Brake torque compensation method, device and equipment and computer readable storage medium

Abstract

The embodiment of the invention provides a brake torque compensation method, device and equipment and a computer readable storage medium. The method comprises the steps that in a single-pedal mode, a current energy recovery mode is confirmed; if the current energy recovery mode is sliding energy recovery, whether braking torque compensation is needed or not is determined; if yes, initial target braking torque corresponding to sliding energy recovery is obtained; actual braking torque fed back by the driving motor is obtained; calculating a brake torque target compensation value based on the initial target brake torque and the actual brake torque; and sending the brake torque target compensation value to a brake system of the vehicle to request brake torque compensation. In this manner, in the single pedal mode, if brake torque compensation is required, a brake torque target compensation value may be requested from a brake system to achieve deceleration as expected to ensure vehicle driving safety for a user habituated in the single pedal mode.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicles, and particularly to the field of braking torque compensation technology. Background Art

[0002] Currently, for current electric vehicles (including pure electric, range-extended, hybrid, etc.), after the single-pedal mode is activated, when the accelerator pedal is lifted, the vehicle will perform coasting energy recovery according to the energy recovery level set by the user. On the one hand, this realizes a certain degree of vehicle deceleration, and on the other hand, it can charge the power battery. However, the coasting energy recovery is affected by the state of charge (SOC) of the power battery (which reflects the remaining capacity of the battery) and the braking torque capacity of the drive motor of the vehicle's power system. Therefore, there may be scenarios where braking torque compensation is required. In scenarios where braking torque compensation is required, the vehicle cannot maintain the target braking torque corresponding to the set energy recovery level, resulting in the vehicle being unable to decelerate according to the expected deceleration target. This may catch users who are already accustomed to the single-pedal mode off guard and pose a certain risk to vehicle driving safety. Summary of the Invention

[0003] The present disclosure provides a braking torque compensation method, device, equipment, storage medium, and vehicle.

[0004] According to a first aspect of the present disclosure, a braking torque compensation method is provided. The method includes:

[0005] In the single-pedal mode, confirm the current energy recovery mode;

[0006] If the current energy recovery mode is coasting energy recovery, determine whether braking torque compensation is required; wherein, the scenarios where braking torque compensation is required include: the current remaining capacity of the vehicle battery is less than the initial charging target value and the drive motor fails, and / or, the current remaining capacity is not less than the initial charging target value;

[0007] If required, obtain the initial target braking torque corresponding to the coasting energy recovery; wherein, the initial charging target value is the target charging amount initially preset for the vehicle, and the initial target braking torque is the braking torque required for the coasting energy recovery;

[0008] Obtain the actual braking torque feedback by the drive motor;

[0009] Based on the initial target braking torque and the actual braking torque, calculate the target compensation value of the braking torque;

[0010] Send the target compensation value of the braking torque to the braking system of the vehicle to request braking torque compensation.

[0011] For the aspects and any possible implementation described above, a further implementation is provided. The steps for judging a drive motor failure are as follows:

[0012] Obtain the initial target braking torque corresponding to the coasting energy recovery and the maximum available braking torque of the drive motor;

[0013] Compare the initial target braking torque and the maximum available braking torque to determine the final target braking torque;

[0014] Obtain the actual braking torque feedback by the drive motor;

[0015] Calculate the torque deviation between the actual braking torque and the final target braking torque;

[0016] Judge whether the torque deviation is greater than the first product between the absolute value of the final target braking torque and a first preset coefficient;

[0017] If the torque deviation is greater than the first product, confirm that the drive motor has failed.

[0018] For the aspects and any possible implementation described above, a further implementation is provided. The method further includes:

[0019] Confirm the current recovery level of the coasting energy recovery;

[0020] Judge whether the current recovery level is higher than a preset recovery level;

[0021] The request for braking torque compensation includes:

[0022] If the current remaining capacity of the vehicle is less than the initial charging target value, the drive motor has failed, and the current recovery level is higher than the preset recovery level, request braking torque compensation from the braking system of the vehicle;

[0023] Or

[0024] If the current remaining capacity is not less than the initial charging target value and the current recovery level is higher than the preset recovery level, request braking torque compensation from the braking system of the vehicle.

