current braking power to 0 within the first set time, so that the vehicle's acceleration changes evenly, avoiding sudden changes in the vehicle's acceleration and reducing the risk of the vehicle rushing forward, which is beneficial to the vehicle's driving safety and riding comfort.

[0011] Optionally, the vehicle braking control method further includes:

[0012] When the anti-lock braking system is switched from the on state to the off state, within a second set time period, the braking energy recovery system increases the braking power from 0 to the set braking power at a constant speed.

[0013] Optionally, the first set duration is shorter than the second set duration.

[0014] Optionally, the vehicle braking control method includes:

[0015] Obtaining the speed of the vehicle;

[0016] The braking energy recovery system is maintained in operation until the vehicle speed drops to 0.

[0017] Optionally, maintaining the operation of the braking energy recovery system until the vehicle speed drops to 0 includes:

[0018] Obtaining a corresponding relationship between the braking power of the braking energy recovery system and the vehicle speed;

[0019] When the vehicle speed drops to a set vehicle speed, the braking power of the braking energy recovery system is reduced according to the corresponding relationship between the braking power of the braking energy recovery system and the vehicle speed.

[0020] Optionally, the vehicle braking system includes a brake pedal, the brake pedal has an adjustable opening value, the brake energy recovery system has a start condition, the start condition includes a first condition, and the first condition is: the opening value is greater than or equal to a first opening value;

[0021] The vehicle braking control method comprises:

[0022] Obtaining a collected voltage value of the brake pedal;

[0023] Calculating the opening value of the brake pedal according to the collected voltage value;

[0024] Determining whether the braking energy recovery system meets a first condition;

[0025] When the braking energy recovery system meets the first condition, the braking energy recovery system is started.

[0026] Optionally, when the opening value of the brake pedal is between the first opening value and the second opening value, there is a corresponding relationship between the opening value of the brake pedal and the braking power of the brake energy recovery system, and the braking power of the brake energy recovery system increases with the increase of the opening value of the brake pedal;

[0027] When the opening value of the brake pedal is greater than or equal to the second opening value, the braking power of the brake energy recovery system reaches a maximum value, wherein the second opening value is greater than the first opening value;

[0028] The vehicle braking control method comprises:

[0029] The braking power of the braking energy recovery system is adjusted according to the corresponding relationship between the opening value of the brake pedal and the braking power of the braking energy recovery system.

[0030] Optionally, the vehicle braking control method includes:

[0031] When the opening value of the brake pedal is greater than or equal to a third opening value, the mechanical brake system is started, wherein the third opening value is greater than the first opening value and less than the second opening value.

[0032] Optionally, the vehicle braking control method further includes:

[0033] When the opening value of the brake pedal decreases to between the first opening value and the second opening value, the braking power of the brake energy recovery system decreases at a first rate to the braking power of the brake energy recovery system corresponding to the current opening value of the brake pedal;

[0034] When the opening value of the brake pedal decreases to less than the first opening value, the braking power of the braking energy recovery system decreases at a second rate until the braking power is 0;

[0035] The first rate is smaller than the second rate.

[0036] Optionally, the vehicle braking control method includes:

[0037] Determining whether the braking energy recovery system meets all starting conditions;

[0038] The start condition includes a second condition, wherein the second condition is: when the remaining power of the battery of the vehicle is less than the set remaining power, and the absolute value of the allowable feedback power of the battery is greater than the set power;

[0039] The start condition includes a third condition, and the third condition is: the motor speed is greater than the set motor speed;

[0040] The start condition includes a fourth condition, and the fourth condition is: the vehicle is in a preparatory state.

[0041] In a second aspect, the present application provides a vehicle control device, comprising one or more processors, for implementing the vehicle braking control method as described in the first aspect.

[0042] In a third aspect, the present application provides a vehicle, comprising the vehicle control device as described in the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0044] Figure 1 Shown is a schematic diagram of an embodiment of a vehicle braking control method of the present application.

[0045] Figure 2 Shown is a schematic diagram of another embodiment of the vehicle braking control method of the present application.

[0046] Figure 3 Shown is a schematic diagram of another embodiment of the vehicle braking control method of the present application.

