Dynamic energy distribution method for new energy automobile based on regenerative braking

Abstract

The invention provides a regenerative braking-based dynamic energy distribution method for a new energy automobile, which belongs to the technical field of braking systems and comprises the following steps: step 1, determining the total braking force currently required by the automobile, and further determining the distribution proportion of mechanical braking and regenerative braking; 2, evaluating the current acceptable charging power of the battery and the feedback power range of the motor, and further determining limit data of regenerative braking energy distribution; 3, the optimal regenerative braking force and mechanical braking force distribution proportion under the current working condition is determined; 4, the optimal regenerative braking force distribution proportion is converted into a regenerative braking force instruction, then a motor is controlled to generate corresponding regenerative braking torque based on the regenerative braking force instruction, the vehicle is braked, and energy is recycled; and 5, the mechanical braking force distribution proportion is converted into a mechanical braking force instruction, and then a mechanical braking device is controlled to generate corresponding braking force based on the mechanical braking force instruction. And more accurate brake control and energy management are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of braking systems, and in particular to a dynamic energy distribution method based on regenerative braking of a new energy vehicle. Background Art

[0002] With the rapid development of new energy vehicles, regenerative braking technology has become an important means of improving energy efficiency and extending battery life. Regenerative braking systems reduce energy waste by converting the vehicle's kinetic energy into electrical energy and storing it in the battery. However, dynamically balancing the distribution of regenerative braking and mechanical braking to ensure safety, energy recovery efficiency, and battery health remains a challenge in new energy vehicle technology.

[0003] In existing technologies, most regenerative braking systems determine the braking force distribution ratio based solely on simple vehicle operating conditions, ignoring the combined influence of factors such as real-time vehicle operating parameters, acceptable charging power, and motor power range. Existing solutions often employ fixed or simple rule-based control methods, failing to dynamically adjust the ratio of regenerative braking to mechanical braking based on actual conditions. This results in low energy recovery efficiency or excessive battery load, making it difficult to provide an optimal energy distribution strategy under different driving conditions.

[0004] Therefore, the present invention provides a dynamic energy distribution method based on regenerative braking of a new energy vehicle. Summary of the Invention

[0005] This invention provides a dynamic energy distribution method based on regenerative braking for new energy vehicles. By collecting and processing vehicle operating parameters in real time and combining the battery and motor status, the method precisely adjusts the allocation ratio between regenerative braking and mechanical braking, ensuring optimal energy recovery and braking performance under different operating conditions. This method not only improves energy recovery efficiency and extends battery life, but also effectively reduces wear on mechanical brakes, enhancing vehicle safety and economy. Through dynamic adjustment of intelligent algorithms, the method can adapt to different driving environments and operating conditions, achieving more precise braking control and energy management.

[0006] The present invention provides a dynamic energy distribution method based on regenerative braking for a new energy vehicle, comprising: Step 1: The vehicle's operating parameters are collected and processed in real time. Based on the processed operating parameters, a preset algorithm model is used to determine the total braking force currently required by the vehicle, and then the distribution ratio between mechanical braking and regenerative braking is determined; Step 2: Based on the vehicle's operating parameters, the acceptable charging power of the battery and the regenerative power range of the motor are evaluated to determine the limiting data for regenerative braking energy distribution. Step 3: Determine the optimal regenerative braking force to mechanical braking force distribution ratio under the current operating condition based on the vehicle operating parameters, the total braking force currently required by the vehicle, and the regenerative braking energy distribution constraint data; Step 4: Convert the optimal regenerative braking force distribution ratio into a regenerative braking force command, and then control the motor to generate a corresponding regenerative braking torque based on the regenerative braking force command to brake the vehicle and recover energy; Step 5: Convert the mechanical braking force distribution ratio into a mechanical braking force command, and then control the mechanical brake device to generate corresponding braking force based on the mechanical braking force command.

[0007] The present invention provides a dynamic energy distribution method based on regenerative braking for a new energy vehicle, further comprising: Real-time monitoring of the actual braking force and speed change feedback information during vehicle braking, and comparison and analysis with the preset expected braking effect. If any deviation occurs, the braking force distribution is readjusted.

