Brake system, control method of brake system, vehicle and electronic equipment

Abstract

The invention relates to a braking system, a control method of the braking system, a vehicle and electronic equipment, and relates to the technical field of vehicle control, and the system comprises a braking controller and an energy recovery controller; the brake controller is in communication connection with the energy recovery controller; the braking controller is used for performing braking control on the vehicle based on the running information of the vehicle and determining the number of times of executing the target working condition by the vehicle in the running process; wherein the target working condition refers to the working condition that the vehicle is accelerated to the first vehicle speed at the target acceleration and then braked to the second vehicle speed from the first vehicle speed at the target braking deceleration on the target road surface; the brake controller is further used for sending an energy recovery request to the energy recovery controller; and the energy recovery controller is used for responding to the energy recovery request and controlling a driving motor of the vehicle to carry out energy recovery based on the number of times contained in the energy recovery request, so that the energy recovery efficiency of the vehicle under the continuous braking working condition is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and particularly to the field of braking control, specifically to a braking system, a control method for a braking system, a vehicle, and electronic equipment. Background Technology

[0002] Currently, with the popularization of new energy vehicles, vehicle braking energy recovery, as a core energy-saving technology for new energy vehicles, has become a focus of attention. When a vehicle brakes, the braking energy is recovered and converted into electrical energy, which can extend the service life of the power battery to the maximum extent and thus extend the vehicle's driving range.

[0003] Current technologies adjust energy recovery based solely on the instantaneous state of the vehicle during braking, failing to consider the overall vehicle operation and potentially leading to inappropriate energy recovery decisions that negatively impact energy recovery efficiency. Therefore, a more efficient method needs to be explored to improve vehicle energy recovery efficiency. Summary of the Invention

[0004] This application provides a braking system, a control method for the braking system, a vehicle, and electronic equipment to at least solve the technical problem of low energy recovery efficiency in related technologies. The technical solution adopted in this application is as follows:

[0005] In a first aspect, this application provides a braking system, comprising: a braking system including a braking controller and an energy recovery controller; the braking controller and the energy recovery controller being communicatively connected; the braking controller being used to control the braking of the vehicle based on vehicle operating information, and to determine the number of times the vehicle performs a target operating condition during the driving journey; wherein, the target operating condition refers to the condition of first accelerating to a first vehicle speed with a target acceleration on a target road surface, and then braking from the first vehicle speed to a second vehicle speed with a target braking deceleration; the target road surface is a road surface with a road surface adhesion coefficient greater than a preset road surface adhesion coefficient; the target acceleration is greater than a preset acceleration threshold; the target braking deceleration is greater than a preset deceleration threshold; the braking controller is further used to send an energy recovery request to the energy recovery controller; the energy recovery controller is used to respond to the energy recovery request and, based on the number of times contained in the energy recovery request, control the vehicle's drive motor to perform energy recovery.

[0006] Based on the aforementioned technical means, this application identifies the number of times the vehicle performs the target operating condition (i.e., the condition of rapid acceleration followed by rapid deceleration) on the target road surface (i.e., the road surface with a high coefficient of adhesion) through the brake controller, and transmits the number of executions to the energy recovery controller, so that the energy recovery controller adjusts the energy recovery strategy of the vehicle's drive motor according to the number of executions, thereby improving the efficiency of vehicle energy recovery.

[0007] In one possible implementation, the braking system further includes an electric heating device; the electric heating device is used to maintain the constant temperature of the power battery in the vehicle; the brake controller is also used to: turn off the electric heating device when the number of times is less than a preset threshold or the state of charge of the power battery is less than a preset state of charge.

[0008] Based on the aforementioned technical means, this application adjusts the opening and closing of the electric heating device by the number of times the vehicle performs the target operating condition and the state of charge of the power battery, so as to reduce the power consumption of the power battery when the number of times the vehicle performs the target operating condition is small (when energy recovery is limited) or when the power battery power is insufficient.

[0009] In one possible implementation, the operating information includes: yaw rate and steering wheel angle; the brake controller is further configured to: after issuing an energy recovery request, determine whether the yaw rate and steering wheel angle meet a first preset condition; the brake controller is further configured to: if the yaw rate and steering wheel angle meet the first preset condition, adjust the braking control method to hydraulic braking control; wherein, the first preset condition is that the yaw rate is less than a preset yaw rate and the steering wheel angle is less than a preset steering wheel angle.

[0010] Based on the aforementioned technical means, when the yaw rate is less than the preset yaw rate and the steering wheel angle is less than the preset steering wheel angle, the wheels slip slightly. The hydraulic braking control responds faster, the braking force is more precise, and the vehicle stability can be maintained more quickly.

[0011] In one possible implementation, the brake controller is further configured to: request a change in energy recovery to the energy recovery controller when the yaw rate and steering wheel angle do not meet a first preset condition, wherein the request to change energy recovery is used to indicate stopping energy recovery or reducing the intensity of energy recovery; and adjust the braking control method to electric braking control.

[0012] Based on the aforementioned technical means, when the yaw rate is not less than the preset yaw rate or the steering wheel angle is not less than the preset steering wheel angle, the vehicle experiences severe slippage. The regenerative braking force of the drive motor may interfere with the hydraulic braking distribution, exacerbating the risk of tire sideslip. Therefore, the braking control method is adjusted to electric braking control to regulate wheel end pressure, so as to more accurately match the wheel braking force based on the rapid response of the drive motor. At the same time, the energy recovery request is changed, which can avoid the conflict between energy recovery and braking stability control, and also ensure the braking safety and stability of the vehicle during emergency braking.

