Vehicle braking control method and device and vehicle

Abstract

The invention discloses a braking control method and device of a vehicle and the vehicle. The method comprises the steps that a target road section where frequent regenerative braking exists is determined; the number of times that the representation duration is too short, the number of times that the representation duration is too long, the number of times that the representation recovery energy is too small and the number of times that the representation recovery energy is too large when the vehicle conducts regenerative braking on the target road section are obtained; based on the number of times characterizing that the duration is too short and / or the number of times characterizing that the energy recovery is too low, a standard or a regenerative braking state of a regenerative braking intervention condition of the vehicle in the target road segment is adjusted. The standard of the regenerative braking intervention condition and / or the regenerative braking torque strength of the vehicle in the target road section are / is adjusted based on the number of times representing that the duration is too long and / or the number of times representing that the recycled energy is too much, manual intervention of a driver is not needed, control over regenerative braking can be automatically achieved, the braking requirements of a user under different conditions are met, and the user experience is improved. The trouble of invalid braking to a driver is avoided, and the driving comfort and the driving safety are improved.

Description

Technical Field

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

[0002] With the continuous development and replacement of electric vehicle technology, in order to solve the problem of short driving range, regenerative braking technology has become the research focus. However, since the motor torque is negative torque when entering the regenerative braking state and the rotational speed is lower than the rotational speed of the mechanical load, if the driver steps on the accelerator to start driving again and exits the regenerative braking, the motor torque needs to be converted from negative torque to positive torque, which will cause a large impact on the automatic transmission and seriously affect driving comfort.

[0003] In the prior art, the regenerative braking start condition and the braking force magnitude can be adjusted by presetting a driving mode, but it still cannot meet the personalized needs of all drivers. At the same time, during each driving process, on some sections of the road, the driver may hope that the regenerative braking does not start or the regenerative braking force weakens, and manually adjusting the driving mode will affect the driver's operation, reduce the user driving experience, and even affect driving safety. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0005] For this reason, an object of the present invention is to propose a braking control method for a vehicle. By obtaining the duration and the energy recovery situation when the vehicle performs regenerative braking on a target road section, this method can dynamically adjust the regenerative braking state of the vehicle without manual intervention by the driver, precisely meet the personalized braking needs of different drivers, and improve the user's driving experience, comfort and driving safety without affecting the kinetic energy recovery of the vehicle.

[0006] For this reason, a second object of the present invention is to propose a braking control device for a vehicle.

[0007] For this reason, a third object of the present invention is to propose a vehicle.

[0008] For this reason, a fourth object of the present invention is to propose a computer-readable storage medium.

[0009] For this reason, a fifth object of the present invention is to propose a computer program product.

[0010] To achieve the above object, an embodiment of the first aspect of the present invention provides a braking control method for a vehicle, including the following steps: determining a target section on the driving road where frequent regenerative braking exists, the driving road including multiple sections; obtaining the duration and recovered energy when the vehicle performs regenerative braking on the target section; determining the number of times indicating too short a duration and the number of times indicating too long a duration when the vehicle performs regenerative braking on the target section based on the duration, and determining the number of times indicating too little recovered energy and the number of times indicating too much recovered energy when the vehicle performs regenerative braking on the target section based on the recovered energy; adjusting the standard of the regenerative braking intervention condition or the regenerative braking state of the vehicle on the target section based on the number of times indicating too short a duration and / or the number of times indicating too little recovered energy, or adjusting the standard of the regenerative braking intervention condition and / or the intensity of the regenerative braking torque of the vehicle on the target section based on the number of times indicating too long a duration and / or the number of times indicating too much recovered energy.

[0011] According to the braking control method for a vehicle of the embodiment of the present invention, by obtaining the duration and recovered energy when the vehicle performs regenerative braking on the target section, the regenerative braking state of the vehicle can be dynamically adjusted without manual intervention by the driver, accurately meeting the personalized braking needs of different drivers, improving the driving experience, comfort and driving safety of users while not affecting the kinetic energy recovery of the vehicle.

[0012] In addition, the braking control method for a vehicle according to the embodiment of the present invention may further have the following additional technical features: In some examples, the determining a target section on the driving road where frequent regenerative braking exists includes: when the number of regenerative braking times of the vehicle on any one section is greater than a preset regenerative braking times threshold, determining the any one section as the target section.

[0013] In some examples, after determining the any one section as the target section, it further includes: obtaining the number of non-target sections between any two target sections; when the number of non-target sections is less than a preset non-target section number threshold, taking the non-target sections as the target sections.

[0014] In some examples, determining the number of times the duration is too short and the number of times the duration is too long when the vehicle performs regenerative braking on the target section based on the duration includes: if the absolute value of the duration is less than a first preset time threshold, increasing the number of times the duration is too short by a preset value; otherwise, decreasing the number of times the duration is too short by the preset value; if the absolute value of the duration is less than a second preset time threshold, decreasing the number of times the duration is too long by the preset value; otherwise, increasing the number of times the duration is too long by the preset value; determining the number of times the duration is too short and the number of times the duration is too long according to the increase and decrease of the number of times the duration is too short and the number of times the duration is too long.

[0015] In some examples, determining the number of times the recovered energy is too little and the number of times the recovered energy is too much when the vehicle performs regenerative braking on the target section based on the recovered energy includes: if the absolute value of the recovered energy is less than a first preset energy threshold, increasing the number of times the recovered energy is too little by a preset value; otherwise, decreasing the number of times the recovered energy is too much by the preset value; if the absolute value of the recovered energy is less than a second preset energy threshold, decreasing the number of times the recovered energy is too little by the preset value; otherwise, increasing the number of times the recovered energy is too much by the preset value; determining the number of times the recovered energy is too little and the number of times the recovered energy is too much according to the increase and decrease of the number of times the recovered energy is too little and the number of times the recovered energy is too much.

[0016] In some examples, adjusting the standard of the regenerative braking intervention condition or the regenerative braking state of the vehicle on the target section based on the number of times the duration is too short and / or the number of times the recovered energy is too little includes: when at least one of the number of times the duration is too short and the number of times the recovered energy is too little exceeds its corresponding preset number threshold, raising the standard of the regenerative braking intervention condition, or prohibiting the vehicle from entering regenerative braking; or, adjusting the standard of the regenerative braking intervention condition and / or the intensity of the regenerative braking torque of the vehicle on the target section based on the number of times the duration is too long and / or the number of times the recovered energy is too much includes: when at least one of the number of times the duration is too long and the number of times the recovered energy is too much exceeds its corresponding preset number threshold, lowering the standard of the regenerative braking intervention condition, and / or raising the intensity of the regenerative braking torque.

[0017] In some examples, obtaining the duration and recovered energy of the vehicle performing regenerative braking on the target section includes: obtaining the start time of the regenerative braking, the remaining battery energy corresponding to the start time, the end time of the regenerative braking, and the remaining battery energy corresponding to the end time; when the start time and the end time are on the same section, determining the duration based on the start time and the end time, and determining the recovered energy based on the remaining battery energy corresponding to the start time and the remaining battery energy corresponding to the end time.