[0047] Figure 4 Shown is a schematic diagram of another embodiment of the vehicle braking control method of the present application.

[0048] Figure 5 Shown is a schematic diagram of an embodiment of a control device for a vehicle of the present application.

[0049] Description of reference numerals:

[0050] 110, anti-lock braking system; 120, control device; 130, brake pedal; 140, motor controller; 150, motor; 160, battery management system; 170, battery DETAILED DESCRIPTION

[0051] Here, the technical solutions in the embodiments (or "implementations") of the present application will be described clearly and completely in conjunction with the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0052] If there are terms involving directional indications or positional relationships in the embodiments of the present application (such as up, down, left, right, front, back, inside, outside, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, width, counterclockwise, clockwise, axial, radial, circumferential, etc.), such terms are only used to explain the relative positional relationship, movement, etc. between the components under a certain specific posture (as shown in the accompanying drawings); if the specific posture changes, the directional indication or positional relationship will also change accordingly. In addition, the terms "first", "second", etc. involved in the embodiments of the present application are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance.

[0053] When braking, the vehicle mainly relies on mechanical friction braking, dissipating the vehicle's kinetic energy in the form of heat energy, resulting in a large amount of energy waste. Electric vehicles introduce a braking energy recovery system to convert the kinetic energy during the vehicle braking process into electrical energy and store it for subsequent driving. However, when the electric vehicle encounters an emergency and triggers the anti-lock braking system 110, the existing braking energy recovery control method exposes many difficult problems.

[0054] The present application provides a vehicle braking control method for a vehicle braking system. Figure 1 As shown, the vehicle braking system includes a braking energy recovery system and a mechanical braking system, and the vehicle braking control method includes step S10, step S20 and step S30.

[0055] In step S10 , when the braking energy recovery system is activated, the operating state of the anti-lock braking system 110 of the vehicle is acquired.

[0056] In step S20, when the anti-lock braking system 110 is in the activated state, within a first set time, the braking energy recovery system uniformly reduces the braking power from the current braking power to 0. The first set time may be 0.5 seconds, 0.8 seconds, 1 second, etc.

[0057] In step S30 , when the anti-lock braking system 110 is in the off state, the braking energy recovery system maintains the current braking power.

[0058] When the vehicle is drifting, skidding, or other situations that may cause the vehicle to lose control, the anti-lock braking system 110 is activated to prevent the vehicle from locking. When the anti-lock braking system 110 is in the activated state, the braking energy recovery system uniformly reduces the current braking power to 0 braking power within the first set time, so that it stops working smoothly, and avoids the braking energy recovery system from interfering with the anti-lock braking system 110, reducing the risk of the vehicle drifting and deflection; the acceleration of the vehicle changes evenly, avoiding sudden changes in the acceleration of the vehicle, reducing the risk of the vehicle rushing forward and the risk of passengers feeling the vehicle rushing forward, which is beneficial to the driving safety and riding comfort of the vehicle.

[0059] See also Figure 1 As shown, the vehicle braking control method further includes step S40.

[0060] In step S40, when the anti-lock braking system 110 is switched from the start state to the shutdown state, the braking energy recovery system increases the braking power from 0 to the set braking power at an average speed within the second set time. The second set time can be 1.5 seconds, 2 seconds or 2.5 seconds, etc. When the anti-lock braking system 110 detects that the vehicle is no longer drifting, skidding or other conditions that may cause the vehicle to lose control, the anti-lock braking system 110 is turned off, the anti-lock state of the vehicle is released, and the braking energy recovery system increases the braking power from 0 to the set braking power at an average speed. The braking energy recovery system smoothly resumes operation, avoids sudden changes in vehicle acceleration, reduces the risk of the vehicle leaning back, and reduces the risk of passengers feeling the vehicle leaning back, which is beneficial to the driving safety and riding comfort of the vehicle.

[0061] In an optional embodiment, the first set time length is less than the second set time length. In this embodiment, the first set time length is set to 1 second, and the second set time length is set to 2 seconds. In other embodiments, the first set time length and the second set time length can be adjusted according to the vehicle model, the driving speed of the vehicle, and the road conditions on which the vehicle is traveling.

