Vehicle braking control method and system

Abstract

The invention discloses a vehicle braking control method and system, a vehicle comprises a distributed electric drive system and an electronic mechanical braking system, the distributed electric drive system comprises four motor subsystems and at least two motor controllers, and the electronic mechanical braking system comprises an electronic mechanical braking controller and four braking subsystems. The motor controller is connected with the electronic mechanical braking controller, the maximum feedback braking torque capable of being output by the motor subsystem is obtained from the motor controller through the electronic mechanical braking controller under the condition that vehicle braking fails, and the maximum feedback braking torque is output according to the braking state of the braking subsystem and the maximum feedback braking torque. Determining a target regenerative braking torque of the motor subsystem; and the electronic mechanical braking controller returns the target regenerative braking torque to the motor controller corresponding to the motor subsystem, the motor controller controls the motor subsystem to brake according to the target regenerative braking torque, and the delay time of the distributed configuration vehicle during redundant braking is shortened.

Description

Technical Field

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

[0002] The braking system is one of the core systems of new energy vehicles. Due to the complexity of the working environment, the braking system of traditional configuration vehicles is usually designed with backup to ensure absolute reliability. The main methods currently include: dual-circuit braking system, redundant braking system, mechanical backup system, etc., but all of the above methods will increase the cost of the vehicle. Distributed configuration vehicles include an electro-mechanical brake system (EMB) and a distributed electric drive system. EMB transforms the traditional hydraulic braking method into a power brake directly provided by the motor system. The response speed is faster than the traditional hydraulic brake system, and the braking effect can be achieved more quickly during emergency braking. The distributed electric drive system includes four motor subsystems and at least two motor controllers. Among them, the motor subsystem has sufficient drive torque and feedback torque, which can realize redundant braking after EMB braking fails. This not only does not increase the cost, but also can provide sufficient braking torque in an emergency, greatly improving the robustness of the vehicle.

[0003] In the related technology, the vehicle controller of a distributed configuration vehicle serves as the vehicle control center, realizing all driving and braking functions. If the vehicle needs to perform redundant braking after the EMB brake fails, there will be an uneliminable communication and calculation delay from the vehicle controller detecting the brake failure to completing the redistribution and forwarding of the braking force. During vehicle driving, especially in high-speed driving and emergency braking scenarios, long delays will increase the vehicle's braking distance and reduce the safety of the vehicle. Summary of the invention

[0004] The embodiments of the present application provide a vehicle braking control method and system, which can reduce the delay time of a distributed configuration vehicle during redundant braking, thereby improving the safety of the vehicle, at least to a certain extent.

[0005] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0006] According to a first aspect of an embodiment of the present application, a vehicle braking control method is provided, wherein the vehicle includes a distributed electric drive system and an electromechanical braking system, the distributed electric drive system includes four motor subsystems and at least two motor controllers, the electromechanical braking system includes an electromechanical braking controller and four braking subsystems, the motor controller is connected to the electromechanical braking controller, and the vehicle braking control method includes:

[0007] When the vehicle brakes fail, the electronic mechanical brake controller obtains the maximum feedback braking torque that the motor subsystem can output from the motor controller; the electronic mechanical brake controller determines the target feedback braking torque of the motor subsystem based on the braking state of the brake subsystem and the maximum feedback braking torque; the electronic mechanical brake controller returns the target feedback braking torque to the motor controller corresponding to the motor subsystem, so that the motor controller controls the motor subsystem to brake according to the target feedback braking torque.

[0008] In some embodiments, the electromechanical brake controller determines the target regenerative braking torque of the motor subsystem according to the braking state of the brake subsystem and the maximum regenerative braking torque, including:

[0009] The electronic mechanical brake controller obtains the maximum braking torque that can be output by the braking subsystem with abnormal braking state from the motor controller; the electronic mechanical brake controller determines the target feedback braking torque of each motor subsystem according to the maximum braking torque, the maximum feedback braking torque and the required braking torque.