[0018] In some examples, obtaining the duration and recovered energy of the vehicle performing regenerative braking on the target section further includes: obtaining the time when the vehicle enters the target section during regenerative braking, the remaining battery energy corresponding to the time of entering the target section, the time when the vehicle leaves the target section during regenerative braking, and the remaining battery energy corresponding to the time of leaving the target section; when the start time and the end time are not on the same section, if the section where the start time is located is the target section, determining the duration based on the start time and the time of leaving the target section, and determining the recovered energy based on the remaining battery energy corresponding to the start time and the remaining battery energy corresponding to the time of leaving the target section; if the section where the end time is located is the target section, determining the duration based on the end time and the time of entering the target section, and determining the recovered energy based on the remaining battery energy corresponding to the end time and the remaining battery energy corresponding to the time of entering the target section.

[0019] To achieve the above object, an embodiment of the second aspect of the present invention provides a braking control device for a vehicle, including: a first determination module, configured to determine a target section on a driving road where the vehicle has frequent regenerative braking, the driving road including multiple sections; an acquisition module, configured to acquire the duration and recovered energy when the vehicle performs regenerative braking on the target section; a second determination module, configured to determine the number of times indicating that the duration is too short and the number of times indicating that the duration is too long when the vehicle performs regenerative braking on the target section based on the duration, and determine the number of times indicating that the recovered energy is too little and the number of times indicating that the recovered energy is too much when the vehicle performs regenerative braking on the target section based on the recovered energy; an adjustment module, configured to adjust the standard of the regenerative braking intervention condition or the regenerative braking state of the vehicle on the target section based on the number of times indicating that the duration is too short and / or the number of times indicating that the recovered energy is too little, or adjust the standard of the regenerative braking intervention condition and / or the intensity of the regenerative braking torque of the vehicle on the target section based on the number of times indicating that the duration is too long and / or the number of times indicating that the recovered energy is too much.

[0020] The braking control device of a vehicle according to the present invention can, by obtaining the duration and the energy recovery situation when the vehicle performs regenerative braking on a target section, dynamically adjust the state of the vehicle's regenerative braking without manual intervention by the driver, precisely meet the personalized braking needs of different drivers, and improve the driving experience, comfort, and driving safety of users without affecting the kinetic energy recovery of the vehicle.

[0021] To achieve the above object, an embodiment of the third aspect of the present invention provides a vehicle, including: the braking control device of the vehicle described in the above embodiment.

[0022] The vehicle according to an embodiment of the present invention can, by obtaining the duration and the energy recovery situation when the vehicle performs regenerative braking on a target section, dynamically adjust the state of the vehicle's regenerative braking without manual intervention by the driver, precisely meet the personalized braking needs of different drivers, and improve the driving experience, comfort, and driving safety of users without affecting the kinetic energy recovery of the vehicle.

[0023] A further embodiment of the present invention also discloses a computer-readable storage medium, on which a braking control program of a vehicle is stored. When the braking control program of the vehicle is executed by a processor, it implements the braking control method of the vehicle described in any one of the above embodiments of the present invention.

[0024] According to the computer-readable storage medium of an embodiment of the present invention, when the braking control program of the vehicle stored thereon is executed by a processor, by obtaining the duration and the energy recovery situation when the vehicle performs regenerative braking on a target section, it can dynamically adjust the state of the vehicle's regenerative braking without manual intervention by the driver, precisely meet the personalized braking needs of different drivers, and improve the driving experience, comfort, and driving safety of users without affecting the kinetic energy recovery of the vehicle.

[0025] A further embodiment of the present invention also discloses a computer program, which implements the braking control method of the vehicle described in any one of the above embodiments of the present invention when executed.

[0026] According to the computer program of an embodiment of the present invention, when the computer program is executed, by obtaining the duration and the energy recovery situation when the vehicle performs regenerative braking on a target section, it can dynamically adjust the state of the vehicle's regenerative braking without manual intervention by the driver, precisely meet the personalized braking needs of different drivers, and improve the driving experience, comfort, and driving safety of users without affecting the kinetic energy recovery of the vehicle.

[0027] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned by practice of the present invention. Description of the Drawings

[0028] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the description of embodiments in conjunction with the following drawings, in which: Figure 1 is a schematic flow chart of a braking control method for a vehicle according to an embodiment of the present invention; Figure 2 is a schematic structural diagram of a braking control device for a vehicle according to an embodiment of the present invention.

[0029] Reference Signs: Braking control device of the vehicle - 100; First determination module - 110; Acquisition module - 120; Second determination module - 130; Adjustment module - 140. Detailed Embodiments

[0030] In order to be able to understand the features and technical content of the embodiments of the present invention in more detail, the implementation of the embodiments of the present invention will be described in detail below in conjunction with the drawings. The attached drawings are for reference and illustration only, and are not used to limit the embodiments of the present invention. In the following technical description, for the sake of explanation, multiple details are provided to provide a full understanding of the disclosed embodiments. However, one or more embodiments can still be implemented without these details.

[0031] Next, reference is made to Figure 1 - Figure 2 to describe a braking control method, device and vehicle for a vehicle according to an embodiment of the present invention.

[0032] Figure 1 is a schematic flow chart of a braking control method for a vehicle according to an embodiment of the present invention. As Figure 1 shown, the method includes the following steps: As Figure 1 shown, the braking control method for the vehicle includes the following steps: Step S1: Determine a target section on the driving road where frequent regenerative braking exists for the vehicle, and the driving road includes multiple sections.

[0033] Specifically, when performing braking control of the vehicle, first, it is possible to determine a target section on the driving road where frequent regenerative braking exists for the vehicle, including but not limited to obtaining the start time and end time of regenerative braking of the vehicle on the driving road, determining the number of regenerative braking times of the vehicle on the driving road based on different start times and end times, and determining the target section on the driving road where frequent regenerative braking exists based on the number of regenerative braking times.

[0034] Among them, the driving road includes multiple road segments, and the multiple road segments can be obtained by dividing the driving road. The division methods include: the driver selects and records common parking locations, such as home, company, community parking lot, community exit, etc., as the starting points for dividing road segments. Starting from the set starting points, through the in-vehicle positioning and navigation system, the vehicle segments the road every time it travels a certain distance. Or, the segments and numbers of the national drivable roads can be loaded into the vehicle software. Or, the vehicle connects to the Internet and downloads the road segment data of the current city from the server. It can be understood that for the segmentation of the driving road, since the records of multiple trips need to be analyzed, after the segmentation is completed, the road segment numbers will not be changed again, that is, the same road segment numbers are used for each trip.

[0035] In a specific embodiment, when the time or location of the vehicle entering or exiting regenerative braking is within a road segment, it can be regarded as regenerative braking being performed in that road segment.

[0036] Step S2: Obtain the duration and the recovered energy when the vehicle performs regenerative braking in the target road segment.