[0013] In one possible implementation, the energy recovery controller is specifically used to: select the drive motor with higher driving capability from the front drive motor and the rear drive motor of the vehicle when the number of times is less than a preset threshold; and adjust the driving torque of the selected drive motor to achieve energy recovery.

[0014] Based on the above technical means, when the number of times the vehicle performs the target working condition is less than a preset threshold, the vehicle braking performance is good, and the energy recovery efficiency of the vehicle can be improved by using a drive motor with higher driving capability for energy recovery.

[0015] In one possible implementation, the energy recovery controller is specifically used to: send a power reduction braking request to the braking controller when the number of times is not less than a preset threshold; and adjust the drive torque of the vehicle's front drive motor to achieve energy recovery.

[0016] Based on the above technical means, when the number of times the vehicle performs the target working condition is not less than a preset threshold, the vehicle's braking efficiency decreases. Since the front drive motor is closer to the vehicle's center of gravity, it can respond to energy recovery more quickly and improve energy recovery efficiency. At the same time, by requesting reduced power braking, the interference of the drive motor's regenerative braking force on the braking system can be reduced, ensuring that the hydraulic brake bears the main braking force to the greatest extent and quickly stabilize the vehicle's posture.

[0017] In one possible implementation, the energy recovery controller further includes returning the drive torque of the drive motor to the braking controller.

[0018] Based on the above-mentioned technical means, this application returns the drive torque of the drive motor to the brake controller as the basis for the next braking control, thereby improving the braking control efficiency.

[0019] In one possible implementation, the operational information includes: wheel speed, accelerator pedal opening, brake pedal opening, yaw rate, and steering wheel angle.

[0020] Based on the aforementioned technical means, this application uses various vehicle operating information to more efficiently and comprehensively determine the vehicle's operating conditions, and adjusts the vehicle's braking control strategy in a timely manner, thereby controlling the vehicle's braking more efficiently.

[0021] In one possible implementation, the brake controller is specifically used to: control the braking of the vehicle based on operating information and the drive torque of the drive motor.

[0022] Based on the aforementioned technical means, this application improves the accuracy of vehicle braking control by adjusting the drive torque of the drive motor according to operating information and energy recovery.

[0023] Secondly, this application provides a control method for a braking system, applied to a brake controller of the braking system, the braking system further including an energy recovery controller, comprising: performing braking control on the vehicle based on vehicle operating information; and determining the number of times the vehicle performs a target operating condition during the driving journey; wherein, the target operating condition refers to the condition of first accelerating to a first vehicle speed with a target acceleration on a target road surface, and then braking from the first vehicle speed to a second vehicle speed with a target braking deceleration; the target road surface is a road surface with a road surface adhesion coefficient greater than a preset road surface adhesion coefficient; the target acceleration is greater than a preset acceleration threshold; the target braking deceleration is greater than a preset deceleration threshold and an energy recovery request is sent to the energy recovery controller, so that the energy recovery controller controls the vehicle's drive motor to perform energy recovery based on the number of times contained in the energy recovery request.

[0024] In one possible implementation, the braking system control method further includes an electric heating device; the electric heating device includes: constant temperature control of the power battery in the vehicle; the braking controller further includes: turning off the electric heating device when the number of times is less than a preset threshold or the state of charge of the power battery is less than a preset state of charge.

[0025] In one possible implementation, the operating information includes: yaw rate and steering wheel angle; the brake controller further includes: after issuing an energy recovery request, determining whether the yaw rate and steering wheel angle meet a first preset condition; the brake controller further includes: if the yaw rate and steering wheel angle meet the first preset condition, adjusting the braking control method to hydraulic braking control; wherein, the first preset condition is that the yaw rate is less than a preset yaw rate and the steering wheel angle is less than a preset steering wheel angle.

[0026] In one possible implementation, the brake controller further includes: when the yaw rate and steering wheel angle do not meet the first preset conditions, changing the energy recovery request to the energy recovery controller, wherein the changing energy recovery request is used to indicate stopping energy recovery or reducing the intensity of energy recovery; and adjusting the braking control method to electric braking control.

[0027] In one possible implementation, the energy recovery controller specifically includes: when the number of cycles is less than a preset threshold, selecting the drive motor with higher driving capability from the vehicle's front drive motor and rear drive motor; and adjusting the drive torque of the selected drive motor to achieve energy recovery.

[0028] In one possible implementation, the energy recovery controller specifically includes: sending a power reduction braking request to the braking controller when the number of times is not less than a preset threshold; and adjusting the drive torque of the vehicle's front drive motor to achieve energy recovery.

[0029] In one possible implementation, the energy recovery controller also includes returning the drive torque of the drive motor to the braking controller.

[0030] In one possible implementation, the operational information includes: wheel speed, accelerator pedal opening, brake pedal opening, yaw rate, and steering wheel angle.

[0031] In one possible implementation, the brake controller specifically includes: performing braking control on the vehicle based on operating information and the drive torque of the drive motor.

[0032] Thirdly, this application provides a vehicle including the braking system of the first aspect.

[0033] Fourthly, this application provides an electronic device, including: a processor and a memory, wherein the memory stores at least one computer program, and the at least one computer program is loaded and executed by the processor to implement the control method of the braking system of the second aspect and any possible implementation thereof.