[0010] In some embodiments, the vehicle braking control method further includes:

[0011] In the event of vehicle brake failure, the electromechanical brake controller controls the motor controller to enter BOOST mode.

[0012] In some embodiments, the motor subsystem includes an oil pump motor, and the vehicle brake control method further includes:

[0013] The electromechanical brake controller controls the motor controller to cool the oil pump motor.

[0014] In some embodiments, the vehicle further includes a thermal management system, and the vehicle braking control method further includes:

[0015] The electromechanical brake controller controls the thermal management system to cool the distributed electric drive system.

[0016] In some embodiments, two coaxial motor subsystems correspond to one motor controller, the vehicle further includes a vehicle controller, and the vehicle braking control method further includes:

[0017] When the motor subsystem outputs an abnormal target feedback braking torque, the vehicle controller controls the motor controller corresponding to the motor subsystem that outputs the abnormal target feedback braking torque to enter an active short-circuit control mode.

[0018] According to a second aspect of an embodiment of the present application, a vehicle is provided, comprising: a distributed electric drive system and an electronic mechanical braking system, the distributed electric drive system comprising four motor subsystems and at least two motor controllers, the electronic mechanical braking system comprising an electronic mechanical braking controller and four braking subsystems, the motor controller being connected to the electronic mechanical braking controller, the electronic mechanical braking controller comprising a processor and a memory, the memory storing computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, the steps of the method as described in any one of the above-mentioned first aspects are implemented.

[0019] In some embodiments, the motor controller is further configured to control the motor subsystem to brake according to the target feedback braking torque returned by the electromechanical brake controller.

[0020] In some embodiments, the motor controller is further configured to receive the braking status of the braking subsystem output by the electronic mechanical brake controller, and enter the BOOST mode when the braking status is abnormal.

[0021] In some embodiments, two coaxial motor subsystems correspond to a motor controller, and the vehicle also includes a vehicle controller, which is used to control the motor controller corresponding to the motor subsystem that outputs the abnormal target feedback braking torque to enter an active short-circuit control mode when the motor subsystem outputs the abnormal target feedback braking torque.

[0022] In the present application, the vehicle includes a distributed electric drive system and an electromechanical braking system, the distributed electric drive system includes four motor subsystems and at least two motor controllers, the electromechanical braking system includes an electromechanical braking controller and four braking subsystems, the motor controller is connected to the electromechanical braking controller, and the electromechanical braking controller can obtain the maximum feedback braking torque that the motor subsystem can output from the motor controller when the vehicle brake fails; the electromechanical braking controller determines the target feedback braking torque of the motor subsystem according to the braking state and the maximum feedback braking torque of the braking subsystem; the electromechanical braking controller returns the target feedback braking torque to the motor controller corresponding to the motor subsystem, so that the motor controller controls the motor subsystem to brake according to the target feedback braking torque. The above scheme reduces the delay time of communication and calculation of the distributed configuration vehicle during redundant braking, and can quickly complete the redistribution and calculation of the target feedback braking torque after the vehicle brake fails, significantly improving the braking response speed. In high-speed driving and emergency braking scenarios, rapid response can effectively reduce the braking distance of the vehicle, thereby significantly improving driving safety and reducing the risk of accidents; at the same time, since the braking can respond quickly, the driver's driving confidence will increase, especially in emergency situations, and can deal with emergencies more calmly.

