Vehicle downhill braking method and device, vehicle and storage medium

Abstract

The embodiment of the invention provides a vehicle downhill braking method and device, a vehicle and a storage medium. The vehicle downhill braking method comprises the steps that before downhill, a battery charge value is kept in a standard battery charge value interval, a target battery charge value of the vehicle at each future moment in a future downhill time period is determined, and the mechanical brake temperature and the real-time battery charge value of the vehicle are obtained; in the process that the vehicle adopts mechanical braking and is in a downhill process, when it is detected that the difference value between the mechanical brake temperature at any moment and the mechanical brake temperature threshold value is smaller than a first threshold value, and the difference value between the real-time battery charge value and the target battery charge value is larger than a second threshold value, the mechanical brake temperature threshold value is detected to be smaller than the first threshold value. The vehicle is controlled to reduce the braking force of mechanical braking, the braking force of electric braking is improved, the load of mechanical braking during downhill is effectively reduced, the temperature of a mechanical brake is reduced, and the situation that the braking performance is affected due to the too high temperature is avoided; and meanwhile, electric braking is fully utilized to recover downhill energy.

Description

Technical Field

[0001] This application relates to the field of vehicle downhill control, specifically to a vehicle downhill braking method, device, vehicle, and storage medium. Background Technology

[0002] With the application of pure electric mining trucks (hereinafter referred to as "pure electric mining trucks") in heavy-duty transportation in mining areas, due to the physical factors of their operating routes and weight, pure electric mining trucks face two major challenges when running heavily downhill in mining areas. The first is brake fade. Due to the continuous and prolonged steep descent of electric mining trucks, high-intensity braking is required. Traditional mechanical braking systems generate a huge amount of heat under this condition, causing the brake temperature to rise sharply, leading to brake fade and seriously threatening driving safety. The second is the contradiction between energy recovery and battery protection: electric braking (regenerative braking) can recover kinetic energy and charge the battery, but there is a conflict. On the one hand, it is necessary to maximize the proportion of electric braking to reduce the load on mechanical braking and improve energy recovery; on the other hand, if the battery is fully charged, it cannot receive high-power charging, and forced charging will damage the battery's health and safety. At this time, the electric braking capacity is forced to be limited, and all the pressure is transferred to the mechanical braking system, exacerbating the risk of fade. This may lead to excessive use of electric braking in the first half of the slope due to the battery not being fully charged, causing the battery to be charged too early, and the electric braking capacity to be completely lost in the second half. Summary of the Invention

[0003] The purpose of this application is to provide a vehicle downhill braking method, device, vehicle, and storage medium.

[0004] To achieve the above objectives, the first aspect of this application provides a vehicle downhill braking method, wherein the vehicle braking mode includes at least mechanical braking and electric braking, and the method includes: when the distance between the current position of the vehicle and the future downhill position is within a first distance range, controlling the battery charge value to remain within a standard battery charge value range; Determine the target battery charge value for the vehicle at each future moment during the future downhill period; Acquire real-time operating data of the vehicle, which includes at least the temperature of the vehicle's mechanical brakes and the real-time battery charge value. When the vehicle is using mechanical braking and is going downhill, if the difference between the mechanical brake temperature at any given time and the mechanical brake temperature threshold is less than a first threshold, and the difference between the real-time battery charge value and the target battery charge value is greater than a second threshold, the vehicle is controlled to reduce the braking force of the mechanical brake and increase the braking force of the electric brake.

[0005] In this embodiment of the application, the vehicle downhill braking method further includes: when the real-time battery charge value at any time is detected to be less than the preset minimum battery charge value, controlling the vehicle's braking mode to be electric braking; until the difference between the battery charge value and the target battery charge value is within the preset charge value range, controlling the vehicle's braking mode to switch from electric braking to mechanical braking.