[0008] The present invention provides a dynamic energy distribution method based on regenerative braking for a new energy vehicle, wherein the operating parameters include vehicle speed, acceleration, battery power, motor speed and brake pedal travel data.

[0009] The present invention provides a dynamic energy distribution method based on regenerative braking for a new energy vehicle, which determines the total braking force currently required by the vehicle through a preset algorithm model based on processed operating parameters, including: Obtaining real-time load information of the vehicle through vehicle sensors, and determining the actual total mass of the vehicle based on the vehicle load information and the vehicle's preset inherent parameters; Determining the initial total braking force of the vehicle based on the actual total mass of the vehicle, the current vehicle speed, and the braking deceleration requirement; The initial total braking force is compared with the maximum braking capacity of the vehicle. If the initial total braking force is less than the maximum braking capacity, the total braking force is determined as the currently required total braking force.

[0010] The present invention provides a dynamic energy distribution method based on regenerative braking for new energy vehicles. Based on the vehicle's operating parameters, the method evaluates the battery's current acceptable charging power and the motor's regenerative power range, and then determines the limiting data for regenerative braking energy distribution. The method includes: The battery temperature data is collected in real time through a preset battery temperature sensor. Based on the battery temperature data, the corresponding relationship table between battery temperature and acceptable charging power provided by the battery manufacturer is queried to obtain the acceptable charging power range of the battery at the current temperature. Based on the current state of charge of the battery, the acceptable charging power range is corrected to obtain the acceptable charging power value of the battery; A comprehensive comparison and analysis is performed between the acceptable charging power value of the battery and the regenerative power range of the motor. If the acceptable charging power value of the battery is within the regenerative power range of the motor, the corrected acceptable charging power value of the battery is determined as the limiting data of the limiting data of the regenerative braking energy distribution.

[0011] The present invention provides a dynamic energy distribution method based on regenerative braking for new energy vehicles. The method determines the optimal distribution ratio of regenerative braking force to mechanical braking force under current operating conditions based on the vehicle's operating parameters, the total braking force currently required by the vehicle, and the limiting data of regenerative braking energy distribution. The method includes: Obtain the response time parameters of the mechanical brake system and the motor control system, establish a time series model of the braking process based on the response time and parameters of the brake system, and divide the braking force distribution process into several time stages; At each time stage, the optimal braking force distribution ratio of the current stage is determined using a dynamic programming algorithm based on the vehicle's operating parameters and the braking force distribution results of the previous stage. The optimal braking force distribution ratios of all determined stages are integrated to obtain the optimal braking force distribution strategy for the entire braking process; The present invention provides a dynamic energy distribution method based on regenerative braking for new energy vehicles. The method determines the optimal distribution ratio of regenerative braking force to mechanical braking force under current operating conditions based on the vehicle's operating parameters, the total braking force currently required by the vehicle, and the limiting data of regenerative braking energy distribution. The method includes: The optimal regenerative braking force distribution ratio is converted into a corresponding regenerative braking force command according to the command mapping rule of the motor control system; Sending regenerative braking force instructions to the motor control system to adjust the motor control parameters; The motor generates corresponding regenerative braking torque based on the adjusted control parameters.

[0012] The present invention provides a dynamic energy distribution method based on regenerative braking for new energy vehicles, which converts the mechanical braking force distribution ratio into a mechanical braking force command, and then controls the mechanical braking device to generate corresponding braking force based on the mechanical braking force command, including: Convert the mechanical braking force distribution ratio into a mechanical braking force command according to the signal conversion logic of the mechanical braking system; The mechanical braking force command is transmitted to the mechanical brake system, thereby actuating the brake device.

