Control method, device, equipment, medium and product

Abstract

The invention discloses a control method, device and equipment, a medium and a product. The method comprises the steps that the state of an auxiliary brake switch, the opening degree of a brake pedal, the vehicle acceleration and motor fault information are obtained; according to the auxiliary brake switch state, the brake pedal opening degree, the vehicle acceleration and the motor fault information, a vehicle brake mode is determined; according to the vehicle braking mode, motor braking torque and mechanical braking torque are determined; and according to the motor braking torque and the mechanical braking torque, braking control is conducted on the vehicle, and through the technical scheme, the safety of the new energy commercial vehicle can be improved.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of vehicle technology, and in particular, to a control method, device, equipment, medium, and product. Background Art

[0002] In recent years, under the combined influence of multiple factors such as the industry's green transformation and upgrading, new energy commercial vehicles have developed rapidly. Against the backdrop of a sharp decline in overall commercial vehicle sales in recent years, new energy commercial vehicles have continued to grow against the trend and have huge development potential.

[0003] Traditional fuel commercial vehicles use engine braking, exhaust braking, hydraulic retarder braking and other forms of auxiliary braking, which have good reliability. However, new energy commercial vehicles use the motor's reverse torque to achieve auxiliary braking, which has a high risk of failure, resulting in a significant reduction in the safety of auxiliary braking of new energy commercial vehicles. Summary of the Invention

[0004] Embodiments of the present invention provide a control method, device, equipment, medium, and product to improve the safety of new energy commercial vehicles.

[0005] According to one aspect of the present invention, there is provided a control method, comprising:

[0006] Obtain auxiliary brake switch status, brake pedal opening, vehicle acceleration, and motor fault information;

[0007] Determine the vehicle braking mode based on the auxiliary brake switch status, brake pedal opening, vehicle acceleration, and motor fault information;

[0008] determining a motor braking torque and a mechanical braking torque according to the vehicle braking mode;

[0009] The vehicle is braked according to the motor torque and mechanical braking torque.

[0010] According to another aspect of the present invention, there is provided a control device, the control device comprising:

[0011] An acquisition module is used to obtain auxiliary brake switch status, brake pedal opening, vehicle acceleration, and motor fault information;

[0012] A vehicle braking mode determination module is used to determine the vehicle braking mode based on the auxiliary brake switch state, brake pedal opening, vehicle acceleration and motor fault information;

[0013] a motor braking torque and mechanical braking torque determination module, configured to determine the motor braking torque and mechanical braking torque according to the vehicle braking mode;

[0014] The control module is used to control the vehicle's braking according to the electric motor torque and mechanical braking torque.

[0015] According to another aspect of the present invention, an electronic device is provided, comprising:

[0016] at least one processor; and

[0017] a memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to perform the control method described in any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the control method according to any embodiment of the present invention when executed.

[0020] According to another aspect of the present invention, a computer program product is provided. When the computer program is executed by a processor, the computer program implements the control method as described in any one of the embodiments of the present invention.

[0021] The embodiments of the present invention obtain the auxiliary brake switch status, brake pedal opening, vehicle acceleration and motor fault information; determine the vehicle braking mode according to the auxiliary brake switch status, brake pedal opening, vehicle acceleration and motor fault information; determine the electric motor braking torque and mechanical braking torque according to the vehicle braking mode; and control the vehicle braking according to the electric motor braking torque and mechanical braking torque, thereby improving the safety of new energy commercial vehicles.

[0022] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 is a flow chart of a control method in an embodiment of the present invention;

[0025] Figure 2 is a structural diagram of a control device in an embodiment of the present invention;

[0026] Figure 3 It is a structural diagram of an electronic device in an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] It is understandable that before using the technical solutions disclosed in the various embodiments of this disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved in this disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0030] Example 1

[0031] Figure 1 This is a flow chart of a control method provided by an embodiment of the present invention. This embodiment is applicable to the case of braking control of a vehicle. The method can be executed by a control device in an embodiment of the present invention. The device can be implemented in software and / or hardware. Figure 1 As shown, the method specifically includes the following steps:

[0032] S110, obtaining auxiliary brake switch status, brake pedal opening, vehicle acceleration, and motor fault information.

[0033] In this embodiment, the auxiliary brake switch is an operating device that controls the opening or closing of the vehicle's auxiliary braking system (such as engine braking, exhaust braking, hydraulic retarder, etc.), and is mainly used to enhance the vehicle's braking effect and reduce the wear of the service brakes (brake pads, brake discs).