[0034] Fifthly, this application provides a computer-readable storage medium that, when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, enables the electronic device to perform the control method of the braking system described in the second aspect and any possible embodiment thereof.

[0035] In a sixth aspect, this application provides a computer program product comprising computer instructions that, when executed on an electronic device, cause the electronic device to perform the control method of the braking system described in the second aspect and any possible implementation thereof.

[0036] It should be noted that the technical effects of any of the implementation methods in aspects two through six can be found in the technical effects of the corresponding implementation methods in aspect one, and will not be repeated here.

[0037] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0038] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application, and do not constitute an undue limitation of this application.

[0039] Figure 1 This is a schematic diagram illustrating the implementation environment of vehicle braking control according to an embodiment of this application;

[0040] Figure 2 This is a block diagram illustrating a braking system according to an embodiment of this application;

[0041] Figure 3 This is a schematic diagram of yet another braking system shown in an embodiment of this application;

[0042] Figure 4 This is a flowchart illustrating an embodiment of the present application for determining the number of times a vehicle performs a target operating condition;

[0043] Figure 5 This is a flowchart illustrating the braking control and energy recovery of a braking system according to an embodiment of this application;

[0044] Figure 6 This is a flowchart illustrating a control method for a braking system according to an embodiment of this application;

[0045] Figure 7 This is a block diagram illustrating an electronic device according to an embodiment of this application. Detailed Implementation

[0046] To enable those skilled in the art to better understand the technical solutions of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0047] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0048] In the embodiments of this application, the words "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the words "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a specific manner.

[0049] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0050] The braking system and control method provided in this application are intended for braking control of vehicles (especially intelligent driving vehicles). Vehicles can also be referred to as vehicles, mobile carriers, electric vehicles (EVs), hybrid electric vehicles (HEVs), plug-in hybrid electric vehicles (PHEVs), fuel cell vehicles (FCVs), autonomous vehicles, intelligent and connected vehicles (ICVs), driverless vehicles, etc.

[0051] In this application's embodiments, the vehicle can be a sedan, a sport utility vehicle (SUV), a truck, a special vehicle (such as an ambulance, fire truck, police car, etc.), a driverless taxi, an intelligent connected bus, an autonomous logistics vehicle, an electric truck, etc. Furthermore, this method is also applicable to various special-purpose vehicles, such as agricultural vehicles, mining vehicles, forestry vehicles, airport vehicles, port vehicles, etc. This application does not impose specific limitations in this regard.

[0052] like Figure 1 As shown, the implementation environment of the vehicle braking control of this application includes: a braking system 101 and a data acquisition system 102; and both the braking system 101 and the data acquisition system 102 can be deployed in a vehicle.

[0053] The braking system 101 is used to receive vehicle operation information acquired by the data acquisition system 102, so as to perform braking control on the vehicle according to the vehicle operation information and to recover energy during the braking control process.

[0054] The data acquisition system 102 is used to acquire vehicle operating information and transmit it to the braking system 101. The data acquisition system includes wheel speed sensors, an inertial measurement unit (IMU), a steering wheel angle sensor, a brake pedal travel sensor, and an accelerator pedal. The vehicle operating information includes, but is not limited to, wheel speeds, accelerator pedal opening, brake pedal opening, brake pedal pushrod travel, yaw rate, and steering wheel angle—operating data that affects vehicle braking and energy recovery.

[0055] In practical applications, the braking system 101 can communicate with one or more data acquisition systems 102.

[0056] For ease of understanding, this application will be described using the communication connection between a braking system 101 and a data acquisition system 102 as an example.

[0057] As a feasible approach, Figure 1 The braking system 101 and the data acquisition system 102 can be functional modules integrated into the same device, or they can be independently set up devices. This application does not impose any limitations on this comparison.

[0058] It is easy to understand that when the braking system 101 and the data acquisition system 102 are functional modules integrated within the same device, the communication method between the braking system 101 and the data acquisition system 102 is the same as the communication between modules within the device. In this case, the communication process between the two is the same as the communication process when the braking system 101 and the data acquisition system 102 are set up independently. For ease of understanding, this application mainly uses the example of the braking system 101 and the data acquisition system 102 being set up independently for explanation.

[0059] As a feasible approach, Figure 1 The braking system 101 can be installed on a terminal, a server, or other types of electronic devices, such as edge computing devices.

[0060] As a feasible approach, Figure 1 The data acquisition system 102 can be installed on a terminal, a server, or other types of electronic devices, such as vehicle-mounted electronic devices, road infrastructure, and other auxiliary equipment.

[0061] When the braking system 101 or data acquisition system 102 is located at a terminal, the terminal can be a device that provides direct braking operation for the vehicle driver or other processing device connected to a wireless modem. The terminal can communicate with one or more core networks via a radio access network (RAN). The terminal can be a mobile terminal, such as a computer with a mobile terminal, or a mobile device that exchanges voice and / or data with the radio access network. This application does not impose any limitations on this.

[0062] When the data acquisition system 102 is configured on a server, the server can be a single server or a server cluster consisting of multiple servers. In some embodiments, the server cluster can also be a distributed cluster. This application does not impose any limitations in this regard.

[0063] It should be noted that the structure illustrated in the embodiments of this application does not constitute a limitation on the braking system 101. It may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of both.

[0064] For ease of understanding, the braking system provided in this application will be described in detail below with reference to the accompanying drawings.

