Braking control method for vehicle, controller, vehicle, and medium

Abstract

A braking control method for a vehicle, a controller, a vehicle, and a medium. The method comprises: when the rotation state of a first wheel of a vehicle (500) is a slip state, a controller (530) controls to execute a braking action, wherein the braking action comprises at least one of controlling to reduce the driving torque of a first driving motor (521) of the first wheel or controlling to increase the braking torque of the first wheel, and controlling to increase the driving torque of a second driving motor (522) of a second wheel whose rotation state is a non-slip state. The method prevents wheel slip without degrading the acceleration performance of the vehicle, thereby enhancing the power performance and the stability of the vehicle. Moreover, by redistributing the driving torques of the driving motors and taking the characteristics of fast response, high precision, and regenerative capabilities of the driving motors into consideration, the response speed can be increased and the control precision can be improved.

Description

Brake control method, controller, vehicle and medium of vehicle

[0001] This application claims priority to Chinese Patent Application No. 202411101488.7, filed on August 9, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of vehicle brake control, and in particular to a brake control method, controller, vehicle and medium of vehicle. BACKGROUND

[0003] With the development of the automobile industry, the braking technology of vehicles is also evolving. The vehicle braking system is an important part of the safety performance of the automobile, and its main function is to slow down or stop the vehicle. SUMMARY

[0004] The present disclosure provides a brake control method, controller, vehicle and medium of vehicle.

[0005] In a first aspect, a brake control method of a vehicle is provided, the vehicle comprising a controller, a braking system in communication connection with the controller, and a driving motor in communication connection with the controller, the method comprising:

[0006] In a case where a rotation state of a first wheel of the vehicle is a slip state, the controller controls to perform a brake action, the brake action comprising at least one of: controlling to reduce a driving torque of a first driving motor of the first wheel, or, controlling to increase a brake torque of the first wheel, and controlling to increase a driving torque of a second driving motor of a second wheel whose rotation state is a non-slip state.

[0007] In some embodiments, the method further comprises:

[0008] The controller determines a rotation state of a first wheel of the vehicle according to travel information, the rotation state comprising the slip state and the non-slip state, the travel information comprising vehicle speed information of the vehicle and wheel speed information of a plurality of wheels of the vehicle, the plurality of wheels comprising the first wheel.

[0009] In some embodiments, the wheel speed information is obtained according to a resolver signal of a driving motor of the plurality of wheels.

[0010] In some embodiments, the vehicle speed information comprises a converted vehicle speed and an actual vehicle speed, the converted vehicle speed being obtained according to wheel speed information of at least one wheel of the plurality of wheels.

[0011] In some embodiments, the wheel speed information of the plurality of wheels is further used to determine the wheel speed change value of the first wheel, and the rotation state of the first wheel is determined according to the wheel speed change value of the first wheel and the vehicle speed information.

[0012] In some embodiments, the determining the rotation state of the first wheel of the vehicle according to the driving information comprises:

[0013] When the driving information meets a preset condition, the first wheel of the vehicle is in the slip state, and the preset condition comprises that the wheel speed change value of the first wheel exceeds a first threshold value, and a ratio of an actual vehicle speed of the vehicle to a converted vehicle speed of the vehicle exceeds a preset range.

[0014] In some embodiments, the vehicle comprises a front drive motor and a rear drive motor;

[0015] The first drive motor is the front drive motor, the second drive motor is the rear drive motor, and the braking action comprises reducing the driving torque of the front drive motor and increasing the driving torque of the rear drive motor.

[0016] In some embodiments, the vehicle comprises a front drive motor and a rear drive motor;

[0017] The first drive motor is the rear drive motor, the second drive motor is the front drive motor, and the braking action comprises reducing the driving torque of the rear drive motor and increasing the driving torque of the front drive motor.

[0018] In some embodiments, the vehicle comprises a front drive motor, a left rear drive motor and a right rear drive motor;

[0019] The first drive motor is the front drive motor, the second drive motor is the left rear drive motor and the right rear drive motor, and the braking action comprises reducing the driving torque of the front drive motor and increasing the driving torque of the left rear drive motor and the right rear drive motor.

[0020] In some embodiments, the vehicle comprises a front drive motor, a left rear drive motor and a right rear drive motor;

[0021] The first wheel is a wheel driven by the left rear drive motor, the second wheel comprises a wheel driven by the right rear drive motor and a wheel driven by the front drive motor, and the braking action comprises reducing the driving torque of the left rear drive motor and increasing the driving torque of the right rear drive motor and the front drive motor; or,

[0022] The first wheel is a wheel driven by the right rear drive motor, the second wheel includes a wheel driven by the left rear drive motor and a wheel driven by the front drive motor, and the braking action includes reducing the driving torque of the left rear drive motor and increasing the driving torque of the left rear drive motor and the front drive motor.

[0023] In some embodiments, the vehicle includes a front drive motor, a left rear drive motor and a right rear drive motor;

[0024] The first wheel includes a left wheel driven by the front drive motor and a wheel driven by the left rear drive motor, the second wheel is a wheel driven by the right rear drive motor, and the braking action includes reducing the driving torque of the left rear drive motor, increasing the driving torque of the right rear drive motor, and increasing the braking torque of the left wheel driven by the front drive motor; or,

[0025] The first wheel includes a right wheel driven by the front drive motor and a wheel driven by the right rear drive motor, the second wheel is a wheel driven by the left rear drive motor, and the braking action includes reducing the driving torque of the right rear drive motor, increasing the driving torque of the left rear drive motor, and increasing the braking torque of the right wheel driven by the front drive motor.