[0013] Compared with the prior art, the present invention has the following advantages: By collecting and processing vehicle operating parameters in real time and combining them with the battery and motor status, the system precisely adjusts the ratio of regenerative braking to mechanical braking, ensuring optimal energy recovery and braking performance under different operating conditions. This not only improves energy recovery efficiency and extends battery life, but also effectively reduces wear on mechanical brakes, enhancing vehicle safety and economy. Dynamic adjustments made by intelligent algorithms adapt to varying driving environments and operating conditions, achieving more precise braking control and energy management. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0015] Figure 1 The present invention is a flow chart of a dynamic energy distribution method based on regenerative braking for new energy vehicles. DETAILED DESCRIPTION

[0016] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0017] Example 1: The embodiment of the present invention provides a dynamic energy distribution method based on regenerative braking of a new energy vehicle, such as Figure 1 Shown, including: Step 1: The vehicle's operating parameters are collected and processed in real time. Based on the processed operating parameters, a preset algorithm model is used to determine the total braking force currently required by the vehicle, and then the distribution ratio between mechanical braking and regenerative braking is determined; Step 2: Based on the vehicle's operating parameters, the acceptable charging power of the battery and the regenerative power range of the motor are evaluated to determine the limiting data for regenerative braking energy distribution. Step 3: Determine the optimal regenerative braking force to mechanical braking force distribution ratio under the current operating condition based on the vehicle operating parameters, the total braking force currently required by the vehicle, and the regenerative braking energy distribution constraint data; Step 4: Convert the optimal regenerative braking force distribution ratio into a regenerative braking force command, and then control the motor to generate a corresponding regenerative braking torque based on the regenerative braking force command to brake the vehicle and recover energy; Step 5: Convert the mechanical braking force distribution ratio into a mechanical braking force command, and then control the mechanical brake device to generate corresponding braking force based on the mechanical braking force command.

[0018] The beneficial effects of this technical solution include: by collecting and processing vehicle operating parameters in real time, and incorporating the battery and motor status, the system precisely adjusts the allocation of regenerative braking to mechanical braking, ensuring optimal energy recovery and braking performance under different operating conditions. This not only improves energy recovery efficiency and extends battery life, but also effectively reduces wear on mechanical brakes, enhancing vehicle safety and economy. Through dynamic adjustments using intelligent algorithms, the system can adapt to different driving environments and operating conditions, achieving more precise braking control and energy management.

[0019] Example 2: An embodiment of the present invention provides a dynamic energy distribution method based on regenerative braking for a new energy vehicle, further comprising: Real-time monitoring of the actual braking force and speed change feedback information during vehicle braking, and comparison and analysis with the preset expected braking effect. If any deviation occurs, the braking force distribution is readjusted.

[0020] The beneficial effect of this technical solution is that by real-time monitoring of actual braking force and speed changes during braking and comparing them with the expected braking effect, deviations in braking force distribution can be promptly detected and corrected. This closed-loop control mechanism ensures that the vehicle can dynamically adjust the distribution ratio of regenerative braking to mechanical braking based on actual feedback during braking, further improving braking response accuracy and energy recovery efficiency. This solution effectively enhances the system's adaptability and stability, ensuring driving safety while optimizing battery management and braking performance.

[0021] Example 3: An embodiment of the present invention provides a dynamic energy distribution method based on regenerative braking for a new energy vehicle, wherein operating parameters include vehicle speed, acceleration, battery power, motor speed, and brake pedal travel data.

[0022] The beneficial effects of the above technical solution: By comprehensively considering operating parameters such as vehicle speed, acceleration, battery charge, motor speed, and brake pedal travel, a more comprehensive assessment of the vehicle's operating status can be achieved. This multi-dimensional data collection and analysis helps accurately determine the current braking demand, thereby achieving a more reasonable distribution of regenerative braking and mechanical braking energy. By precisely controlling the changes in each parameter, this solution can optimize energy recovery efficiency, extend battery life, and improve braking response speed and stability. This technical solution effectively improves the performance, energy efficiency, and driving experience of new energy vehicles.

[0023] Example 4: An embodiment of the present invention provides a dynamic energy distribution method based on regenerative braking for a new energy vehicle, which determines the total braking force currently required by the vehicle through a preset algorithm model based on processed operating parameters, including: Obtaining real-time load information of the vehicle through vehicle sensors, and determining the actual total mass of the vehicle based on the vehicle load information and the vehicle's preset inherent parameters; Determining the initial total braking force of the vehicle based on the actual total mass of the vehicle, the current vehicle speed, and the braking deceleration requirement; The initial total braking force is compared with the maximum braking capacity of the vehicle. If the initial total braking force is less than the maximum braking capacity, the total braking force is determined as the currently required total braking force.

