Methods, systems, devices, and media for brake control

Abstract

The application discloses a method, system, device and medium for brake control, the method comprising: acquiring brake parameters of a rigid mine car when the rigid mine car is in a braking state, the brake parameters comprising a speed of the rigid mine car, a brake pedal opening degree, a road slope, a mass, a rolling resistance coefficient and a battery state of charge; determining a total brake power based on the speed, the brake pedal opening degree, the road slope, the mass and the rolling resistance coefficient, the total brake power representing a required demand power for braking; and determining a braking recovery power of operation of a drive motor based on the total brake power, a maximum recovery power and a minimum recovery power of the drive motor in the battery state of charge.

Description

Technical Field

[0001] This application belongs to the field of braking control technology, and in particular relates to a braking control method, system, device and medium. Background Technology

[0002] With the continuous expansion of mining scale, rigid mining cars, as the main means of transportation in open-pit mines, are experiencing increasing total mass and speed, resulting in enormous braking energy during braking. To avoid wasting braking energy, existing technologies typically employ regenerative braking technology, which feeds the energy generated by the drive motor back to the power battery during braking. However, the control strategies of existing technologies are relatively rigid and difficult to flexibly adapt to the dynamic braking demands under complex mining conditions, leading to low braking energy recovery rates or failure to meet safety braking requirements. Summary of the Invention

[0003] This application provides a braking control method, system, device, medium, and product that can improve system safety while increasing braking energy recovery rate.

[0004] In a first aspect, embodiments of this application provide a braking control method, including: When the rigid mining car is in a braking state, the braking parameters of the rigid mining car are obtained, including the vehicle speed, brake pedal opening, road gradient, mass, rolling resistance coefficient and battery state of charge. The total braking power is determined based on the vehicle speed, the brake pedal opening, the road gradient, the mass, and the rolling resistance coefficient. The total braking power represents the power required for braking. Based on the total braking power, the maximum and minimum regenerative braking power of the drive motor under the battery's state of charge, the regenerative braking power for the drive motor's operation is determined.

[0005] Secondly, embodiments of this application provide a braking control system, including: The vehicle controller is used to: acquire the braking parameters of the rigid mining car when the rigid mining car is in a braking state, the braking parameters including the vehicle speed, brake pedal opening, road gradient, mass, rolling resistance coefficient and battery state of charge; The total braking power is determined based on the vehicle speed, the brake pedal opening, the road gradient, the mass, and the rolling resistance coefficient. The total braking power represents the power required for braking. Based on the total braking power, the maximum and minimum regenerative braking power of the drive motor, the regenerative braking power of the brake motor under the battery's charged state is determined.

[0006] Thirdly, embodiments of this application provide an electronic device, the device comprising: Processor and memory storing computer program instructions; The method for performing braking control as described above when the processor executes computer program instructions.

[0007] Fourthly, embodiments of this application provide a computer storage medium storing computer program instructions, which, when executed by a processor, implement the braking control method described in the first aspect.

[0008] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when processed by a processor, implements the braking control method described in the first aspect.

[0009] The braking control method, system, device, medium, and product provided in this application determine the required total braking power for a rigid truck under braking conditions based on vehicle speed, brake pedal opening, road gradient, mass, rolling resistance coefficient, and battery state of charge. This allows for the determination of the total braking power sufficient for a rigid truck under complex operating conditions, ensuring braking safety. Furthermore, based on this total braking power, maximum regenerative braking power, and minimum regenerative braking power, the regenerative braking power under the battery's state of charge is determined. This ensures that the final determined regenerative braking power remains within the battery's safe range, maximizing energy utilization while preventing overcharging and ensuring battery safety. Attached Figure Description

[0010] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a schematic diagram of a braking control system provided for some embodiments of this application.

[0012] Figure 2 This is a schematic flowchart illustrating a braking control method provided in some embodiments of this application.

[0013] Figure 3 This is a schematic flowchart illustrating another braking control method provided in some embodiments of this application.

[0014] Figure 4 This is a schematic flowchart illustrating another braking control method provided in some embodiments of this application.