[0025] For the aspects and any possible implementation described above, a further implementation is provided. Calculating a braking torque target compensation value based on the initial target braking torque and the actual braking torque includes:

[0026] Calculate the torque difference between the initial target braking torque and the actual braking torque;

[0027] Calculate a second product between the initial target braking torque and a second preset coefficient;

[0028] Determine the maximum value between the torque difference and the second product as the target compensation value of the braking torque.

[0029] For the aspects and any possible implementation manners as described above, a further implementation manner is provided. Before confirming the current energy recovery mode, the method further includes:

[0030] Obtain an initial charging target value of the vehicle;

[0031] Obtain the current offset of the charging target value of the vehicle;

[0032] Calculate the difference between the initial charging target value and the offset of the charging target value, and use the difference as the final charging target value;

[0033] When the vehicle is charging, control the vehicle to charge according to the final charging target value.

[0034] For the aspects and any possible implementation manners as described above, a further implementation manner is provided. The obtaining of the current offset of the charging target value of the vehicle includes:

[0035] Obtain the current vehicle usage habit of the user; wherein, the current vehicle usage habit includes at least one of the activation frequency of the one-pedal mode, the braking pedal pressing frequency in the one-pedal mode, and the level setting frequency of the coasting energy recovery;

[0036] Obtain a preset corresponding relationship between the vehicle usage habit and the offset of the charging target value;

[0037] Match the current vehicle usage habit with the preset corresponding relationship to determine the current offset of the charging target value.

[0038] According to a second aspect of the present disclosure, a braking torque compensation device is provided. The device includes:

[0039] A first determination module, configured to confirm the current energy recovery mode in the one-pedal mode;

[0040] A second determination module, configured to determine whether braking torque compensation is required if the current energy recovery mode is coasting energy recovery; wherein, the scenarios where braking torque compensation is required include: the current remaining capacity of the vehicle battery is less than the initial charging target value and the drive motor fails, and / or, the current remaining capacity is not less than the initial charging target value;

[0041] A first acquisition module, configured to acquire the initial target braking torque corresponding to the coasting energy recovery if necessary; wherein, the initial charging target value is the target charging amount initially preset for the vehicle, and the initial target braking torque is the braking torque required for the coasting energy recovery;

[0042] A second acquisition module, configured to acquire the actual braking torque feedback by the drive motor;

[0043] A calculation module, configured to calculate a target compensation value for the braking torque based on the initial target braking torque and the actual braking torque;

[0044] A sending module, configured to send the target compensation value for the braking torque to the braking system of the vehicle to request braking torque compensation.

[0045] According to a third aspect of the present disclosure, an electronic device is provided. The electronic device includes: a memory and a processor, a computer program is stored on the memory, and when the processor executes the program, the method as described above is implemented.

[0046] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the method according to the first aspect of the present disclosure is implemented.

[0047] According to a fifth aspect of the present disclosure, a vehicle is provided, and the vehicle includes the braking torque compensation device as described in the second aspect and / or the electronic device as described in the third aspect.

[0048] In the present disclosure, in the single-pedal mode, if it is determined that the current energy recovery mode is coasting energy recovery, it is determined whether braking torque compensation is required. If so, the initial target braking torque and the actual braking torque feedback by the drive motor are acquired, and then based on the initial target braking torque and the actual braking torque, a target compensation value for the braking torque is calculated, so as to send the target compensation value for the braking torque to the braking system of the vehicle, so that in the single-pedal mode, even if braking torque compensation is required, the vehicle can still request the target compensation value for the braking torque from the braking system to achieve deceleration as expected, so as to ensure the driving safety of the vehicle for users accustomed to the single-pedal mode.

[0049] 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

[0050] In conjunction with the accompanying drawings and with reference to the following detailed description, the above and other features, advantages, and aspects of the embodiments of the present disclosure will become more apparent. The drawings are used to better understand the solution and do not limit the present disclosure. In the drawings, the same or similar reference numerals denote the same or similar elements, where:

[0051] Figure 1 shows a flowchart of a braking torque compensation method according to an embodiment of the present disclosure;

[0052] Figure 2 shows a flowchart of another braking torque compensation method according to an embodiment of the present disclosure;

[0053] Figure 3 shows a block diagram of a braking torque compensation device according to an embodiment of the present disclosure;

[0054] Figure 4 shows a block diagram of an exemplary electronic device capable of implementing the embodiments of the present disclosure. Detailed implementation manners

[0055] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present disclosure without creative efforts shall fall within the scope of protection of the present disclosure.