[0065] Figure 2 This application illustrates a block diagram of a braking system, with reference to... Figure 2 The system includes a brake controller 201 and an energy recovery controller 202; the brake controller 201 and the energy recovery controller 202 are communicatively connected.

[0066] Braking controller 201 is used to control the vehicle's braking based on the vehicle's operating information and to determine the number of times the vehicle performs a target operating condition during the driving journey. The target operating condition refers to the condition of first accelerating to a first vehicle speed with a target acceleration on a target road surface, and then braking from the first vehicle speed to a second vehicle speed with a target braking deceleration. The target road surface is a road surface with a road surface adhesion coefficient greater than a preset road surface adhesion coefficient. The target acceleration is greater than a preset acceleration threshold. The target braking deceleration is greater than a preset deceleration threshold.

[0067] The aforementioned vehicle operation information refers to real-time data generated during vehicle operation. For example, operation information may include vehicle speed, acceleration, braking deceleration, drive motor speed, battery state of charge (SOC), brake pedal opening, accelerator pedal opening, brake pedal push rod travel, road slope, etc. Based on the vehicle operation information, information such as vehicle status and road conditions can be determined to enable braking control and vehicle energy recovery.

[0068] The aforementioned braking control refers to the hydraulic braking control, electric braking control, or coordinated control of hydraulic and electric braking based on the vehicle's operating information. Hydraulic braking control utilizes the incompressibility of liquids to amplify and transmit pressure, thereby driving the braking device to control the vehicle's braking. Electric braking control uses an electric motor or generator to control the vehicle's braking. Coordinated control of hydraulic and electric braking uses an electronic control unit (ECU) to coordinate the two methods, achieving efficient braking control of the vehicle.

[0069] The aforementioned target operating condition refers to the rapid acceleration-rapid deceleration condition performed by the vehicle under the road surface conditions of the target road. The number of times the vehicle performs the target operating condition refers to the number of times the vehicle actually performs the target operating condition in a single driving journey.

[0070] The aforementioned target road surface refers to a road surface with a road surface adhesion coefficient higher than the preset road surface adhesion coefficient. The road surface adhesion coefficient is the ratio of adhesion force to wheel normal pressure, reflecting the static friction capability between the tire and the road surface. The higher the value of the road surface adhesion coefficient, the less likely the vehicle is to slip, and the higher the driving stability and safety.

[0071] For example, the preset road surface adhesion coefficient can be 0.6, then the road surface with a road surface adhesion coefficient greater than 0.6 is the target road surface; when the vehicle is driving or braking on the target road surface, the friction is large, which can provide sufficient adhesion to support the braking force generated by the vehicle's brakes.

[0072] The aforementioned target acceleration refers to the vehicle acceleration that is greater than the preset acceleration threshold, and the target braking deceleration refers to the vehicle deceleration that is greater than the preset deceleration threshold. When the vehicle is accelerating at the target acceleration, it is in a state of rapid acceleration. When the vehicle is decelerating at the target braking deceleration, it is in a state of rapid deceleration. For example, the preset deceleration threshold can be 0.75g.

[0073] The first vehicle speed mentioned above refers to the speed at which a vehicle accelerates at the target acceleration on the target road surface and then transitions from acceleration to deceleration or constant speed. The second vehicle speed refers to the speed at which a vehicle decelerates at the target braking deceleration on the target road surface and then transitions from deceleration to constant speed.

[0074] The braking controller 201 is also used to send an energy recovery request to the energy recovery controller 202.

[0075] The aforementioned energy recovery controller is a device used to coordinate the drive motor to operate as a generator during the braking and deceleration phase, converting kinetic energy into electrical energy and storing it in the battery. The energy recovery controller 202 can be a standalone execution controller or it can be deployed in the vehicle's vehicle control unit (VCU).

[0076] The aforementioned energy recovery request refers to a recovery request issued when the brake controller has the capability to recover energy. The capability of the brake controller to recover energy includes the motor operating normally, the power battery being in good condition, and the power battery being able to receive and store electrical energy.

[0077] Energy recovery controller 202 is used to control the vehicle's drive motor to perform energy recovery in response to an energy recovery request, based on the number of times contained in the energy recovery request.

[0078] The aforementioned drive motor is a motor system used to integrate vehicle braking function. The drive motor generates reverse torque through energy conversion or electromagnetic action to achieve rapid deceleration or stopping of the vehicle. Depending on the comprehensive selection of vehicle performance requirements, cost, and control complexity, the number of drive motors can be single, dual, triple, or quadruple. A single motor means that a single motor drives all wheels, dual motors mean that the front and rear wheels drive independently, triple motors mean that the front and rear wheels drive independently plus an intermediate axle, and quadruple motors mean that all four wheels drive independently. As for the specific number of motors used in a vehicle, this application does not impose specific restrictions. For ease of understanding, this application uses a dual drive motor as an example for explanation.

[0079] In one possible implementation, the aforementioned brake controller 201 and energy recovery controller 202 can be deployed in the same controller of the vehicle, and control commands from the brake controller 201 and / or energy recovery controller 202 can be received from the same control terminal of the same controller to perform braking control and / or energy recovery on the vehicle.