[0037] Specifically, during the process of controlling the vehicle's braking, various sensors set in the vehicle can be used to monitor the braking state of the vehicle, including but not limited to determining the start time and end time of the vehicle performing regenerative braking on the target road segment through a timer, and obtaining the duration of the vehicle performing regenerative braking on the target road segment based on the start time and end time; and obtaining the vehicle battery energy corresponding to the start time of the vehicle performing regenerative braking on the target road segment and the vehicle battery energy corresponding to the end time through the power detection device in the energy recovery system, and obtaining the recovered energy of the vehicle performing regenerative braking on the target road segment based on the vehicle battery energy corresponding to the start time and the vehicle battery energy corresponding to the end time.

[0038] Step S3: Based on the duration, determine the number of times indicating that the duration is too short and the number of times indicating that the duration is too long when the vehicle performs regenerative braking in the target road segment, and based on the recovered energy, determine the number of times indicating that the recovered energy is too little and the number of times indicating that the recovered energy is too much when the vehicle performs regenerative braking in the target road segment.

[0039] Specifically, after obtaining the duration and the recovered energy when the vehicle performs regenerative braking on the target section, the number of times indicating that the duration of the vehicle performing regenerative braking on the target section is too short, the number of times indicating that the duration is too long, the number of times indicating that the recovered energy is too little, and the number of times indicating that the recovered energy is too much can be determined. The determination methods include, but are not limited to, combining the design parameters of the vehicle (such as motor performance, battery characteristics, etc.) and relevant safety standards and energy-saving requirements to determine reasonable thresholds corresponding to too short duration, too long duration, too little energy, and too much energy. According to their respective corresponding thresholds, it is judged whether the duration of the vehicle performing regenerative braking on the target section is too short or too long, and whether the recovered energy is too much or too little. Further, based on the judgment results, the number of times indicating that the duration is too short, the number of times indicating that the duration is too long, the number of times indicating that the recovered energy is too little, and the number of times indicating that the recovered energy is too much can be determined.

[0040] Step S4: Adjust the standard of the regenerative braking intervention condition or the regenerative braking state of the vehicle on the target section based on the number of times indicating that the duration is too short and / or the number of times indicating that the recovered energy is too little, or adjust the standard of the regenerative braking intervention condition and / or the intensity of the regenerative braking torque of the vehicle on the target section based on the number of times indicating that the duration is too long and / or the number of times indicating that the recovered energy is too much.

[0041] Specifically, when the number of times indicating that the duration is too short is large, it means that the driving habit of the driver causes the vehicle to frequently start regenerative braking but quickly exit regenerative braking when driving on this section. At this time, since the torque of the vehicle's electric motor quickly switches between positive and negative, it will impact the gearbox, easily causing a sense of jerk for the user, reducing the user's driving experience and comfort. When the number of times indicating that the recovered energy is too little is large, it means that the effect of the vehicle recovering energy during regenerative braking is continuously in a poor state. At this time, the standard of the regenerative braking intervention condition or the regenerative braking state of the vehicle on the target section can be dynamically adjusted, so that without the need for the user to manually operate, the regenerative braking requirements of the user can be met, the problems of poor driving experience and poor energy recovery effect caused by frequent starting of regenerative braking can be avoided, and at the same time, the problem that the user manually changing the regenerative braking mode affects the driver's operation can be avoided, improving driving safety.

[0042] Furthermore, when the number of times the representation duration is too long is relatively large, it indicates that the driver is in a stable and smooth state for a long time when driving on the target section. For example, when slowly following the vehicle in a congested urban section. And when the number of times the represented recovered energy is too small is excessive, it means that the vehicle has a good effect of recovering energy during regenerative braking. At this time, the criteria for the regenerative braking intervention conditions and / or the intensity of the regenerative braking torque of the vehicle on the target section can be adjusted, so that without the need for manual operation by the user, the regenerative braking requirements of the user can be met, making it easier for the vehicle to enter the regenerative braking state, so as to more effectively recover energy in a short time, while not affecting the kinetic energy recovery of the vehicle, improving the driving experience and comfort of the user.

[0043] Thus, the above-mentioned braking control method of the vehicle can dynamically adjust the regenerative braking state of the vehicle without manual intervention by the driver by obtaining the duration and the recovered energy situation when the vehicle performs regenerative braking on the target section, so as to precisely meet the personalized braking requirements of different drivers, while not affecting the kinetic energy recovery of the vehicle, improving the driving experience and comfort of the user.

[0044] In an embodiment of the present invention, determining a target section where the vehicle has frequent regenerative braking on the driving road includes: when the number of regenerative braking times of the vehicle on any section is greater than a preset regenerative braking times threshold, determining any section as the target section.

[0045] Specifically, when determining a target section where the vehicle has frequent regenerative braking on the driving road, the number of regenerative braking times of the vehicle on any section can be obtained. When the number of regenerative braking times of the vehicle on a certain section exceeds the preset regenerative braking times threshold, it indicates that the vehicle performs frequent braking on the current section, and the current section can be determined as the target section.

[0046] In a specific embodiment, for each segmented section represented by k, the number of regenerative braking times T-k occurring on the k-th section can be counted. If the number of regenerative braking times T-k on the k-th section exceeds the preset regenerative braking times threshold T-kmax, the k-th section is marked as the target section, where the preset regenerative braking times threshold can be set according to the type and performance of the vehicle or experimental data. It can be understood that if the starting point, ending point or any moment during the process of regenerative braking is located in the k-th section, it is counted as 1 time of regenerative braking triggered on the k-th section. For example, if the starting point of the regenerative braking is in the 5th section and the ending point is in the 7th section, it is considered that regenerative braking has occurred in the 5th section, the 6th section and the 7th section, and the number of regenerative braking times in the 5th section, the 6th section and the 7th section is increased by 1 time.

[0047] In one embodiment of the present invention, after determining any one road segment as the target road segment, it further includes: obtaining the number of non-target road segments between any two target road segments; When the number of non-target road segments is less than the preset non-target road segment number threshold, the non-target road segment is used as the target road segment.

[0048] Specifically, after determining any one road segment as the target road segment, any two adjacent target road segments can be determined. At the same time, through the road segment identifier and sequence information, the number of non-target road segments between any two adjacent target road segments can be calculated. For example, target road segment A and target road segment B are adjacent, and there are road segments C, D, and E between them in sequence, and road segments C, D, and E are not determined as target road segments, then the number w of non-target road segments between target road segment A and target road segment B is 3.

[0049] Further, after calculating the number of non-target road segments between any two target road segments, it can be compared with the preset non-target road segment number threshold. If the number of non-target road segments is less than the preset non-target road segment number threshold, this non-target road segment can also be used as the target road segment. It can be understood that when the vehicle is driving on the target road segment, the conditions for judging entering and exiting the regenerative braking, or the negative torque required by the motor, are different from those on the non-target road segment. If the non-target road segments between any two adjacent target road segments are too short, after the vehicle enters or exits the regenerative braking on the non-target road segment and then enters the target road segment, it may cause the vehicle to frequently enter or exit the regenerative braking, or the braking torque provided by the motor to change rapidly. Therefore, if the non-target road segments between any two adjacent target road segments are too short, the non-target road segment can also be regarded as the target road segment, that is, when the vehicle performs regenerative braking on the non-target road segment, although the number of regenerative braking times does not reach the standard of the target road segment, it has an important impact on the overall regenerative braking process. Therefore, this non-target road segment can also be marked as the target road segment.