[0023] 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

[0024] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0025] Figure 1 The electrical architecture diagram of a vehicle according to some embodiments of the present application is shown;

[0026] Figure 2 A schematic flow chart of a vehicle braking control method according to some embodiments of the present application is shown;

[0027] Figure 3 Shows Figure 1 The external characteristic curve of the motor subsystem before the motor controller enters the BOOST mode;

[0028] Figure 4 Shows Figure 1 The external characteristic curve of the motor subsystem after the motor controller enters BOOST mode;

[0029] Figure 5 Shows Figure 1 Schematic diagram of the relationship between the negative torque and the speed generated after the motor controller enters the safety mode;

[0030] Figure 6 A block diagram of a vehicle braking control device according to some embodiments of the present application is shown;

[0031] Description of Figure Numbers:

[0032] 101 - motor subsystem; 102 - motor controller; 103 - electronic mechanical brake controller; 104 - brake subsystem; 105 - wheel; 106 - vehicle controller. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0034] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0035] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0036] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0037] In order to make those skilled in the art better understand the present application, firstly, Figure 1 The electrical architecture of the vehicle involved in this application is briefly described.

[0038] Figure 1 FIG. 1 shows an electrical architecture diagram of a vehicle according to some embodiments of the present application. Figure 1 As shown, the vehicle includes a distributed electric drive system (not marked) and an electronic mechanical braking system (not marked), the distributed electric drive system includes four motor subsystems 101 and at least two motor controllers 102, the electronic mechanical braking system includes an electronic mechanical braking controller 103 and four braking subsystems 104, each braking subsystem 104 is respectively connected to a wheel 105, the motor controller 102 is connected to the electronic mechanical braking controller 103, and in the event of vehicle braking failure, the electronic mechanical braking controller 103 directly interacts with the motor controller 102 to return the target feedback braking torque of the motor subsystem to the motor controller 102, so that the motor controller 102 executes the target feedback braking torque, and the motor subsystem 101 brakes using the target feedback braking torque.

[0039] It should be noted that in the related art, the motor controller 102 is not connected to the electronic mechanical brake controller 103, and the vehicle controller 106 serves as the vehicle control center to coordinate all driving and braking functions. If the vehicle needs to perform redundant braking, the control needs to be implemented through the following steps: 1) The motor controller feeds back the maximum feedback braking torque that the motor subsystem can output to the vehicle controller; 2) The electronic mechanical brake controller sends a feedback braking torque request to the vehicle controller according to the braking state; 3) The vehicle controller arbitrates and distributes the feedback braking torque according to the driver's intention and vehicle state; 4) The vehicle controller sends a feedback braking torque request to the motor controller; 5) The motor controller executes the feedback braking torque requested by the vehicle controller. There are communication and calculation delays that cannot be eliminated from the vehicle controller from detecting brake failure to completing the redistribution and forwarding of braking force. During vehicle driving, especially in high-speed driving and emergency braking scenarios, long delays will increase the braking distance of the vehicle and reduce the safety of the vehicle. However, the present application optimizes the electrical architecture topology. After determining that the vehicle's brakes have failed, the electronic mechanical brake controller directly obtains the maximum feedback braking torque that the motor subsystem can output from the motor controller, determines the target feedback braking torque of each motor subsystem, and then returns the target feedback braking torque to the motor controller. The motor subsystem can then quickly output the target feedback braking torque for braking, reducing the delay time of distributed configuration vehicles during redundant braking and improving the safety of the vehicle.

[0040] Figure 2 FIG. 2 shows a flow chart of a vehicle braking control method according to some embodiments of the present application. Figure 2 As shown, a vehicle braking control method is provided, which is applied to Figure 1 Taking the electronic mechanical brake controller in as an example, the method may include the following steps 201 to 203.

[0041] In step 201 , the electronic mechanical brake controller obtains the maximum feedback braking torque that can be output by the motor subsystem from the motor controller when the vehicle brake fails.

[0042] Among them, the regenerative braking torque refers to the braking torque generated during the braking energy recovery process. The maximum regenerative braking torque is used to characterize the regenerative braking torque output capacity of the motor subsystem. The larger the maximum regenerative braking torque, the stronger the regenerative braking torque output capacity.

[0043] During the implementation process, the electronic mechanical brake controller can obtain the braking status from each braking subsystem, and determine that the vehicle braking has failed when the braking status of any braking subsystem is abnormal.

