Vehicle braking method and device, storage medium and electronic equipment

Abstract

The invention provides a vehicle braking method and device, a storage medium and electronic equipment, the vehicle braking method is applied to a vehicle comprising at least two braking motors, and the at least two braking motors are used for applying motor braking torque to corresponding wheels to achieve regenerative braking. The working states corresponding to the brake motors are obtained in real time, when the brake recovery request is received, the brake recovery request is responded, and when the working state of at least one brake motor is a fault and the working state of at least one brake motor is a normal state, the brake recovery request is returned to the brake motor. And the braking motor in the normal working state is used for conducting regenerative braking on the vehicle, and non-regenerative braking is conducted on the vehicle in a hydraulic braking mode. By the adoption of the method, when the braking motors in the multiple braking motors fail to cause that regenerative braking cannot be used, vehicle braking is conducted in the mode that regenerative braking and non-regenerative braking are combined, and vehicle energy recovery is achieved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle control, and particularly to a vehicle braking method, device, storage medium and electronic device. Background Art

[0002] A cooperative regenerative brake system (CRBS) is a system that recovers energy during vehicle braking, which can reduce energy loss and increase the driving range of the vehicle. Most cooperative regenerative brake systems perform braking based on motors, and the motors recover the kinetic energy of vehicle braking into electrical energy for storage during the process.

[0003] In a vehicle with multiple motors, different motors drive and brake different wheels. In related technologies, for a vehicle with multiple motors, when a motor fails among the multiple motors, since it is impossible to perform regenerative braking on all wheels simultaneously through the motors, a non-regenerative braking method is usually adopted for vehicle braking, and it is impossible to recover braking energy, resulting in energy loss. Summary of the Invention

[0004] Based on this, the present disclosure provides a vehicle braking method, device, storage medium and electronic device. When a regenerative brake cannot be used due to a failure of a braking motor among multiple braking motors, the vehicle braking is performed by combining regenerative braking and non-regenerative braking, so as to achieve vehicle energy recovery.

[0005] On the one hand, the present disclosure provides a vehicle braking method, which is applied to a vehicle including at least two braking motors, and the at least two braking motors are used to apply an electric braking torque to corresponding wheels to achieve regenerative braking. The method includes:

[0006] Receiving a braking recovery request and obtaining the working states of the respective braking motors;

[0007] In response to the braking recovery request, when the working state of at least one of the braking motors is a failure and the working state of at least one of the braking motors is normal, using the braking motor with a normal working state to perform regenerative braking on the vehicle and using a hydraulic braking method to perform non-regenerative braking on the vehicle.

[0008] Further, in some embodiments, the braking motor failure occurs before vehicle braking;

[0009] The using the braking motor with a normal working state to perform regenerative braking on the vehicle and using a hydraulic braking method to perform non-regenerative braking on the vehicle includes:

[0010] Determine the target wheel corresponding to the braking motor with a fault, and determine the target torque magnitude corresponding to the braking intensity information based on the braking intensity information in the braking recovery request;

[0011] Apply the motor braking torque of the target torque magnitude to the corresponding wheel by using the braking motor with a normal working state and apply the hydraulic braking torque of the target torque magnitude to the target wheel through the hydraulic braking control module.

[0012] Further, in some embodiments, the braking motor fault occurs after vehicle braking;

[0013] The regenerative braking of the vehicle by using the braking motor with a normal working state and the non-regenerative braking of the vehicle by using the hydraulic braking method include:

[0014] Before the braking motor fault occurs, determine the target torque magnitude corresponding to the braking intensity information based on the braking intensity information in the braking recovery request;

[0015] Apply the motor braking torque of the target torque magnitude to each of the wheels by using the braking motor;

[0016] After the braking motor fault occurs, determine the target wheel corresponding to the braking motor with a fault, apply the motor braking torque of the target torque magnitude to the corresponding wheel by using the braking motor with a normal working state, and apply the hydraulic braking torque of the target torque magnitude to the target wheel through the hydraulic braking control module.

[0017] Further, in some embodiments, after the braking motor fault occurs and before the hydraulic braking torque of the target torque magnitude is applied to the target wheel, the method further includes:

[0018] Maintain the motor braking torque applied to the wheels other than the target wheel unchanged;

[0019] Determine the yaw moment of the vehicle based on the difference between the braking torques applied to the target wheel and the other wheels;

[0020] Calculate the wheel steering angle based on the yaw moment and control the wheel steering according to the wheel steering angle to offset the yaw moment.

[0021] Further, in some embodiments, the method further includes:

[0022] Obtain the real-time yaw moment of the vehicle detected based on the sensing element;

[0023] Calculate the real-time steering angle based on the real-time yaw moment, and control the wheel steering according to the real-time steering angle to cancel the real-time yaw moment.

[0024] Further, calculate the wheel steering speed based on the yaw moment and the vehicle running speed;

[0025] The controlling the wheel steering according to the wheel steering angle to cancel the yaw moment includes:

[0026] Control the wheel steering according to the wheel steering angle and the wheel steering speed to cancel the yaw moment.