[0050] In one embodiment of the present invention, based on the duration, determining the number of times the duration is too short and the number of times the duration is too long when the vehicle performs regenerative braking on the target road segment includes: if the absolute value of the duration is less than the first preset time threshold, increasing the number of times the duration is too short by a preset value, otherwise, decreasing the number of times the duration is too short by a preset value; If the absolute value of the duration is less than the second preset time threshold, decreasing the number of times the duration is too long by a preset value, otherwise, increasing the number of times the duration is too long by a preset value; Determining the number of times the duration is too short and the number of times the duration is too long according to the increase and decrease of the number of times the duration is too short and the number of times the duration is too long.

[0051] Specifically, in the process of determining the number of times when the duration of regenerative braking of a vehicle on a target section is too short based on the duration, when the absolute value of the duration of a certain regenerative braking is less than the first preset time threshold, it indicates that the duration of this regenerative braking is too short. At this time, the number of times indicating that the duration is too short can be increased by a preset value. The preset value can be adjusted according to the actual situation. For example, the preset value can be set to 1 time, that is, each time the situation of too short duration occurs, the number of times indicating that the duration is too short is incremented by 1. When the absolute value of the duration of a certain regenerative braking is greater than or equal to the first preset time threshold, it indicates that the duration of this regenerative braking is normal or too long. At this time, the number of times indicating that the duration is too short can be decreased by the preset value. It can be understood that when determining the number of times indicating that the duration is too short, since the duration is collected and obtained in different time periods, if the number of times indicating that the duration is too short is only incremented by the preset value when the absolute value of the duration is less than the preset time threshold, there will inevitably be a situation where it exceeds a certain preset number threshold. To avoid such a phenomenon and ensure the accuracy of control, when the absolute value of the duration is not less than the preset time threshold, the number of times indicating that the duration is too short can be decreased by the preset value.

[0052] Further, in the process of determining the number of times when the duration of regenerative braking of a vehicle on a target section is too long based on the duration, when the absolute value of the duration of a certain regenerative braking is greater than or equal to the second preset time threshold, it indicates that the duration of this regenerative braking is too long. At this time, the number of times indicating that the duration is too long can be increased by a preset value. The preset value can be adjusted according to the actual situation. For example, the preset value can be set to 1 time, that is, each time the situation of too long duration occurs, the number of times indicating that the duration is too long is incremented by 1. When the absolute value of the duration of a certain regenerative braking is less than the second preset time threshold, it indicates that the duration of this regenerative braking is normal or too short. At this time, the number of times indicating that the duration is too long can be decreased by the preset value.

[0053] Further, determine the number of times indicating that the duration is too short and the number of times indicating that the duration is too long according to the increase and decrease of the number of times indicating that the duration is too short and the number of times indicating that the duration is too long, that is, determine the number of times indicating that the duration is too short and the number of times indicating that the duration is too long by counting the increase and decrease of the number of times indicating that the duration is too short and the number of times indicating that the duration is too long. It can be understood that in the actual situation, the results of multiple regenerative brakings of the vehicle on the target section in different time periods can be comprehensively considered to adjust the number of times indicating that the duration is too short and too long. Finally, the final number of times indicating that the duration is too short and too long is determined according to the cumulative result of the counted number of times.

[0054] In an embodiment of the present invention, determining the number of times indicating too little recovered energy and the number of times indicating too much recovered energy when the vehicle performs regenerative braking on a target section based on the recovered energy includes: if the absolute value of the recovered energy is less than a first preset energy threshold, increasing the number of times indicating too little recovered energy by a preset value; otherwise, decreasing the number of times indicating too much recovered energy by a preset value; if the absolute value of the recovered energy is less than a second preset energy threshold, decreasing the number of times indicating too little recovered energy by a preset value; otherwise, increasing the number of times indicating too much recovered energy by a preset value; Determining the number of times indicating too little recovered energy and the number of times indicating too much recovered energy according to the increase and decrease of the number of times indicating too little recovered energy and the number of times indicating too much recovered energy.

[0055] Specifically, in the process of determining the number of times indicating too much recovered energy when the vehicle performs regenerative braking on a target section based on the recovered energy, when the absolute value of the recovered energy of a certain regenerative braking is greater than or equal to the second preset energy threshold, it indicates that the recovered energy of this regenerative braking is too much. At this time, the number of times indicating too much recovered energy can be increased by a preset value. Among them, the setting of the preset value can be adjusted according to the actual situation. For example, the preset value can be set to 1 time, that is, each time the situation of too much recovered energy occurs, the number of times indicating too much recovered energy is increased by 1; when the absolute value of the recovered energy of a certain regenerative braking is less than the second preset energy threshold, it indicates that the recovered energy of this regenerative braking is normal or too little. At this time, the number of times indicating too much recovered energy can be decreased by a preset value.

[0056] Further, in the process of determining the number of times indicating too little recovered energy when the vehicle performs regenerative braking on a target section based on the recovered energy, when the absolute value of the recovered energy of a certain regenerative braking is less than the first preset energy threshold, it indicates that the recovered energy of this regenerative braking is too little. At this time, the number of times indicating too little recovered energy can be increased by a preset value. Among them, the setting of the preset value can be adjusted according to the actual situation. For example, the preset value can be set to 1 time, that is, each time the situation of too little recovered energy occurs, the number of times indicating too little recovered energy is increased by 1; when the absolute value of the recovered energy of a certain regenerative braking is greater than or equal to the first preset energy threshold, it indicates that the recovered energy of this regenerative braking is normal or too much. At this time, the number of times indicating too little recovered energy can be decreased by a preset value. It can be understood that when determining the number of times indicating too little recovered energy, since the recovered energy is collected and obtained at different time periods, if the number of times indicating too little recovered energy is only increased by the preset value when the absolute value of the too little recovered energy is less than the preset energy threshold, there will inevitably be a situation where it is greater than a certain preset number threshold. To avoid such a phenomenon and ensure the accuracy of control, when the absolute value of the recovered energy is not less than the preset energy threshold, the number of times indicating too short a duration can be decreased by the preset value.

[0057] Further, the number of times that the energy is too little and the number of times that the energy is too much are determined according to the increase or decrease of the number of times that the energy is too little and the number of times that the energy is too much, that is, the number of times that the energy is too little and the number of times that the energy is too much are determined by counting the increase or decrease of the number of times that the energy is too little and the number of times that the energy is too much. It can be understood that in actual situations, the results of multiple regenerative braking of the vehicle on the target road section in different time periods can be comprehensively considered to adjust the number of times that the energy is too little and too much, and finally, the final number of times that the energy is too little and too much is determined according to the cumulative result of the statistical number of times.