[0015] Figure 5This is a schematic flowchart illustrating another braking control method provided in some embodiments of this application.

[0016] Figure 6 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0017] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0018] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, 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 a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0019] Before describing the technical solutions provided in the embodiments of this application, in order to facilitate understanding of the embodiments of this application, this application first specifically explains the problems existing in the related technologies: Currently, rigid mining trucks, also known as rigid trucks, are a new energy vehicle. Due to their large total mass during transportation, braking control is particularly important. Existing braking systems for rigid trucks are mainly divided into two categories: mechanical braking systems and energy recovery braking systems.

[0020] Traditional mechanical braking systems, centered around drum or disc brakes, rely on mechanical friction to dissipate the vehicle's braking energy, resulting in low braking energy utilization. While regenerative braking systems recover braking energy to the battery, when the battery's recharging capacity is insufficient, they still rely on mechanical friction to dissipate excess braking energy, thus still exhibiting low energy utilization.

[0021] Furthermore, both of the above braking systems rely on auxiliary braking devices (such as exhaust brakes, retarders, etc.) to control braking. However, the braking power provided by these devices is fixed and cannot meet the high-intensity braking requirements of existing steel trucks. When facing long-distance braking conditions, there is a problem of delayed braking power adjustment or even insufficient braking power, which seriously threatens driving safety.

[0022] Therefore, embodiments of this application provide a braking control method, system, device, medium, and product that can solve the above-mentioned problems. Below, a braking control system provided by an embodiment of this application will be described in detail.

[0023] like Figure 1 As shown, this application provides a braking control system, including: The vehicle control unit (VCU) includes a range extender module 102, an electric drive axle module 103, a power battery module 104, a resistor grid module 105, and a brake detection module 106. The vehicle control unit is electrically connected to the range extender module 102, the electric drive axle module 103, the power battery module 104, the resistor grid module 105, and the brake detection module 106.

[0024] The dual range extender module 102 includes two range extenders connected in parallel, each with its own in-cylinder braking function. This in-cylinder braking function is activated when the current braking power is insufficient to meet the braking demand, in order to supplement the braking power and simultaneously dissipate excess braking energy. Specifically, the two range extenders can be controlled independently, and the vehicle controller can flexibly select to activate the in-cylinder braking function of one or both range extenders based on the braking power demand or the amount of excess energy.

[0025] The electric drive axle module 103 includes the electric drive axle body and the drive motor. The drive motor can provide braking power and can switch to power generation mode during braking to convert the vehicle's braking kinetic energy into electrical energy and recharge it back to the power battery module 104, thus realizing the recovery and reuse of braking energy.

[0026] The power battery module 104 is used to provide power for vehicle operation and can also store the braking energy recovered by the drive motor.

[0027] The resistor grid module 105 includes a resistor grid, an adaptive cooling system (including a temperature sensor, an adjustable-speed fan, and cooling pipes), and a power control switch, which is controlled by the vehicle controller. The resistor grid module 105 is connected in parallel with the power battery module 104. When the power battery's recharge capacity is insufficient, the resistor grid in the resistor grid module 105 can dissipate excess power. Simultaneously, while relying on the resistor grid to dissipate excess power, the aforementioned adaptive cooling system can collect the temperature of the resistor grid and provide real-time feedback to the vehicle controller. When the vehicle controller determines that the resistor grid temperature is greater than or equal to a threshold, it controls the adjustable-speed fan to start cooling the resistor grid.

[0028] The braking detection module 106 includes a high-precision brake pedal sensor, a Hall-type vehicle speed sensor, a high-precision slope sensor, and a power battery status sensor. The braking detection module 106 is used to collect braking parameters in real time, such as battery state of charge, maximum allowable recharge power, battery temperature, etc., and feeds back the collected braking parameters to the vehicle controller in real time so that the vehicle controller can judge the braking condition and allocate power based on the above braking parameters.