[0027] Further, in some embodiments, the wheel steering angle includes at least one of a front wheel steering angle and a rear wheel steering angle.

[0028] On the other hand, the present disclosure provides a vehicle braking device, including:

[0029] An instruction receiving module, configured to receive a braking recovery request and obtain the working states respectively corresponding to the braking motors;

[0030] A vehicle braking module, configured to respond to the braking recovery request, and when the working state of at least one of the braking motors is faulty and the working state of at least one of the braking motors is normal, use the braking motor with a normal working state to perform regenerative braking on the vehicle and perform non-regenerative braking on the vehicle by means of hydraulic braking.

[0031] On the other hand, the present disclosure provides a storage medium storing a computer program, and the computer program is adapted to be loaded and executed by a processor to perform the steps of the above method.

[0032] On the other hand, the present disclosure further provides an electronic device, including: a processor and a memory; wherein, the memory stores a computer program, and the computer program is adapted to be loaded and executed by the processor to perform the steps of the above method.

[0033] By using the vehicle braking method provided by the present disclosure, when regenerative braking cannot be used due to a braking motor failure among multiple braking motors, use the braking motor with a normal working state to perform regenerative braking on the vehicle and perform non-regenerative braking on the vehicle by means of hydraulic braking, that is, perform vehicle braking by combining regenerative braking and non-regenerative braking to achieve vehicle energy recovery.

[0034] It should be understood that the content described in the Summary of the Invention section is not intended to limit the key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 Schematic flowchart of a vehicle braking method provided by an embodiment of the present disclosure;

[0036] Figure 2 Schematic flowchart of a vehicle braking method provided by an embodiment of the present disclosure;

[0037] Figure 3 Schematic flowchart of a vehicle braking method provided by an embodiment of the present disclosure;

[0038] Figure 4 Schematic flowchart of a vehicle braking method provided by an embodiment of the present disclosure;

[0039] Figure 5 Schematic diagram of a braking scenario where the braking motor is not faulty provided by an embodiment of the present disclosure;

[0040] Figure 6 Schematic diagram of a braking scenario where the braking motor fails provided by an embodiment of the present disclosure;

[0041] Figure 7 Schematic diagram of a braking scenario where the braking motor fails provided by an embodiment of the present disclosure;

[0042] Figure 8 Schematic structural diagram of a vehicle braking device provided by an embodiment of the present disclosure;

[0043] Figure 9 Schematic structural diagram of a vehicle braking device provided by an embodiment of the present disclosure;

[0044] Figure 10 Schematic structural diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0045] To make the objectives, technical solutions and advantages of the present disclosure clearer, the technical solutions of the present disclosure will be clearly and completely described below in conjunction with the specific embodiments of the present disclosure and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present disclosure.

[0046] In the description of one or more embodiments of the present disclosure, the term "comprising" and its like terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. may refer to different or the same objects. There may also be other explicit and implicit definitions hereinafter.

[0047] In the related art, for vehicles with multiple motors, electric braking is mostly used for regenerative braking to recover the energy loss during braking. However, when a motor fails in multiple motors, since it is impossible to perform regenerative braking on all wheels simultaneously through the motor, non-regenerative braking is usually used for vehicle braking, thus making it impossible to recover braking energy and resulting in energy loss.

[0048] Based on this, the present disclosure provides a vehicle braking method, which is applied to a vehicle including at least two braking motors. The at least two braking motors are used to apply an electric braking torque to the corresponding wheels to achieve regenerative braking. By real-time obtaining the working states respectively corresponding to the braking motors, when a braking recovery request is received, in response to the braking recovery request, when the working state of at least one braking motor is a fault and the working state of at least one braking motor is normal, the braking motor with a normal working state is used to perform regenerative braking on the vehicle and the vehicle is braked by means of hydraulic braking for non-regenerative braking. By adopting this method, when regenerative braking cannot be used due to a braking motor fault in multiple braking motors, the vehicle is braked by combining regenerative braking and non-regenerative braking, so as to achieve the recovery of braking energy of the vehicle.

[0049] Please refer to Figure 1 , which is a schematic flowchart of a vehicle braking method provided by an embodiment of the present disclosure. In the embodiment of the present disclosure, the vehicle braking method is applied to a vehicle braking device or an electronic device configured with a vehicle braking device. The following will elaborate in detail on Figure 1 the process shown, and the vehicle braking method may specifically include the following steps:

[0050] Step S102, receiving a braking recovery request and obtaining the working states respectively corresponding to the braking motors;

[0051] It should be noted that the vehicle braking method proposed in the embodiment of the present disclosure is applied to a vehicle including at least two braking motors, wherein the braking motor is used to apply an electric braking torque to the corresponding wheels of the vehicle to achieve regenerative braking of the vehicle.

[0052] In the embodiment of the present disclosure, the vehicle braking device or the electronic device configured with the vehicle braking device may be a vehicle controller for controlling vehicle braking.