[0006] In this embodiment, determining the target battery state of charge (SBC) for each future moment within a future downhill period includes: receiving route information from the cloud, including information about the upcoming downhill section; generating a target battery SBC value curve based on preset core constraints and downhill section information, with preset maximum battery energy recovery efficiency and preset minimum mechanical brake temperature as optimization targets; wherein the target battery SBC value curve has time or distance as the horizontal axis and target battery SBC value as the vertical axis; the core constraints include at least mechanical brake temperature less than or equal to a preset safety threshold, vehicle battery charging power less than or equal to a preset safe charging power, and battery SBC value less than or equal to a preset maximum battery SBC; and determining the target battery SBC value for each future moment within a future downhill period based on the target battery SBC value curve.

[0007] In this embodiment of the application, the method further includes: after determining the target battery charge value at each future moment within the future downhill time period, determining the total braking torque required for the vehicle to descend the slope; determining the first target braking torque to be shared by electric braking in real time based on the difference between the real-time battery charge value and the target battery charge value; determining the second target braking torque to be shared by mechanical braking in real time based on the difference between the total braking torque and the first target braking torque; wherein, when the difference between the real-time battery charge value and the target battery charge value is greater than a second threshold, the first target braking torque increases and the second target torque decreases; when the real-time battery charge value is less than a preset minimum battery charge value, the first target braking torque is adjusted to the maximum.

[0008] In this embodiment of the application, the vehicle downhill braking method further includes: before determining the first target braking torque that the electric braking needs to share, determining the maximum electric braking torque of the vehicle's motor per unit time based on the preset safe charging power of the battery, and limiting the maximum value of the first target braking torque.

[0009] In this embodiment of the application, the vehicle downhill braking method further includes: when the opening degree of the accelerator pedal reaches a preset opening degree or a signal indicating the start of downhill is received, entering a braking step for the vehicle downhill.

[0010] In this embodiment of the application, the vehicle is an electric mining truck.

[0011] A second aspect of this application provides a vehicle downhill braking device, comprising: The memory is configured to store instructions; The processor is configured to retrieve instructions from memory and, when executing those instructions, to implement a vehicle downhill braking method.

[0012] A third aspect of this application provides a vehicle including a downhill braking device.

[0013] In this embodiment of the application, the vehicle is an electric mining truck.

[0014] A fourth aspect of this application provides a computer storage medium on which machine-readable storage medium stores instructions that, when executed by a processor, cause the processor to be configured to perform a method for braking a vehicle downhill.

[0015] This application determines the target battery charge value of the vehicle at each future moment during a future downhill period, and obtains the mechanical brake temperature and real-time battery charge value of the vehicle. When the vehicle is using mechanical braking and is downhill, if the difference between the mechanical brake temperature at any time and the mechanical brake temperature threshold is less than a first threshold, and the difference between the real-time battery charge value and the target battery charge value is greater than a second threshold, the application controls the vehicle to reduce the braking force of the mechanical brake and increase the braking force of the electric brake. This effectively reduces the load on the mechanical brake and lowers the mechanical brake temperature to prevent it from affecting braking performance due to excessive temperature. At the same time, it fully utilizes the electric brake to recover downhill energy, so that the battery charge value gradually approaches the target value, improving energy utilization efficiency and solving the problem of excessive mechanical brake temperature and accelerated thermal fade caused by continuous use of mechanical braking during downhill driving in the prior art. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 A schematic diagram illustrating a vehicle downhill braking method according to an embodiment of this application is shown. Figure 2 The schematic diagram illustrates a flow chart of a downhill braking method for a mining truck according to an embodiment of this application; Figure 3 A schematic diagram of a downhill braking device according to an embodiment of this application is shown. Figure 4 The diagram illustrates the internal structure of a computer device according to an embodiment of this application. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0018] Figure 1 A schematic flowchart illustrating a vehicle downhill braking method according to an embodiment of this application is shown. Figure 1 As shown in one embodiment of this application, a vehicle downhill braking method is provided, comprising the following steps: Step 102: When the distance between the vehicle's current position and its future downhill position is within the first distance range, control the battery charge value to remain within the standard battery charge value range. Step 104: Determine the target battery charge value for each future moment during the future downhill period. Step 106: Obtain real-time operating data of the vehicle. The real-time operating data shall include at least the temperature of the vehicle's mechanical brakes and the real-time battery charge value. Step 108: When the vehicle is using mechanical braking and is going downhill, if the difference between the mechanical brake temperature at any time and the mechanical brake temperature threshold is less than the first threshold, and the difference between the real-time battery charge value and the target battery charge value is greater than the second threshold, control the vehicle to reduce the braking force of the mechanical brake and increase the braking force of the electric brake. In one embodiment, the vehicle is a pure electric vehicle or a hybrid vehicle. The vehicle's braking modes include mechanical braking and electric braking. When electric braking is activated, energy can be recovered and converted into electrical energy to power the vehicle's battery. The mechanical brake is equipped with a temperature sensor to collect the operating temperature of the mechanical brake in real time, and the data is transmitted to the vehicle control unit. The vehicle has a vehicle control unit and a battery management system. The vehicle control unit receives and processes various data and outputs braking control commands; the battery management system collects real-time battery charge values.