[0044] In a distributed configuration vehicle, if there are two motor controllers, each motor controller controls two coaxial motor subsystems; if there are four motor controllers, each motor controller controls one motor subsystem. In the event of vehicle brake failure, the electromechanical brake controller can obtain the maximum feedback braking torque that can be output by the corresponding motor subsystem from the motor controller.

[0045] In step 202 , the electromechanical brake controller determines a target regenerative braking torque of the motor subsystem according to the braking state of the brake subsystem and the maximum regenerative braking torque.

[0046] Return to reference Figure 1 A vehicle with a distributed configuration usually has four braking subsystems, each of which is connected to a wheel, and each of which is also connected to an electronic mechanical brake controller. Therefore, the electronic mechanical brake controller can directly obtain the braking status from each braking subsystem.

[0047] It is understandable that after obtaining the braking state and the maximum feedback braking torque, the electronic mechanical brake controller can determine the target feedback braking torque of the motor subsystem in a variety of ways.

[0048] In some embodiments, the electronic mechanical brake controller can obtain the maximum braking torque that can be output by the braking subsystem with abnormal braking state from the motor controller; the electronic mechanical brake controller determines the target feedback braking torque of each motor subsystem based on the maximum braking torque, the maximum feedback braking torque and the required braking torque.

[0049] Among them, the required braking torque is the torque required by the driver when braking the vehicle, which can be calculated based on the opening of the brake pedal. The embodiment of the present application does not limit its specific calculation method.

[0050] Assume that the braking subsystem with abnormal braking state is the braking subsystem of the left front wheel, the maximum braking torque that can be output by the braking subsystems corresponding to the four wheels is 150Nm, the maximum feedback braking torque of the motor subsystems corresponding to the four wheels is 100Nm, and the required braking torque is 600Nm. Since the maximum feedback braking torque of the motor subsystem corresponding to the left front wheel is 100Nm, which is insufficient to provide 150Nm of braking force, the electronic mechanical brake controller needs to redistribute the feedback braking torque of the motor subsystems corresponding to the other three wheels, so that the other three wheels can compensate for the 50Nm feedback braking torque that cannot be provided by the motor subsystem corresponding to the left front wheel within the limit of the maximum feedback braking torque of their respective motor subsystems. For example, the target feedback braking torque of the motor subsystem corresponding to the left front wheel can be allocated to 100Nm, and the target feedback braking torque of the motor subsystem corresponding to the left rear wheel can be allocated to 100Nm. The braking torque is 20Nm, the target feedback braking torque of the motor subsystem corresponding to the right front wheel is 20Nm, and the target feedback braking torque of the motor subsystem corresponding to the right rear wheel is 10Nm. Since the braking subsystems corresponding to the left rear wheel, the right front wheel and the right rear wheel are normal, they can provide a maximum braking torque of 150Nm. Therefore, the motor subsystems corresponding to the four wheels and the three braking subsystems in normal braking state can together provide a braking force of 600Nm; of course, the target feedback braking torque of the motor subsystem corresponding to the left front wheel can also be allocated to be 100Nm, the target feedback braking torque of the motor subsystem corresponding to the left rear wheel can be 30Nm, the target feedback braking torque of the motor subsystem corresponding to the right front wheel can be 10Nm, and the target feedback braking torque of the motor subsystem corresponding to the right rear wheel can be 10Nm. The specific allocation strategy of the feedback braking torque is not limited in the embodiment of the present application.

[0051] In step 203 , the electronic mechanical brake controller returns the target feedback braking torque to the motor controller corresponding to the motor subsystem, so that the motor controller controls the motor subsystem to brake according to the target feedback braking torque.

[0052] It can be understood that after receiving the target feedback braking torque, the motor controller can control the corresponding motor subsystem to output the target feedback braking torque to the wheel to achieve braking of the wheel.