[0026] In some embodiments, the left side wheels of the vehicle include a left front wheel driven by the front drive motor and a left rear wheel driven by the left rear drive motor, and the right side wheels of the vehicle include a right front wheel driven by the front drive motor and a right rear wheel driven by the right rear drive motor;

[0027] The method further includes: if the wheel speed variation value of the left side wheels of the vehicle exceeds a first threshold value, the ratio of the actual vehicle speed of the vehicle to the converted vehicle speed exceeds a preset range, and the wheel speed difference between the left side wheels and the right side wheels of the vehicle exceeds a second threshold value, determining that the left front wheel and the left rear wheel are both the first wheel in the slip state.

[0028] In some embodiments, one tire of the vehicle corresponds to one drive motor, and the braking action includes: reducing the driving torque of a first drive motor of the first wheel, and controlling the increase of the driving torque of a second drive motor of a second wheel in the non-slip state.

[0029] In a second aspect, a controller is provided, which includes a processor, a memory, and a computer program stored on the memory and capable of running on the processor, and when the computer program is executed by the processor, the braking control method of the vehicle is realized.

[0030] In a third aspect, a vehicle is provided, which comprises a braking execution system, a drive motor and the controller described above.

[0031] In a fourth aspect, a computer readable storage medium is provided, which stores a computer program, and the computer program, when executed by a processor, implements the braking control method of the vehicle described above.

[0032] In some embodiments of the present disclosure, a vehicle comprises a controller, a braking system connected to the controller in communication, and a drive motor connected to the controller in communication. In a case where a rotation state of a first wheel of the vehicle is a slip state, the controller controls to execute a braking action, the braking action comprising controlling to reduce a driving torque of a first drive motor of the first wheel and / or to increase a braking torque of the first wheel, and controlling to increase a driving torque of a second drive motor of a second wheel whose rotation state is a non-slip state. Through some embodiments of the present disclosure, the effect of preventing slip can be achieved while not reducing the acceleration performance of the vehicle, thereby improving the power and stability of the vehicle. And by redistributing the driving torque of the drive motor, combined with the characteristics of fast response, high precision and reproducibility of the drive motor, the response speed and control precision can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the present disclosure, the drawings needed to be used in the description of the present disclosure will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can also be obtained by those skilled in the art without creative labor.

[0034] FIG. 1 is a flowchart of a vehicle control method for placing wheel slip in the related art;

[0035] FIG. 2 is another flowchart of a vehicle control method for placing wheel slip in the related art;

[0036] FIG. 3 is a flowchart of a braking control method of a vehicle according to some embodiments;

[0037] FIG. 4 is a flowchart of another braking control method of a vehicle according to some embodiments;

[0038] FIG. 5 is a block diagram of a vehicle according to some embodiments;

[0039] FIG. 6 is a block diagram of a controller according to some embodiments;

[0040] FIG. 7A is a flowchart of a braking control method of a vehicle with a double drive motor structure according to some embodiments;

[0041] FIG. 7B is another flowchart of a braking control method of a vehicle of a dual drive motor structure, according to some embodiments;

[0042] FIG. 8A is a flowchart of a braking control method of a vehicle of a triple drive motor structure, according to some embodiments;

[0043] FIG. 8B is another flowchart of a braking control method of a vehicle of a triple drive motor structure, according to some embodiments;

[0044] FIG. 9A is a flowchart of a braking control method of a vehicle of a quadruple drive motor structure, according to some embodiments;

[0045] FIG. 9B is another flowchart of a braking control method of a vehicle of a quadruple drive motor structure, according to some embodiments;

[0046] FIG. 10 is a block diagram of a control device of a vehicle, according to some embodiments. DETAILED DESCRIPTION

[0047] In order to make the above objectives, features and advantages of the present disclosure more clear and obvious, the following further describes the present disclosure in detail with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present disclosure.

[0048] As shown in FIGS. 1 and 2, in the related art, the control strategy of the vehicle power system based on the widely used distributed automobile electronic and electrical architecture in low adhesion road driving can refer to steps 101-105 in FIG. 2: relying on the integrated brake system (IPB) 10 to collect the wheel speed signal, relying on the integrated brake system 10 to analyze the vehicle speed signal, and calculating the slip rate according to the change of the wheel speed and the vehicle speed. The integrated brake system 10 can judge whether the wheel slips in combination with the current vehicle state (speed, acceleration, etc.). When the slip rate exceeds the set threshold, the IPB determines that the wheel slips, and calculates the brake torque of the wheel 20. The brake torque is applied to the slipping wheel 20 through the brake execution system 30, so as to suppress the wheel 20 slip and ensure the driving safety.

[0049] However, this scheme of suppressing wheel slip by increasing wheel brake torque can reduce the vehicle acceleration performance in the scene of large throttle starting, snow or wet ground in rainy days. In addition, since the brake torque can offset the acceleration power of the vehicle, the energy that should be used to accelerate the vehicle is consumed, and thus the energy consumption of the vehicle is increased.

[0050] To solve the above problems, some embodiments of the present disclosure provide a brake control method of a vehicle.

[0051] Referring to FIG. 3, a flowchart of a brake control method of a vehicle is shown according to some embodiments of the present disclosure; the vehicle can include a controller, a brake system in communication connection with the controller, and a driving motor in communication connection with the controller.

[0052] As shown in FIG. 3, the brake control method of the vehicle can include the following step 301.

[0053] Step 301, in the case that the rotation state of a first wheel of the vehicle is a slip state, the controller controls to perform a brake action, the brake action including controlling to reduce the driving torque of a first driving motor of the first wheel and / or controlling to increase the brake torque of the first wheel, and controlling to increase the driving torque of a second driving motor of a second wheel whose rotation state is a non-slip state.

[0054] In some embodiments of the present disclosure, during the driving of the vehicle, the rotation of each wheel of the vehicle can be detected to detect whether each wheel slips.

[0055] For a first wheel in the vehicle, when it is detected that the rotation state of the first wheel is a slip state, it can be determined that the first wheel slips. At this time, the controller can control to perform a brake action for the first wheel.