[0062] Through the above settings, when the anti-lock braking system 110 is in the activated state, the braking energy recovery system uniformly reduces the braking power from the current braking power to 0 within the first set time, so as to stop working quickly and smoothly, and avoid the braking energy recovery system from interfering with the anti-lock braking system 110, reducing the risk of the vehicle swinging and deflecting. When the anti-lock braking system 110 is turned off, the braking energy recovery system uniformly increases the braking power from 0 to the set braking power, the braking energy recovery system smoothly resumes working, and can reduce the risk of repeated activation of the anti-lock braking system 110, thereby facilitating the driving safety and riding comfort of the vehicle and improving the driving experience of the vehicle.

[0063] In an alternative embodiment, see Figure 2As shown, the vehicle braking control method includes step S50 and step S60.

[0064] In step S50, the vehicle speed is acquired.

[0065] In step S60 , the braking energy recovery system is maintained in operation until the vehicle speed drops to zero.

[0066] Through the above settings, when the vehicle speed gradually decreases to 0, the braking energy recovery system is maintained in operation, and the braking energy recovery system stops working smoothly, avoiding sudden changes in vehicle acceleration, reducing the risk of the vehicle rushing forward and the risk of passengers feeling the vehicle rushing forward, which is beneficial to the vehicle's driving safety and ride comfort.

[0067] In an alternative embodiment, see Figure 3 As shown, step S60 maintains the operation of the braking energy recovery system until the vehicle speed drops to 0, including step S61 and step S62.

[0068] In step S61, the corresponding relationship between the braking power of the braking energy recovery system and the vehicle speed is obtained.

[0069] In step S62, when the vehicle speed drops to the set vehicle speed, the braking power of the braking energy recovery system is reduced according to the corresponding relationship between the braking power of the braking energy recovery system and the vehicle speed.

[0070] Specifically, when the vehicle speed drops to the set speed, the braking power of the braking energy recovery system decreases as the vehicle speed decreases. The corresponding relationship between the braking power of the braking energy recovery system and the vehicle speed is stored in the vehicle control device 120. The vehicle control device 120 obtains the vehicle speed by obtaining the rotation speed of the motor 150. The vehicle speed is calculated specifically by the following formula:

[0071] V SV (t ) =0.377*r*n N / i 0

[0072] Where r is the rolling radius of the tire; n N is the motor speed; i 0 Main reduction ratio.

[0073] In this embodiment, when the vehicle speed drops to less than or equal to 10 km / h, that is, when the speed of the motor 150 is less than or equal to 500 rpm / min, the braking power of the braking energy recovery system is reduced according to the corresponding relationship between the braking power of the braking energy recovery system and the vehicle speed.

[0074] Through the above settings, when the vehicle speed drops to the set speed, the braking power of the brake energy recovery system decreases as the vehicle speed decreases. When the vehicle speed drops to 0, the braking power of the brake energy recovery system can be reduced to 0 at the same time. The brake energy recovery system stops working smoothly, avoiding sudden changes in vehicle acceleration, reducing the risk of the vehicle rushing forward and the risk of passengers feeling the vehicle rushing forward, which is beneficial to the vehicle's driving safety and ride comfort.

[0075] In an optional embodiment, the vehicle braking system includes a brake pedal 130, and the brake pedal 130 has an adjustable opening value. The braking energy recovery system has a start condition, and the start condition includes a first condition, and the first condition is: the opening value is greater than or equal to the first opening value.

[0076] See also Figure 4 As shown, the vehicle braking control method includes step S71, step S72, step S73 and step S74.

[0077] In step S71 , the collected voltage value of the brake pedal 130 is acquired.

[0078] In step S72, the opening value of the brake pedal 130 is calculated based on the collected voltage value.

[0079] In step S73, it is determined whether the braking energy recovery system meets the first condition.

[0080] In step S74, when the braking energy recovery system meets the first condition, the braking energy recovery system is started.