[0053] In one or more embodiments of the present disclosure, while the vehicle braking device acquires the operating states of the braking motors in the vehicle in real time, it detects in real time whether a braking energy recovery request for indicating vehicle braking is received.

[0054] Among them, the operating states of the braking motors can reflect whether the braking motors are faulty and whether they can normally participate in vehicle braking control. In one or more embodiments of the present disclosure, a faulty braking motor means that the braking motor cannot perform vehicle braking with energy recovery ability.

[0055] Among them, the braking energy recovery request of the vehicle is used to instruct the vehicle braking device to perform vehicle braking control with energy recovery ability. This braking energy recovery request can be triggered manually or automatically triggered by the vehicle's assisted driving / autopilot system. For example, manually controlling the brake control member to trigger the generation of a braking energy recovery request, or a braking energy recovery request with energy recovery ability automatically generated by the vehicle after the driver releases the accelerator pedal.

[0056] Step S104, in response to the braking energy recovery request, when the operating state of at least one braking motor is faulty and the operating state of at least one braking motor is normal, use the braking motor with a normal operating state to perform regenerative braking on the vehicle and use non-regenerative braking on the vehicle by means of hydraulic braking.

[0057] In one or more embodiments of the present disclosure, after the vehicle braking device receives the braking energy recovery request, the vehicle braking device responds to the braking energy recovery request and performs vehicle braking control. According to the acquired operating states of the braking motors, when the operating state of at least one braking motor is faulty and the operating state of at least one braking motor is normal, the vehicle braking device controls the braking motor with a normal operating state to perform regenerative braking on the vehicle and controls non-regenerative braking on the vehicle by means of hydraulic braking.

[0058] Among them, regenerative braking refers to a braking method in which a braking torque is applied to the wheels by the braking motor. During braking, the braking motor can convert the kinetic energy of the wheels into electrical energy and store it in the energy storage device. Non-regenerative braking refers to driving the hydraulic brake calipers to lock the brake discs by means of hydraulic drive, and applying a hydraulic braking torque to the wheels by using the friction of the brake discs. This braking method cannot recover energy during braking, and the kinetic energy of the vehicle is completely dissipated in the form of heat.

[0059] In the embodiments of the present disclosure, when a braking motor fails among multiple braking motors, resulting in the inoperability of regenerative braking, the vehicle is subjected to regenerative braking using the braking motors in a normal operating state and non-regenerative braking is applied to the vehicle through hydraulic braking. That is, vehicle braking is performed by combining regenerative braking and non-regenerative braking to maximize the recovery of the vehicle's kinetic energy.

[0060] Optionally, the braking motor failure may occur before vehicle braking or after vehicle braking has occurred.

[0061] In one embodiment, the braking motor failure occurs before vehicle braking. Please refer to Figure 2 , which is a schematic flowchart of a vehicle braking method provided by the embodiments of the present disclosure. As Figure 2 shown, the method includes the following steps:

[0062] Step S202: Receive a braking recovery request and obtain the operating states of the respective braking motors.

[0063] Specifically, for step S202, please refer to the detailed description of step S102 in another embodiment of the present disclosure and will not be elaborated here.

[0064] Step S204: In response to the braking recovery request, when the operating state of at least one braking motor is faulty and the operating state of at least one braking motor is normal, determine the target wheel corresponding to the faulty braking motor, and determine the target torque magnitude corresponding to the braking intensity information based on the braking intensity information in the braking recovery request.

[0065] It should be noted that in this embodiment, the braking motor failure occurs before vehicle braking. That is, the vehicle braking device continuously obtains the operating state information of each braking motor in real time. If a braking motor has failed before receiving the braking recovery request, then according to the operating state of the braking motor, first determine the target wheel corresponding to the faulty braking motor, and determine the target torque magnitude corresponding to the braking intensity information according to the braking intensity information in the braking recovery request.

[0066] It can be understood that in a vehicle driven by an electric motor, the drive motor and the braking motor for energy recovery can be the same motor. When driving the vehicle, the drive motor converts electrical energy into vehicle kinetic energy to drive the vehicle forward. When braking the vehicle, the braking motor is driven by the vehicle's kinetic energy, and the braking motor is converted into a generator to convert the vehicle's kinetic energy into electrical energy for storage. In some vehicles with multiple motors, different motors correspond to different wheels to apply power or braking force to the corresponding wheels. In the embodiments of the present disclosure, when it is determined that there is a braking motor failure, first determine the target wheel corresponding to the faulty braking motor.

[0067] Further, the braking recovery request includes braking intensity information. The higher the braking intensity, the greater the braking force applied to the vehicle, and the lower the braking intensity, the smaller the braking force applied to the vehicle. When the braking recovery request is generated by the user actively operating the brake control, the braking intensity information may be related to the operation amplitude of manually operating the brake control. When the braking recovery request is generated by the driver releasing the accelerator pedal, the braking intensity information is related to the throttle depth before the driver releases the accelerator pedal. The magnitude of the target torque to be applied to the wheel can be calculated based on the braking intensity information, and this target torque is the braking torque.