[0029] like Figure 2 As shown in the embodiment of this application, a braking control method is provided, applied to the vehicle controller of a rigid mining car. The method may include: S210: When the rigid mining car is in a braking state, obtain the braking parameters of the rigid mining car, including the speed of the rigid mining car, brake pedal opening σ, road gradient, mass, rolling resistance coefficient and battery state of charge (SOC).

[0030] When the rigid mining truck is under long-distance braking, such as when braking downhill, the driver will press the brake pedal. The aforementioned braking parameters can be obtained through the aforementioned brake detection module. The aforementioned mass includes the current vehicle weight of the rigid truck and the total mass of the cargo it is carrying.

[0031] S220: Based on vehicle speed, brake pedal opening σ, road gradient, mass, and rolling resistance coefficient, the total braking power is determined. The total braking power characterizes the power required for braking.

[0032] Specifically, the corresponding base braking power can be determined based on the brake pedal opening σ, vehicle speed, and road gradient. Here, a power model can be trained in advance based on historical brake pedal opening, historical vehicle speed, historical road gradient, and historical base braking power, and the base braking power can be determined based on the power model.

[0033] Meanwhile, the additional power P2 is determined based on the following expression: (1) m is the mass, θ is the road gradient, g is the acceleration due to gravity, and v is the vehicle speed.

[0034] The final total braking power satisfies: (2) P represents the total braking power, P1 represents the basic braking power, and P2 represents the additional braking power.

[0035] S230: Determine the regenerative braking power of the drive motor based on the total braking power, the maximum and minimum regenerative braking power of the drive motor under battery charge conditions.

[0036] Based on the above battery state of charge, the maximum and minimum regenerative braking power of the drive motor under the battery state of charge can be determined. The above regenerative braking power refers to the power to convert the kinetic energy of braking energy into the electrical energy of the battery. The maximum and minimum regenerative braking power can be obtained by looking up a table.

[0037] By combining the battery state of charge and the total braking power, the regenerative braking power required for the drive motor to operate can be determined.

[0038] For example, when the battery state of charge is less than the low charge threshold (SOC < 30%), the regenerative braking power is determined to be the maximum regenerative braking power under the current battery state of charge. When the battery's state of charge is within the appropriate recharge range (30%≤SOC≤80%), the regenerative braking power is determined as the total braking power. When the battery state of charge is greater than the high charge threshold (SOC > 80%), the regenerative braking power is determined to be the minimum regenerative braking power.

[0039] At the same time, after determining the above-mentioned regenerative braking power, all the braking energy generated by the drive motor with the above-mentioned regenerative braking power can be recovered to the power battery.

[0040] This application embodiment determines the required total braking power for a rigid truck under braking conditions based on vehicle speed, brake pedal opening, road gradient, mass, rolling resistance coefficient, and battery state of charge. This enables the determination of the total braking power sufficient for a rigid truck under complex operating conditions, ensuring braking safety. Furthermore, based on this total braking power, maximum regenerative braking power, and minimum regenerative braking power, the regenerative braking power under the battery's state of charge is determined. This ensures that the final determined regenerative braking power remains within the battery's safe range, maximizing energy utilization while preventing overcharging and ensuring battery safety.

[0041] In some embodiments, such as Figure 3As shown, after determining the regenerative braking power of the drive motor based on the total braking power, the maximum and minimum regenerative braking power of the drive motor under battery charge, the method may further include: S310: When the regenerative braking power is less than or equal to the maximum regenerative braking power and greater than or equal to the total braking power, the drive motor is controlled to maintain the regenerative braking power operation to complete the braking and the braking energy is fed back to the power battery.

[0042] During the real-time braking process of the vehicle, the regenerative braking power can be determined in real time based on the aforementioned scheme. When the regenerative braking power is less than or equal to the maximum regenerative braking power and greater than or equal to the total braking power, it indicates that the current battery state of charge is in a suitable recharge state or less than the low charge threshold state. Energy recovery can be prioritized, that is, the generated braking energy can be preferentially recharged back to the power battery.