[0081] Specifically, when the brake pedal 130 is not stepped on, the opening value of the brake pedal 130 is 0%; when the brake pedal 130 is stepped on to the maximum opening value, the opening value of the brake pedal 130 is 100%. When the driver steps on the brake pedal 130, the collected voltage value of the brake pedal 130 changes, and the vehicle control device 120 obtains the collected voltage value of the brake pedal 130 and calculates the opening value of the brake pedal 130. Specifically, the opening value Brk_Percent of the brake pedal 130 is calculated by the following formula:

[0082] Brk_Percent=(V-Vmin) / (Vmax-Vmin)

[0083] Among them, V is the brake pedal collected voltage, Vmin is the minimum brake pedal voltage value, and Vmax is the maximum brake pedal voltage value.

[0084] When the opening value of the brake pedal 130 is greater than or equal to the first opening value, the braking energy recovery system is started. In this embodiment, the first opening value is 3%.

[0085] Through the above-mentioned settings, the vehicle control device 120 can accurately obtain the driver's braking intention based on the collected voltage value of the brake pedal 130, and control the brake energy recovery system to intervene in the vehicle braking control in time, so that the vehicle can brake smoothly, which is beneficial to the vehicle's driving safety and ride comfort.

[0086] In an optional embodiment, when the opening value of the brake pedal 130 is between the first opening value and the second opening value, there is a corresponding relationship between the opening value of the brake pedal 130 and the braking power of the brake energy recovery system, and the braking power of the brake energy recovery system increases with the increase of the opening value of the brake pedal 130. When the opening value of the brake pedal 130 is greater than or equal to the second opening value, the braking power of the brake energy recovery system reaches a maximum value, wherein the second opening value is greater than the first opening value. In this embodiment, the second opening value is 20%.

[0087] The vehicle braking control method includes step S75.

[0088] In step S75 , the braking power of the braking energy recovery system is adjusted according to the corresponding relationship between the opening value of the brake pedal 130 and the braking power of the braking energy recovery system.

[0089] Through the above-mentioned settings, the vehicle control device 120 can accurately obtain the driver's braking intention based on the collected voltage value of the brake pedal 130, and control the brake energy recovery system to timely intervene in the vehicle braking control, and adjust the braking power of the brake energy recovery system according to the driver's braking intention, so that the vehicle can brake smoothly, which is beneficial to the vehicle's driving safety and ride comfort.

[0090] In an optional embodiment, the vehicle braking control method includes step S76.

[0091] In step S76, when the opening value of the brake pedal 130 is greater than or equal to the third opening value, the mechanical brake system is activated. The third opening value is greater than the first opening value and less than the second opening value. Specifically, the third opening value is 16%.

[0092] Through the above-mentioned arrangement, the vehicle control device 120 can accurately obtain the driver's braking intention according to the collected voltage value of the brake pedal 130, and control the mechanical braking system to intervene in the vehicle braking control in time, effectively avoiding the driver's perception of the vehicle rushing forward due to premature or excessive intervention of the mechanical braking system, so that the vehicle can brake smoothly, which is beneficial to the vehicle's driving safety and ride comfort.

[0093] In an optional embodiment, the vehicle braking control method further includes step S81 and step S82.

[0094] In step S81 , when the opening value of the brake pedal 130 decreases to between the first opening value and the second opening value, the braking power of the brake energy recovery system decreases at a first rate to the braking power of the brake energy recovery system corresponding to the current opening value of the brake pedal 130 .

[0095] In step S82 , when the opening value of the brake pedal 130 decreases to be less than the first opening value, the braking power of the braking energy recovery system decreases at a second rate until the braking power is 0.

[0096] The first rate is less than the second rate. In this embodiment, the first rate is 900 Nm / s and the second rate is 1600 Nm / s. In other embodiments, the first rate and the second rate can be adjusted according to the vehicle model, the vehicle speed, and the road conditions on which the vehicle is traveling.