[0019] When the distance between the vehicle's current position and its future downhill position is within a first distance range, the battery charge value is maintained within the standard battery charge value range. The vehicle control unit, combining information about the upcoming downhill section, the battery's safe charging range, and energy recovery requirements, determines the future downhill time period. For each future moment within this time period, a corresponding target battery charge value is set, forming a target battery charge value curve to ensure a safe and efficient battery charging process. Real-time vehicle operating data is acquired, including at least the vehicle's mechanical brake temperature and real-time battery charge value. The mechanical brake operating temperature is collected in real-time by a temperature sensor and continuously uploaded to the vehicle control unit. The real-time battery charge value is collected in real-time by the battery management system and synchronously transmitted to the vehicle control unit.

[0020] When the vehicle is using mechanical braking on a downhill section, temperature sensors collect the temperature of the mechanical brakes in real time and upload it to the vehicle control unit. The vehicle control unit continuously compares the real-time temperature of the mechanical brakes with a temperature threshold and calculates the difference between the two. Simultaneously, it compares the real-time battery charge value uploaded by the battery management system with the target battery charge value for the corresponding future time and calculates the difference between the two. When the difference between the mechanical brake temperature and the temperature threshold is less than a first threshold, and the difference between the real-time battery charge value and the target battery charge value is greater than a second threshold, the vehicle control unit immediately controls the mechanical braking system to reduce braking force output, while the electric braking system simultaneously increases braking force output. This ensures that the total braking force of the vehicle meets the downhill braking requirements, while also taking into account the cooling of the mechanical brakes and battery energy recovery. After reducing the braking force of the mechanical brakes and increasing the braking force of the electric brakes, the operating temperature of the mechanical brakes and the real-time battery charge value are continuously monitored. The downhill braking method of this application, while ensuring vehicle downhill braking safety, maintains the battery charge value within the standard battery charge value range before descending the slope. This allows for energy recovery when the mechanical brakes overheat and switch to electric braking during downhill driving, preventing energy waste due to the battery charge reaching its maximum value on the downhill section. This effectively reduces the load on the mechanical brakes, preventing them from affecting braking performance due to overheating; simultaneously, it fully utilizes electric braking to recover downhill energy, bringing the battery charge value closer to the target value and improving energy utilization efficiency.

[0021] This application maintains the battery charge value within a standard range before descending a slope, allowing for energy recovery when the mechanical brakes overheat and switch to electric braking during downhill descent. It determines the target battery charge value for each future moment within the downhill period and acquires the vehicle's mechanical brake temperature and real-time battery charge value. When the vehicle is using mechanical braking and descending a slope, if the difference between the mechanical brake temperature and a mechanical brake temperature threshold at any given time is less than a first threshold, and the difference between the real-time battery charge value and the target battery charge value is greater than a second threshold, the application controls the vehicle to reduce the mechanical braking force and increase the electric braking force. This effectively reduces the load on the mechanical brakes, preventing them from affecting braking performance due to overheating; simultaneously, it fully utilizes the energy recovered from the downhill descent via electric braking, gradually bringing the battery charge value closer to the target value, thus improving energy utilization efficiency.