[0068] Step S206: Use the braking motor with a normal working state to apply an electric braking torque of the magnitude of the target torque to the corresponding wheel, and use the hydraulic braking control module to apply a hydraulic braking torque of the magnitude of the target torque to the target wheel.

[0069] After determining the target wheel corresponding to the faulty braking motor and determining the magnitude of the target torque corresponding to the braking intensity information in the braking recovery request, use the braking motor with a normal working state to apply an electric braking torque of the magnitude of the target torque to the corresponding wheel, and use the hydraulic braking control module to apply a hydraulic braking torque of the magnitude of the target torque to the target wheel.

[0070] Among them, the hydraulic braking control module is used to control the brake caliper to clamp the brake disc through hydraulic braking, so as to apply a braking torque to the wheel through the friction between the brake caliper and the brake disc.

[0071] In the embodiments of the present disclosure, after determining the target wheel and the magnitude of the target torque, use the braking motor with a normal working state to apply an electric braking torque of the magnitude of the target torque to the corresponding wheel, and use the hydraulic braking control module to apply a hydraulic braking torque of the magnitude of the target torque to the target wheel. Among them, the braking corresponding to the braking motor is regenerative braking, and the hydraulic braking is non-regenerative braking, that is, the vehicle braking is performed by combining regenerative braking and non-regenerative braking to maximize the recovery of the vehicle kinetic energy.

[0072] In one embodiment, the braking motor failure occurs after the vehicle braking. Please refer to Figure 3 , which is a schematic flow chart of a vehicle braking method provided by the embodiments of the present disclosure. As Figure 3 shown, the method includes the following steps:

[0073] Step S302: Receive a braking recovery request and obtain the working state corresponding to each braking motor;

[0074] Specifically, for step S302, please refer to the detailed description of step S102 in another embodiment of the present disclosure, which will not be elaborated here.

[0075] Step S304, in response to a braking energy recovery request, determine the magnitude of the target torque corresponding to the braking intensity information based on the braking intensity information in the braking energy recovery request;

[0076] Specifically, before a braking motor fails, after the vehicle braking device receives a braking energy recovery request, first determine the magnitude of the target torque corresponding to the braking intensity information according to the braking intensity information in the braking energy recovery request.

[0077] Step S306, use the braking motor to apply an electric braking torque with the magnitude of the target torque to each wheel respectively;

[0078] It should be noted that before a braking motor fails, each braking motor in the vehicle is in a normal state where it can participate in braking. After receiving a braking energy recovery request and calculating the corresponding target torque, use each braking motor to apply an electric braking torque with the magnitude of the target torque to each wheel respectively.

[0079] Step S308, after a braking motor fails, determine the target wheel corresponding to the faulty braking motor, and use the braking motor in a normal working state to apply an electric braking torque with the magnitude of the target torque to the corresponding wheel and use the hydraulic braking control module to apply a hydraulic braking torque with the magnitude of the target torque to the target wheel.

[0080] Specifically, after applying an electric braking torque with the magnitude of the target torque to each wheel respectively through each braking motor according to the braking energy recovery request, during the braking process, the vehicle braking device continuously obtains the working state of each braking motor. If there is a braking motor that fails among the braking motors, first determine the target wheel corresponding to the faulty braking motor, and then use the braking motor in a normal working state to apply an electric braking torque with the magnitude of the target torque to the corresponding wheel and use the hydraulic braking control module to apply a hydraulic braking torque with the magnitude of the target torque to the target wheel.

[0081] It can be understood that during the braking process, when a braking motor fails, the faulty braking motor cannot apply an electric braking torque to the corresponding wheel. At this time, to ensure vehicle stability, the hydraulic braking method is used to apply a braking torque with the same magnitude as that of other wheels to the target wheel.

[0082] Furthermore, during the braking process, when a braking motor fails, since the faulty braking motor cannot apply an electric braking torque to the corresponding wheel, at this time, the braking torque of the target wheel corresponding to the faulty braking motor disappears, while the wheels corresponding to the braking motors that do not fail still have an electric braking torque with the magnitude of the target torque applied. Since the torques on each wheel are not equal, before using the hydraulic braking method to apply a braking torque with the same magnitude as that of other wheels to the target wheel, the vehicle will exhibit an unstable phenomenon.

[0083] In one embodiment, please refer to Figure 4 , which is a schematic flowchart of a vehicle braking method provided by an embodiment of the present disclosure. As Figure 4 shown, the method includes the following steps:

[0084] Step S402: Receive a braking recovery request and obtain the working states of the respective braking motors.

[0085] Specifically, for step S402, please refer to the detailed description of step S102 in another embodiment of the present disclosure, which will not be elaborated here.

[0086] Step S404: In response to the braking recovery request, determine the target torque magnitude corresponding to the braking intensity information based on the braking intensity information in the braking recovery request.