[0056] In addition, the term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after.

[0057] Currently, in order to enable users to use electric vehicles more conveniently, major vehicle manufacturers have basically designed a single-pedal mode. In the single-pedal mode, if the user releases the accelerator pedal (without stepping on the brake pedal), a certain amount of electric energy will be recovered. The amount of recovered energy depends on the level of coasting energy recovery preset in this single-pedal mode. The higher the level, the more energy is recovered. However, in fact, during the energy recovery process of electric vehicles, it may be affected by the state of charge (SOC) of its power battery and the braking torque capacity of the drive motor. Therefore, there may be scenarios where braking torque compensation is required. For example, when the power battery is overcharged or the drive motor fails to provide sufficient braking torque, the recovered energy required by the preset coasting energy recovery level (or the deceleration required by the coasting energy recovery level) cannot be achieved. At this time, the existing braking methods can no longer meet the deceleration requirements of users, which may cause certain driving risks for users accustomed to the single-pedal mode due to untimely reaction. It is precisely based on this demand that the braking torque compensation method of the present disclosure is proposed. The specific compensation process is described as follows:

[0058] Among them, Figure 1 FIG. shows a flowchart of a braking torque compensation method 100 according to an embodiment of the present disclosure. The execution subject of method 100 may be a VCU (Vehicle Control Unit) system. The method may include:

[0059] Step 110, in the single-pedal mode, confirm the current energy recovery mode;

[0060] The single-pedal mode means that the user can control the acceleration and deceleration of the vehicle through an accelerator pedal. When the accelerator pedal is depressed, the vehicle accelerates, and when the accelerator pedal is lifted, the vehicle decelerates.

[0061] In the single-pedal mode, determine the energy recovery mode according to the inputs of the accelerator pedal and the brake pedal. Specifically:

[0062] If the accelerator pedal is released and the brake pedal is not depressed, it is the coasting energy recovery mode. At this time, the VCU system requests braking compensation and is responsible for the braking compensation process.

[0063] If the accelerator pedal is released but the brake pedal is depressed, it is the braking energy recovery mode. At this time, the braking is completely responsible for by the braking system (such as the EHB system), and the process of this embodiment is no longer followed.

[0064] The current energy recovery mode may be the coasting energy recovery mode or the braking energy recovery mode.

[0065] Step 120, if the current energy recovery mode is coasting energy recovery, determine whether braking torque compensation is required; wherein, the scenarios where braking torque compensation is required include: the current remaining capacity of the vehicle battery is less than the initial charging target value and the drive motor fails, and / or, the current remaining capacity is not less than the initial charging target value;

[0066] The current remaining capacity can be represented by SOC.

[0067] In one embodiment, the judgment steps for drive motor failure are as follows:

[0068] Obtain the initial target braking torque corresponding to the coasting energy recovery and the maximum output braking torque of the drive motor;

[0069] If the current energy recovery mode is coasting energy recovery, query the motor recovery torque table to determine the initial target braking torque corresponding to this coasting energy recovery.

[0070] Compare the initial target braking torque with the maximum output braking torque to determine the final target braking torque;

[0071] Select the maximum value of the braking torques between the initial target braking torque and the maximum output braking torque as the above-mentioned final target braking torque.

[0072] Then send this final target braking torque to the drive motor, expecting the drive motor to output torque according to this final target braking torque.

[0073] However, the actual braking torque output by the drive motor may be different from this final target braking torque. Therefore, the actual braking torque feedback by the drive motor can be received.

[0074] Obtain the actual braking torque feedback by the drive motor;

[0075] Calculate the torque deviation between the actual braking torque and the final target braking torque;

[0076] Judge whether the torque deviation is greater than the first product between the absolute value of the final target braking torque and the first preset coefficient;

[0077] If the torque deviation is greater than the first product, confirm that the drive motor fails.

[0078] After determining the final target braking torque, by obtaining the actual braking torque feedback from the drive motor, the torque deviation between the actual braking torque and the final target braking torque can be calculated, and then it is determined whether the torque deviation is greater than the first product between the absolute value of the final target braking torque and the first preset coefficient. If it is greater than the first product, it indicates that the difference between the actual braking torque feedback from the drive motor and the expected final target braking torque is indeed very large. Therefore, the drive motor failure can be accurately confirmed.