[0080] According to the above technical solution, this application identifies the number of times the vehicle performs the target working condition (i.e., the working condition of rapid acceleration followed by rapid deceleration) on the target road surface (i.e., the road surface with a high coefficient of adhesion) through the brake controller, and transmits the number of executions to the energy recovery controller, so that the energy recovery controller adjusts the energy recovery strategy of the vehicle's drive motor according to the number of executions, thereby improving the efficiency of vehicle energy recovery.

[0081] For example, Figure 3 This is a schematic diagram of another braking system shown in the embodiments of this application, referring to... Figure 3 The brake controller 201 is used to receive the wheel speed collected by the wheel speed sensor 301, the yaw rate and braking deceleration collected by the inertial measurement unit IMU 302, the steering wheel angle collected by the steering wheel angle sensor 303, the brake push rod travel determined by the brake pedal opening collected by the brake pedal travel sensor 304, and the accelerator pedal opening collected by the accelerator pedal 307 and forwarded by the energy recovery controller 202, and issue control commands to the brake 305 to brake the vehicle.

[0082] The brake controller 201 is also used to receive the state of charge of the power battery collected by the power battery controller 308 and forwarded by the energy recovery controller 202; generate opening and closing commands based on the state of charge of the power battery and the number of times the vehicle performs the target operating condition; and send opening and closing commands to the electric heating device 306 to open and close the electric heating device 306.

[0083] The brake controller 201 is also used to send an energy recovery request to the energy recovery controller 202, the energy recovery request containing the number of times the vehicle performs the target operating condition; accordingly, the energy recovery controller 202 is used to respond to the energy recovery request by sending a front drive motor torque request to the front drive motor 309 and / or a rear drive motor torque request to the rear drive motor 310, so as to realize energy recovery by adjusting the drive torque of the front drive motor 309 and / or the drive torque of the rear drive motor 310.

[0084] The energy recovery controller 202 is also used to forward the drive torque of the front drive motor 309 and / or the drive torque fed back by the rear drive motor 310 to the brake controller 201 so that the brake controller 201 can use it for the next braking control.

[0085] For example, Figure 4 This is a flowchart illustrating an embodiment of the present application, showing how to determine the number of times a vehicle performs a target operating condition. (Refer to...) Figure 4 The target road surface for the above-mentioned vehicle to perform the target working condition is a road surface with a road surface adhesion coefficient greater than the preset road surface adhesion coefficient, and the initial value of the number of times the target working condition is performed N (hereinafter referred to as N) is 0.

[0086] S401. Determine whether the conditions are met: the accelerator pedal opening is greater than the first accelerator pedal opening and the vehicle speed is less than the third vehicle speed.

[0087] If the conditions are met, execute S402; otherwise, execute S410.

[0088] S402. Determine if the vehicle speed is greater than the first vehicle speed.

[0089] If yes, then execute S403; otherwise, execute S404.

[0090] S403. Determine whether the accelerator pedal opening is less than the second accelerator pedal opening.

[0091] If yes, use this as the starting point t0 for timing and execute S405; otherwise, execute S402.

[0092] S404. Determine whether the accelerator pedal opening is greater than the second accelerator pedal opening.

[0093] If yes, then execute S402; otherwise, execute S410.

[0094] S405. Determine whether the brake push rod stroke is greater than the preset push rod stroke within the time interval Δt1.

[0095] If yes, then execute S406; otherwise, execute S410.

[0096] S406. Determine if the vehicle speed is less than the second speed.

[0097] If not, execute S407; if yes, then N = N + 1, and execute S408.

[0098] S407. Does the condition that the brake pedal opening is greater than the preset brake pedal opening and the braking deceleration is greater than the preset deceleration threshold satisfy?

[0099] If the conditions are met, execute S406; otherwise, execute S410.

[0100] Does the condition that the accelerator pedal opening is greater than the second accelerator pedal opening and the vehicle speed is less than the fourth vehicle speed within the time interval S408 and Δt2 satisfy the condition?

[0101] If satisfied, execute S409; otherwise, execute S410.

[0102] S409. Is the accelerator pedal opening greater than the first accelerator pedal opening?

[0103] If yes, then execute S402; otherwise, execute S410.

[0104] S410, N = 0.

[0105] For example, the first vehicle speed is 100 kph, the second vehicle speed is 5 kph, the third vehicle speed is 10 kph, the fourth vehicle speed is 40 kph, the first accelerator pedal opening is 95%, the second accelerator pedal opening is 90%, the preset push rod travel is 20 mm, and the preset brake pedal opening is 95%.

[0106] In another possible implementation, the energy recovery controller 202 is specifically used to: select the drive motor with higher driving capability from the front drive motor and the rear drive motor of the vehicle when the number of times is less than a preset threshold; adjust the driving torque of the selected drive motor to realize energy recovery, so as to improve the energy recovery efficiency of the vehicle when the vehicle body is stable.

[0107] In another possible implementation, the energy recovery controller 202 is specifically used to: send a power reduction braking request to the brake controller when the number of times is not less than a preset threshold; and adjust the drive torque of the vehicle's front drive motor to achieve energy recovery, so as to ensure that the hydraulic brakes bear the main braking force to the greatest extent and quickly stabilize the vehicle's posture.

[0108] The aforementioned power reduction braking request refers to a braking request determined by the brake controller based on the number of times the vehicle performs the target operating condition, which requires the entire powertrain to reduce its power output. The powertrain includes, but is not limited to, the brake controller and the energy recovery controller.