[0022] Figure 1 This is a flowchart illustrating a vehicle downhill braking method in one embodiment. It should be understood that, although... Figure 1 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise explicitly stated herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0023] In one embodiment, a minimum battery charge value is preset based on the battery's safe discharge lower limit and the requirements for electric braking operation to ensure that the battery is not damaged by over-discharge. A preset range of charge values ​​is defined for the difference between the real-time battery charge value and the target battery charge value.

[0024] During the downhill descent and continuous data collection, the vehicle control unit simultaneously checks whether the real-time battery charge is lower than a preset minimum battery charge. When the real-time battery charge is detected to be lower than the preset minimum battery charge, the vehicle control unit outputs a command to switch the vehicle's braking mode to electric braking. At this time, the mechanical braking system stops outputting braking force, and the electric braking system handles the downhill braking demand entirely, recovering electrical energy to charge the battery. Under electric braking, the vehicle control unit continuously monitors the difference between the real-time battery charge and the target battery charge at the corresponding future time. When this difference falls within the preset charge range, the vehicle control unit switches the vehicle's braking mode from electric braking to mechanical braking. When the difference between the mechanical brake temperature and a temperature threshold is detected to be less than a first threshold, and the difference between the real-time battery charge and the target battery charge is greater than a second threshold, the vehicle is controlled to reduce the mechanical braking force and increase the electric braking force.

[0025] By setting a minimum battery charge value, the real-time battery charge value is compared with the preset minimum charge value, effectively avoiding over-discharge of the battery in a low charge state and extending battery life. The intervention of electric braking not only ensures downhill braking safety but also improves the integrity of energy recovery. In this embodiment, the real-time determination of whether the battery charge value is less than the preset minimum battery charge value is parallel to the determination of the difference between the mechanical brake temperature and the real-time battery charge value in another embodiment. Once one of the conditions is met, the corresponding scheme for that condition is executed. After execution, the battery charge data and mechanical brake temperature are monitored again.

[0026] like Figure 2As shown, in one embodiment, the vehicle control unit receives route information from the cloud, including information about the upcoming downhill section. The vehicle control unit generates a target battery charge curve based on preset core constraints and downhill section information, with the optimization targets being a preset maximum battery energy recovery efficiency and a preset minimum mechanical brake temperature. The horizontal axis of the target battery charge curve represents distance or time, and the vertical axis represents the target battery charge value. The core constraints include at least a mechanical brake temperature less than or equal to a preset safety threshold, a vehicle battery charging power less than or equal to a preset safe charging power, and a battery charge value less than or equal to a preset maximum battery state of charge. The target battery charge value is determined for each future moment within the future downhill period based on the target battery charge curve. The preset maximum battery energy recovery efficiency aims to maximize the recovery of downhill braking energy within a safe range. The preset minimum mechanical brake temperature aims to reduce mechanical braking load and control the brake temperature at a low level, avoiding braking performance degradation caused by high temperatures. The battery charging power constraint ensures that the actual battery charging power does not exceed the preset safe charging power, preventing damage to the battery from high-power charging. Battery charge constraint: The battery charge value is always less than or equal to the preset maximum battery state of charge to prevent overcharging.