[0079] Step 130: If necessary, obtain the initial target braking torque corresponding to the coasting energy recovery; where the initial charging target value is the target charge amount preset for the vehicle initially, and the initial target braking torque is the braking torque required for the coasting energy recovery, and it is also the set (and expected) braking torque corresponding to the coasting energy recovery.

[0080] Based on the initial target braking torque and the actual braking torque, the braking torque target compensation value can be accurately calculated, and then the braking torque target compensation value is sent to the braking system to request braking torque compensation, so as to ensure the driving safety of the vehicle for users accustomed to the one-pedal mode by requesting a reasonable braking torque compensation.

[0081] Step 140: Obtain the actual braking torque feedback from the drive motor.

[0082] Step 150: Calculate the braking torque target compensation value based on the initial target braking torque and the actual braking torque.

[0083] Step 160: Send the braking torque target compensation value to the braking system of the vehicle to request braking torque compensation. The braking system can be an EHB system (electronic hydraulic braking system).

[0084] In the single-pedal mode, if it is determined that the current energy recovery mode is coasting energy recovery, it is determined whether brake torque compensation is required. If so, for example, if the current remaining battery power is less than the initial charging target value and the drive motor fails, it means that the vehicle's power battery is not fully charged and has the capacity to recover the kinetic energy during coasting through charging. However, due to the drive motor failure, it is unable to provide an appropriate braking torque during coasting to decelerate the vehicle as expected. This may catch users accustomed to the single-pedal mode off guard and pose a driving safety risk. Or, if the current remaining capacity is not less than the initial charging target value, it means that the vehicle's power battery is fully charged at this time and cannot recover the kinetic energy during vehicle coasting, resulting in the vehicle being unable to decelerate as expected. Therefore, in these two cases, it is necessary to request brake torque compensation from the vehicle's braking system. Specifically, the initial target braking torque and the actual braking torque feedback by the drive motor can be obtained, and then based on the initial target braking torque and the actual braking torque, the brake torque target compensation value is calculated, and then the brake torque target compensation value is sent to the vehicle's braking system, so that in the single-pedal mode, even if brake torque compensation is required, the vehicle can still request the brake torque target compensation value from the braking system to achieve deceleration as expected, ensuring the driving safety of users accustomed to the single-pedal mode.

[0085] In some embodiments, the judgment steps for the drive motor failure are as follows:

[0086] Obtain the initial target braking torque corresponding to the coasting energy recovery and the maximum output braking torque of the drive motor;

[0087] Compare the initial target braking torque and the maximum output braking torque to determine the final target braking torque;

[0088] Obtain the actual braking torque feedback by the drive motor;

[0089] Calculate the torque deviation between the actual braking torque and the final target braking torque;

[0090] Judge whether the torque deviation is greater than the first product between the absolute value of the final target braking torque and the first preset coefficient;

[0091] If the torque deviation is greater than the first product, confirm that the drive motor fails.

[0092] After determining the final target braking torque, by obtaining the actual braking torque feedback from the drive motor, the torque deviation between the actual braking torque and the final target braking torque can be calculated, and then it is determined whether the torque deviation is greater than the first product between the absolute value of the final target braking torque and the first preset coefficient. If it is greater than the first product, it indicates that the difference between the actual braking torque feedback from the drive motor and the expected final target braking torque is indeed very large. Therefore, the drive motor failure can be accurately confirmed.

[0093] In some embodiments, the method further includes:

[0094] Confirming the current recovery level of the coasting energy recovery;

[0095] The current recovery level can be divided into high, medium, and low. The higher the recovery level, the greater the absolute value of the corresponding initial target braking torque (negative value), and the greater the absolute value of the expected vehicle deceleration (i.e., the negative value of acceleration).

[0096] Determining whether the current recovery level is higher than the preset recovery level;

[0097] The request for braking torque compensation includes:

[0098] If the current remaining capacity of the vehicle is less than the initial charging target value, the drive motor fails, and the current recovery level is higher than the preset recovery level, a request for braking torque compensation is sent to the braking system of the vehicle;

[0099] Or

[0100] If the current remaining capacity is not less than the initial charging target value and the current recovery level is higher than the preset recovery level, a request for braking torque compensation is sent to the braking system of the vehicle.