[0043] In this embodiment of the application, when the real-time regenerative braking power is determined to be less than or equal to the maximum regenerative braking power and greater than or equal to the total braking power during the real-time braking process of the vehicle, an energy recovery priority strategy is adopted to control the drive motor to maintain the operation of the regenerative braking power to complete the braking and feed the braking energy back to the power battery, thereby realizing the recovery of braking energy and improving energy utilization.

[0044] In some embodiments, controlling the drive motor to maintain regenerative braking power operation to complete braking and feeding braking energy back to the power battery includes: When the brake pedal opening is within a first preset range, the drive motor is controlled to maintain the operation of regenerative braking power and feed the braking energy back to the power battery; or, when the brake pedal opening is within a second preset range, the drive motor is controlled to maintain the operation of regenerative braking power and keep the resistor grid module and the dual range extender module in standby mode, wherein the minimum value of the second preset range is greater than the maximum value of the first preset range.

[0045] Based on the brake pedal opening, the current operating condition can be determined. For example, if the brake pedal opening is within the first preset range (σ < 30%), it indicates that the current operating condition is a slight deceleration state, and there is no need to consume excess power through the resistor grid or to start the dual range extender module to supplement braking. Thus, the drive motor can be controlled to operate with regenerative braking power.

[0046] Alternatively, when the brake pedal opening is within the second range (30%≤σ), it indicates that the current operating condition is extreme braking or stopping. In this case, while maintaining the operation of the control drive motor's regenerative braking power, the resistor grid module and the dual range extender module need to be kept in standby mode. That is, the resistor grid module should be ready to start to consume excess braking energy or the dual range extender module should be started to supplement braking based on the real-time regenerative power.

[0047] This application embodiment determines, based on the range of brake pedal opening, that when it is within a first range, light braking with priority energy recovery is indicated; when it is within a second range, moderate or heavy braking is indicated, with priority given to ensuring braking safety. That is, the braking status is continuously monitored, and the resistor grid module and the dual range extender module are kept in standby mode. This shortens the response time of the resistor grid module and the dual range extender module during moderate or heavy braking, enabling them to intervene in braking instantly and ensuring braking safety.

[0048] In some embodiments, such as Figure 4 As shown, after determining the regenerative braking power of the drive motor based on the total braking power, the maximum and minimum regenerative braking power of the drive motor under battery charge, the method further includes: S410: When the regenerative braking power is greater than the maximum regenerative braking power and greater than or equal to the total braking power, control the drive motor to maintain the regenerative braking power operation to complete the braking, and control the resistor gate to start.

[0049] When the regenerative braking power (the actual power generated by the current drive motor) is greater than the maximum regenerative braking power (the maximum regenerative braking power of the current power battery at the current SOC) and is greater than or equal to the total braking power (the braking power required to maintain the current vehicle speed or decelerate), it indicates that the current vehicle is in a situation where the kinetic energy of the power battery is relatively sufficient, that is, the power battery's recharge capacity is insufficient, and the regenerative braking power provided by the drive motor can meet the current braking demand. While controlling the drive motor to maintain the regenerative braking power to complete the braking, the resistor grid is also controlled to start to consume excess braking energy.

[0050] This application's embodiments establish a battery safety-centric defense mechanism by consistently prioritizing the real-time comparison of regenerative braking power with the maximum permissible recharge power during braking, thus mitigating the risk of battery overcharging at its source. Furthermore, when the current regenerative braking power meets the total braking demand, the resistor grid module is activated to dissipate excess braking energy exceeding the battery's capacity. This maximizes energy recovery while ensuring the safety and reliability of the braking process.

[0051] In some embodiments, controlling the activation of the resistive gate includes: Based on the difference between the regenerative braking power and the maximum regenerative braking power, the operating power after the resistor grid is started is determined, and the temperature of the resistor grid is obtained; if the temperature is higher than the preset temperature, the cooling module is activated to dissipate heat from the resistor grid.