[0034] In this embodiment, the motor fault information includes whether the motor has a level 3 fault and whether the motor has no level 3 fault. Level 3 motor fault is a serious level in the motor fault classification system, and generally refers to a fault that may cause the motor to malfunction, pose a safety hazard, or require immediate shutdown for maintenance.

[0035] S120 , determining a vehicle braking mode according to the auxiliary brake switch state, the brake pedal opening, the vehicle acceleration, and the motor fault information.

[0036] In this embodiment, the vehicle braking mode can be determined based on the auxiliary brake switch state, brake pedal opening, vehicle acceleration and motor fault information: if the auxiliary brake switch is in the on state, the brake pedal opening is equal to the first value, the vehicle acceleration is less than zero, and the motor has no level 3 fault, then the vehicle is determined to be in the first auxiliary braking mode; if the auxiliary brake switch is in the on state and the brake pedal opening is greater than the first value, then the vehicle is determined to be in the pedal braking mode; if the auxiliary brake switch is in the on state, the brake pedal opening is zero, the vehicle acceleration is greater than or equal to zero, and the motor has no level 3 fault, then the vehicle is determined to be in the second auxiliary braking mode; if the auxiliary brake switch is in the on state, the brake pedal opening is zero, the vehicle acceleration is greater than or equal to zero, and the motor has no level 3 fault, then the vehicle is determined to be in the third auxiliary braking mode.

[0037] Optionally, the vehicle braking mode includes: a first auxiliary braking mode, a second auxiliary braking mode, a third auxiliary braking mode and a pedal braking mode.

[0038] In this embodiment, the modes of the braking energy recovery strategy are divided according to the actual operation scenario of the vehicle. The major mode can be divided into the default mode (Standby Mode, STB) and the activation mode (Active Mode, ACT), and the activation mode can be further divided into the auxiliary braking mode (Auxiliary, AUX) and the PED mode. The STB mode refers to the default state of the device or system when it is not actively activated. It is usually in a low-power, standby state and can quickly respond to activation instructions (such as the standby mode of an electronic device, the default sleep state of a vehicle control system, etc.). The ACT mode refers to the working state entered after the device or system is triggered. At this time, the core functions operate normally and preset operations can be executed (such as the operating mode after the motor is started, the detection mode after the sensor is awakened, etc.).

[0039] AUX mode has three sub-modes: AUX-NOM (normal), AUX-EME1 (emergency 1), and AUX-EME2 (emergency 2). In AUX-NOM mode, braking is completely provided by electric braking torque. When the electric braking force is insufficient, the vehicle enters AUX-EME1 mode, at which point the insufficient part is supplemented by mechanical braking force. When the electric brake fails, the vehicle enters AUX-EME2 mode, at which point mechanical braking is completely used to provide braking force. In PED mode, electric braking is used first, and when the electric brake force is insufficient, mechanical braking is used to supplement it.

[0040] In this embodiment, the first auxiliary braking mode may be an AUX-NOM mode, the second auxiliary braking mode may be an AUX-EME1 mode, the third auxiliary braking mode may be an AUX-EME2 mode, and the pedal braking mode may be a PED mode.

[0041] Optionally, the vehicle braking mode is determined based on the auxiliary brake switch status, brake pedal opening, vehicle acceleration, and motor fault information, including:

[0042] If the auxiliary brake switch is in the on state, the brake pedal opening is equal to the first value, the vehicle acceleration is less than zero, and the motor has no third-level fault, it is determined that the vehicle is in the first auxiliary brake mode.

[0043] In this embodiment, the first value is a preset smaller value, for example, the first value may be zero.

[0044] If the auxiliary brake switch is in the on state and the brake pedal opening is greater than a first value, it is determined that the vehicle is in the pedal braking mode.

[0045] In this embodiment, Pedal Enabled Deceleration (PED) generally refers to a deceleration mode triggered by pedal operation (such as releasing the brake or accelerator pedal). This is common in new energy vehicles or vehicles with regenerative braking. For example, when the driver releases the accelerator pedal, the system uses motor regenerative braking to produce a deceleration effect. This braking mode is called PED mode. Its core is to link pedal operation with the braking deceleration function, achieving a combination of energy recovery and driving safety.

[0046] If the auxiliary brake switch is in the on state, the brake pedal opening is zero, the vehicle acceleration is greater than or equal to zero, and the motor has no level 3 fault, it is determined that the vehicle is in the second auxiliary brake mode.