[0109] The aforementioned preset threshold number quantifies the number of times the target operating condition is executed, providing a benchmark for dynamic adjustment, safety warning, and performance optimization of the system. The energy recovery controller 202 adjusts the energy recovery strategy of the vehicle's drive motor according to the relationship between the number of executions and the preset threshold number, so as to improve the efficiency of vehicle energy recovery. The preset threshold number can be in the range of [1, 10]. The aforementioned control strategy includes, but is not limited to, optimization of the drive torque distribution of the drive motor, braking adjustment of hydraulic braking control and electric braking control, and adjustment of the energy recovery strategy.

[0110] For example, the preset number threshold is 3. That is, when the number of times the vehicle performs the target working condition is less than 3, the drive motor with higher driving capability is selected from the front drive motor and the rear drive motor of the vehicle for energy recovery. When the number of times the vehicle performs the target working condition is not less than 3, the front drive motor of the vehicle is used for energy recovery.

[0111] Based on the aforementioned technical means, when the number of times the vehicle performs the target operating condition is less than a preset threshold, the vehicle's braking performance is good. Utilizing a drive motor with higher driving capability for energy recovery can improve the vehicle's energy recovery efficiency. However, when the number of times the vehicle performs the target operating condition is not less than the preset threshold, the vehicle's braking performance decreases. Since the front drive motor is closer to the vehicle's center of gravity, it can respond to energy recovery more quickly, improving energy recovery efficiency. At the same time, by requesting reduced-power braking, the interference of the drive motor's regenerative braking force on the braking system can be reduced, ensuring that the hydraulic brakes bear the main braking force to the greatest extent and quickly stabilize the vehicle's posture.

[0112] In another possible implementation, the brake controller 201 is also used to: after issuing an energy recovery request, determine whether the yaw rate and steering wheel angle meet a first preset condition; if the yaw rate and steering wheel angle meet the first preset condition, adjust the braking control method to hydraulic braking control; wherein, the first preset condition is that the yaw rate is less than a preset yaw rate and the steering wheel angle is less than a preset steering wheel angle; when the first preset condition is met, the wheels slip slightly, the braking control response is faster, the braking force is more precise, and the vehicle stability can be maintained more quickly.

[0113] For example, the preset yaw rate can be 0.01 degrees per second; the preset steering wheel angle is 0.05 degrees, that is, the first preset condition is that the yaw rate is less than 0.01 degrees per second and the steering wheel angle is less than 0.05 degrees.

[0114] The brake controller 201 is also used to: when the yaw rate and steering wheel angle do not meet the first preset conditions, change the energy recovery request to the energy recovery controller, wherein the change of energy recovery request is used to indicate to stop energy recovery or reduce the intensity of energy recovery; and adjust the braking control mode to electric braking control, wherein reducing the intensity of energy recovery means reducing energy recovery so as to avoid conflict between energy recovery and braking stability control as much as possible when the vehicle experiences severe slippage, thereby ensuring the braking safety and stability of the vehicle during emergency braking.

[0115] The energy recovery request mentioned above refers to energy recovery including but not limited to braking energy recovery and wheel slip energy recovery.

[0116] In one possible implementation, the energy recovery controller is also used to return the drive torque of the drive motor to the braking controller.

[0117] After receiving the drive torque from the drive motor, the aforementioned brake controller stores the torque. When the vehicle performs the next braking control and regenerative braking, it determines the torque request of the drive motor based on the drive torque of the drive motor from the previous regenerative braking.

[0118] In one possible implementation, the brake controller is specifically used to: control the vehicle's braking based on operating information and the drive torque of the drive motor, thereby improving the accuracy of vehicle braking control.

[0119] The aforementioned drive torque refers to the torque adjusted by the energy recovery controller after adjusting the drive torque based on the drive motor's torque request. This adjusted drive torque is then sent to the braking controller as the basis for determining the drive motor's torque request during the next braking control operation.

[0120] In one possible implementation, the braking system further includes an electric heating device; the electric heating device is used to maintain the constant temperature of the power battery in the vehicle; the brake controller is also used to: turn off the electric heating device when the number of times is less than a preset threshold or the state of charge of the power battery is less than a preset state of charge.

[0121] The purpose of the aforementioned electric heating device is to reduce unnecessary energy consumption of the power battery, avoid excessive power consumption of the power battery caused by the electric heating device, extend the power battery range, and ensure the power supply for braking control and energy recovery of the braking system.

[0122] For example, after determining the number N of times the vehicle will perform the target operating condition, different methods of braking control and energy recovery are applied to the vehicle based on the comparison between the value of N and a preset threshold number. Figure 5 This is a flowchart illustrating the braking control and energy recovery of a braking system according to an embodiment of this application.

[0123] S501. Determine whether N ≥ preset number of times threshold is satisfied.

[0124] If the conditions are met, execute S502; otherwise, execute S503 and S508.

[0125] S502, power system drives reduced power output; braking energy recovery and coasting recovery are performed by the front drive motor.

[0126] S503, the electric heating device stops actively consuming battery power.

[0127] S504. Determine whether the battery state of charge is greater than the preset state of charge.

[0128] If the condition is not met, then execute S503; if the condition is met, then execute S506.

[0129] S505. Determine whether the following conditions are met: steering wheel angle < preset steering wheel angle and yaw rate < preset yaw rate.

[0130] If satisfied, proceed to step S507; otherwise, proceed to step S508.

[0131] S506, The electric heating device is activated to actively consume the power battery.