[0101] If the current remaining capacity of the vehicle is less than the initial charging target value, the drive motor fails, and the current recovery level is higher than the preset recovery level, it means that the power battery of the vehicle is not fully charged and has the capacity to recover the kinetic energy during the coasting process through charging. However, due to the drive motor failure, it is unable to provide an appropriate braking torque during the coasting process to decelerate the vehicle as expected. At the same time, the current recovery level being higher than the preset recovery level indicates that the absolute value of the expected deceleration value is relatively large. Therefore, it is very dangerous for users accustomed to the one-pedal mode. So, by sending a request for braking torque compensation to the braking system of the vehicle, the braking torque compensated by the braking system can be used to enable the vehicle to still decelerate at the expected high absolute value of deceleration in the case of a single braking pedal and a drive motor failure, ensuring the driving safety of vehicles for users accustomed to the one-pedal mode and the high-grade recovery level.

[0102] Or

[0103] If the current remaining capacity is not less than the initial charging target value and the current recovery level is higher than the preset recovery level, it means that the vehicle's power battery is fully charged and cannot recover the kinetic energy during the vehicle's coasting process through charging, and the absolute value of the expected deceleration value is relatively large, which is very dangerous for users who are accustomed to the single-pedal mode. Therefore, braking torque compensation can be requested from the vehicle's braking system, so that the braking torque compensated by the braking system can be used to enable the vehicle to decelerate according to the expected high absolute value deceleration value under a single brake pedal when the power battery is fully charged, so as to ensure the vehicle driving safety of users who are accustomed to the single-pedal mode and accustomed to using a high-speed recovery level.

[0104] In some embodiments, calculating the target braking torque compensation value based on the initial target braking torque and the actual braking torque includes:

[0105] calculating a torque difference between the initial target braking torque and the actual braking torque;

[0106] calculating a second product between the initial target braking torque and a second preset coefficient;

[0107] The second preset coefficient may be one half or two thirds.

[0108] A maximum value of the torque difference and the second product is determined as the braking torque target compensation value.

[0109] Since the initial target braking torque and the actual braking torque are both negative numbers, and the absolute value of the initial target braking torque is greater than the absolute value of the actual braking torque, the torque difference is still a negative number. Therefore, taking the maximum value of the torque difference and the second product as the braking torque target compensation value can ensure that the absolute value of the braking torque compensation requested from the braking system is relatively small, so as to avoid the braking torque compensation actually output by the braking system being too large, resulting in the absolute value of the vehicle deceleration value being too large, making it still impossible for the vehicle to drive safely.

[0110] In some embodiments, before confirming the current energy recovery mode, the method further includes:

[0111] Obtaining an initial charging target value of the vehicle;

[0112] The initial charging target value refers to the charging target value set by the vehicle manufacturer for vehicle driving safety. For example, the initial charging target value SOC is generally 95% or 98%.

[0113] Obtaining a current charging target value offset of the vehicle;

[0114] The charging target value offset is used to modify the initial charging target value to obtain a charging target value that facilitates kinetic energy recovery in the single-pedal mode.

[0115] Calculate the difference between the initial charging target value and the charging target value offset, and use the difference as the final charging target value;

[0116] When the vehicle is charging, control the vehicle to charge according to the final charging target value.

[0117] By calculating the difference between the initial charging target value and the charging target value offset and using the difference as the final charging target value, when the vehicle is charging, the vehicle can be controlled to charge according to the final charging target value. In this way, the power battery of the vehicle will not be overcharged, and when using the single-pedal mode, there will be enough power to recover the kinetic energy during the coasting process by charging the power battery to ensure the driving safety of the vehicle in the single-pedal mode.

[0118] In some embodiments, obtaining the current charging target value offset of the vehicle includes:

[0119] Obtain the user's current vehicle usage habits; wherein, the current vehicle usage habits include at least one of the activation frequency of the single-pedal mode, the frequency of stepping on the brake pedal in the single-pedal mode, and the setting frequency of the coasting energy recovery level;

[0120] Obtain the preset correspondence between the vehicle usage habits and the charging target value offset;

[0121] Match the current vehicle usage habits with the preset correspondence to determine the current charging target value offset.