[0087] Specifically, before a braking motor fails, after the vehicle braking device receives a braking recovery request, it first determines the target torque magnitude corresponding to the braking intensity information based on the braking intensity information in the braking recovery request.

[0088] Step S406: Use the braking motors to apply the motor braking torque of the target torque magnitude to each wheel respectively.

[0089] It should be noted that before a braking motor fails, each braking motor in the vehicle is in a normal braking - available state. After receiving a braking recovery request and calculating the corresponding target torque, use each braking motor to apply the motor braking torque of the target torque magnitude to each wheel respectively.

[0090] Step S408: After a braking motor fails, determine the target wheel corresponding to the failed braking motor and maintain the motor braking torque applied to other wheels except the target wheel unchanged.

[0091] When a braking motor fails during braking, since the failed braking motor cannot apply the motor braking torque to the corresponding wheel, at this time, the motor braking torque on the target wheel corresponding to the failed braking motor disappears, and the motor braking torque applied to other wheels except the target wheel is maintained unchanged by the normally - operating braking motors.

[0092] Step S410: Based on the difference between the braking torques applied to the target wheel and other wheels, determine the yaw moment of the vehicle.

[0093] It should be noted that in the embodiments of the present disclosure, since the failed braking motor cannot apply an electric braking torque to the corresponding wheel, at this time, the electric braking torque on the target wheel corresponding to the failed braking motor disappears, while the electric braking torques on the other wheels except the target wheel remain unchanged. At this time, the vehicle is unstable, and the vehicle braking device can determine the yaw moment of the vehicle based on the electric braking torques applied to the other wheels and the torque difference on the target wheel.

[0094] Step S412: Calculate the wheel steering angle based on the yaw moment, and control the wheel steering according to the wheel steering angle to offset the yaw moment;

[0095] In the embodiments of the present disclosure, the vehicle yaw moment is offset by means of wheel steering, that is, the wheel steering angle is calculated according to the magnitude of the determined yaw moment, so that the wheel steering control system controls the wheel steering according to the calculated wheel steering angle to offset the yaw moment.

[0096] In a feasible implementation, the wheel steering angle can be calculated according to a vehicle model used to calculate the wheel steering angle. The vehicle yaw moment determined based on the difference between the braking torques applied to the target wheel and the other wheels can be understood as the theoretical yaw moment. The vehicle model calculates the actual yaw moment according to the calculated theoretical yaw moment and combines more vehicle real-time parameters, calculates the wheel steering angle for maintaining vehicle stability according to the actual yaw moment, and then controls the vehicle to control the wheel steering according to the wheel steering angle to offset the yaw moment and maintain the vehicle body stability.

[0097] Step S414: Use the hydraulic braking control module to apply a hydraulic braking torque with the target torque magnitude to the target wheel.

[0098] Specifically, after the braking motor fails and the target wheel corresponding to the failed braking motor is determined, at this time, the braking torque on the target wheel is lost, and the vehicle braking device uses the hydraulic braking control module to apply a hydraulic braking torque with the target torque magnitude to the target wheel.

[0099] It should be noted that it takes a certain amount of time to use the hydraulic braking control module to apply a hydraulic braking torque with the target torque magnitude to the target wheel. Steps S410 and S412 are to offset the yaw moment of the vehicle by controlling the wheel steering and maintain the vehicle stability before applying a hydraulic braking torque with the target torque magnitude to the target wheel.

[0100] Please refer to Figure 5 , which is a schematic diagram of a braking scenario where the braking motor is not faulty provided by the embodiments of the present disclosure. As Figure 5 shown, it is a schematic diagram of the braking torques corresponding to each wheel during the vehicle braking process before the braking motor fails after receiving a braking recovery request. AsFigure 5 As shown, the vehicle includes wheels L1, L2, L3, and L4. The illustrated L11 is the electric motor braking torque corresponding to wheel L1, the illustrated L21 is the electric motor braking torque corresponding to wheel L2, the illustrated L31 is the electric motor braking torque corresponding to wheel L3, and the illustrated L41 is the electric motor braking torque corresponding to wheel L4. At this time, the same magnitude of electric motor braking torque is applied to each wheel of the vehicle by the corresponding braking motor, and the vehicle is in stable braking.

[0101] Figure 6 This is a schematic diagram of a braking scenario where a braking motor fails provided by an embodiment of the present disclosure. As Figure 6 As shown, the vehicle includes wheels L1, L2, L3, and L4. The illustrated L11 is the electric motor braking torque corresponding to wheel L1, the illustrated L21 is the electric motor braking torque corresponding to wheel L2, the illustrated L31 is the electric motor braking torque corresponding to wheel L3, and the illustrated L41 is the electric motor braking torque corresponding to wheel L4. As Figure 6 As shown, when the braking motor corresponding to wheel L4 fails, the electric motor braking torque L41 corresponding to wheel L4 drops to 0. At this time, to ensure the stability of the vehicle, wheels L3 and L4 are turned to the left to offset the yaw moment of the vehicle generated due to uneven wheel braking forces.