[0097] During the process of the driver braking the vehicle, if there is a situation where the braking force needs to be reduced or there is no need to continue braking, the driver releases the brake pedal 130, and the opening value of the brake pedal 130 decreases. When the opening value of the brake pedal 130 decreases to between the first opening value and the second opening value, it means that the driver determines that the braking force needs to be reduced at this time, but there is still a situation where the braking force is needed, and the braking power of the braking energy recovery system decreases at the first rate to the braking power of the braking energy recovery system corresponding to the current opening value of the brake pedal 130. When the opening value of the brake pedal 130 decreases to less than the first opening value, the braking power of the braking energy recovery system corresponding to the opening value of the brake pedal 130 is 0, which means that the driver determines that braking is not needed at this time, and the braking power of the braking energy recovery system decreases at the second rate to the braking power of 0, thereby achieving a smooth and rapid adjustment of the braking power. Through the above-mentioned setting, when there is a situation where the driver releases the brake pedal 130 and then steps on the accelerator, it can accurately respond to the driving situation of the vehicle, which is beneficial to the driving safety and riding comfort of the vehicle.

[0098] In an optional embodiment, the vehicle braking control method includes step S90.

[0099] In step S90, it is determined whether the braking energy recovery system meets the start-up conditions.

[0100] The start-up conditions include the second condition, the third condition and the fourth condition. The second condition is: when the remaining power of the battery 170 of the vehicle is less than the set remaining power, and the absolute value of the allowable feedback power of the battery 170 is greater than the set power. The third condition is: the speed of the motor 150 is greater than the set speed of the motor 150. The fourth condition is: the vehicle is in a standby state.

[0101] Through the above arrangement, the vehicle's battery 170 can safely recover braking energy, thereby converting the vehicle's kinetic energy into electrical energy for subsequent driving; at the same time, it is beneficial to reduce the wear and tear caused by the mechanical braking system, thereby facilitating the vehicle's driving safety and vehicle endurance.

[0102] The present application also provides a vehicle control device 120, including one or more processors, for implementing the above-mentioned vehicle braking control method.

[0103] See also Figure 5 As shown, the vehicle control device 120 is electrically connected to the battery management system 160 and the motor controller 140. The motor controller 140 is connected to the motor 150. The battery management system 160 is electrically connected to the battery 170 of the vehicle and is used to obtain the state of the battery 170 of the vehicle. The battery 170 is used to provide power for the operation of the motor 150.

[0104] The vehicle control device 120 is used to obtain the start and stop status of the anti-lock braking system 110 and the collected voltage of the brake pedal 130, and obtain the brake switch status according to the collected voltage of the brake pedal 130.

[0105] When the vehicle is in a tail-swinging, skidding or other situation that may cause the vehicle to lose control, the anti-lock braking system 110 is activated, and the vehicle control device 120 obtains the activation signal of the anti-lock braking system 110. When the anti-lock braking system 110 is in the activated state, the braking energy recovery system stops working smoothly, and the braking energy recovery system is prevented from interfering with the anti-lock braking system 110, reducing the risk of the vehicle tail-swinging and deviation; the acceleration of the vehicle is uniformly changed, avoiding sudden changes in the acceleration of the vehicle, reducing the risk of the vehicle rushing forward and the risk of passengers feeling the vehicle rushing forward, which is beneficial to the driving safety and riding comfort of the vehicle.

[0106] The present application also provides a vehicle, including a vehicle control device 120 .

[0107] When the vehicle is drifting, skidding, or other situations that may cause the vehicle to lose control, the anti-lock braking system 110 is activated to prevent the vehicle from locking. When the anti-lock braking system 110 is in the activated state, the braking energy recovery system uniformly reduces the current braking power to 0 braking power within the first set time, thereby stopping work smoothly, and avoiding the braking energy recovery system from interfering with the anti-lock braking system 110, reducing the risk of the vehicle drifting and deflection; making the acceleration of the vehicle change evenly, avoiding sudden changes in the acceleration of the vehicle, reducing the risk of the vehicle rushing forward and the risk of passengers feeling the vehicle rushing forward, which is beneficial to the driving safety and riding comfort of the vehicle.

[0108] It should be noted that the technical solutions or technical features described in the above embodiments can be combined or supplemented with each other without causing conflicts. The scope of protection of this application is not limited to the precise structures described in the above embodiments and shown in the drawings; all modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this application should be included in the scope of protection of this application.