[0132] S507. When the wheels slip during braking, hydraulic braking control is used first for hydraulic adjustment, and energy recovery is not discontinued.

[0133] S508, the power system drives normal output; it uses the more efficient drive motor between the front drive motor and the rear drive motor for energy recovery; when braking, wheel slippage prioritizes requesting energy recovery to reduce / disappear, and then adjusts the wheel end braking pressure based on electric braking control.

[0134] For example, the preset state of charge can be 90%, the preset yaw rate can be 0.01 degrees per second, the preset steering wheel angle can be 0.05 degrees, and the preset number of times threshold can be 3.

[0135] Figure 6 This is a flowchart illustrating a control method for a braking system according to an embodiment of this application, with reference to... Figure 6 The above method is applied to the brake controller of a braking system, which also includes an energy recovery controller, comprising:

[0136] S601. Braking control of the vehicle is performed based on the vehicle's operating information.

[0137] S602. Determine the number of times the vehicle performs the target operating condition during the driving journey.

[0138] Among them, the target working condition refers to the working condition of first accelerating to the first vehicle speed with the target acceleration on the target road surface, and then braking from the first vehicle speed to the second vehicle speed with the target braking deceleration; the target road surface is a road surface with a road surface adhesion coefficient greater than the preset road surface adhesion coefficient; the target acceleration is greater than the preset acceleration threshold; and the target braking deceleration is greater than the preset deceleration threshold.

[0139] S603. Send an energy recovery request to the energy recovery controller so that the energy recovery controller controls the vehicle's drive motor to perform energy recovery based on the number of times contained in the energy recovery request.

[0140] In one possible implementation, the control method further includes an electric heating device; the electric heating device includes: constant temperature control of the power battery in the vehicle; the brake controller further includes: turning off the electric heating device when the number of times is less than a preset number threshold or the state of charge of the power battery is less than a preset state of charge.

[0141] In one possible implementation, the operational information includes: yaw rate and steering wheel angle.

[0142] The brake controller further includes: after issuing an energy recovery request, determining whether the yaw rate and steering wheel angle meet a first preset condition; the brake controller further includes: when the yaw rate and steering wheel angle meet the first preset condition, adjusting the braking control method to hydraulic braking control; wherein, the first preset condition is that the yaw rate is less than a preset yaw rate and the steering wheel angle is less than a preset steering wheel angle.

[0143] In one possible implementation, the brake controller further includes: when the yaw rate and steering wheel angle do not meet the first preset conditions, changing the energy recovery request to the energy recovery controller, wherein the changing energy recovery request is used to indicate stopping energy recovery or reducing the intensity of energy recovery; and adjusting the braking control method to electric braking control.

[0144] In one possible implementation, the energy recovery controller specifically includes: when the number of cycles is less than a preset threshold, selecting the drive motor with higher driving capability from the vehicle's front drive motor and rear drive motor; and adjusting the driving torque of the selected drive motor to achieve energy recovery.

[0145] In one possible implementation, the energy recovery controller specifically includes: sending a power reduction braking request to the braking controller when the number of times is not less than a preset threshold; and adjusting the drive torque of the vehicle's front drive motor to achieve energy recovery.

[0146] In one possible implementation, the energy recovery controller also includes returning the drive torque of the drive motor to the braking controller.

[0147] In one possible implementation, the operational information includes: wheel speed, accelerator pedal opening, brake pedal opening, yaw rate, and steering wheel angle.

[0148] In one possible implementation, the brake controller specifically includes: performing braking control on the vehicle based on operating information and the drive torque of the drive motor.

[0149] Regarding the methods in the above embodiments, the specific manner in which each step is performed has been described in detail in the embodiments of the braking system, and will not be elaborated here.

[0150] Figure 7 This is a block diagram illustrating an electronic device according to an embodiment of this application. Figure 7 As shown, the electronic device includes, but is not limited to, a processor 701 and a memory 702.

[0151] The memory 702 described above is used to store the executable instructions of the processor 701. It is understood that the processor 701 is configured to execute instructions to implement the methods in the above embodiments.

[0152] It should be noted that those skilled in the art will understand that Figure 7 The electronic device structure shown does not constitute a limitation on the electronic device; the electronic device may include, but is not limited to, other electronic devices. Figure 7 This may indicate more or fewer components, or combinations of certain components, or different component arrangements.

[0153] Processor 701 is the control center of the electronic device. It connects various parts of the electronic device via various interfaces and lines. By running or executing software programs and / or modules stored in memory 702, and by calling data stored in memory 702, it performs various functions and processes data, thereby providing overall monitoring of the electronic device. Processor 701 may include one or more processing units. Processor 701 may integrate an application processor and a modem processor. The application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into processor 701.

[0154] The memory 702 can be used to store software programs and various data. The memory 702 may primarily include a program storage area and a data storage area. The program storage area may store the operating system, application programs required by at least one functional module (such as deterministic components, integrated components, etc.), etc. Furthermore, the memory 702 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0155] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 702 including instructions, which can be executed by a processor 701 of an electronic device to implement the methods in the above embodiments.

[0156] In actual implementation, Figure 2 The functions of the braking controller 201 and the energy recovery controller 202 can both be provided by Figure 7 The processor 701 calls the computer program stored in the memory 702 to implement the process. The specific execution process can be found in the description of the method section in the previous embodiment, and will not be repeated here.