[0053] The embodiment of the present application sets a motor controller in a distributed configuration vehicle to be directly connected to an electronic mechanical brake controller. When the vehicle brake fails, the electronic mechanical brake controller can obtain the maximum feedback braking torque that the motor subsystem can output from the motor controller; the electronic mechanical brake controller determines the target feedback braking torque of the motor subsystem according to the braking state and the maximum feedback braking torque of the brake subsystem; the electronic mechanical brake controller returns the target feedback braking torque to the motor controller corresponding to the motor subsystem, and the motor controller controls the motor subsystem to brake according to the target feedback braking torque. The above scheme reduces the communication and calculation delay time of the distributed configuration vehicle during redundant braking, and can quickly complete the redistribution and calculation of the target feedback braking torque after the vehicle brake fails, significantly improving the braking response speed. In high-speed driving and emergency braking scenarios, rapid response can effectively reduce the braking distance of the vehicle, thereby significantly improving driving safety and reducing the risk of accidents; at the same time, since the brake can respond quickly, the driver's driving confidence will increase, especially in emergency situations, and can respond to emergencies more calmly.

[0054] In some embodiments, in the event of vehicle brake failure, the electromechanical brake controller may control the motor controller to enter a BOOST mode.

[0055] Among them, the BOOST mode can also be called the enhanced mode. It is a driving mode that can provide excess torque output, mainly used to improve the acceleration performance of the vehicle at startup. In the embodiment of the present application, when the vehicle brakes fail, the BOOST mode is also enabled to enable the motor controller to output a larger current and the motor subsystem to provide a larger feedback braking torque.

[0056] Figure 3 Shows Figure 1 External characteristic curve of the motor subsystem before the motor controller enters BOOST mode. Figure 3 The horizontal axis in the middle is the speed of the motor subsystem, in revolutions per minute (rpm); the vertical axis corresponding to the torque curve is the torque that the motor subsystem can output at different speeds, in Newton meters (Nm). The vertical axis corresponding to the power curve is the power that the motor subsystem can output at different speeds, in kilowatts (kW). Figure 3 From the torque curve in the figure, we can see that the medium and low speeds are in the constant torque zone, where the torque is relatively high; when the speed exceeds the rated speed n 0 After that, the torque drops rapidly. Figure 3 From the power curve in the figure, it can be seen that the power increases linearly with the speed at medium and low speeds; when the speed exceeds the rated speed n 0The latter is the constant power zone, where the power remains constant. If the vehicle needs redundant electric braking, the motor subsystem's regenerative braking torque output capacity is smaller at high speeds and larger at medium and low speeds. Since the mechanical braking performance does not change dramatically with the speed, it can provide a larger braking torque at all speeds, so the motor subsystem's regenerative braking torque should be increased as much as possible, especially the regenerative braking torque at high speeds.

[0057] There are several key constraints for improving the external characteristic boundary of the electric drive system: 1. Heat dissipation capacity limit of the motor subsystem and motor controller; 2. Voltage and current limit; 3. Mechanical component performance limit; 4. Control algorithm performance limit. Among them, constraints 3 and 4 are basically determined in the design stage, and constraints 1 and 2 can be introduced through later calibration and software strategy. Specifically, it can be: control the motor controller to enter BOOST mode, so that the current output by the motor controller will be larger, which can meet the instantaneous (such as 10s) torque and power increase of the motor subsystem. Figure 4 Shows Figure 1 After the motor controller enters BOOST mode, the external characteristic curve of the motor subsystem. Figure 4 As shown in the figure, after the motor controller enters the BOOST mode, the power and torque of the motor subsystem are improved.

[0058] Under redundant electric braking conditions, controlling the motor controller to enter BOOST mode can significantly improve the motor subsystem's ability to output regenerative braking torque, which enables the vehicle to more effectively utilize the motor subsystem's regenerative braking torque during emergency braking, providing stronger braking force. Even if the motor subsystem is under high load and extreme conditions, it can still provide sufficient regenerative braking torque, enhancing the adaptability of braking under various complex conditions. BOOST mode not only enhances braking capability, but also improves energy recovery efficiency during emergency braking, converting more kinetic energy into electrical energy and storing it in the battery, thereby extending the vehicle's range.