[0047] If the auxiliary brake switch is in the on state, the brake pedal opening is zero, and there is a third-level fault in the motor, it is determined that the vehicle is in the third auxiliary brake mode.

[0048] In this embodiment, the mode switching conditions are set as follows:

[0049] ACTenable==1, the auxiliary brake switch is in the on state and / or the brake pedal opening is greater than a first value. When this condition is met, the system switches from STB mode to ACT mode.

[0050] AUXenable==1, the auxiliary brake switch is in the on state. When this condition is met, the system switches from ACT mode to AUX mode. The default AUX mode is AUX-NOM.

[0051] EME1enable==1, the auxiliary brake switch is on, the brake pedal opening is zero, the electric braking force is insufficient, the vehicle acceleration is greater than or equal to zero, and the motor has no three-level fault. When this condition is met, the system switches from AUX-NOM mode to AUX-EME1 mode.

[0052] EME2enable==1, the auxiliary brake switch is in the on state, the brake pedal opening is zero, and the motor reports a level 3 fault. When this condition is met, the system switches from AUX-NOM mode to AUX-EME2 mode.

[0053] PEDenable==1, the auxiliary brake switch is in the on state, and the brake pedal opening is greater than the first value. When this condition is met, the system switches from ACT mode to PED mode.

[0054] The technical solution provided in this embodiment achieves precise control of the electric braking torque and the mechanical braking torque through mode division.

[0055] S130: Determine the motor braking torque and the mechanical braking torque according to the vehicle braking mode.

[0056] Optionally, determining the electric motor braking torque and the mechanical braking torque according to the vehicle braking mode includes:

[0057] If the vehicle is in the first auxiliary braking mode, the required braking torque is used as the electric motor braking torque and the mechanical braking torque is zero.

[0058] In this embodiment, the required braking torque can be determined based on the position of the auxiliary brake switch. For example, the total vehicle mass and speed can be obtained; the gear coefficient corresponding to the gear position of the auxiliary brake switch can be obtained; and the product of the gear coefficient, the total vehicle mass, and the speed can be used as the required braking torque.

[0059] If the vehicle is in the second auxiliary braking mode, the motor allowable torque is obtained, the motor allowable torque is used as the motor braking torque, and the difference between the required braking torque and the motor allowable torque is used as the mechanical braking torque.

[0060] In this embodiment, the motor allowable torque is the motor allowable torque sent by the motor.

[0061] If the vehicle is in the third auxiliary braking mode, the required braking torque is used as the mechanical braking torque and the motor braking torque is zero.

[0062] If the vehicle is in pedal braking mode, the smaller value between the required braking torque and the motor allowable torque is used as the motor braking torque, and the difference between the required braking torque and the motor braking torque is used as the mechanical braking torque.

[0063] In this embodiment, according to the vehicle braking mode, the method of determining the electric motor braking torque and the mechanical braking torque can be: STB mode: the system is not activated, and the electric motor braking torque and the mechanical braking torque are both 0. ACT mode: the system is activated and enters standby mode, and the electric motor braking torque and the mechanical braking torque are both 0. AUX-NOM mode: the motor braking function is normal and the motor allowable torque can meet the braking requirement torque, and the braking torque is entirely provided by the electric motor braking torque. AUX-EME1 mode: the motor braking function is normal but the allowable torque cannot meet the braking requirement torque. At this time, the motor exerts the maximum braking torque, and the rest is supplemented by the mechanical braking torque. AUX-EME2 mode: the motor braking function is abnormal and cannot be used, and the braking torque is entirely provided by the mechanical braking torque. PED mode: in order to ensure energy saving, electric braking torque is used first. When the electric braking torque cannot meet the braking torque requirement, mechanical braking intervenes to supplement.

[0064] Optionally, also include:

[0065] The required braking torque is determined according to the position of the auxiliary brake switch.

[0066] In this embodiment, the method for determining the required braking torque according to the gear position of the auxiliary brake switch can be: obtaining the total vehicle mass, vehicle speed, and the gear coefficient corresponding to the gear position of the auxiliary brake switch; and determining the required braking torque according to the gear coefficient, total vehicle mass and vehicle speed.

[0067] Optionally, the required braking torque is determined according to the position of the auxiliary brake switch, including:

[0068] Get the total mass and speed of the vehicle;

[0069] Obtaining a gear coefficient corresponding to the gear position of the auxiliary brake switch;

[0070] The required braking torque is determined according to the gear coefficient, the total vehicle mass and the vehicle speed.