[0056] For example, the brake action can include that the controller controls a first driving motor corresponding to the first wheel to reduce the driving torque of the first driving motor. At the same time, the controller also controls to increase the driving torque of a second driving motor of a second wheel whose rotation state is a non-slip state.

[0057] The brake action can also include that the controller controls the brake system to increase the brake torque of the first wheel. At the same time, the controller also controls to increase the driving torque of a second driving motor of a second wheel whose rotation state is a non-slip state.

[0058] The brake action can also include that the controller controls a first driving motor corresponding to the first wheel to reduce the driving torque of the first driving motor, and controls the brake system to increase the brake torque of the first wheel. At the same time, the controller also controls to increase the driving torque of a second driving motor of a second wheel whose rotation state is a non-slip state.

[0059] In some embodiments of the present disclosure, the vehicle comprises a controller, a braking system communicatively connected to the controller, and a drive motor communicatively connected to the controller. In a case where a rotation state of a first wheel of the vehicle is a slip state, the controller controls to perform a braking action, the braking action comprising controlling to reduce a driving torque of a first drive motor of the first wheel and / or to increase a braking torque of the first wheel, and controlling to increase a driving torque of a second drive motor of a second wheel in a non-slip state. Through some embodiments of the present disclosure, the effect of preventing slip can be achieved while not reducing the acceleration performance of the vehicle, thereby improving the power and stability of the vehicle. In addition, by redistributing the driving torque of the drive motor, combined with the characteristics of fast response, high accuracy, and reproducibility of the drive motor, the response speed and control accuracy can be improved.

[0060] Moreover, in some embodiments of the present disclosure, the controller integrates the functions of drive control and brake control, and the controller can make a brake response more quickly.

[0061] Referring to FIG. 4, a flowchart of another brake control method of a vehicle according to some embodiments of the present disclosure is shown, which can comprise the following steps 401 and 402.

[0062] Step 401, the controller determines a rotation state of a first wheel of the vehicle according to driving information, the rotation state comprising a slip state and a non-slip state, the driving information comprising vehicle speed information of the vehicle and wheel speed information of a plurality of wheels of the vehicle, the plurality of wheels comprising the first wheel.

[0063] In some embodiments of the present disclosure, the controller can directly obtain data of each sensor and actuator, and obtain driving information of the vehicle according to the data of each sensor and actuator. The controller does not need to call data from other systems, thereby further improving the brake response speed.

[0064] In actual applications, the controller can first obtain driving information comprising vehicle speed information of the vehicle and wheel speed information of a plurality of wheels of the vehicle; then, the controller can determine a rotation state of a first wheel of the vehicle according to the vehicle speed information of the vehicle and the wheel speed information of the plurality of wheels of the vehicle. The rotation state can comprise a slip state and a non-slip state.

[0065] When the rotation state of the first wheel is a slip state, it indicates that the first wheel has slipped; when the rotation state of the first wheel is a non-slip state, it indicates that the first wheel has not slipped.

[0066] In some embodiments of the present disclosure, the wheel speed information is obtained according to a resolver signal of a drive motor of the plurality of wheels.

[0067] Since the collection accuracy of the resolver is 85-128 times of the wheel speed sensor, some embodiments of the present disclosure can obtain the resolver signals of the driving motor corresponding to each wheel from the resolver, and then accurately determine the wheel speed information of each wheel.

[0068] For example, the driving motor resolver signal refers to the position or angle information obtained from the resolver. The resolver generally includes a stator and a rotor, the stator contains one or more coils, and the rotor also contains one or more coils; the rotor is connected with the rotating shaft of the driving motor and rotates with the rotation of the driving motor.

[0069] When obtaining the driving motor resolver signal, an alternating excitation signal (usually a sine wave or a square wave) can be applied in the stator coil first, and the excitation signal will change the magnetic field of the resolver. At this time, the rotor coil will sense the magnetic field change generated by the stator coil, thereby generating an induction signal related to the excitation signal in the rotor coil, and the phase or amplitude of the induction signal will change with the rotation angle of the rotor. By filtering, amplifying, phase comparing, etc. of the induction signal, the rotation angle related information can be extracted.

[0070] By analyzing the extracted rotation angle related information, the actual rotation angle of the rotor can be calculated, and thus the driving motor resolver signal can be obtained. The driving motor resolver signal can represent the absolute position or relative position change of the driving motor.

[0071] After obtaining the driving motor resolver signals of the driving motor corresponding to each wheel, the wheel speed of the wheel driven by the driving motor can be derived according to the driving motor resolver signal; for example, by analyzing the driving motor resolver signal, the change rate of the rotation angle of the driving motor shaft can be determined.

[0072] Based on the change rate of the rotation angle of the driving motor shaft, the rotation speed of the driving motor can be determined; then, the rotation speed of the driving motor can be converted into the linear speed of the wheel, and thus the wheel speed information of the wheel can be obtained.

[0073] In some embodiments of the present disclosure, the wheel speed information of the plurality of wheels is also used to determine the wheel speed change value of the first wheel, and the rotation state of the first wheel is obtained according to the wheel speed change value of the first wheel and the vehicle speed information.

[0074] After obtaining the wheel speed information of each wheel, the wheel speed change value Δn of the first wheel can also be determined; for example, the wheel speed information of the first wheel at different time points in a continuous time period can be obtained first; then, based on the difference between the wheel speed value of the wheel speed information at the current time point and the wheel speed value of the wheel speed information at the last time point, the wheel speed change value of the first wheel can be determined.

[0075] In some embodiments of the present disclosure, the wheel speed sensor signal can also be obtained from the wheel speed sensor to determine the wheel speed information of each wheel, and the present disclosure does not limit this.

[0076] In some embodiments of the present disclosure, the vehicle speed information includes a converted vehicle speed and an actual vehicle speed, and the converted vehicle speed is obtained according to the wheel speed information of at least one wheel in the plurality of wheels.