[0102] Figure 7 This is a schematic diagram of a braking scenario where a braking motor fails provided by an embodiment of the present disclosure. As Figure 7 As shown, the vehicle includes wheels L1, L2, L3, and L4. The illustrated L11 is the electric motor braking torque corresponding to wheel L1, the illustrated L21 is the electric motor braking torque corresponding to wheel L2, the illustrated L31 is the electric motor braking torque corresponding to wheel L3, and the illustrated L42 is the hydraulic braking torque corresponding to wheel L4. Referring from Figures 6 to 7 , Figure 6 This is a schematic diagram of the braking torques corresponding to each wheel in the vehicle before the hydraulic braking is connected to the vehicle braking after the braking motor fails, and the vehicle yaw moment generated due to uneven wheel braking forces is offset by wheel steering. Figure 7 This is after Figure 6 The vehicle braking device controls the hydraulic braking control module to apply a hydraulic braking torque L42 equal to the electric motor braking torque to wheel L4. When the hydraulic braking torque L42, the electric motor braking torque L31, the electric motor braking torque L21, and the electric motor braking torque L11 are equal, as Figure 7 shown, the wheels are completely straightened.

[0103] In one embodiment, before applying a hydraulic braking torque of a target torque magnitude to a target wheel and during the process of controlling the wheel steering to counteract the yaw moment of the vehicle, the real-time yaw moment of the vehicle detected by a sensing element is obtained in real time, the real-time steering angle is calculated based on the real-time yaw moment, and the wheel steering is controlled according to the real-time steering angle to counteract the real-time yaw moment.

[0104] That is, during the process of controlling the wheel steering to counteract the yaw moment of the vehicle, the magnitude of the vehicle yaw moment changes with the change of the hydraulic braking torque on the target wheel. The real-time yaw moment of the vehicle is detected by the sensing element in real time, and then the vehicle steering angle is adjusted in real time according to the real-time yaw moment to ensure the braking stability of the vehicle.

[0105] In one embodiment, during the process of controlling the wheel steering to counteract the yaw moment of the vehicle, the wheel steering speed can be calculated based on the yaw moment and the vehicle running speed, and then the wheel steering is controlled according to the wheel steering angle and the wheel steering speed to counteract the vehicle yaw moment.

[0106] In one embodiment, the wheel steering angle includes at least one of a front wheel steering angle and a rear wheel steering angle.

[0107] It can be understood that controlling the wheel steering to counteract the yaw moment of the vehicle can be: controlling the front wheels of the vehicle to steer to counteract the yaw moment of the vehicle, or controlling the rear wheels of the vehicle to steer to counteract the yaw moment of the vehicle, or controlling the rear wheels and the front wheels of the vehicle to steer simultaneously to counteract the yaw moment of the vehicle.

[0108] Please refer to Figure 8 , which is a schematic structural diagram of a vehicle braking device provided by an embodiment of the present disclosure. As Figure 8 shown, the vehicle braking device 1 can be implemented as all or part of an electronic device through software, hardware, or a combination of both. According to some embodiments, the vehicle braking device 1 includes an instruction receiving module 11 and a vehicle braking module 12, specifically including:

[0109] The instruction receiving module 11 is configured to receive a braking recovery request and obtain the working state corresponding to each of the braking motors.

[0110] The vehicle braking module 12 is configured to respond to the braking recovery request. When the working state of at least one of the braking motors is faulty and the working state of at least one of the braking motors is normal, the vehicle is regeneratively braked by using the braking motor with a normal working state and the vehicle is non-regeneratively braked by using a hydraulic braking method.

[0111] Optionally, if the braking motor fails before the vehicle braking occurs, when the vehicle braking module 12 performs the regenerative braking of the vehicle using the braking motor with a normal working state and the non-regenerative braking of the vehicle by means of hydraulic braking, it is specifically configured to:

[0112] Determine the target wheel corresponding to the faulty braking motor, and determine the target torque magnitude corresponding to the braking intensity information based on the braking intensity information in the braking recovery request;

[0113] Apply the motor braking torque of the target torque magnitude to the corresponding wheel by using the braking motor with a normal working state and apply the hydraulic braking torque of the target torque magnitude to the target wheel through the hydraulic braking control module.

[0114] Optionally, if the braking motor fails after the vehicle braking occurs, when the vehicle braking module 12 performs the regenerative braking of the vehicle using the braking motor with a normal working state and the non-regenerative braking of the vehicle by means of hydraulic braking, it is specifically configured to:

[0115] Before the braking motor fails, determine the target torque magnitude corresponding to the braking intensity information based on the braking intensity information in the braking recovery request;

[0116] Apply the motor braking torque of the target torque magnitude to each of the wheels by using the braking motor.

[0117] After the braking motor fails, determine the target wheel corresponding to the faulty braking motor, apply the motor braking torque of the target torque magnitude to the corresponding wheel by using the braking motor with a normal working state, and apply the hydraulic braking torque of the target torque magnitude to the target wheel through the hydraulic braking control module.