[0052] When starting the regenerative braking grid, the difference between the current regenerative braking power and the maximum regenerative braking power at the current state of charge (SOC) can be calculated. Based on this difference, the operating power of the regenerative braking grid can be determined. For example, if the current regenerative braking power is 400kW and the maximum regenerative braking power is 250kW, then the operating power of the regenerative braking grid can be determined as 400kW - 250kW = 150kW.

[0053] Furthermore, after the resistor gate is started, the temperature of the resistor gate can be obtained in real time. When it is determined that the temperature is greater than the preset temperature, the cooling module in the resistor gate module is activated to dissipate heat from the resistor gate.

[0054] This application embodiment determines the operating power of the resistor grid after startup based on the difference between the regenerative braking power and the maximum regenerative braking power, achieving on-demand energy consumption and avoiding ineffective or untimely energy consumption caused by excessive or insufficient operating power of the resistor grid. Simultaneously, the resistor grid's temperature is acquired in real time during operation, and the cooling module is activated promptly to dissipate heat when the temperature exceeds a preset temperature, ensuring the safe operation of the resistor grid and thus guaranteeing braking safety.

[0055] In some embodiments, such as Figure 5 As shown, after determining the regenerative braking power of the drive motor based on the total braking power, the maximum and minimum regenerative braking power of the drive motor under battery charge, the method may further include: S510: When the regenerative braking power is less than the total braking power, control the drive motor to maintain the regenerative braking power and activate the braking function of the dual range extender module.

[0056] During braking, if it is determined that the current regenerative braking power is less than the total braking power, it indicates that the braking power output by the current drive motor cannot meet the braking requirements. In this case, the braking function of the dual range extender module needs to be activated to supplement the braking.

[0057] This application embodiment improves braking safety by activating the braking function of the dual-range extender module to supplement braking when the regenerative braking power is determined to be less than the total braking power.

[0058] In some embodiments, when the regenerative braking power is less than the total braking power, the drive motor is controlled to maintain the regenerative braking power operation, and the braking function of the dual range extender module is activated, including: Based on the total braking power and regenerative braking power, the power to be supplemented is determined; based on the power to be supplemented and the brake pedal opening, the braking power of the dual range extender module is determined.

[0059] The difference between the total braking power and the regenerative braking power can be calculated to determine the power to be supplemented. Based on the power to be supplemented and the brake pedal opening, the braking power of the dual range extender modules can be determined. For example, under light braking (σ < 30%) and when the power to be supplemented is less than the first threshold (100kW), the in-cylinder braking function of one range extender can be activated, and the braking power controlled is the sum of the power to be supplemented and the reserved safety power. Under moderate or moderate braking (30% ≤ σ) and when the supplemented power is less than the first threshold (100kW), the in-cylinder braking function of one range extender can be activated, and its braking power is determined to be a preset value (e.g., 170kW). Under moderate or moderate braking (30% ≤ σ) and when the supplemented power is greater than or equal to the second threshold (150kW), the in-cylinder braking function of both range extenders can be activated, and their braking power controlled is greater than or equal to the supplemented power.

[0060] After determining the braking power of the dual range extender module, the remaining braking power can be determined based on the product of the braking power and braking duration. The remaining braking power is then consumed by the in-cylinder resistance function of the dual range extender module to ensure sufficient consumption of the remaining braking power and avoid overcharging of the power battery.

[0061] This application embodiment determines the power to be supplemented based on the total braking power and the regenerative braking power, and determines the braking power of the dual-stroke extender module based on the power to be supplemented and the brake pedal opening. Thus, the supplementary power level can be quickly determined, achieving precise supplementation.

[0062] In some embodiments, based on such Figure 1 The braking control system shown, the vehicle controller, is used for: When the rigid mining car is in a braking state, the braking parameters of the rigid mining car are obtained, including the vehicle speed, brake pedal opening, road gradient, mass, rolling resistance coefficient and battery state of charge. Based on vehicle speed, brake pedal opening, road gradient, mass, and rolling resistance coefficient, the total braking power is determined. The total braking power characterizes the power required for braking. Based on the total braking power, the maximum and minimum regenerative braking power of the drive motor, the regenerative braking power of the braking motor under battery charge conditions is determined.