[0071] In this embodiment, the total vehicle mass is equal to the sum of the vehicle load and the vehicle's own weight.

[0072] In this embodiment, the required braking torque may be determined based on the gear coefficient, gross vehicle mass, and vehicle speed by multiplying the gear coefficient, gross vehicle mass, and vehicle speed as the required braking torque. Alternatively, the required braking torque may be determined based on the gear coefficient, gross vehicle mass, and vehicle speed by multiplying the gear coefficient, gross vehicle mass, vehicle speed, and vehicle speed correction coefficient as the required braking torque.

[0073] S140: Control the vehicle's braking according to the motor torque and the mechanical braking torque.

[0074] The technical solution provided in this embodiment fully considers the coordinated distribution of electric braking force and mechanical braking force under auxiliary braking and pedal braking conditions. Under auxiliary braking conditions, mechanical braking is triggered when the electric braking force is insufficient or fails to ensure the braking safety of the entire vehicle; under pedal braking conditions, electric braking and mechanical braking are coordinated and controlled to maximize energy saving levels.

[0075] In a specific example, an embodiment of the present invention proposes a coordinated control strategy for auxiliary braking and mechanical braking of a new energy vehicle as follows:

[0076] Step 1: Input the auxiliary brake switch signal, brake pedal opening signal, required braking torque, motor allowable torque, vehicle acceleration, motor fault signal, and related function start signal into the brake system controller.

[0077] Step 2: The brake system controller determines and switches the mode according to the input signal.

[0078] The system default mode is STB mode. First, it is determined whether ACTenable==1 is satisfied. If so, it switches to ACT mode. If not, it returns to STB mode.

[0079] After entering ACT mode, determine whether AUXenable==1 is met. If so, switch to AUX-NOM mode. Then determine whether PEDenable==1 is met. If so, switch to PED mode. If both conditions are not met, return to ACT mode.

[0080] After entering AUX-NOM mode, determine whether EME1enable==1 is met. If so, switch to AUX-EME1 mode. Then determine whether EME2enable==1 is met. If so, switch to AUX-EME2 mode. If both conditions are not met, return to AUX-NOM mode.

[0081] Step 3: The brake system controller executes the braking torque distribution algorithm of the corresponding mode and outputs the motor braking torque and the mechanical braking torque.

[0082] STB mode: motor braking torque = 0, mechanical braking torque = 0.

[0083] ACT mode: motor braking torque = 0, mechanical braking torque = 0.

[0084] AUX-NOM mode: Motor braking torque = required braking torque, mechanical braking torque = 0.

[0085] AUX-EME1 mode: Motor braking torque = motor allowable torque, mechanical braking torque = required braking torque - motor braking torque.

[0086] AUX-EME2 mode: Motor braking torque = 0, Mechanical braking torque = Required braking torque.

[0087] PED mode: Motor braking torque = MIN (motor allowable torque, required braking torque), Mechanical braking torque = required braking torque - motor braking torque.

[0088] The braking torque coordinated control strategy provided in this embodiment introduces mechanical braking under auxiliary braking conditions, so that mechanical braking can automatically intervene when electric braking cannot meet the demand, thereby improving driving safety.

[0089] The technical solution of this embodiment obtains the auxiliary brake switch status, brake pedal opening, vehicle acceleration and motor fault information; determines the vehicle braking mode according to the auxiliary brake switch status, brake pedal opening, vehicle acceleration and motor fault information; determines the electric motor braking torque and mechanical braking torque according to the vehicle braking mode; and controls the vehicle braking according to the electric motor braking torque and mechanical braking torque, thereby improving the safety of new energy commercial vehicles.

[0090] Example 2

[0091] Figure 2 This is a schematic diagram of the structure of a control device provided by an embodiment of the present invention. This embodiment is applicable to the case of braking control of a vehicle. The device can be implemented in software and / or hardware. The device can be integrated into any device that provides a control function, such as Figure 2 As shown, the control device specifically includes: an acquisition module 210 , a vehicle braking mode determination module 220 , a motor braking torque and mechanical braking torque determination module 230 and a control module 240 .

[0092] The acquisition module is used to obtain the auxiliary brake switch status, brake pedal opening, vehicle acceleration and motor fault information;

[0093] A vehicle braking mode determination module is used to determine the vehicle braking mode based on the auxiliary brake switch state, brake pedal opening, vehicle acceleration and motor fault information;

[0094] a motor braking torque and mechanical braking torque determination module, configured to determine the motor braking torque and mechanical braking torque according to the vehicle braking mode;

[0095] The control module is used to control the vehicle's braking according to the electric motor torque and mechanical braking torque.