[0122] Specifically, the higher the frequency of setting the coasting energy recovery level to a high level, the larger the current charging target value offset Ofst;

[0123] The smaller the frequency of stepping on the brake pedal in the single-pedal mode, the larger the current charging target value offset ofst;

[0124] The higher the activation frequency of the single-pedal mode, the larger the current charging target value offset ofst.

[0125] Since how much the charging target value should be offset is closely related to the user's current vehicle usage habits, after obtaining the current vehicle usage habits and the above preset correspondence, the current vehicle usage habits can be matched with the preset correspondence to determine the accurate charging target value offset.

[0126] Specifically, based on big data statistics, analysis, and identification of the user's driving configuration habits, including whether the one-pedal mode is frequently activated, the frequency of actively stepping on the brake pedal during the activation of the one-pedal mode, the frequently set coasting regeneration level (e.g., weak / standard / strong), etc. Based on the analysis results of the above data, the SOC charging target value offset Ofst for the vehicle user is set. The final SOC charging target value [%] = the initial charging target value SOC - the SOC charging target value offset Ofst.

[0127] Through the above processing, it is possible to avoid overcharging the power battery during the activation of the one-pedal mode, but rather reserve space for continued charging so that coasting energy regeneration can still be performed during the release of the brake pedal in the one-pedal mode to maintain a smooth deceleration, which is beneficial to driving safety.

[0128] In addition, when the actual braking torque of the drive motor cannot reach the expected value, the electro-hydraulic braking system is requested to perform braking compensation:

[0129] When the drive motor fails and the regeneration torque capacity is limited, the vehicle cannot decelerate according to the expected deceleration target. Especially when the user is accustomed to driving in the one-pedal mode with a high regeneration level (for example, the target deceleration value can reach -0.15 to -0.2g, where g is the acceleration due to gravity), the safety risk caused is greater. In this regard, the actual braking torque and the target braking torque can be compared. When it is recognized that the difference between the two is large, the EHB system is requested to apply partial braking torque through the hydraulic system (but it must be restricted not to exceed 1 / 2 of the target braking torque corresponding to the high regeneration level) to achieve the purpose of appropriate braking compensation.

[0130] As Figure 2 shown:

[0131] In the one-pedal mode, based on the inputs of the accelerator pedal and the brake pedal, the current energy regeneration mode (coasting energy regeneration mode or braking energy regeneration mode) is determined;

[0132] If the current energy regeneration mode is determined to be the coasting energy regeneration mode, the initial target braking torque T_ini is calculated by looking up a table;

[0133] If the SOC of the power battery is less than the full charge threshold (i.e., less than the initial charging target value, and at this time the drive motor can still perform energy regeneration), the final target braking torque T_tar is further calculated based on the maximum available braking torque T_cap; if the SOC has reached the full charge threshold and the current regeneration level of the coasting energy regeneration mode is high at this time, the EHB system must be requested for braking torque compensation.

[0134] When calculating the final target braking torque \(T_{tar}\), the maximum value of the initial target braking torque (negative value) \(T_{ini}\) and the maximum available output braking torque (negative value) \(T_{cap}\) shall be taken and output to the motor controller.

[0135] After the final target braking torque \(T_{tar}\) is issued, if the current recovery level of the coasting energy recovery mode is high, the actual braking torque \(T_{act}\) fed back by the drive motor shall be monitored. If the actual braking torque is insufficient (the absolute value of the actual braking torque does not reach 1 / 2 of the absolute value of the final target braking torque), the braking torque compensation shall be requested from the EHB system for braking compensation.

[0136] To avoid requesting an excessive braking torque target compensation value \(T_{EHB\_brk\_tar}\) resulting in an unexpected excessive deceleration value, the braking torque target compensation value shall be limited so that the braking torque target compensation value does not exceed the second product, where the second product = 1 / 2 of the initial target braking torque \(T_{ini}\), and the torque difference \(T_{EHB\_brk}=T_{ini}-T_{act}\).

[0137] Through the Figure 2 shown braking torque compensation method, the braking torque when the accelerator pedal is released in the one-pedal mode can be maintained as expected (i.e., the deceleration value is maintained as expected), thereby increasing driving safety.