[0059] In some embodiments, the vehicle also includes a thermal management system, and the electronic mechanical brake controller can control the thermal management system to cool the distributed electric drive system.

[0060] It should be noted that after the motor controller enters the BOOST mode, the temperature rise of the distributed electric drive system will worsen, and it is necessary to coordinate and enhance the heat dissipation capacity of the distributed electric drive system. During the implementation process, the electronic mechanical brake controller can output water pump control information to the thermal management system, and the thermal management system controls the water pump to provide more coolant to the distributed electric drive system based on the water pump control information to cool the distributed electric drive system. In some embodiments, if the water pump control information is the maximum speed of the water pump, the water pump can provide maximum cooling capacity to the distributed electric drive system.

[0061] In some embodiments, the motor subsystem includes an oil pump motor, and the electronic mechanical brake controller can control the motor controller to cool the oil pump motor.

[0062] During implementation, the electronic mechanical brake controller can output oil pump control information to the motor controller, and the motor controller controls the oil pump motor to cool itself with lubricating oil according to the oil pump control information. In some embodiments, if the oil pump control information is the maximum speed of the oil pump, the oil pump motor can provide maximum cooling capacity to itself.

[0063] It is understandable that the step of cooling the distributed electric drive system and / or the motor subsystem can be performed simultaneously with the step of controlling the motor controller to enter the BOOST mode, or can be performed after entering the BOOST mode, and the embodiments of the present application are not limited to this.

[0064] By cooling the distributed electric drive system and / or the motor subsystem, it is possible to effectively avoid the temperature rise of the distributed electric drive system and / or the motor subsystem after the motor controller enters the BOOST mode, thereby improving the safety of the vehicle.

[0065] In some embodiments, two coaxial motor subsystems correspond to a motor controller, and the vehicle also includes a vehicle controller. When the motor subsystem outputs an abnormal target feedback braking torque, the vehicle controller controls the motor controller corresponding to the motor subsystem that outputs the abnormal target feedback braking torque to enter an active short-circuit control mode.

[0066] Figure 5 Shows Figure 1Schematic diagram of the relationship between the negative torque and the speed generated after the motor controller enters the safety mode. In the related art, the motor controller can enter the safety mode in an emergency. The safety mode includes active short circuit control (ASC) or free wheeling (FW) mode, wherein the ASC mode is a three-phase active short circuit protection, which is achieved by fully turning on the upper bridge arm of the inverter circuit and fully turning off the lower bridge arm or fully turning off the upper bridge arm and fully turning on the lower bridge arm; the FW mode is a full shut-off protection, which is achieved by fully turning off the upper and lower bridge arms of the inverter circuit. Since the high back electromotive force in the FW mode may cause hardware damage, when the vehicle needs redundant electric braking, but the feedback braking torque cannot be output normally due to reasons such as battery recharging prohibition and a third-level fault in the electric drive, the vehicle controller can control the motor subsystem with abnormal output target feedback braking torque and the motor controller corresponding to its coaxial motor subsystem to enter the active short circuit control mode, and the negative torque provided by the ASC assists the vehicle to gradually slow down and stop. This ensures that the vehicle can maintain a certain braking capability even in extreme situations, avoiding complete failure of the braking system due to failure of the redundant electric braking function, significantly improving driving safety.

[0067] The following describes an embodiment of the device of the present application, which can be used to execute the vehicle braking control method in the above embodiment of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the vehicle braking control method in the above embodiment of the present application.