Claims

1. A vehicle braking control method, characterized in that: For the vehicle braking system, the vehicle braking system includes a braking energy recovery system and a mechanical braking system, and the vehicle braking control method includes: When the braking energy recovery system is activated, obtaining the operating state of the anti-lock braking system of the vehicle; When the anti-lock braking system is in the activated state, within a first set time period, the braking energy recovery system uniformly reduces the braking power from the current braking power to 0; When the anti-lock braking system is in the off state, the braking energy recovery system maintains the current braking power.

2. The vehicle braking control method according to claim 1, characterized in that: The vehicle braking control method further comprises: When the anti-lock braking system is switched from the on state to the off state, within a second set time period, the braking energy recovery system increases the braking power from 0 to the set braking power at a constant speed.

3. The control method according to claim 2, characterized in that: The first set time length is shorter than the second set time length.

4. The vehicle braking control method according to claim 1, characterized in that: The vehicle braking control method comprises: Obtaining the speed of the vehicle; The braking energy recovery system is maintained in operation until the vehicle speed drops to 0.

5. The vehicle braking control method according to claim 4, characterized in that: The step of maintaining the operation of the braking energy recovery system until the vehicle speed drops to 0 includes: Obtaining a corresponding relationship between the braking power of the braking energy recovery system and the vehicle speed; When the vehicle speed drops to a set vehicle speed, the braking power of the braking energy recovery system is reduced according to the corresponding relationship between the braking power of the braking energy recovery system and the vehicle speed.

6. The vehicle braking control method according to claim 1, characterized in that: The vehicle braking system includes a brake pedal, the brake pedal has an adjustable opening value, the brake energy recovery system has a start condition, the start condition includes a first condition, the first condition is: the opening value is greater than or equal to a first opening value; The vehicle braking control method comprises: Obtaining a collected voltage value of the brake pedal; Calculating the opening value of the brake pedal according to the collected voltage value; Determining whether the braking energy recovery system meets a first condition; When the braking energy recovery system meets the first condition, the braking energy recovery system is started.

7. The vehicle braking control method according to claim 6, characterized in that: When the opening value of the brake pedal is between the first opening value and the second opening value, there is a corresponding relationship between the opening value of the brake pedal and the braking power of the brake energy recovery system, and the braking power of the brake energy recovery system increases with the increase of the opening value of the brake pedal; When the opening value of the brake pedal is greater than or equal to the second opening value, the braking power of the brake energy recovery system reaches a maximum value, wherein the second opening value is greater than the first opening value; The vehicle braking control method comprises: The braking power of the braking energy recovery system is adjusted according to the corresponding relationship between the opening value of the brake pedal and the braking power of the braking energy recovery system.

8. The vehicle braking control method according to claim 7, characterized in that: The vehicle braking control method comprises: When the opening value of the brake pedal is greater than or equal to a third opening value, the mechanical brake system is started, wherein the third opening value is greater than the first opening value and less than the second opening value.

9. The control method according to claim 7, characterized in that: The vehicle braking control method further comprises: When the opening value of the brake pedal decreases to between the first opening value and the second opening value, the braking power of the brake energy recovery system decreases at a first rate to the braking power of the brake energy recovery system corresponding to the current opening value of the brake pedal; When the opening value of the brake pedal decreases to less than the first opening value, the braking power of the braking energy recovery system decreases at a second rate until the braking power is 0; The first rate is smaller than the second rate.

10. The vehicle braking control method according to claim 6, characterized in that: The vehicle braking control method comprises: Determining whether the braking energy recovery system meets all starting conditions; The start condition includes a second condition, wherein the second condition is: when the remaining power of the battery of the vehicle is less than the set remaining power, and the absolute value of the allowable feedback power of the battery is greater than the set power; The start condition includes a third condition, and the third condition is: the motor speed is greater than the set motor speed; The start condition includes a fourth condition, and the fourth condition is: the vehicle is in a preparatory state.

11. A vehicle control device, characterized in that: The method comprises one or more processors for implementing the vehicle braking control method as claimed in any one of claims 1 to 10.

12. A vehicle, characterized in that: A control device for a vehicle comprising the control device of claim 11.

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