[0077] In actual applications, the vehicle speed information can include a converted vehicle speed and an actual vehicle speed. The actual vehicle speed can be obtained from an inertial measurement unit (IMU), and the converted vehicle speed is obtained according to the wheel speed information of at least one wheel in the plurality of wheels.

[0078] For example, after obtaining the wheel speed corresponding to each wheel, the converted vehicle speed corresponding to each wheel can be derived based on the wheel speed of each wheel. For example, based on the wheel speed, the vehicle speed (i.e., the converted vehicle speed) that the wheel can reach when it is assumed to be in a non-slip state can be determined.

[0079] In some embodiments of the present disclosure, step 401 can be implemented in the following manner:

[0080] When the driving information meets the preset condition, the first wheel of the vehicle is in a slip state, and the preset condition includes that the wheel speed change value of the first wheel exceeds a first threshold value, and the ratio of the actual vehicle speed of the vehicle to the converted vehicle speed of the vehicle exceeds a preset range.

[0081] In some embodiments, when the driving information is used to determine the rotation state of the first wheel of the vehicle, if the driving information meets the preset condition, it can be determined that the rotation state of the first wheel of the vehicle is a slip state.

[0082] The preset condition can refer to that the wheel speed change value of the first wheel exceeds a first threshold value, and the ratio of the actual vehicle speed of the vehicle to the converted vehicle speed of the vehicle exceeds a preset range. The first threshold value and the preset range can be set according to actual conditions, and the present disclosure does not limit this.

[0083] In some embodiments, the wheel speed change value can also be directly used to determine whether the first wheel slips. For example, when the wheel speed change value of the first wheel is greater than a first threshold value, it can be determined that the first wheel is in a slip state.

[0084] In some embodiments, the speed of the first wheel can also be compared with the speed of other wheels to determine whether the first wheel slips. For example, the difference between the wheel speed of the first wheel and the wheel speed of other wheels can be calculated first. Then, it is determined whether the difference is greater than a preset value. The value of the preset value can also be obtained through experimental tests, and the present disclosure does not limit this.

[0085] Step 402, in the case that the rotation state of the first wheel of the vehicle is the slip state, the controller controls to perform a braking action.

[0086] For the first wheel in the vehicle, when it is detected that the rotation state of the first wheel is the slip state, it can be determined that the first wheel slips. At this time, the controller can control to perform a braking action for the first wheel.

[0087] For example, the braking action can include: the controller controls the first driving motor corresponding to the first wheel to reduce the driving torque of the first driving motor. At the same time, the controller can also control to increase the driving torque of the second driving motor of the second wheel whose rotation state is the non-slip state.

[0088] The braking action can also include: the controller controls the braking system to increase the braking torque of the first wheel. At the same time, the controller also controls to increase the driving torque of the second driving motor of the second wheel whose rotation state is the non-slip state.

[0089] The braking action can also include: the controller controls the first driving motor corresponding to the first wheel to reduce the driving torque of the first driving motor, and controls the braking system to increase the braking torque of the first wheel. At the same time, the controller also controls to increase the driving torque of the second driving motor of the second wheel whose rotation state is the non-slip state.

[0090] In some embodiments of the present disclosure, the vehicle can be a double driving motor structure; for example, the vehicle can include a front driving motor and a rear driving motor.

[0091] In some examples, when the first driving motor is a front driving motor and the second driving motor is a rear driving motor, the braking action can include:

[0092] Reducing the driving torque of the front driving motor and increasing the driving torque of the rear driving motor.

[0093] When the first driving motor where the first wheel that slips is located is a front driving motor and the second driving motor where the second wheel that does not slip is located is a rear driving motor, the driving torque of the front driving motor can be reduced and the driving torque of the rear driving motor can be increased without changing the total driving torque.

[0094] In other examples, when the first driving motor is a rear driving motor and the second driving motor is a front driving motor, the braking action can include:

[0095] Reducing the driving torque of the rear driving motor and increasing the driving torque of the front driving motor.

[0096] When the first driving motor where the first wheel that has occurred slip is located is a rear driving motor, and the second driving motor where the second wheel that has not occurred slip is located is a front driving motor, the driving torque of the rear driving motor can be reduced and the driving torque of the front driving motor can be increased without changing the total driving torque.

[0097] In yet some examples, when the first driving motor is a front driving motor and a rear driving motor, the braking action can include:

[0098] Increasing the braking torque of the first wheel.

[0099] In some embodiments, if the first driving motor where the first wheel that has occurred slip is located includes a front driving motor and a rear driving motor, it can be determined that the wheels on the current side of the vehicle have all occurred slip; for a vehicle with double driving motors, the controller can control the braking system to increase the braking torque of the first wheel, so as to inhibit the first wheel from continuing to slip.

[0100] In some embodiments of the present disclosure, the vehicle can be a three driving motor structure; for example, the vehicle can include a front driving motor, a left rear driving motor and a right rear driving motor; when the vehicle is of this structure:

[0101] In some examples, when the first driving motor is a front driving motor, and the second driving motor is a left rear driving motor and a right rear driving motor, the braking action can include:

[0102] Reducing the driving torque of the front driving motor, and increasing the driving torque of the left rear driving motor and the right rear driving motor.

[0103] In actual application, for a vehicle with a three driving motor structure, two wheels are driven by one driving motor, and the other two wheels are driven by one driving motor respectively; for such a structure, if the first driving motor where the first wheel is located includes a front driving motor, and the second driving motor where the second wheel is located includes a left rear driving motor and a right rear driving motor, the driving torque of the front driving motor can be reduced and the driving torque of the left rear driving motor and the right rear driving motor can be increased without changing the total driving torque.