[0063] Based on the above-mentioned vehicle controller, the embodiments of this application can determine the braking power demand based on the real-time acquired braking parameters when the vehicle is braking, and determine the braking regeneration power based on the braking power demand, the maximum and minimum regeneration power of the current drive motor, thus achieving accurate determination of the braking regeneration power.

[0064] In some embodiments, the vehicle controller is configured to: control the drive motor to maintain the braking regeneration power operation to complete braking when the braking regeneration power is less than or equal to the maximum regeneration power and greater than or equal to the total braking power, and feed the braking energy back to the power battery.

[0065] In some embodiments, the vehicle controller is configured to: When the brake pedal opening is within a first preset range, the drive motor is controlled to maintain regenerative braking power operation and feeds the braking energy back to the power battery; or... When the brake pedal opening is within the second preset range, the drive motor is controlled to maintain the operation of the regenerative braking power, and the resistor grid module and the dual range extender module are kept in standby mode. The minimum value of the second preset range is greater than the maximum value of the first preset range.

[0066] In some embodiments, the vehicle controller is configured to: control the drive motor to maintain the braking regeneration power to complete braking when the braking regeneration power is greater than the maximum regeneration power and greater than or equal to the total braking power, and control the resistor gate to start.

[0067] In some embodiments, the vehicle controller is configured to: determine the operating power after the resistor grid is activated based on the difference between the regenerative braking power and the maximum regenerative braking power, and obtain the temperature of the resistor grid; If the temperature exceeds the preset temperature, the cooling module will be activated to dissipate heat from the resistive grid.

[0068] In some embodiments, the vehicle controller is configured to: control the drive motor to maintain the regenerative braking power and activate the braking function of the dual range extender module when the regenerative braking power is less than the total braking power.

[0069] In some embodiments, the vehicle controller is configured to: determine the power to be supplemented based on the total braking power and the regenerative braking power; The braking power of the dual range extender module is determined based on the power to be supplemented and the brake pedal opening.

[0070] The system described above is used to implement the corresponding braking control method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0071] Figure 6 A schematic diagram of the hardware structure of an electronic device is provided in the application embodiment.

[0072] The electronic device 600 may include a processor 601 and a memory 602 storing computer program instructions.

[0073] Specifically, the processor 601 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0074] Memory 602 may include mass storage for data or instructions. For example, and not limitingly, memory 602 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 602 may include removable or non-removable (or fixed) media. Where appropriate, memory 602 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 602 is non-volatile solid-state memory.

[0075] In a particular embodiment, memory 602 includes read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0076] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to the first aspect of this application.

[0077] The processor 601 implements any of the braking control methods described in the above embodiments by reading and executing computer program instructions stored in the memory 602.

[0078] In one example, the electronic device may also include a communication interface 603 and a bus 604. Wherein, as... Figure 6 The processor 601, memory 602, and communication interface 603 are connected through bus 604 and complete communication with each other.

[0079] The communication interface 603 is mainly used to realize communication between various modules, systems, units and / or devices in the embodiments of this application.

[0080] Bus 604 includes hardware, software, or both, that couples components of an online data traffic metering device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 604 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0081] The electronic devices described above are used to implement the corresponding braking control methods in any of the foregoing embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0082] Furthermore, in conjunction with the braking control methods in the above embodiments, this application embodiment can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the braking control methods in the above embodiments.

[0083] Furthermore, in conjunction with the braking control methods described in the above embodiments, this application can provide a computer program product for implementation. When the instructions of this computer program product are executed by the processor of an electronic device, they implement any of the braking control methods described in the above embodiments.

[0084] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this application (including the claims) is limited to these examples; within the framework of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this application as described above, which are not provided in the details for the sake of brevity.