[0068] Figure 6 FIG. 1 is a block diagram of a vehicle braking control device according to some embodiments of the present application. Figure 6 As shown, the vehicle braking control device of the embodiment of the present application includes: a torque acquisition module 601, a torque distribution module 602 and a torque return module 603, wherein the vehicle includes a distributed electric drive system and an electronic mechanical braking system, the distributed electric drive system includes four motor subsystems and at least two motor controllers, the electronic mechanical braking system includes an electronic mechanical braking controller and four braking subsystems, the motor controller is connected to the electronic mechanical braking controller, the torque acquisition module 601 is used for the electronic mechanical braking controller to obtain the maximum feedback braking torque that can be output by the motor subsystem from the motor controller when the vehicle braking fails; the torque distribution module 602 is used for the electronic mechanical braking controller to determine the target feedback braking torque of the motor subsystem according to the braking state and the maximum feedback braking torque of the braking subsystem; the torque return module 603 is used for the electronic mechanical braking controller to return the target feedback braking torque to the motor controller corresponding to the motor subsystem, so that the motor controller controls the motor subsystem to brake according to the target feedback braking torque.

[0069] In some embodiments, the torque distribution module 602 is also used for the electronic mechanical brake controller to obtain the maximum braking torque that can be output by the braking subsystem with abnormal braking state from the motor controller; the electronic mechanical brake controller determines the target feedback braking torque of each motor subsystem based on the maximum braking torque, the maximum feedback braking torque and the required braking torque.

[0070] In some embodiments, the vehicle brake control device further includes a mode control module (not shown) for controlling the motor controller to enter a BOOST mode by the electronic mechanical brake controller when the vehicle brake fails.

[0071] In some embodiments, the motor subsystem includes an oil pump motor, and the mode control module is further configured for the electronic mechanical brake controller to control the motor controller to cool the oil pump motor.

[0072] In some embodiments, the vehicle also includes a thermal management system, and the mode control module is also used for the electronic mechanical brake controller to control the thermal management system to cool the distributed electric drive system.

[0073] In some embodiments, the mode control module is also used to control the motor controller corresponding to the motor subsystem that outputs the abnormal target feedback braking torque to enter the active short-circuit control mode when the motor subsystem outputs the abnormal target feedback braking torque.

[0074] Based on the same inventive concept, an embodiment of the present application also provides an electronic mechanical brake controller, comprising one or more memories, one or more processors, and at least one computer program (computer program instruction) stored in the memory and executable on the processor, and when the processor executes the computer program, the method described above is implemented.

[0075] Based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium, in which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor is prompted to implement the steps of the method as described above.

[0076] Based on the same inventive concept, an embodiment of the present application provides a computer program product, including a computer program. When the computer program product is executed by a processor, it prompts the processor to implement the steps of the method as described above.

[0077] Based on the same inventive concept, the embodiment of the present application provides a vehicle, such as Figure 1As shown, the vehicle includes: a distributed electric drive system (not marked) and an electronic mechanical brake system (not marked), the distributed electric drive system includes four motor subsystems 101 and at least two motor controllers 102, the electronic mechanical brake system includes the electronic mechanical brake controller 103 as described above and four brake subsystems 104, and the motor controller 102 is connected to the electronic mechanical brake controller 103.

[0078] In some embodiments, the distributed electric drive system includes four motor subsystems 101 and two motor controllers 102 .

[0079] In some embodiments, the distributed electric drive system includes four motor subsystems 101 and four motor controllers 102 .

[0080] In some embodiments, the motor controller 102 is further configured to control the motor subsystem 101 to brake according to the target feedback braking torque returned by the electronic mechanical brake controller 103 .

[0081] In some embodiments, the motor controller 102 is further configured to receive the braking state of the braking subsystem 104 output by the electronic mechanical brake controller 103 , and enter the BOOST mode when the braking state is abnormal.

[0082] In some embodiments, two coaxial motor subsystems 101 correspond to a motor controller 102, and the vehicle also includes a vehicle controller 106, which is used to control the motor controller 102 corresponding to the motor subsystem 101 that outputs the abnormal target feedback braking torque to enter an active short-circuit control mode when the motor subsystem 101 outputs the abnormal target feedback braking torque.