[0118] Optionally, after the braking motor fails and before the hydraulic braking torque of the target torque magnitude is applied to the target wheel, the vehicle braking module 12 is further configured to:

[0119] Maintain the motor braking torque applied to the wheels other than the target wheel unchanged;

[0120] Please refer to Figure 9 , which is a schematic structural diagram of a vehicle braking device provided by an embodiment of the present disclosure.

[0121] As Figure 9 shown, the vehicle braking device further includes a stability control module 13, which is configured to:

[0122] Determine the yaw moment of the vehicle based on the difference between the braking torques applied to the target wheel and the other wheels;

[0123] Calculate the wheel steering angle based on the yaw moment, and control the wheel steering according to the wheel steering angle to counteract the yaw moment.

[0124] Optionally, the vehicle braking device further includes a stability control module 13, which is further configured to:

[0125] Obtain the real-time yaw moment of the vehicle detected by the sensing element;

[0126] Calculate the real-time steering angle based on the real-time yaw moment, and control the wheel steering according to the real-time steering angle to counteract the real-time yaw moment.

[0127] Optionally, the vehicle braking module 12 is further configured to:

[0128] Calculate the wheel steering speed based on the yaw moment and the vehicle running speed;

[0129] Control the wheel steering according to the wheel steering angle and the wheel steering speed to counteract the yaw moment.

[0130] Optionally, the wheel steering angle includes at least one of a front-wheel steering angle and a rear-wheel steering angle.

[0131] The above device embodiments correspond to the method embodiments. For specific descriptions, reference can be made to the descriptions in the method embodiment part, which will not be elaborated here. The device embodiments are obtained based on the corresponding method embodiments and have the same technical effects as the corresponding method embodiments. For specific descriptions, reference can be made to the corresponding method embodiments.

[0132] The present disclosure further provides a storage medium, which can store multiple instructions. The instructions are suitable for being loaded and executed by a processor to perform the vehicle braking method as shown in the above Figures 1 to 7 embodiments. For the specific execution process, reference can be made to the Figures 1 to 7 specific descriptions in the embodiments shown, which will not be elaborated here.

[0133] The present disclosure further provides a computer program product, which stores at least one instruction. The at least one instruction is loaded and executed by the processor to perform the vehicle braking method as shown in the above Figures 1 to 7 embodiments. For the specific execution process, reference can be made to the Figures 1 to 7 specific descriptions in the embodiments shown, which will not be elaborated here.

[0134] The embodiments of the present disclosure further provide Figure 10 a schematic structural diagram of an electronic device as shown. As Figure 10, at the hardware level, the electronic device includes a processor 31, an internal bus 32, a network interface 33, a memory 34, and a non-volatile memory 35. Of course, it may also include other hardware required for other services. The electronic device may be disposed in a vehicle, and the processor 31 therein reads a corresponding computer program from the non-volatile memory 35 into the memory and then runs it to implement the above-mentioned vehicle braking method.

[0135] Of course, in addition to the software implementation, the present disclosure does not exclude other implementation manners, such as a logic device or a combination of software and hardware, etc. That is to say, the execution subject of the following processing flow is not limited to each logic unit, and may also be a hardware or a logic device.

[0136] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to circuit structures such as diodes, transistors, switches, etc.) or software improvements (improvements to method flows). However, with the development of technology, many method flow improvements today can be regarded as direct improvements to hardware circuit structures. Almost all designers obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that an improvement to a method flow cannot be implemented using a hardware entity module. For example, a Programmable Logic Device (PLD) (e.g., a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logical function is determined by a user's programming of the device. Designers can program themselves to "integrate" a digital system onto a single PLD, without having to ask a chip manufacturer to design and fabricate a dedicated integrated circuit chip. Moreover, nowadays, instead of manually fabricating integrated circuit chips, this programming is mostly implemented using "logic compiler" software, which is similar to the software compiler used in program development and writing. The original code before compilation also has to be written in a specific programming language, which is called a Hardware Description Language (HDL), and there is not just one type of HDL, but many types, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones currently are VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also be aware that by simply performing a little logical programming on the method flow using the above-mentioned several hardware description languages and programming it into an integrated circuit, it is easy to obtain the hardware circuit that implements the logical method flow.

[0137] The controller can be implemented in any suitable manner. For example, the controller can take the form of, for example, a microprocessor or a processor and a computer-readable medium storing computer-readable program code (such as software or firmware) executable by the (micro)processor, logic gates, switches, an application specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of the controller include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in the form of pure computer-readable program code, it is entirely possible to make the controller implement the same function in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be regarded as the structures within the hardware component. Or even, the devices for implementing various functions can be regarded as either software modules for implementing the method or structures within the hardware component.

[0138] The systems, devices, modules, or units illustrated in the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or any combination of these devices.

[0139] For the convenience of description, when describing the above devices, they are described separately as various units according to their functions. Of course, when implementing the present disclosure, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0140] Those skilled in the art should understand that the embodiments of the present disclosure can be provided as a method, a system, or a computer program product. Therefore, the present disclosure can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present disclosure can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) containing computer-usable program code.