[0157] The computer-readable storage medium can be a non-transitory computer-readable storage medium, such as a read-only memory (ROM), random access memory (RAM), compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device. In an exemplary embodiment, this application also provides a computer program product including one or more instructions, which can be executed by the processor 701 of an electronic device to perform the methods described in the above embodiments.

[0158] It should be noted that when one or more instructions in the computer-readable storage medium or computer program product are executed by the processor of an electronic device, they implement the various processes of the above method embodiments and achieve the same technical effect as the above method. To avoid repetition, they will not be described again here.

[0159] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0160] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0161] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0162] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0163] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, essentially, or the parts that contribute to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0164] This application provides a computer program product containing instructions that, when run on a computer, cause the computer to perform the methods described in the above method embodiments.

[0165] This application also provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method shown in the above-described method embodiments.

[0166] The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, a register, a hard disk, an optical fiber, a portable compact disk read-only memory, an optical storage device, a magnetic storage device, or any suitable combination thereof, or any other form of computer-readable storage medium well known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can reside in an application-specific integrated circuit (ASIC). In embodiments of this application, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0167] Since the computer-readable storage medium and computer program product in the embodiments of this application can be applied to the above methods, the technical effects that can be obtained can also be referred to the above method embodiments. The embodiments of this application will not be repeated here.

[0168] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A braking system, characterized in that, The braking system includes a brake controller and an energy recovery controller; the brake controller and the energy recovery controller are communicatively connected. The brake controller is used to control the braking of the vehicle based on the vehicle's operating information, and to determine the number of times the vehicle performs a target operating condition during the driving journey; wherein, the target operating condition refers to the condition of first accelerating to a first vehicle speed with a target acceleration on a target road surface, and then braking from the first vehicle speed to a second vehicle speed with a target braking deceleration; the target road surface is a road surface with a road surface adhesion coefficient greater than a preset road surface adhesion coefficient; the target acceleration is greater than a preset acceleration threshold; the target braking deceleration is greater than a preset deceleration threshold; The braking controller is also used to send an energy recovery request to the energy recovery controller; The energy recovery controller is configured to respond to the energy recovery request and, based on the number of times included in the energy recovery request, control the vehicle's drive motor to perform energy recovery.

2. The braking system according to claim 1, characterized in that, The braking system also includes an electric heating device; The electric heating device is used to maintain a constant temperature for the power battery in the vehicle. The braking controller is also used to: shut down the electric heating device when the number of times is less than a preset number threshold or the state of charge of the power battery is less than a preset state of charge.

3. The braking system according to claim 1, characterized in that, The operational information includes: yaw rate and steering wheel angle; The brake controller is further configured to: after issuing the energy recovery request, determine whether the yaw rate and the steering wheel angle meet the first preset condition; The brake controller is also used to: adjust the braking control mode to hydraulic braking control when the yaw rate and the steering wheel angle meet the first preset condition; The first preset condition is that the yaw rate is less than a preset yaw rate and the steering wheel angle is less than a preset steering wheel angle.

4. The braking system according to claim 3, characterized in that, The brake controller is further configured to: send a change energy recovery request to the energy recovery controller when the yaw rate and the steering wheel angle do not meet the first preset condition, wherein the change energy recovery request is used to indicate to stop energy recovery or reduce the energy recovery intensity; In addition, the braking control method is adjusted to electric braking control.

5. The braking system according to claim 1, characterized in that, The energy recovery controller is specifically used to: when the number of times is less than a preset number threshold, select the drive motor with higher driving capability from the front drive motor and the rear drive motor of the vehicle; Adjust the drive torque of the selected drive motor to achieve energy recovery.

6. The braking system according to claim 1, characterized in that, The energy recovery controller is specifically used for: If the number of times is not less than a preset threshold, a power reduction braking request is sent to the brake controller; and the drive torque of the vehicle's front drive motor is adjusted to achieve energy recovery.

7. The braking system according to any one of claims 1-6, characterized in that, The energy recovery controller further includes: returning the drive torque of the drive motor to the braking controller.

8. The braking system according to claim 1, characterized in that, The operational information includes: wheel speed, accelerator pedal opening, brake pedal opening, yaw rate, and steering wheel angle.

9. The braking system according to claim 8, characterized in that, The brake controller is specifically used for: Based on the operating information and the driving torque of the drive motor, the vehicle is braked.

10. A control method for a braking system, applied to a brake controller of the braking system, wherein the braking system further includes an energy recovery controller, characterized in that, The method includes: Braking control of the vehicle is performed based on the vehicle's operating information; as well as The number of times the vehicle performs the target operating condition during the driving journey is determined; wherein, the target operating condition refers to the condition of first accelerating to a first vehicle speed with a target acceleration on a target road surface, and then braking from the first vehicle speed to a second vehicle speed with a target braking deceleration; the target road surface is a road surface with a road surface adhesion coefficient greater than a preset road surface adhesion coefficient; the target acceleration is greater than a preset acceleration threshold; the target braking deceleration is greater than a preset deceleration threshold; An energy recovery request is sent to the energy recovery controller, so that the energy recovery controller controls the vehicle's drive motor to perform energy recovery based on the number of times contained in the energy recovery request.

11. A vehicle, characterized in that, The vehicle includes the braking system as described in any one of claims 1-9.

12. An electronic device, characterized in that, The electronic device includes a processor and a memory, wherein the memory stores at least one computer program, and the at least one computer program is loaded and executed by the processor to implement the control method of the braking system according to claim 10.

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