[0083] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on a computer-readable medium or transmitted via a computer-readable medium. Other examples and implementations are within the scope and spirit of the present application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hard wiring, or a combination of any of these. In addition, each functional unit may be integrated into a processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit.

[0084] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0085] The above description is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims

1. A vehicle braking control method, characterized in that: The vehicle comprises a distributed electric drive system and an electromechanical brake system, wherein the distributed electric drive system comprises four motor subsystems and at least two motor controllers, the electromechanical brake system comprises an electromechanical brake controller and four brake subsystems, the motor controller is connected to the electromechanical brake controller, and the method comprises: The electronic mechanical brake controller obtains the maximum feedback braking torque that can be output by the motor subsystem from the motor controller when the vehicle brake fails; The electronic mechanical brake controller determines the target regenerative braking torque of the motor subsystem according to the braking state of the brake subsystem and the maximum regenerative braking torque; The electronic mechanical brake controller returns the target feedback braking torque to the motor controller corresponding to the motor subsystem, so that the motor controller controls the motor subsystem to brake according to the target feedback braking torque.

2. The vehicle braking control method according to claim 1, characterized in that: The electronic mechanical brake controller determines the target regenerative braking torque of the motor subsystem according to the braking state of the brake subsystem and the maximum regenerative braking torque, including: The electromechanical brake controller obtains from the motor controller the maximum brake torque that can be output by the brake subsystem in an abnormal braking state; The electromechanical brake controller determines a target regenerative braking torque for each of the motor subsystems according to the maximum braking torque, the maximum regenerative braking torque, and a required braking torque.

3. The vehicle braking control method according to claim 1, characterized in that: Also includes: In case of vehicle brake failure, the electromechanical brake controller controls the motor controller to enter the BOOST mode.

4. The vehicle braking control method according to claim 3, characterized in that: The motor subsystem includes an oil pump motor, and the method further includes: The electronic mechanical brake controller controls the motor controller to cool the oil pump motor.

5. The vehicle braking control method according to claim 3, characterized in that: The vehicle also includes a thermal management system, and the method further includes: The electromechanical brake controller controls the thermal management system to cool the distributed electric drive system.

6. The vehicle braking control method according to any one of claims 1 to 5, characterized in that: The two coaxial motor subsystems correspond to one motor controller, the vehicle further includes a vehicle controller, and the method further includes: When the motor subsystem outputs the target feedback braking torque abnormally, the vehicle controller controls the motor controller corresponding to the motor subsystem that outputs the target feedback braking torque abnormally to enter an active short-circuit control mode.

7. A vehicle, characterized in that: include: A distributed electric drive system and an electronic mechanical brake system, wherein the distributed electric drive system includes four motor subsystems and at least two motor controllers, the electronic mechanical brake system includes an electronic mechanical brake controller and four brake subsystems, the motor controller is connected to the electronic mechanical brake controller, the electronic mechanical brake controller includes a processor and a memory, the memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, the steps of the method as described in any one of claims 1 to 5 are implemented.

8. The vehicle according to claim 7, characterized in that The motor controller is further configured to control the motor subsystem to brake according to the target feedback braking torque returned by the electronic mechanical brake controller.

9. The vehicle according to claim 7, characterized in that The motor controller is further configured to receive the braking state of the braking subsystem output by the electronic mechanical brake controller, and enter a BOOST mode when the braking state is abnormal.

10. The vehicle according to claim 7, characterized in that The two coaxial motor subsystems correspond to one motor controller, and the vehicle also includes a vehicle controller, which is used to control the motor controller corresponding to the motor subsystem that outputs the target feedback braking torque abnormally to enter an active short-circuit control mode when the motor subsystem outputs the target feedback braking torque abnormally.

Images