[0104] In some other examples, when the first wheel is a wheel driven by a left rear driving motor, and the second wheel includes a wheel driven by a right rear driving motor and a wheel driven by a front driving motor, the braking action can include:

[0105] Reducing the driving torque of the left rear driving motor, and increasing the driving torque of the right rear driving motor and the front driving motor.

[0106] If the first wheel is a right rear drive motor driven wheel and the second wheel includes a left rear drive motor driven wheel and a front drive motor driven wheel, the braking action can include:

[0107] In further examples, when the first wheel is a right rear drive motor driven wheel and the second wheel includes a left rear drive motor and a front drive motor driven wheel, the braking action can include:

[0108] decreasing the drive torque of the right rear drive motor and increasing the drive torque of the left rear drive motor and the front drive motor.

[0109] If the first wheel is a right rear drive motor driven wheel and the second wheel includes a left rear drive motor and a front drive motor driven wheel, the drive torque of the right rear drive motor can be decreased and the drive torque of the left rear drive motor and the front drive motor can be increased, while the total drive torque remains constant.

[0110] In further examples, when the first wheel includes a front drive motor driven left wheel and a left rear drive motor driven wheel and the second wheel is a right rear drive motor driven wheel, the braking action can include:

[0111] decreasing the drive torque of the left rear drive motor, increasing the drive torque of the right rear drive motor, and increasing the braking torque of the front drive motor driven left wheel.

[0112] If the first wheel includes a front drive motor driven left wheel and a left rear drive motor driven wheel and the second wheel is a right rear drive motor driven wheel, the drive torque of the left rear drive motor can be decreased and the drive torque of the right rear drive motor can be increased, while the total drive torque remains constant. Additionally, the braking torque of the front drive motor driven left wheel can be increased.

[0113] In further examples, when the first wheel includes a front drive motor driven right wheel and a right rear drive motor driven wheel and the second wheel is a left rear drive motor driven wheel, the braking action can include:

[0114] decreasing the drive torque of the right rear drive motor, increasing the drive torque of the left rear drive motor, and increasing the braking torque of the front drive motor driven right wheel.

[0115] If the first wheel comprises a right front wheel driven by a front drive motor and a right rear wheel driven by a rear drive motor, and the second wheel is a left rear wheel driven by a rear drive motor, the driving torque of the right rear wheel can be reduced and the driving torque of the left rear wheel can be increased without changing the total driving torque. In addition, the braking torque of the right front wheel driven by the front drive motor can be increased.

[0116] In some embodiments of the present disclosure, the left wheels of the vehicle comprise a left front wheel driven by a front drive motor and a left rear wheel driven by a rear drive motor, and the right wheels of the vehicle comprise a right front wheel driven by a front drive motor and a right rear wheel driven by a rear drive motor.

[0117] If the wheel speed variation value of the left wheels of the vehicle exceeds the first threshold value, the ratio of the actual speed of the vehicle to the converted speed of the vehicle exceeds the preset range, and the wheel speed difference between the left wheels and the right wheels of the vehicle exceeds the second threshold value, it is determined that the left front wheel and the left rear wheel are both first wheels in the rotating state of the slip state.

[0118] In some embodiments, if the wheel speed variation value of the left wheels of the vehicle has exceeded the first threshold value, the ratio of the actual speed of the vehicle to the converted speed of the vehicle exceeds the preset range, and the wheel speed difference between the left wheels and the right wheels of the vehicle exceeds the second threshold value, it is determined that the left front wheel and the left rear wheel are both first wheels in the rotating state of the slip state. In this case, the driving torque of the left rear drive motor can be reduced, the driving torque of the right rear drive motor can be increased, and the braking torque of the left front wheel driven by the front drive motor can be increased.

[0119] The second threshold value can be set according to actual conditions, and the present disclosure does not limit this.

[0120] In some embodiments of the present disclosure, the vehicle can be a four-drive motor structure; for example, one tire of the vehicle corresponds to one drive motor; when the vehicle is of this structure, the braking action can comprise:

[0121] The driving torque of the first drive motor of the first wheel is reduced, and the driving torque of the second drive motor of the second wheel in the rotating state of the non-slip state is controlled to be increased.

[0122] In some embodiments of the present disclosure, for a vehicle of a four-drive motor structure, since each wheel is independently controlled; therefore, when it is detected that the first wheel slips, the driving torque of the first drive motor of the first wheel where the slip occurs can be reduced and the driving torque of the second drive motor of the second wheel where the slip does not occur can be increased without changing the total driving torque, so as to suppress the slip of the first wheel while reducing the energy loss caused by using the braking system to prevent slip.

[0123] In some embodiments of the present disclosure, the controller determines a rotation state of a first wheel of the vehicle according to driving information, the rotation state including a slip state and a non-slip state, the driving information including vehicle speed information of the vehicle and wheel speed information of a plurality of wheels of the vehicle, the plurality of wheels including the first wheel; and the controller controls to perform a braking action in a case where the rotation state of the first wheel of the vehicle is the slip state. Through some embodiments of the present disclosure, the effect of preventing slip can be achieved while not reducing the acceleration performance of the vehicle, thereby improving the power and stability of the vehicle. Moreover, by redistributing the driving torque of the driving motor, in combination with the characteristics of the driving motor such as fast response, high precision and reproducibility, the response speed and control precision can be improved.

[0124] It should be noted that, for the method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that some embodiments of the present disclosure are not limited by the order of the described actions, because according to some embodiments of the present disclosure, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by some embodiments of the present disclosure.

[0125] Referring to FIG. 5, a block diagram of a vehicle according to some embodiments of the present disclosure is shown; as shown in FIG. 5, the vehicle 500 can include a braking execution system 510, a driving motor 520 and a controller 530 according to any of the above embodiments.