[0027] In one embodiment, after the vehicle enters a downhill section, the vehicle control unit, combining downhill section information and the vehicle's real-time status, calculates the total braking torque required for the vehicle's descent. The total braking torque is the necessary torque to meet the vehicle's deceleration or constant speed requirements during downhill driving, ensuring braking safety and driving stability, and serves as the basis for subsequent torque distribution. The vehicle control unit continuously acquires the real-time battery charge value and the target battery charge value for the corresponding future time, calculates the real-time difference between the two, and dynamically determines the first target braking torque to be shared by the electric braking system based on this difference: the larger the difference, the higher the energy recovery potential of the electric braking system, and the larger the first target braking torque; the smaller the difference, the smaller the first target braking torque, ensuring that energy recovery is compatible with the battery charging state. Using the total braking torque as a benchmark, the vehicle control unit calculates the difference between the total braking torque and the first target braking torque in real time; this difference is the second target braking torque to be shared by the mechanical braking system. The second target braking torque is dynamically adjusted according to changes in the first target braking torque: when the first target braking torque increases, the second target braking torque decreases synchronously; when the first target braking torque decreases, the second target braking torque increases accordingly, always ensuring that the total braking torque meets the vehicle's downhill braking requirements. When the real-time battery charge value is detected to be less than the preset minimum battery charge value, the first target braking torque is adjusted to the maximum. At this time, the electric brakes bear the braking torque at their maximum capacity, while the second target braking torque of the mechanical brakes is reduced to the minimum or zero, maximizing the recovery of electrical energy to quickly increase the battery charge value. If the difference between the real-time battery charge value and the target battery charge value subsequently falls back to within the second threshold, the first target braking torque gradually decreases, and the second target braking torque increases synchronously, restoring the dynamic distribution state.

[0028] In one embodiment, electric braking essentially involves the motor generating electricity in reverse to charge the battery, and the electric braking torque output by the motor is directly related to the charging power. The preset safe charging power of the battery is crucial for its safe operation, constraining the maximum power of reverse generation and preventing battery damage due to overcurrent or over-power charging. Before determining the first target braking torque, the vehicle control unit first calls the preset safe charging power parameters of the battery. Combining the motor's efficiency characteristics, the transmission system speed ratio, and the vehicle's inherent parameters, the maximum electric braking torque that the motor can output per unit time is calculated using an energy conversion formula. This maximum electric braking torque is the physical output limit of the electric braking system, directly determined by the battery's safe charging power, ensuring that the motor's reverse generation power does not exceed the battery's safe tolerance range. This ensures the efficiency of electric braking energy recovery while adding crucial protection for battery safety. It avoids the problem of excessive charging power caused by blindly increasing the electric braking torque, thus extending battery life.

[0029] In one embodiment, the vehicle is an electric mining truck, and the braking modes include electric braking and mechanical braking, with the electric braking used to charge the battery in reverse.

[0030] In one embodiment, this application provides a vehicle downhill braking device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of any of the above vehicle downhill braking methods.

[0031] like Figure 2 As shown, in one embodiment, this application provides a vehicle including the aforementioned downhill braking device. The vehicle is an electric mining truck.

[0032] After the electric mining truck completes its loading operation in the mine, it discharges the battery before going downhill to keep the battery charge value within the standard battery charge value range. This way, during the descent, if the mechanical brakes overheat, the battery always has room to allow the control system to switch from mechanical braking to electric braking, thus allowing for energy recovery when the mechanical brakes overheat and switch to electric braking during the descent.

[0033] When the electric mining truck reaches the starting point of the downhill section of the mine, the driver releases the accelerator pedal to prepare for the descent. When the vehicle control unit detects that the real-time opening and closing degree of the accelerator pedal has reached the preset opening and closing degree or receives a signal that the descent has begun, the vehicle's downhill braking method is activated.

[0034] The vehicle control unit collects real-time battery charge values ​​through the battery management system and real-time brake temperature through the mechanical brake temperature detection module, simultaneously acquiring real-time vehicle driving status data. The vehicle control unit calculates in real-time the difference between the mechanical brake temperature and a temperature threshold, and the difference between the real-time battery charge value and the corresponding target battery charge value. When the temperature difference is less than a first threshold and the battery charge value difference is greater than a second threshold, the mechanical brake is reduced in braking force, while the electric brake is increased in braking force. The torque distribution ratio is dynamically adjusted according to the logic that the larger the battery charge value difference, the greater the first target braking torque, and the smaller the second target braking torque. When the real-time battery charge value is detected to be less than a preset minimum battery charge value, the vehicle control unit adjusts the first target braking torque to its maximum, but not exceeding the set upper limit threshold, switching to electric braking mode. The difference between the real-time battery charge value and the target battery charge value is continuously monitored. When this difference falls within the preset charge value range, the electric braking torque is gradually reduced, and the mechanical braking torque is increased, achieving a smooth transition. Once the vehicle exits the downhill section, if the accelerator pedal opening degree exceeds the preset opening degree or a signal to disengage downhill braking is received, the vehicle control unit stops the downhill braking-specific control process and resumes normal braking mode. This application's solution for automatically and dynamically adjusting electric and mechanical braking is adapted to the heavy-load, long downhill scenarios required for mining trucks. It ensures braking safety through multiple constraints, avoiding the risks of mechanical brake degradation due to high temperatures and battery overcharging and over-discharging. It maximizes the recovery of downhill energy, reducing energy consumption in mine operations and the maintenance costs of mechanical brakes.