[0085] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0086] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or systems. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0087] The aspects of this application have been described above with reference to flowchart illustrations and / or block diagrams of methods, systems (systems), and computer program products according to embodiments of this application. It should be understood that each block in 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, a special-purpose computer, or other programmable data processing system to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing system, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by dedicated hardware performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0088] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A braking control method, characterized in that, A vehicle controller applied to rigid mining cars, the method includes: When the rigid mining car is in a braking state, the braking parameters of the rigid mining car are obtained, including the vehicle speed, brake pedal opening, road gradient, mass, rolling resistance coefficient and battery state of charge. The total braking power is determined based on the vehicle speed, the brake pedal opening, the road gradient, the mass, and the rolling resistance coefficient. The total braking power represents the power required for braking. Based on the total braking power, the maximum and minimum regenerative braking power of the drive motor under the battery's state of charge, the regenerative braking power for the drive motor's operation is determined.

2. The braking control method according to claim 1, characterized in that, After determining the regenerative braking power of the drive motor based on the total braking power, the maximum regenerative braking power of the drive motor under the battery's state of charge, and the minimum regenerative braking power, the method further includes: When the regenerative braking power is less than or equal to the maximum regenerative braking power and greater than or equal to the total braking power, the drive motor is controlled to maintain the regenerative braking power to complete braking and feed the braking energy back to the power battery.

3. The braking control method according to claim 2, characterized in that, The control of the drive motor to maintain the regenerative braking power operation to complete braking and to feed the braking energy back to the power battery includes: When the brake pedal opening is within a first preset range, the drive motor is controlled to maintain the regenerative braking power operation and feed the braking energy back to the power battery; or... When the brake pedal opening is within a second preset range, the drive motor is controlled to maintain the operation of the regenerative braking power, and the resistor grid module and the dual range extender module are kept in standby mode, wherein the minimum value of the second preset range is greater than the maximum value of the first preset range.

4. The braking control method according to claim 1, characterized in that, After determining the regenerative braking power of the drive motor based on the total braking power, the maximum regenerative braking power of the drive motor under the battery's state of charge, and the minimum regenerative braking power, the method further includes: When the regenerative braking power is greater than the maximum regenerative braking power and greater than or equal to the total braking power, the drive motor is controlled to maintain the regenerative braking power to complete braking, and the resistor grid is controlled to start.

5. The braking control method according to claim 4, characterized in that, The control resistor gate activation includes: Based on the difference between the regenerative braking power and the maximum regenerative braking power, the operating power after the resistor grid is activated is determined, and the temperature of the resistor grid is obtained; If the temperature exceeds the preset temperature, the cooling module is activated to dissipate heat from the resistive grid.

6. The braking control method according to claim 1, characterized in that, After determining the regenerative braking power of the drive motor based on the total braking power, the maximum and minimum regenerative braking power of the drive motor under the battery's state of charge, the method further includes: When the regenerative braking power is less than the total braking power, the drive motor is controlled to maintain the regenerative braking power and the braking function of the dual range extender module is activated.

7. The braking control method according to claim 6, characterized in that, When the regenerative braking power is less than the total braking power, controlling the drive motor to maintain the regenerative braking power and activating the braking function of the dual range extender module includes: Based on the total braking power and the regenerative braking power, determine the power to be supplemented; The braking power of the dual range extender module is determined based on the power to be supplemented and the brake pedal opening.

8. A braking control system, characterized in that, include: The vehicle controller is used to: acquire the braking parameters of the rigid mining car when the rigid mining car is in a braking state, the braking parameters including the vehicle speed, brake pedal opening, road gradient, mass, rolling resistance coefficient and battery state of charge; The total braking power is determined based on the vehicle speed, the brake pedal opening, the road gradient, the mass, and the rolling resistance coefficient. The total braking power represents the power required for braking. Based on the total braking power, the maximum and minimum regenerative braking power of the drive motor, the regenerative braking power of the brake motor under the battery's charged state is determined.

9. An electronic device, characterized in that, The device includes: a processor, and a memory storing computer program instructions; The processor reads and executes the computer program instructions to implement the braking control method as described in any one of claims 1 to 7.

10. A readable storage medium, characterized in that, The readable storage medium stores computer program instructions that, when executed by a processor, implement the braking control method as described in any one of claims 1 to 7.

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