[0126] The controller 530 is configured to determine driving information of the vehicle 500; determine a rotation state of a first wheel of the vehicle 500 according to the driving information; and control to perform a braking action in a case where the rotation state of the first wheel of the vehicle is a slip state, the braking action including controlling to reduce a driving torque of a first driving motor 521 of the first wheel and / or increase a braking torque of the first wheel, and controlling to increase a driving torque of a second driving motor 522 of a second wheel in a non-slip state.

[0127] In some embodiments of the present disclosure, as shown in FIG. 6, the controller 530 can integrate the functions of signal acquisition, logical operation, torque distribution and control of components such as a vehicle control unit (VCU) 531, an integrated power brake (IPB) 532, a motor control unit (MCU) 533 and an inertial measurement unit (IMU) 534, and change from distributed control to centralized control, and the message interaction between devices is changed to internal variable calling, thereby improving data processing efficiency and timeliness of system response.

[0128] For example, the controller 530 can acquire driving information of the vehicle 500; the driving information can include wheel speed information of each wheel of the vehicle 500, and vehicle speed information of the vehicle 500.

[0129] Based on the wheel speed information of each wheel of the vehicle 500 and the vehicle speed information of the vehicle 500, the controller 530 can detect whether each wheel of the vehicle 500 slips.

[0130] When the controller 530 detects that the wheel of the vehicle 500 slips, the controller 530 can determine the target brake torque and the target drive torque of each wheel, and send the brake command according to the target brake torque to the brake execution system 510, and send the drive command according to the target drive torque to the brake execution system 510, to directly control the brake execution system 510 and the drive motor 520 of the vehicle 500. When the controller 530 controls the brake execution system 510 and the drive motor 520, the controller 530 can reduce the drive torque of the first drive motor 521 where the first wheel that slips is located, and increase the drive torque of the second drive motor 522 where the second wheel that does not slip is located, so as to prevent the slip while not reducing the acceleration performance of the vehicle 500, thereby improving the power and stability of the vehicle 500. In addition, by redistributing the drive torque of the drive motor 520, combined with the characteristics of the drive motor 520 that the response is fast, the accuracy is high, and the regeneration is possible, the response speed and control accuracy can be improved.

[0131] In some embodiments, the controller 530 can send the driving state information of the vehicle to the network bus, and provide the information to the instrument cluster (IC) for working state display.

[0132] As shown in FIG. 7A, for a vehicle with double drive motors, the controller 530 can directly control the front drive motor 523, the rear drive motor 524, and the brake execution system 510, the front drive motor 523 can drive the front wheel 541, the rear drive motor 524 can drive the rear wheel 542, and the brake execution system 510 can brake the front wheel 541 and the rear wheel 542 respectively.

[0133] As shown in FIG. 7B, the brake control method of the vehicle with the double drive motor structure of some embodiments of the present disclosure includes 701 to 707.

[0134] 701. The controller acquires the wheel speed and the vehicle speed.

[0135] 702. The controller calculates the resolver signals, the wheel speed, the vehicle speed, the acceleration information, etc. of the front drive motor and the rear drive motor.

[0136] 703、The controller analyzes whether the wheel speed of the front and rear wheels of the vehicle has a sudden change based on the information, and determines whether the slip state of the front / rear wheels exceeds a set range; if not, the slip signal of the front drive motor and the rear drive motor, the vehicle speed, the acceleration information, etc. are recalculated.

[0137] If it exceeds, it can be determined whether the slip occurs on the left and right single side wheels or on the double side wheels (i.e. the left and right wheels on the front side or the left and right wheels on the rear side).

[0138] 704、If it is single side, the controller increases the brake torque of the wheel on the slip side.

[0139] 705、The controller controls the brake execution system to brake and decelerate the wheel on the single side.

[0140] 706、If it is double side, the controller reallocates the drive torque of the front drive motor and the rear drive motor.

[0141] 707、The controller controls the front drive motor and the rear drive motor to execute.

[0142] For example, the wheel speed change value Δn of each wheel, the ratio of the converted vehicle speed to the actual vehicle speed V1 / V2 can be determined.

[0143] When neither Δn nor V1 / V2 exceeds the threshold value, and the left and right wheel speed difference of the vehicle is within a certain range, it is determined that there is no slip, and no processing is performed, and the controller continues to monitor Δn, V1 / V2, the drive motor speed and the vehicle speed.

[0144] When the Δn and V1 / V2 of the wheel corresponding to the front drive motor exceed the threshold value, the Δn of the wheel corresponding to the rear drive motor does not exceed the threshold value, and the left and right wheel speed difference of the vehicle is within a certain range, the controller immediately determines that the front axle of the vehicle is double side wheel slip, and the controller immediately responds to reallocate the torque of the front and rear drive motors, to reduce the torque of the front axle drive motor to an appropriate value, and to appropriately increase the torque of the rear axle drive motor to an appropriate value, while keeping the overall torque unchanged, so that the torque is transferred to the rear axle.

[0145] Similarly, when the Δn and V1 / V2 of the rear drive motor exceed the threshold value, the Δn of the front drive motor does not exceed the threshold value, and the left and right wheel speed difference of the vehicle is within a certain range, the controller immediately determines that the rear axle of the vehicle is double side wheel slip, and the controller immediately responds to reallocate the torque, to appropriately increase the torque of the front axle drive motor to an appropriate value, and to appropriately reduce the torque of the rear axle drive motor to an appropriate value, while keeping the overall torque unchanged, so that the torque is transferred to the front axle.

[0146] When the vehicle left wheel Δn exceeds the threshold, and the left and right wheel speed difference exceeds the threshold, the controller determines that the left wheel is slipping, the controller increases the brake torque of the left side slipping wheel, drives the brake execution system to apply corresponding brake force to the left side slipping wheel, thereby inhibiting the left wheel slip.

[0147] When the vehicle right wheel Δn exceeds the threshold, and the left and right wheel speed difference exceeds the threshold, the controller determines that the right wheel is slipping, the controller increases the brake torque of the right side slipping wheel, drives the brake execution system to apply corresponding brake force to the right side slipping wheel, thereby inhibiting the right wheel slip.