[0024] The beneficial effects of this technical solution include accurately determining the vehicle's actual gross mass by combining real-time vehicle load information with preset inherent parameters. The initial total braking force is calculated based on the current vehicle speed and braking deceleration requirements. By comparing this initial total braking force with the vehicle's maximum braking capacity, the required total braking force is dynamically adjusted without exceeding the vehicle's braking limit. This enables more precise braking control, optimizes the energy distribution between regenerative braking and mechanical braking, and improves the stability and safety of the braking effect. Furthermore, it effectively improves energy recovery efficiency and reduces energy waste, which is of great significance for extending battery life and enhancing the driving experience.

[0025] Example 5: An embodiment of the present invention provides a dynamic energy distribution method based on regenerative braking for a new energy vehicle. The method evaluates the current acceptable charging power of the battery and the regenerative power range of the motor based on the vehicle's operating parameters, and then determines the limiting data for regenerative braking energy distribution. The method includes: The battery temperature data is collected in real time through a preset battery temperature sensor. Based on the battery temperature data, the corresponding relationship table between battery temperature and acceptable charging power provided by the battery manufacturer is queried to obtain the acceptable charging power range of the battery at the current temperature. Based on the current state of charge of the battery, the acceptable charging power range is corrected to obtain the acceptable charging power value of the battery; A comprehensive comparison and analysis is performed between the acceptable charging power value of the battery and the regenerative power range of the motor. If the acceptable charging power value of the battery is within the regenerative power range of the motor, the corrected acceptable charging power value of the battery is determined as the limiting data of the limiting data of the regenerative braking energy distribution.

[0026] The beneficial effects of the above technical solution are: by collecting battery temperature data in real time and combining it with the temperature-charging power relationship table provided by the battery manufacturer, the battery's current acceptable charging power range can be accurately assessed. The charging power is further corrected based on the battery's state of charge to determine the battery's actual charging capacity. At the same time, by comparing the corrected battery's acceptable charging power with the motor's regenerative power, it is ensured that the battery's charging limit is not exceeded during the energy regeneration process. This dynamic adjustment method effectively avoids overcharging or excessive regeneration, optimizes regenerative braking energy distribution, improves battery safety and lifespan, and enhances the overall energy efficiency and stability of the system.

[0027] Example 6: An embodiment of the present invention provides a dynamic energy distribution method based on regenerative braking for a new energy vehicle. The method determines the optimal distribution ratio of regenerative braking force to mechanical braking force under current operating conditions based on vehicle operating parameters, the total braking force currently required by the vehicle, and restriction data for regenerative braking energy distribution. The method includes: Obtain the response time parameters of the mechanical brake system and the motor control system, establish a time series model of the braking process based on the response time and parameters of the brake system, and divide the braking force distribution process into several time stages; At each time stage, the optimal braking force distribution ratio of the current stage is determined using a dynamic programming algorithm based on the vehicle's operating parameters and the braking force distribution results of the previous stage. The optimal braking force distribution ratios of all determined stages are integrated to obtain the optimal braking force distribution strategy for the entire braking process.

[0028] The beneficial effects of the above technical solution are as follows: By considering the response time of the mechanical braking system and the motor control system, a time series model of the braking process is established, accurately dividing the various stages of the braking force distribution process. At each stage, a dynamic programming algorithm is used in combination with the vehicle's operating parameters and the braking force distribution results of the previous stage to dynamically optimize the ratio of regenerative braking force to mechanical braking force, thereby ensuring the optimal balance between energy recovery and braking effect at each stage. Ultimately, by integrating the optimal allocation strategies for each stage, it is possible to maximize energy recovery and optimize braking effect throughout the entire braking process. This method improves the response speed and stability of the braking process, significantly enhancing energy efficiency and the driving experience.