[0058] In summary, it can be understood that, when the vehicle performs regenerative braking on the target section, the vehicle may travel from the kth section to the k+1th section, or from the k+1th section to the kth section, that is, the obtained duration and recovered energy may be negative numbers. Therefore, the absolute values ​​corresponding to the duration and recovered energy can be taken for calculation.

[0059] In one embodiment of the present invention, the standard of the regenerative braking intervention condition or the regenerative braking state of the vehicle on the target road section is adjusted based on the number of times characterizing a duration that is too short and / or the number of times characterizing too little recovered energy, including: when at least one of the number of times characterizing a duration that is too short and the number of times characterizing too little recovered energy exceeds their corresponding preset number thresholds, the standard of the regenerative braking intervention condition is increased, or the vehicle is prohibited from entering regenerative braking.

[0060] Specifically, when the vehicle performs regenerative braking, the standard or regenerative braking state of the vehicle's regenerative braking intervention conditions in the target section can be adjusted based on the number of times that the duration is too short and / or the number of times that the recovered energy is too little. That is, the standard or regenerative braking state of the vehicle's regenerative braking intervention conditions in the target section can be adjusted based on the number of times that the duration is too short, or the standard or regenerative braking state of the vehicle's regenerative braking intervention conditions in the target section can be adjusted based on the number of times that the recovered energy is too little, or the standard or regenerative braking state of the vehicle's regenerative braking intervention conditions in the target section can be adjusted based on the number of times that the duration is too short and the number of times that the recovered energy is too little.

[0061] For example, if the number of times the characterized duration is too short exceeds its corresponding preset number threshold, it indicates that the driver's driving habit causes the vehicle to frequently start regenerative braking when driving on the target road section, but quickly exits regenerative braking. That is, the vehicle starts and stops regenerative braking multiple times within a short period on the target road section. At this time, the vehicle starts and stops regenerative braking multiple times, which is likely to reduce the user's driving experience. The standard of the regenerative braking intervention condition can be improved, the difficulty of triggering regenerative braking can be increased, unnecessary interventions can be reduced, or the regenerative braking function can be completely turned off to avoid the problem of poor driving experience caused by frequent start of regenerative braking.

[0062] Furthermore, when the number of times the characterized recovered energy is too little exceeds its corresponding preset number threshold, it indicates that the effect of energy recovery during the vehicle's regenerative braking is continuously in a poor state. That is, when the vehicle performs regenerative braking, it fails to fully utilize the vehicle's kinetic energy for energy recovery. At this time, the standard of the regenerative braking intervention condition can be improved, the difficulty of triggering regenerative braking can be increased, unnecessary interventions can be reduced, or the regenerative braking function can be completely turned off to avoid affecting the normal driving of the vehicle and the battery life due to poor energy recovery.

[0063] In an embodiment of the present invention, adjusting the standard of the regenerative braking intervention condition and / or the regenerative braking torque intensity of the vehicle on the target road section based on the number of times the characterized duration is too long and / or the number of times the characterized recovered energy is too much includes: when at least one of the number of times the characterized duration is too long and the number of times the characterized recovered energy is too much exceeds its corresponding preset number threshold, reducing the standard of the regenerative braking intervention condition and / or increasing the regenerative braking torque intensity.

[0064] Specifically, when the vehicle performs regenerative braking, the standard of the regenerative braking intervention condition and / or the regenerative braking torque intensity of the vehicle on the target road section can be adjusted based on the number of times the characterized duration is too long and / or the number of times the characterized recovered energy is too much. That is, the standard of the regenerative braking intervention condition and / or the regenerative braking torque intensity of the vehicle on the target road section can be adjusted based on the number of times the characterized duration is too long, or the standard of the regenerative braking intervention condition and / or the regenerative braking torque intensity of the vehicle on the target road section can be adjusted based on the number of times the characterized recovered energy is too much, or the standard of the regenerative braking intervention condition and / or the regenerative braking torque intensity of the vehicle on the target road section can be adjusted based on the number of times the characterized duration is too long and the number of times the characterized recovered energy is too much.

[0065] For example, if the number of times the characterized duration is too long exceeds its corresponding preset number threshold, it indicates that when the driver is driving on the target road section, the vehicle is in a stable and smooth state for a long time. For example, when slowly following a vehicle in a congested urban road section, at this time, to improve the driver's driving comfort and avoid reducing the driver's driving experience caused by frequent regenerative braking, the standard of the regenerative braking intervention condition can be reduced, that is, the difficulty of triggering regenerative braking can be reduced, so that the vehicle can more easily enter the regenerative braking state to maintain the stability and comfort of the vehicle. Or, the intensity of the regenerative braking torque can be increased, so that the vehicle can reach a stable deceleration state in a shorter time, that is, the vehicle can more easily enter the regenerative braking state in a short time to maintain the stability and comfort of the vehicle.

[0066] Furthermore, when the number of times the characterized excessive energy recovery exceeds its corresponding preset number threshold, it indicates that the effect of energy recovery during regenerative braking of the vehicle is continuously in a good state, that is, when the vehicle performs regenerative braking, the kinetic energy of the vehicle can be fully utilized for energy recovery. At this time, the standard of the regenerative braking intervention condition can be reduced, that is, the difficulty of triggering regenerative braking can be reduced, so that the vehicle can more easily enter the regenerative braking state to improve the energy recovery efficiency. Or, the intensity of the regenerative braking torque can be increased, so that the vehicle can reach a stable deceleration state in a shorter time, that is, the vehicle can more easily enter the regenerative braking state in a short time and recover more energy in a short time, further improving the energy recovery efficiency.

[0067] In an embodiment of the present invention, obtaining the duration and recovered energy of regenerative braking of a vehicle on a target road section includes: obtaining the start time of regenerative braking, the remaining battery energy corresponding to the start time, the end time of regenerative braking, and the remaining battery energy corresponding to the end time; When the start time and the end time are on the same road section, the duration is determined based on the start time and the end time, and the recovered energy is determined based on the remaining battery energy corresponding to the start time and the remaining battery energy corresponding to the end time.

[0068] Specifically, in the process of obtaining the duration and recovered energy of regenerative braking of a vehicle on a target road section, the moment when the vehicle starts to enter regenerative braking, that is, the start time of regenerative braking, can be obtained, and the remaining battery energy corresponding to the start time is determined based on the real-time monitoring of the battery power by the battery management system. Furthermore, the moment when the vehicle exits regenerative braking, that is, the end time of regenerative braking, can also be obtained, and the remaining battery energy corresponding to the end time is determined based on the real-time monitoring of the battery power by the battery management system.

[0069] Further, when the start time and the end time are in the same road segment, that is, the vehicle positions corresponding to the start time and the end time are both within the range of the same road segment, it indicates that the regenerative braking process occurs entirely in the same road segment. At this time, the duration can be determined based on the start time and the end time.