[0148] As shown in FIG. 8A, for a three-drive motor vehicle, the controller 530 can directly control the front drive motor 523, the left rear drive motor 525, the right rear drive motor 526, and the brake execution system 510, the front drive motor 523 can drive the front wheel 541, the left rear drive motor 525 can drive the left rear wheel 543, the right rear drive motor 526 can drive the right rear wheel 544, and the brake execution system 510 can brake each wheel respectively.

[0149] As shown in FIG. 8B, the brake control method of the three-drive motor vehicle of some embodiments of the present disclosure includes 801 to 809.

[0150] 801, the controller obtains the wheel speed and vehicle speed.

[0151] 802, the controller calculates the drive motor rotational variable signal of the front drive motor and the rear drive motor, the vehicle speed, the acceleration information, etc.

[0152] 803, the controller analyzes whether the wheel speed of the front wheel and the rear wheel of the vehicle has a sudden change based on these information, and judges whether the slip state of the front / rear wheel exceeds the set range; if not, recalculate the rotational variable signal of the front drive motor and the rear drive motor, the vehicle speed, the acceleration information, etc.

[0153] If it exceeds, it can be judged whether the left and right single side wheels slip, or the double side wheels slip (i.e. the left and right wheels on the front side slip, or the left and right wheels on the rear side slip).

[0154] 804, if it is single side, the controller increases the brake torque of the front wheel on the slipping side.

[0155] 805, control the brake execution system to brake and decelerate the front wheel on the side.

[0156] 806, reduce the drive torque of the rear wheel on the slipping side.

[0157] 807, control the rear drive motor to execute.

[0158] 808、If it is bilateral, the controller re-distributes the driving torque of each driving motor.

[0159] 809、The controller controls the front driving motor, the left rear driving motor and the right rear driving motor to execute.

[0160] For example, the wheel speed change value Δn of each wheel, the ratio of the converted vehicle speed to the actual vehicle speed V1 / V2 can be determined.

[0161] When neither Δn nor V1 / V2 exceeds the threshold value, and the left and right wheel speed difference of the vehicle is within a certain range, it is determined that there is no slip, and no processing is performed, and the controller continues to monitor Δn, V1 / V2, the driving motor speed and the vehicle speed.

[0162] When the front driving motor Δn and V1 / V2 exceed the threshold value, the left rear and right rear driving motor Δn do not exceed the threshold value, and the left and right wheel speed difference of the vehicle is within a certain range, the controller immediately determines that the front axle of the vehicle is bilaterally wheel slip, and the controller immediately responds to re-distribute the front, left rear and right rear driving motor torque, reduce the driving torque of the front driving motor to an appropriate value, and appropriately increase the driving torque of the left rear and right rear driving motors to an appropriate value, while keeping the total driving torque unchanged, thereby achieving the transfer of torque to the rear axle.

[0163] When the left rear and right rear driving motor Δn and V1 / V2 exceed the threshold value, the front driving motor Δn does not exceed the threshold value, and the left and right wheel speed difference of the vehicle is within a certain range, the controller immediately determines that the rear axle of the vehicle is bilaterally wheel slip, and the controller immediately responds to re-distribute the torque, appropriately increase the driving torque of the front driving motor to an appropriate value, and appropriately reduce the driving torque of the left rear and right rear driving motors to an appropriate value, while keeping the total driving torque unchanged, thereby achieving the transfer of torque to the front axle.

[0164] When the wheel speed change of the left side of the vehicle exceeds the threshold value, and the left and right wheel speed difference exceeds the threshold value, the controller determines that the left side is wheel slip, and the controller reduces the driving torque of the left rear driving motor to suppress the rear side wheel slip; at the same time, the brake torque of the left front side slip wheel is increased, and the driving brake execution system applies corresponding brake force to the left front side slip wheel, thereby suppressing the left front side wheel slip.

[0165] When the wheel speed change of the right side of the vehicle exceeds the threshold value, and the left and right wheel speed difference exceeds the threshold value, the controller determines that the right side is wheel slip, and the controller reduces the driving torque of the right rear driving motor to suppress the rear side wheel slip, and at the same time, the brake torque of the right front side slip wheel is increased, and the driving brake execution system applies corresponding brake force to the right front side slip wheel, thereby suppressing the right front side wheel slip.

[0166] For a three driving motor vehicle, if unilateral slip occurs, the driving torque of the other side driving motor that can still be controlled can be increased to achieve the transfer of torque.

[0167] As shown in FIG. 9A, for a vehicle with four drive motors, the controller 530 can directly control the left front drive motor 527a, the right front drive motor 527b, the left rear drive motor 528a, the right rear drive motor 528b, and the brake execution system 510, the left front drive motor 527a can drive the left front wheel 545a, the right front drive motor 527b can drive the right front wheel 545b, the left rear drive motor 528a can drive the left rear wheel 546a, the right rear drive motor 528b can drive the right rear wheel 546b, and the brake execution system 510 can brake each wheel respectively.

[0168] As shown in FIG. 9B, the brake control method of the vehicle with three drive motors of some embodiments of the present disclosure includes 901 to 905.

[0169] 901, the controller obtains the wheel speed and the vehicle speed.

[0170] 902, the controller calculates the resolver signals of the front drive motor and the rear drive motor, the vehicle speed, the acceleration information, etc.

[0171] 903, based on these information, analyze whether the wheel speed of the front wheel and the rear wheel of the vehicle changes suddenly, and determine whether the slip state of the front / rear wheel exceeds the set range; if not, recalculate the resolver signals of the front drive motor and the rear drive motor, the vehicle speed, the acceleration information, etc.

[0172] 904, for a vehicle with four drive motors, each wheel is an independent drive; therefore, the controller can directly redistribute the driving torque of each drive motor when detecting the wheel slip.