[0096] The above-mentioned product can execute the method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0097] Example 3

[0098] Figure 3 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. 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 assistants, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0099] like Figure 3 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0100] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0101] The processor 11 may be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the control method.

[0102] In some embodiments, the control method can be implemented as a computer program that is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the control method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the control method in any other appropriate manner (e.g., by means of firmware).

[0103] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0104] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may 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.

[0105] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0106] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device 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 pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types 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, voice input, or tactile input).

[0107] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end 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), a blockchain network, and the Internet.

[0108] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0109] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0110] An embodiment of the present invention further provides a computer program product, including a computer program, which implements the control method according to any embodiment of the present invention when executed by a processor.

[0111] The computer program product may be implemented by writing computer program code for performing the operations of the present invention in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0112] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A control method, characterized in that: include: Obtain auxiliary brake switch status, brake pedal opening, vehicle acceleration, and motor fault information; Determine the vehicle braking mode based on the auxiliary brake switch status, brake pedal opening, vehicle acceleration, and motor fault information; determining a motor braking torque and a mechanical braking torque according to the vehicle braking mode; The vehicle is braked according to the motor torque and mechanical braking torque.

2. The method according to claim 1, characterized in that The vehicle braking modes include: a first auxiliary braking mode, a second auxiliary braking mode, a third auxiliary braking mode and a pedal braking mode.

3. The method according to claim 2, characterized in that Determine the vehicle braking mode based on the auxiliary brake switch status, brake pedal opening, vehicle acceleration, and motor fault information, including: If the auxiliary brake switch is in the on state, the brake pedal opening is equal to the first value, the vehicle acceleration is less than zero, and the motor has no third-level fault, then it is determined that the vehicle is in the first auxiliary brake mode; If the auxiliary brake switch is in the on state and the brake pedal opening is greater than a first value, it is determined that the vehicle is in the pedal braking mode; If the auxiliary brake switch is in the on state, the brake pedal opening is zero, the vehicle acceleration is greater than or equal to zero, and there is no third-level fault in the motor, then it is determined that the vehicle is in the second auxiliary brake mode; If the auxiliary brake switch is in the on state, the brake pedal opening is zero, and there is a third-level fault in the motor, it is determined that the vehicle is in the third auxiliary brake mode.

4. The method according to claim 3, characterized in that Determining the motor braking torque and the mechanical braking torque according to the vehicle braking mode includes: If the vehicle is in the first auxiliary braking mode, the required braking torque is used as the motor braking torque and the mechanical braking torque is zero; If the vehicle is in the second auxiliary braking mode, obtaining the motor allowable torque, using the motor allowable torque as the motor braking torque, and using the difference between the required braking torque and the motor allowable torque as the mechanical braking torque; If the vehicle is in the third auxiliary braking mode, the required braking torque is used as the mechanical braking torque and the motor braking torque is zero; If the vehicle is in pedal braking mode, the smaller value between the required braking torque and the motor allowable torque is used as the motor braking torque, and the difference between the required braking torque and the motor braking torque is used as the mechanical braking torque.

5. The method according to claim 4, characterized in that Also includes: The required braking torque is determined according to the position of the auxiliary brake switch.

6. The method according to claim 5, characterized in that The required braking torque is determined according to the position of the auxiliary brake switch, including: Get the total mass and speed of the vehicle; Obtaining a gear coefficient corresponding to the gear position of the auxiliary brake switch; The required braking torque is determined according to the gear coefficient, the total vehicle mass and the vehicle speed.

7. A control device, characterized in that: include: An acquisition module is used to obtain auxiliary brake switch status, brake pedal opening, vehicle acceleration, and motor fault information; A vehicle braking mode determination module is used to determine the vehicle braking mode based on the auxiliary brake switch state, brake pedal opening, vehicle acceleration and motor fault information; a motor braking torque and mechanical braking torque determination module, configured to determine the motor braking torque and mechanical braking torque according to the vehicle braking mode; The control module is used to control the vehicle's braking according to the electric motor torque and mechanical braking torque.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to perform the control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the control method according to any one of claims 1 to 6 when executed.

10. A computer program product, characterized in that The computer program product comprises a computer program, which, when executed by a processor, implements the control method according to any one of claims 1 to 6.

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