[0070] In a specific embodiment, the duration can be determined as the difference between the end time and the start time. Taking the x-th regenerative braking in the k-th road segment as an example, the specific formula is: , where represents the duration of the x-th regenerative braking in the k-th road segment, represents the end time of the x-th regenerative braking, represents the start time of the x-th regenerative braking. For example, if the start time of the x-th regenerative braking in the k-th road segment is 10:00:00 am and the end time of the x-th regenerative braking in the k-th road segment is 10:00:15 am, then the duration is 15 seconds.

[0071] Further, the recovered energy is determined based on the remaining battery energy corresponding to the start time and the remaining battery energy corresponding to the end time.

[0072] In a specific embodiment, the recovered energy can be determined as the difference between the remaining battery energy corresponding to the end time and the remaining battery energy corresponding to the start time. Taking the x-th regenerative braking in the k-th road segment as an example, the specific formula is: , where represents the recovered energy of the x-th regenerative braking in the k-th road segment, represents the remaining battery energy corresponding to the end time of the x-th regenerative braking, represents the remaining battery energy corresponding to the start time of the x-th regenerative braking.

[0073] In an embodiment of the present invention, obtaining the duration and the recovered energy of the vehicle performing regenerative braking in the target road segment further includes: obtaining the time when the vehicle enters the target road segment during regenerative braking, the remaining battery energy corresponding to the time when the vehicle enters the target road segment, the time when the vehicle leaves the target road segment during regenerative braking, and the remaining battery energy corresponding to the time when the vehicle leaves the target road segment; When the start time and the end time are not in the same road segment, if the road segment where the start time is located is the target road segment, then the duration is determined based on the start time and the time when leaving the target road segment, and the recovered energy is determined based on the remaining battery energy corresponding to the start time and the remaining battery energy corresponding to the time when leaving the target road segment; If the section where the termination time is located is the target section, determine the duration based on the termination time and the time of entering the target section, and determine the recovered energy based on the remaining battery energy corresponding to the termination time and the remaining battery energy corresponding to the time of entering the target section.

[0074] Specifically, in the process of obtaining the duration and recovered energy of the vehicle performing regenerative braking on the target section, the time of entering the target section when the vehicle performs regenerative braking can also be obtained, and based on the battery management system's real-time monitoring of the battery power, the remaining battery energy corresponding to the time of entering the target section is determined. Further, the time of leaving the target section when performing regenerative braking can also be obtained, and based on the battery management system's real-time monitoring of the battery power, the remaining battery energy corresponding to the time of leaving the target section is determined.

[0075] Further, when the start time and the termination time are not in the same section, that is, when the start time and the end time of the vehicle performing regenerative braking cross the boundary of the target section, if the section where the start time is located is the target section, the duration can be determined based on the start time and the time of leaving the target section. For example, when the vehicle starts regenerative braking (start time) on the target section A, but the braking process continues until it ends in section B (termination time), that is, when the vehicle continuously brakes during the process of entering section B from the target section A, the duration can be determined as the difference between the time of leaving the target section A and the start time.

[0076] In a specific embodiment, taking the x-th regenerative braking on the k-th section as an example, the specific formula is: , where represents the duration of the x-th regenerative braking on the k-th section, represents the time of leaving the k-th section during the x-th regenerative braking, represents the start time of the x-th regenerative braking.

[0077] Further, the recovered energy can be determined based on the remaining battery energy corresponding to the start time and the remaining battery energy corresponding to the time of leaving the target section.

[0078] In a specific embodiment, taking the x-th regenerative braking on the k-th section as an example, the specific formula is: , where represents the recovered energy of the x-th regenerative braking on the k-th section, represents the remaining battery energy corresponding to the time of leaving the k-th section during the x-th regenerative braking, represents the remaining battery energy corresponding to the start time of the x-th regenerative braking.

[0079] When the start time and the end time are not on the same road section, that is, when the start time and the end time of the vehicle's regenerative braking cross the boundary of the target road section, if the road section where the end time is located is the target road section, the duration can be determined based on the end time and the time of entering the target road section. For example, when the vehicle starts regenerative braking on road section A (start time), but the braking process continues until it ends on the target road section B (end time), that is, when the vehicle continuously brakes during the process of entering the target road section B from road section A, the determined duration is the difference between the end time and the time of entering the target road section B.

[0080] In a specific embodiment, taking the x-th regenerative braking on the k-th road section as an example, the specific formula is: , where represents the duration of the x-th regenerative braking on the k-th road section, represents the time of entering the k-th road section for the x-th regenerative braking, represents the end time of the x-th regenerative braking.

[0081] Furthermore, the recovered energy can be determined based on the remaining battery energy corresponding to the end time and the remaining battery energy corresponding to the time of entering the target road section.

[0082] In a specific embodiment, taking the x-th regenerative braking on the k-th road section as an example, the specific formula is: , where represents the recovered energy of the x-th regenerative braking on the k-th road section, represents the remaining battery energy corresponding to the time of entering the k-th road section during the x-th regenerative braking, represents the remaining battery energy corresponding to the end time of the x-th regenerative braking.

[0083] In summary, in a specific embodiment, assuming that the road section numbers included in the driving road are 12 - 18, and the vehicle has performed the 1st, 4th, 5th, 7th, 9th, and 11th regenerative brakings on this section of the road, the regenerative braking information is shown in Table 1:

[0084] Table 1 It can be seen that the number of regenerative brakings on the 12th road section is 0, the number of regenerative brakings on the 13th and 18th road sections is 1, the number of regenerative brakings on the 14th and 17th road sections is 4, and the number of regenerative brakings on the 15th and 16th road sections is 6. At this time, if the preset threshold of the number of regenerative brakings is set to 2, it can be determined that the 14th, 15th, 16th, and 17th road sections are the target road sections, and further analyze the duration of the regenerative braking and the recovered energy of the vehicle on the target road sections. Taking road section 15 as an example, the duration of the vehicle's regenerative braking on the 15th road section ( ) It can be calculated that: ; ; ; ; ; ; The energy recovered by the vehicle through regenerative braking on the 15th section ([[]] ) It can be calculated that: ; ; ; ; ; ; In summary, according to the braking control method of the vehicle in the embodiment of the present invention, by obtaining the duration and the energy recovery situation when the vehicle performs regenerative braking on the target section, the state of the vehicle's regenerative braking can be dynamically adjusted without manual intervention by the driver, accurately meeting the personalized braking needs of different drivers, improving the driving experience, comfort and driving safety of users while not affecting the kinetic energy recovery of the vehicle.

[0085] A further embodiment of the present invention provides a braking control device 100 for a vehicle, as Figure 2 shown. The braking control device 100 for the vehicle includes: a first determination module 110, an acquisition module 120, a second determination module 130, and an adjustment module 140.

[0086] Specifically, the first determination module 110 is configured to determine a target section on the driving road where the vehicle has frequent regenerative braking, and the driving road includes multiple sections.

[0087] The acquisition module 120 is configured to acquire the duration and the recovered energy when the vehicle performs regenerative braking on the target section.