[0138] It should be noted that for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present disclosure is not limited by the described action sequence, because according to the present disclosure, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to the present disclosure.

[0139] The above is the introduction of the method embodiments. The following further illustrates the solution of the present disclosure through device embodiments.

[0140] Figure 3 The block diagram of a braking torque compensation device 300 according to an embodiment of the present disclosure is shown. As Figure 3 shown, the device 300 includes:

[0141] A first determination module 310, configured to confirm the current energy recovery mode in the one-pedal mode;

[0142] The second determination module 320 is configured to determine whether braking torque compensation is required if the current energy recovery mode is coasting energy recovery; wherein, the scenarios where braking torque compensation is required include: the current remaining capacity of the vehicle battery is less than the initial charging target value and the drive motor fails, and / or, the current remaining capacity is not less than the initial charging target value;

[0143] The first acquisition module 330 is configured to, if required, acquire the initial target braking torque corresponding to the coasting energy recovery; wherein, the initial charging target value is the target charge amount initially preset for the vehicle, and the initial target braking torque is the braking torque required for the coasting energy recovery;

[0144] The second acquisition module 340 is configured to acquire the actual braking torque fed back by the drive motor;

[0145] The calculation module 350 is configured to calculate a braking torque target compensation value based on the initial target braking torque and the actual braking torque;

[0146] The sending module 360 is configured to send the braking torque target compensation value to the braking system of the vehicle to request braking torque compensation.

[0147] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the described modules can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0148] According to an embodiment of the present disclosure, the present disclosure further provides an electronic device, including:

[0149] At least one processor; and

[0150] A memory communicatively connected to the at least one processor; wherein,

[0151] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute any one of the foregoing method embodiments.

[0152] According to an embodiment of the present disclosure, the present disclosure further provides a vehicle, including: the braking torque compensation device as described in the foregoing embodiment or the electronic device as described in the foregoing embodiment.

[0153] According to an embodiment of the present disclosure, the present disclosure further provides a non-transitory computer-readable storage medium storing computer instructions, and the computer instructions are used to cause a computer to execute any one of the foregoing method embodiments.

[0154] Figure 4FIG. 0 shows a schematic block diagram of an electronic device 800 that can be used to implement embodiments of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, personal digital processors, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely exemplary and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0155] The device 800 includes a computing unit 801 that can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 802 or a computer program loaded from a storage unit 808 into a random access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the device 800 can also be stored. The computing unit 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0156] A plurality of components in the device 800 are connected to the I / O interface 805, including: an input unit 806, such as a keyboard, a mouse, etc.; an output unit 807, such as various types of displays, speakers, etc.; a storage unit 808, such as a magnetic disk, an optical disk, etc.; and a communication unit 809, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 809 allows the device 800 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0157] The computing unit 801 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 801 executes the various methods and processes described above, such as method 100. For example, in some embodiments, method 100 may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 808. In some embodiments, part or all of the computer program may be loaded and / or installed onto the device 800 via the ROM 802 and / or the communication unit 809. When the computer program is loaded into the RAM 803 and executed by the computing unit 801, one or more steps of the method 100 described above may be executed. Alternatively, in other embodiments, the computing unit 801 may be configured to execute method 100 in any other suitable manner (e.g., by means of firmware).

[0158] Various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuitry, integrated circuit systems, field-programmable gate arrays (FPGA), application-specific integrated circuits (ASIC), application-specific standard products (ASSP), systems-on-a-chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special or general-purpose programmable processor that receives data and instructions from a storage system, at least one input device, and at least one output device, and transmits the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0159] The program code for implementing the methods of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the program codes are executed by the processor or controller, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The program codes can be executed entirely on the machine, partially on the machine, as a stand-alone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0160] In the context of this disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0161] In order to provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0162] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0163] A computing system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, can also be a server of a distributed system, or a server incorporating a blockchain.

[0164] It should be understood that the various forms of processes shown above can be used, with steps reordered, added or deleted. For example, the steps described in the present disclosure can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solution disclosed in the present disclosure can be achieved, and no limitation is imposed herein.

[0165] The above specific embodiments do not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub - combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present disclosure shall be included within the protection scope of the present disclosure.