[0141] This disclosure is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and combinations of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing device produce means for implementing the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 or means for implementing the functions specified in one or more of the blocks.

[0142] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including instruction means that implement the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 or means for implementing the functions specified in one or more of the blocks.

[0143] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operational steps are performed on the computer or other programmable device to produce a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 or means for implementing the functions specified in one or more of the blocks.

[0144] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0145] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM), and / or non-volatile memory such as read-only memory (ROM) or flash memory. The memory is an example of computer-readable media.

[0146] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0147] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0148] Those skilled in the art will appreciate that embodiments of the present disclosure may be provided as methods, systems, or computer program products. Thus, the present disclosure may take the form of a fully hardware embodiment, a fully software embodiment, or an embodiment combining software and hardware. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0149] The present disclosure may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, and the like that perform specific tasks or implement specific abstract data types. The present disclosure may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communications network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0150] The various embodiments in the present disclosure are described in a progressive manner. For the same or similar parts among the various embodiments, reference can be made to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and for the relevant parts, reference can be made to the partial description of the method embodiments.

[0151] The above description is only for the embodiments of the present disclosure and is not intended to limit the present disclosure. For those skilled in the art, various modifications and changes can be made to the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included within the scope of the claims of the present disclosure.

Claims

1. A vehicle braking method is applied to a vehicle including at least two braking motors. The at least two braking motors are used to apply an electric motor braking torque to corresponding wheels to achieve regenerative braking. The method includes: Receiving a braking recovery request and obtaining the working states respectively corresponding to each of the braking motors; In response to the braking recovery request, when the working state of at least one of the braking motors is faulty and the working state of at least one of the braking motors is normal, using the braking motors with normal working states to perform regenerative braking on the vehicle and using hydraulic braking to perform non-regenerative braking on the vehicle.

2. The method according to claim 1, wherein the braking motor fault occurs before vehicle braking; The using the braking motors with normal working states to perform regenerative braking on the vehicle and using hydraulic braking to perform non-regenerative braking on the vehicle includes: Determining the target wheels corresponding to the faulty braking motors and determining the target torque magnitude corresponding to the braking intensity information based on the braking intensity information in the braking recovery request; Using the braking motors with normal working states to apply the electric motor braking torque of the target torque magnitude to the corresponding wheels and using a hydraulic braking control module to apply the hydraulic braking torque of the target torque magnitude to the target wheels.

3. The method according to claim 1, wherein the braking motor fault occurs after vehicle braking; The using the braking motors with normal working states to perform regenerative braking on the vehicle and using hydraulic braking to perform non-regenerative braking on the vehicle includes: Before the braking motor fault occurs, determining the target torque magnitude corresponding to the braking intensity information based on the braking intensity information in the braking recovery request; Using the braking motors to apply the electric motor braking torque of the target torque magnitude to each of the wheels respectively; After the braking motor fault occurs, determining the target wheels corresponding to the faulty braking motors, using the braking motors with normal working states to apply the electric motor braking torque of the target torque magnitude to the corresponding wheels and using a hydraulic braking control module to apply the hydraulic braking torque of the target torque magnitude to the target wheels.

4. The method according to claim 3, after the braking motor fault occurs and before completing the application of the hydraulic braking torque of the target torque magnitude to the target wheels, the method further includes: Maintaining the electric motor braking torque applied to other wheels except the target wheels unchanged; Determining the yaw moment of the vehicle based on the difference between the braking torques applied to the target wheels and the other wheels; Calculating the wheel steering angle based on the yaw moment and controlling the wheel steering according to the wheel steering angle to cancel the yaw moment.

5. The method according to claim 4, the method further includes: Obtaining the real-time yaw moment of the vehicle detected based on a sensing element; Calculate the real-time steering angle based on the real-time yaw moment, and control the wheel steering according to the real-time steering angle to counteract the real-time yaw moment.

6. The method according to claim 4, wherein the method further comprises: Calculating a wheel steering speed based on the yaw moment and the vehicle running speed; The controlling the wheel steering to counteract the yaw moment according to the wheel steering angle comprises: Controlling the wheel steering to counteract the yaw moment according to the wheel steering angle and the wheel steering speed.

7. The method according to claim 4, wherein the wheel steering angle comprises at least one of a front wheel steering angle and a rear wheel steering angle.

8. A vehicle braking device, comprising: An instruction receiving module, configured to receive a braking recovery request and obtain the working states of the respective braking motors; A vehicle braking module, configured to respond to the braking recovery request, and when the working state of at least one of the braking motors is a fault and the working state of at least one of the braking motors is normal, use the braking motor with a normal working state to perform regenerative braking on the vehicle and perform non-regenerative braking on the vehicle by means of hydraulic braking.

9. A storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. An electronic device, comprising: A processor and a memory; wherein, the memory stores a computer program, and the computer program is adapted to be loaded and executed by the processor to perform the steps of the method according to any one of claims 1 to 7.

Images