[0088] The second determination module 130 is configured to determine the number of times indicating that the duration is too short and the number of times indicating that the duration is too long when the vehicle performs regenerative braking on the target section based on the duration, and determine the number of times indicating that the recovered energy is too little and the number of times indicating that the recovered energy is too much when the vehicle performs regenerative braking on the target section based on the recovered energy.

[0089] The adjustment module 140 is configured to adjust the standard of the regenerative braking intervention condition or the regenerative braking state of the vehicle on the target section based on the number of times of representing too short a duration and / or the number of times of representing too little recovered energy, or adjust the standard of the regenerative braking intervention condition and / or the intensity of the regenerative braking torque of the vehicle on the target section based on the number of times of representing too long a duration and / or the number of times of representing too much recovered energy.

[0090] In some embodiments, when determining that there is a target section with frequent regenerative braking on the driving road of the vehicle, the first determination module 110 is specifically configured to: when the number of regenerative brakings of the vehicle on any section is greater than a preset regenerative braking number threshold, determine any section as the target section.

[0091] In some embodiments, after determining that any section is the target section, the first determination module 110 is further configured to: obtain the number of non-target sections between any two target sections; when the number of non-target sections is less than a preset non-target section number threshold, use the non-target sections as the target sections.

[0092] In some embodiments, when determining the number of times of representing too short a duration and the number of times of representing too long a duration during regenerative braking of the vehicle on the target section based on the duration, the second determination module 130 is specifically configured to: if the absolute value of the duration is less than a first preset time threshold, increase the number of times of representing too short a duration by a preset value, otherwise, decrease the number of times of representing too short a duration by a preset value; if the absolute value of the duration is less than a second preset time threshold, decrease the number of times of representing too long a duration by a preset value, otherwise, increase the number of times of representing too long a duration by a preset value; determine the number of times of representing too short a duration and the number of times of representing too long a duration according to the increase and decrease of the number of times of representing too short a duration and the number of times of representing too long a duration.

[0093] In some embodiments, when determining the number of times of representing too little recovered energy and the number of times of representing too much recovered energy during regenerative braking of the vehicle on the target section based on the recovered energy, the second determination module 130 is specifically configured to: if the absolute value of the recovered energy is less than a first preset energy threshold, increase the number of times of representing too little recovered energy by a preset value, otherwise, decrease the number of times of representing too much recovered energy by a preset value; if the absolute value of the recovered energy is less than a second preset energy threshold, decrease the number of times of representing too little recovered energy by a preset value, otherwise, increase the number of times of representing too much recovered energy by a preset value; determine the number of times of representing too little recovered energy and the number of times of representing too much recovered energy according to the increase and decrease of the number of times of representing too little recovered energy and the number of times of representing too much recovered energy.

[0094] In some embodiments, when adjusting the standard of the regenerative braking intervention condition or the regenerative braking state of the vehicle on the target road section based on the number of times with too short a representation duration and / or the number of times with too little recovered energy, the adjustment module 140 is specifically configured to: when at least one of the number of times with too short a representation duration and the number of times with too little recovered energy exceeds its corresponding preset number threshold, increase the standard of the regenerative braking intervention condition, or prohibit the vehicle from entering the regenerative braking state.

[0095] In some embodiments, when adjusting the standard of the regenerative braking intervention condition and / or the intensity of the regenerative braking torque of the vehicle on the target road section based on the number of times with too long a representation duration and / or the number of times with too much recovered energy, the adjustment module 140 is specifically configured to: when at least one of the number of times with too long a representation duration and the number of times with too much recovered energy exceeds its corresponding preset number threshold, decrease the standard of the regenerative braking intervention condition, and / or increase the intensity of the regenerative braking torque.

[0096] In some embodiments, when obtaining the duration and recovered energy of the vehicle performing regenerative braking on the target road section, the obtaining module 120 is specifically configured to: obtain the start time of the regenerative braking, the remaining battery energy corresponding to the start time, the end time of the regenerative braking, and the remaining battery energy corresponding to the end time; when the start time and the end time are on the same road section, determine the duration based on the start time and the end time, and determine the recovered energy based on the remaining battery energy corresponding to the start time and the remaining battery energy corresponding to the end time.

[0097] In some embodiments, when obtaining the duration and recovered energy of the vehicle performing regenerative braking on the target road section, the obtaining module 120 is further configured to: obtain the time when the vehicle enters the target road section during regenerative braking, the remaining battery energy corresponding to the time when the vehicle enters the target road section, the time when the vehicle leaves the target road section during regenerative braking, and the remaining battery energy corresponding to the time when the vehicle leaves the target road section; if the road section where the start time is located is the target road section, determine the duration based on the start time and the time when the vehicle leaves the target road section, and determine the recovered energy based on the remaining battery energy corresponding to the start time and the remaining battery energy corresponding to the time when the vehicle leaves the target road section; if the road section where the end time is located is the target road section, determine the duration based on the end time and the time when the vehicle enters the target road section, and determine the recovered energy based on the remaining battery energy corresponding to the end time and the remaining battery energy corresponding to the time when the vehicle enters the target road section.

[0098] The braking control device 100 of a vehicle according to the present invention can, by obtaining the duration and the recovered energy when the vehicle performs regenerative braking on a target section, dynamically adjust the state of the vehicle's regenerative braking without manual intervention by the driver, precisely meet the personalized braking needs of different drivers, and improve the driving experience, comfort and driving safety of users without affecting the kinetic energy recovery of the vehicle.

[0099] To achieve the above object, an embodiment of the third aspect of the present invention provides a vehicle, including: the braking control device of the vehicle according to the embodiment of the second aspect above.

[0100] The vehicle according to the embodiment of the present invention can, by obtaining the duration and the recovered energy when the vehicle performs regenerative braking on a target section, dynamically adjust the state of the vehicle's regenerative braking without manual intervention by the driver, precisely meet the personalized braking needs of different drivers, and improve the driving experience, comfort and driving safety of users without affecting the kinetic energy recovery of the vehicle.

[0101] A further embodiment of the present invention also discloses a computer-readable storage medium, on which a braking control program for a vehicle is stored. When the braking control program for the vehicle is executed by a processor, it implements the braking control method for a vehicle as described in the embodiment of the first aspect above of the present invention.

[0102] According to the computer-readable storage medium of the embodiment of the present invention, when the braking control program for the vehicle stored thereon is executed by a processor, by obtaining the duration and the recovered energy when the vehicle performs regenerative braking on a target section, the state of the vehicle's regenerative braking can be dynamically adjusted without manual intervention by the driver, precisely meet the personalized braking needs of different drivers, and improve the driving experience, comfort and driving safety of users without affecting the kinetic energy recovery of the vehicle.

[0103] A further embodiment of the present invention also discloses a computer program, which implements the braking control method for a vehicle as described in the embodiment of the first aspect above of the present invention when executed.