[0029] Example 7: An embodiment of the present invention provides a dynamic energy distribution method based on regenerative braking for a new energy vehicle. The method determines the optimal distribution ratio of regenerative braking force to mechanical braking force under current operating conditions based on vehicle operating parameters, the total braking force currently required by the vehicle, and restriction data for regenerative braking energy distribution. The method includes: The optimal regenerative braking force distribution ratio is converted into a corresponding regenerative braking force command according to the command mapping rule of the motor control system; Sending regenerative braking force instructions to the motor control system to adjust the motor control parameters; The motor generates corresponding regenerative braking torque based on the adjusted control parameters.

[0030] In this embodiment, the control parameters include changing the current magnitude, adjusting the voltage frequency, etc.

[0031] In this embodiment, the motor's operating status, including current, voltage, speed, and other parameters, is monitored in real time during torque generation to ensure stable operation. As the motor generates regenerative braking torque, the vehicle begins braking, while the motor converts the vehicle's kinetic energy into electrical energy, which is then recharged into the battery, achieving energy recovery.

[0032] The beneficial effect of this technical solution is that it achieves a dynamically optimized regenerative braking process by converting the optimal regenerative braking force distribution ratio into a specific regenerative braking force command and precisely adjusting the motor control parameters according to the command mapping rules of the motor control system. After receiving the adjusted control parameters, the motor can generate the corresponding regenerative braking torque, thereby effectively improving the energy recovery efficiency and braking performance of regenerative braking. This method not only ensures optimal energy distribution under different operating conditions, but also optimizes the motor control strategy, improving the vehicle's driving stability and energy efficiency, and ensuring a safe and efficient braking experience.

[0033] Example 8: An embodiment of the present invention provides a dynamic energy distribution method based on regenerative braking for a new energy vehicle, which converts a mechanical braking force distribution ratio into a mechanical braking force command, and then controls a mechanical braking device to generate a corresponding braking force based on the mechanical braking force command, including: Convert the mechanical braking force distribution ratio into a mechanical braking force command according to the signal conversion logic of the mechanical braking system; The mechanical braking force command is transmitted to the mechanical brake system, thereby actuating the brake device.

[0034] In this embodiment, the mechanical braking force instruction specifies key information such as the magnitude of the braking force to be applied by the mechanical braking device and the duration of action.

[0035] In this embodiment, the mechanical braking force command is transmitted to the mechanical braking system, such as through a hydraulic system to force the brake pads to fit tightly against the brake disc, or through a pneumatic system to force the brake shoes to grip the brake drum. During the braking system's operation, its operating status, such as brake pad wear and brake fluid pressure, is monitored in real time. As the braking system generates the corresponding braking force, it works in conjunction with the regenerative braking force to achieve smooth and effective braking of the vehicle, ensuring safe driving.

[0036] The beneficial effects of the above technical solution include: by converting the mechanical braking force distribution ratio into a specific mechanical braking force command, combined with the signal conversion logic of the mechanical braking system, precise braking control is achieved. By transmitting this command to the mechanical braking system, the braking device can be accurately actuated to generate the required braking force, ensuring the vehicle's braking performance and stability under various operating conditions. This method effectively combines dynamic energy distribution with mechanical braking control, improving the accuracy and efficiency of braking response, optimizing the energy utilization and braking performance of new energy vehicles, and enhancing driving safety and the driving experience.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A dynamic energy distribution method based on regenerative braking for new energy vehicles, characterized in that: include: Step 1: The vehicle's operating parameters are collected and processed in real time. Based on the processed operating parameters, a preset algorithm model is used to determine the total braking force currently required by the vehicle, and then the distribution ratio between mechanical braking and regenerative braking is determined; Step 2: Based on the vehicle's operating parameters, the acceptable charging power of the battery and the regenerative power range of the motor are evaluated to determine the limiting data for regenerative braking energy distribution. Step 3: Determine the optimal regenerative braking force to mechanical braking force distribution ratio under the current operating condition based on the vehicle operating parameters, the total braking force currently required by the vehicle, and the regenerative braking energy distribution constraint data; Step 4: Convert the optimal regenerative braking force distribution ratio into a regenerative braking force command, and then control the motor to generate a corresponding regenerative braking torque based on the regenerative braking force command to brake the vehicle and recover energy; Step 5: Convert the mechanical braking force distribution ratio into a mechanical braking force command, and then control the mechanical brake device to generate corresponding braking force based on the mechanical braking force command.