Claims

1. A braking torque compensation method, characterized in that, Including: In the single-pedal mode, confirm the current energy recovery mode; If the current energy recovery mode is coasting energy recovery, determine whether braking torque compensation is required; wherein, the scenarios requiring braking torque compensation include: the current remaining capacity of the vehicle battery is less than the initial charging target value and the drive motor fails, and / or, the current remaining capacity is not less than the initial charging target value; If required, obtain the initial target braking torque corresponding to the coasting energy recovery; wherein, the initial charging target value is the target charging amount initially preset for the vehicle, and the initial target braking torque is the braking torque required for the coasting energy recovery; Obtain the actual braking torque feedback by the drive motor; Based on the initial target braking torque and the actual braking torque, calculate the target braking torque compensation value; Send the target braking torque compensation value to the braking system of the vehicle to request braking torque compensation.

2. The method according to claim 1, wherein: The determination step of the drive motor failure is as follows: Obtain the initial target braking torque corresponding to the coasting energy recovery and the maximum available braking torque of the drive motor; Compare the initial target braking torque and the maximum available braking torque to determine the final target braking torque; Obtain the actual braking torque feedback by the drive motor; Calculate the torque deviation between the actual braking torque and the final target braking torque; Judge whether the torque deviation is greater than the first product between the absolute value of the final target braking torque and the first preset coefficient; If the torque deviation is greater than the first product, confirm that the drive motor fails.

3. The method according to claim 1, wherein The method further includes: Confirm the current recovery level of the coasting energy recovery; Judge whether the current recovery level is higher than the preset recovery level; The request for braking torque compensation includes: If the current remaining capacity of the vehicle is less than the initial charging target value, the drive motor fails and the current recovery level is higher than the preset recovery level, request braking torque compensation from the braking system of the vehicle; Or If the current remaining capacity is not less than the initial charging target value and the current recovery level is higher than the preset recovery level, request braking torque compensation from the braking system of the vehicle.

4. The method according to claim 1, wherein: The calculating the target braking torque compensation value based on the initial target braking torque and the actual braking torque includes: Calculate the torque difference between the initial target braking torque and the actual braking torque; Calculate the second product between the initial target braking torque and the second preset coefficient; Determine the maximum value between the torque difference and the second product as the target braking torque compensation value.

5. The method according to any one of claims 1 to 4, wherein: Before confirming the current energy recovery mode, the method further includes: Obtain the initial charging target value of the vehicle; Obtain the current charging target value offset of the vehicle; Calculate the difference between the initial charging target value and the charging target value offset, and use the difference as the final charging target value; When the vehicle is charging, control the vehicle to charge according to the final charging target value.

6. The method according to claim 5, wherein: The obtaining the current charging target value offset of the vehicle includes: Obtain the user's current vehicle usage habits; wherein, the current vehicle usage habits include at least one of the activation frequency of the one-pedal mode, the frequency of stepping on the brake pedal in the one-pedal mode, and the level setting frequency of the coasting energy recovery; Obtain the preset correspondence between the vehicle usage habits and the charging target value offset; Match the current vehicle usage habits with the preset correspondence to determine the current charging target value offset.

7. A braking torque compensation device, characterized in that, Comprising: A first determination module, configured to confirm the current energy recovery mode in the one-pedal mode; A second determination module, configured to determine whether brake torque compensation is required if the current energy recovery mode is coasting energy recovery; wherein, the scenarios where brake torque compensation is required include: the current remaining capacity of the vehicle battery is less than the initial charging target value and the drive motor fails, and / or, the current remaining capacity is not less than the initial charging target value; A first obtaining module, configured to obtain the initial target brake torque corresponding to the coasting energy recovery if required; wherein, the initial charging target value is the target charging amount initially preset for the vehicle, and the initial target brake torque is the brake torque required for the coasting energy recovery; A second obtaining module, configured to obtain the actual brake torque feedback by the drive motor; A calculation module, configured to calculate a brake torque target compensation value based on the initial target brake torque and the actual brake torque; A sending module, configured to send the brake torque target compensation value to the braking system of the vehicle to request brake torque compensation.

8. An electronic device, characterized in that, Comprising: At least one processor; And A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method according to any one of claims 1-6.

9. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to execute the method according to any one of claims 1-6.

10. A vehicle, characterized in that, Comprising: The device according to claim 7, and / or the electronic device according to claim 8, and / or the readable storage medium according to claim 9.

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