[0035] In one embodiment, a computer storage medium is provided that stores instructions on the machine-readable storage medium, which, when executed by a processor, causes the processor to be configured to perform the above-described method for braking a vehicle downhill.

[0036] In one embodiment, such as Figure 3 As shown, a vehicle downhill braking device 300 is provided, including a discharge module 302, a calculation module 304, a data acquisition module 306, and a braking control module 308, wherein: The discharge module 302 is used to maintain the battery charge value within the standard battery charge value range when the distance between the current position of the vehicle and the future downhill position is a first distance. The calculation module 304 is used to determine the target battery charge value for each future moment during the future downhill period of the vehicle.

[0037] The data acquisition module 306 is used to acquire real-time operating data of the vehicle, which includes at least the temperature of the vehicle's mechanical brakes and the real-time battery charge value.

[0038] The braking control module 308 is used to control the vehicle to reduce the braking force of the mechanical brake and increase the braking force of the electric brake when the vehicle is using mechanical braking and is going downhill, and when the difference between the mechanical brake temperature at any time and the mechanical brake temperature threshold is less than a first threshold, and the difference between the real-time battery charge value and the target battery charge value is greater than a second threshold.

[0039] The vehicle downhill braking device 300 includes a processor and a memory. The discharge module 302, calculation module 304, data acquisition module 306, and braking control module 308 are all stored in the memory as program units. The processor executes the program modules stored in the memory to implement the corresponding functions.

[0040] The processor contains a kernel, which retrieves the corresponding program unit from memory. One or more kernels can be configured, and the vehicle's downhill braking method can be implemented by adjusting kernel parameters.

[0041] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0042] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 4As shown in the figure, the computer device includes a processor A01, a network interface A02, a display screen A04, an input device A05, and a memory (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A06. The network interface A02 is used for communication with external terminals via a network connection. When the computer program is executed by the processor A01, it implements a vehicle downhill control method. The display screen A04 can be a liquid crystal display (LCD) or an e-ink display. The input device A05 can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0043] Those skilled in the art will understand that Figure 3 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0044] Compared with existing technologies, this application maintains the battery charge value within a standard range before descending a slope, allowing space for energy recovery when the mechanical brakes overheat and switch to electric braking during downhill descent. It determines the target battery charge value for each future moment within the downhill period and acquires the vehicle's mechanical brake temperature and real-time battery charge value. When the vehicle is using mechanical braking and descending a slope, if the difference between the mechanical brake temperature and a mechanical brake temperature threshold at any given time is less than a first threshold, and the difference between the real-time battery charge value and the target battery charge value is greater than a second threshold, the application controls the vehicle to reduce the braking force of the mechanical brakes and increase the braking force of the electric brakes. This effectively reduces the load on the mechanical brakes, preventing them from affecting braking performance due to overheating; simultaneously, it fully utilizes the energy recovered from downhill descent via electric braking, gradually bringing the battery charge value closer to the target value, thus improving energy utilization efficiency.