2. The dynamic energy distribution method based on regenerative braking of a new energy vehicle according to claim 1 is characterized in that: Also includes: Real-time monitoring of the actual braking force and speed change feedback information during vehicle braking, and comparison and analysis with the preset expected braking effect. If any deviation occurs, the braking force distribution is readjusted.

3. The dynamic energy distribution method based on regenerative braking of a new energy vehicle according to claim 1, characterized in that: Operating parameters, including vehicle speed, acceleration, battery charge, motor speed, and brake pedal travel data.

4. The dynamic energy distribution method based on regenerative braking of a new energy vehicle according to claim 1, characterized in that: The total braking force currently required by the vehicle is determined based on the processed operating parameters through a preset algorithm model, including: Obtaining real-time load information of the vehicle through vehicle sensors, and determining the actual total mass of the vehicle based on the vehicle load information and the vehicle's preset inherent parameters; Determining the initial total braking force of the vehicle based on the actual total mass of the vehicle, the current vehicle speed, and the braking deceleration requirement; The initial total braking force is compared with the maximum braking capacity of the vehicle. If the initial total braking force is less than the maximum braking capacity, the total braking force is determined as the currently required total braking force.

5. The dynamic energy distribution method based on regenerative braking of a new energy vehicle according to claim 1, characterized in that: Based on the vehicle's operating parameters, the acceptable charging power of the battery and the regenerative power range of the motor are evaluated to determine the limiting data for regenerative braking energy distribution, including: The battery temperature data is collected in real time through a preset battery temperature sensor. Based on the battery temperature data, the corresponding relationship table between battery temperature and acceptable charging power provided by the battery manufacturer is queried to obtain the acceptable charging power range of the battery at the current temperature. Based on the current state of charge of the battery, the acceptable charging power range is corrected to obtain the acceptable charging power value of the battery; A comprehensive comparison and analysis is performed between the acceptable charging power value of the battery and the regenerative power range of the motor. If the acceptable charging power value of the battery is within the regenerative power range of the motor, the corrected acceptable charging power value of the battery is determined as the limiting data of the limiting data of the regenerative braking energy distribution.

6. The dynamic energy distribution method based on regenerative braking of a new energy vehicle according to claim 1, characterized in that: The optimal regenerative braking force to mechanical braking force distribution ratio under the current operating conditions is determined based on the vehicle's operating parameters, the total braking force currently required by the vehicle, and the regenerative braking energy distribution limit data, including: Obtain the response time parameters of the mechanical brake system and the motor control system, establish a time series model of the braking process based on the response time and parameters of the brake system, and divide the braking force distribution process into several time stages; At each time stage, the optimal braking force distribution ratio of the current stage is determined using a dynamic programming algorithm based on the vehicle's operating parameters and the braking force distribution results of the previous stage. The optimal braking force distribution ratios of all determined stages are integrated to obtain the optimal braking force distribution strategy for the entire braking process.

7. The dynamic energy distribution method based on regenerative braking for a new energy vehicle according to claim 1, characterized in that: The optimal regenerative braking force to mechanical braking force distribution ratio under the current operating conditions is determined based on the vehicle's operating parameters, the total braking force currently required by the vehicle, and the regenerative braking energy distribution limit data, including: The optimal regenerative braking force distribution ratio is converted into a corresponding regenerative braking force command according to the command mapping rule of the motor control system; Sending regenerative braking force instructions to the motor control system to adjust the motor control parameters; The motor generates corresponding regenerative braking torque based on the adjusted control parameters.

8. The dynamic energy distribution method based on regenerative braking for a new energy vehicle according to claim 1, characterized in that: Converting the mechanical braking force distribution ratio into a mechanical braking force command, and then controlling the mechanical brake device to generate a corresponding braking force based on the mechanical braking force command, including: Convert the mechanical braking force distribution ratio into a mechanical braking force command according to the signal conversion logic of the mechanical braking system; The mechanical braking force command is transmitted to the mechanical brake system, thereby actuating the brake device.

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