[0104] According to the computer program of the embodiment of the present invention, when the computer program is executed, by obtaining the duration and the recovered energy when the vehicle performs regenerative braking on a target section, the state of the vehicle's regenerative braking can be dynamically adjusted without manual intervention by the driver, precisely meet the personalized braking needs of different drivers, and improve the driving experience, comfort and driving safety of users without affecting the kinetic energy recovery of the vehicle.

[0105] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example.

[0106] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A vehicle braking control method, characterized in that: The following steps are involved: Determine a target road section where the vehicle has frequent regenerative braking on a driving road, wherein the driving road includes a plurality of road sections; Obtaining the duration and recovered energy of the vehicle when performing regenerative braking on the target road section; Determine, based on the duration, the number of times that the duration is too short and the number of times that the duration is too long when the vehicle performs regenerative braking on the target road section, and determine, based on the recovered energy, the number of times that the recovered energy is too little and the number of times that the recovered energy is too much when the vehicle performs regenerative braking on the target road section; Based on the number of times the characterization duration is too short and / or the number of times the characterization energy is too little, the standard of the regenerative braking intervention condition or the regenerative braking state of the vehicle in the target section is adjusted; alternatively, based on the number of times the characterization duration is too long and / or the number of times the characterization energy is too much, the standard of the regenerative braking intervention condition and / or the regenerative braking torque strength of the vehicle in the target section is adjusted.

2. The vehicle braking control method according to claim 1, characterized in that: The step of determining a target road section where the vehicle has frequent regenerative braking on the driving road comprises: When the number of regenerative braking times of the vehicle on any road section is greater than a preset regenerative braking number threshold, the any road section is determined to be the target road section.

3. The vehicle braking control method according to claim 2, characterized in that: After determining that any one of the road sections is the target road section, the method further includes: Obtaining the number of non-target sections between any two of the target sections; When the number of the non-target road sections is less than a preset non-target road section number threshold, the non-target road section is used as the target road section.

4. The vehicle braking control method according to claim 1, characterized in that: The determining, based on the duration, the number of times that the duration is too short and the number of times that the duration is too long when the vehicle performs regenerative braking on the target road section includes: If the absolute value of the duration is less than a first preset time threshold, the number of times that the duration is too short is increased by a preset value; otherwise, the number of times that the duration is too short is decreased by the preset value; If the absolute value of the duration is less than a second preset time threshold, the number of times that the duration is too long is reduced by the preset value; otherwise, the number of times that the duration is too long is increased by the preset value; The number of times the representation duration is too short and the number of times the representation duration is too long are determined according to the increase and decrease of the number of times the representation duration is too short and the number of times the representation duration is too long.

5. The vehicle braking control method according to claim 1, characterized in that: The determining, based on the recovered energy, the number of times when the vehicle performs regenerative braking on the target road section indicating that the recovered energy is too little and the number of times when the recovered energy is too much, includes: If the absolute value of the recovered energy is less than the first preset energy threshold, the number of times indicating that the recovered energy is too little is increased by a preset value; otherwise, the number of times indicating that the recovered energy is too much is decreased by a preset value; If the absolute value of the recovered energy is less than the second preset energy threshold, the number of times indicating that the recovered energy is too little is reduced by the preset value; otherwise, the number of times indicating that the recovered energy is too much is increased by the preset value; The number of times indicating too little recovered energy and the number of times indicating too much recovered energy are determined according to an increase or decrease in the number of times indicating too little recovered energy and the number of times indicating too much recovered energy.

6. The vehicle braking control method according to claim 1, characterized in that: The adjusting the standard or regenerative braking state of the regenerative braking intervention condition of the vehicle on the target road section based on the number of times indicating that the duration is too short and / or the number of times indicating that the recovered energy is too little includes: When at least one of the number of times indicating that the duration is too short and the number of times indicating that the recovered energy is too little exceeds the corresponding preset number threshold, the standard of the regenerative braking intervention condition is increased, or the vehicle is prohibited from entering regenerative braking; or, The adjusting the standard of the regenerative braking intervention condition and / or the regenerative braking torque strength of the vehicle on the target road section based on the number of times indicating that the duration is too long and / or the number of times indicating that the recovered energy is too much includes: When at least one of the number of times indicating too long a duration and the number of times indicating too much recovered energy exceeds a corresponding preset number threshold, the standard of the regenerative braking intervention condition is lowered, and / or the regenerative braking torque intensity is increased.

7. The vehicle braking control method according to claim 1, characterized in that: Obtaining the duration and recovered energy of the regenerative braking of the vehicle on the target road section, including: Obtaining the start time of the regenerative braking, the remaining battery energy corresponding to the start time, and the end time of the regenerative braking, the remaining battery energy corresponding to the end time; When the start time and the end time are in the same section, the duration is determined based on the start time and the end time, and the recovered energy is determined based on the remaining battery energy corresponding to the start time and the remaining battery energy corresponding to the end time.

8. The vehicle braking control method according to claim 7, characterized in that: Acquiring the duration and recovered energy of the regenerative braking of the vehicle on the target road section also includes: Acquire the time when the vehicle enters the target section when performing regenerative braking, the battery remaining energy corresponding to the time of entering the target section, the time when the vehicle leaves the target section when performing regenerative braking, and the battery remaining energy corresponding to the time of leaving the target section; When the start time and the end time are not in the same road section, if the road section in which the start time is located is the target road section, the duration is determined based on the start time and the time of leaving the target road section, and the recovered energy is determined based on the remaining battery energy corresponding to the start time and the remaining battery energy corresponding to the time of leaving the target road section; If the road section where the termination time is located is the target road section, the duration is determined based on the termination time and the time of entering the target road section, and the recovered energy is determined based on the remaining battery energy corresponding to the termination time and the remaining battery energy corresponding to the time of entering the target road section.

9. A vehicle braking control device, characterized in that: The vehicle brake control device comprises: A first determination module is used to determine a target road section where the vehicle has frequent regenerative braking on a driving road, wherein the driving road includes a plurality of road sections; An acquisition module, used for acquiring the duration and recovered energy of the vehicle when performing regenerative braking on the target road section; a second determination module, configured to determine, based on the duration, a number of times that the duration is too short and a number of times that the duration is too long when the vehicle performs regenerative braking on the target road section, and to determine, based on the recovered energy, a number of times that the recovered energy is too little and a number of times that the recovered energy is too much when the vehicle performs regenerative braking on the target road section; An adjustment module is used to adjust the standard of the regenerative braking intervention condition or the regenerative braking state of the vehicle in the target section based on the number of times the duration of the representation is too short and / or the number of times the recovered energy is too little, or to adjust the standard of the regenerative braking intervention condition and / or the regenerative braking torque strength of the vehicle in the target section based on the number of times the duration of the representation is too long and / or the number of times the recovered energy is too much.

10. A vehicle, characterized in that: include: The vehicle brake control device according to claim 9, or A processor, a memory, and a vehicle braking control program stored in the memory and executable on the processor, wherein the vehicle braking control program, when executed by the processor, implements the vehicle braking control method as described in any one of claims 1 to 8.

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