[0045] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0046] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0047] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0048] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0049] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0050] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0051] Computer-readable media include both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0052] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0053] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for braking a vehicle downhill, characterized in that, The braking modes of the vehicle include at least mechanical braking and electric braking, and the method includes: when the distance between the current position of the vehicle and the future downhill position is within a first distance range, controlling the battery charge value to remain within a standard battery charge value range; Determine the target battery charge value for the vehicle at each future moment within a future downhill time period; The vehicle's real-time operating condition data is obtained, including at least the vehicle's mechanical brake temperature and real-time battery charge value. When the vehicle is using the mechanical brakes and is going downhill, if the difference between the mechanical brake temperature at any given time and the mechanical brake temperature threshold is less than a first threshold, and the difference between the real-time battery charge value and the target battery charge value is greater than a second threshold, the vehicle is controlled to reduce the braking force of the mechanical brakes and increase the braking force of the electric brakes.

2. The vehicle downhill braking method according to claim 1, characterized in that, The vehicle downhill braking method also includes: If the real-time battery charge value is detected to be less than the preset minimum battery charge value at any time, the braking mode of the vehicle is controlled to be electric braking. Until the difference between the battery charge value and the target battery charge value is within a preset charge value range, the vehicle's braking mode is switched from electric braking to mechanical braking.

3. The vehicle downhill braking method according to claim 1, characterized in that, The vehicle downhill braking method also includes: If at any time the temperature of the mechanical brake is detected to be greater than the mechanical brake temperature threshold, and the difference between the battery charge value and the target battery charge value is less than or equal to a second threshold, the braking mode of the vehicle is controlled to switch from mechanical braking to electric braking.

4. The vehicle downhill braking method according to claim 1, characterized in that, Determining the target battery state of charge for the vehicle at each future moment within a future downhill time period includes: Receive route information from the cloud, including information about the upcoming downhill section; With the preset maximum energy recovery efficiency of the battery and the preset minimum temperature of the mechanical brake as optimization targets, a target battery charge curve is generated based on the preset core constraints and downhill road information. The target battery charge curve has time or distance as the horizontal axis and the target battery charge value as the vertical axis. The core constraints include at least the mechanical brake temperature being less than or equal to a preset safety threshold, the vehicle's battery charging power being less than or equal to a preset safe charging power, and the battery charge value being less than or equal to a preset maximum battery state of charge. The target battery charge value of the vehicle at each future moment during the future downhill period is determined based on the target battery charge value curve.

5. The vehicle downhill braking method according to claim 1, characterized in that, The method further includes: After determining the target battery charge value of the vehicle at each future moment during the future downhill period, the total braking torque required for the vehicle to go downhill is determined. The first target braking torque that the electric braking system needs to share is determined in real time based on the difference between the real-time battery charge value and the target battery charge value. The second target braking torque that the mechanical braking needs to share is determined in real time based on the difference between the total braking torque and the first target braking torque. Wherein, when the difference between the real-time battery charge value and the target battery charge value is greater than the second threshold, the first target braking torque increases and the second target torque decreases. When the real-time battery charge value is less than the preset minimum battery charge value, the first target braking torque is adjusted to the maximum.

6. The vehicle downhill braking method according to claim 5, characterized in that, The vehicle downhill braking method further includes: before determining the first target braking torque that the electric braking needs to share, determining the maximum electric braking torque of the vehicle's motor per unit time based on the preset safe charging power of the battery, and limiting the maximum value of the first target braking torque.

7. The vehicle downhill braking method according to claim 1, characterized in that, The vehicle downhill braking method further includes: when the accelerator pedal reaches a preset opening degree or a signal indicating the start of downhill is received, entering a braking step for the vehicle downhill.

8. The vehicle downhill braking method according to claim 1, characterized in that, The vehicle in question is an electric mining truck.

9. A vehicle downhill braking device, characterized in that, include: The memory is configured to store instructions; The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the vehicle downhill braking method according to any one of claims 1 to 8.

10. A vehicle, characterized in that, The vehicle includes a downhill braking device according to claim 9.

11. The vehicle according to claim 10, characterized in that, The vehicle in question is an electric mining truck.

12. A computer storage medium, wherein instructions are stored on the machine-readable storage medium, characterized in that, When executed by the processor, the instruction causes the processor to be configured to perform the vehicle downhill braking method according to any one of claims 1 to 8.

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