[0173] 905, control the left front drive motor, the right front drive motor, the left rear drive motor, and the right rear drive motor to execute, so as to control the left front wheel, the right front wheel, the left rear wheel, or the right rear wheel respectively.

[0174] For example, the wheel speed change value Δn of each wheel, the ratio of the converted vehicle speed to the actual vehicle speed V1 / V2 can be determined.

[0175] When Δn, V1 / V2 do not exceed the threshold value, and the left and right wheel speed difference of the vehicle is within a certain range, it is determined that there is no slip, and no processing is performed, and the controller continues to monitor Δn, V1 / V2, the drive motor speed and the vehicle speed.

[0176] When one or more driving motors Δn, V1 / V2 exceeds the threshold, and the other driving motors Δn does not exceed the threshold, the controller immediately determines that one or more wheels of the vehicle is slipping, and immediately responds to re-allocate the driving torque of each driving motor, to reduce the driving torque of the driving motor at the slipping wheel end to an appropriate value, to appropriately increase the driving torque of the driving motor at the non-slip end to an appropriate value, and to keep the total driving torque of the four driving motors unchanged, so as to realize the re-allocation of the driving torque and the transfer of the traction force.

[0177] For example, if the left front wheel slips, the driving torque of the driving motor corresponding to the left front wheel can be reduced, and the reduced driving torque of the driving motor corresponding to the left front wheel can be increased to the driving motor corresponding to the other wheel.

[0178] In some embodiments of the present disclosure, the vehicle includes a brake execution system, a driving motor, and a controller; the controller is configured to determine driving information of the vehicle; determine a rotation state of a first wheel of the vehicle according to the driving information; in a case where the rotation state of the first wheel of the vehicle is a slipping state, control to execute a brake action, the brake action including controlling to reduce a driving torque of a first driving motor of the first wheel and / or increase a brake torque of the first wheel, and controlling to increase a driving torque of a second driving motor of a second wheel in a non-slip state.

[0179] In some embodiments of the present disclosure, the controller integrates the functions of signal acquisition, logical operation, torque allocation and control of VCU, IPB, MCU, IMU and other components, and changes the distributed control to centralized control, and the message interaction between the controllers is changed to internal variable calling, so as to improve the data processing efficiency and the timeliness of system response. In addition, since the signal acquisition, logical calculation, torque allocation and control are all integrated into the controller, the controller has higher expandability, is easier to realize software and hardware decoupling, and is easier to upgrade by Over-The-Air (OTA) technology.

[0180] Referring to FIG. 10, a schematic diagram of a control device of a vehicle is shown, the vehicle including a controller, a brake system in communication connection with the controller, and a driving motor in communication connection with the controller. The control device 60 can include a brake control module 1001.

[0181] The brake control module 1001 is configured to, in a case where a rotation state of a first wheel of the vehicle is a slipping state, control to execute a brake action, the brake action including controlling to reduce a driving torque of a first driving motor of the first wheel and / or increase a brake torque of the first wheel, and controlling to increase a driving torque of a second driving motor of a second wheel in a non-slip state.

[0182] In some embodiments of the present disclosure, the control device further comprises a state determining module. The state determining module is configured to determine a rotation state of the first wheel of the vehicle according to the driving information, the rotation state comprising a slip state and a non-slip state, the driving information comprising vehicle speed information of the vehicle and wheel speed information of a plurality of wheels of the vehicle, the plurality of wheels comprising the first wheel.

[0183] In some embodiments of the present disclosure, the wheel speed information is obtained according to resolver signals of the driving motors of the plurality of wheels.

[0184] In some embodiments of the present disclosure, the vehicle speed information comprises a converted vehicle speed and an actual vehicle speed, the converted vehicle speed being obtained according to the wheel speed information of at least one wheel of the plurality of wheels.

[0185] In some embodiments of the present disclosure, the wheel speed information of the plurality of wheels is further used to determine a wheel speed change value of the first wheel, and the rotation state of the first wheel is determined according to the wheel speed change value of the first wheel and the vehicle speed information.

[0186] In some embodiments of the present disclosure, the state determining module is further configured to determine that the first wheel of the vehicle is in the slip state when the driving information meets a preset condition, the preset condition comprising that the wheel speed change value of the first wheel exceeds a first threshold value, and a ratio of the actual vehicle speed of the vehicle to the converted vehicle speed of the vehicle exceeds a preset range.

[0187] In some embodiments of the present disclosure, the vehicle comprises a front driving motor and a rear driving motor;

[0188] The first driving motor is the front driving motor, the second driving motor is the rear driving motor, and the braking action comprises reducing the driving torque of the front driving motor and increasing the driving torque of the rear driving motor.

[0189] In some embodiments of the present disclosure, the vehicle comprises a front driving motor and a rear driving motor;

[0190] The first driving motor is the rear driving motor, the second driving motor is the front driving motor, and the braking action comprises reducing the driving torque of the rear driving motor and increasing the driving torque of the front driving motor.

[0191] In some embodiments of the present disclosure, the vehicle comprises a front driving motor, a left rear driving motor and a right rear driving motor;

[0192] The first driving motor is the front driving motor, the second driving motor is the left rear driving motor and the right rear driving motor, and the braking action comprises reducing the driving torque of the front driving motor and increasing the driving torque of the left rear driving motor and the right rear driving motor.

[0193] In some embodiments of the present disclosure, the vehicle comprises a front driving motor, a left rear driving motor and a right rear driving motor;

[0194] The first wheel is a right rear drive motor driven wheel, the second wheel comprises a left rear drive motor driven wheel and a front drive motor driven wheel, and the braking action comprises reducing the driving torque of the right rear drive motor and increasing the driving torque of the left rear drive motor and the front drive motor.

[0195] The first wheel is a right rear drive motor driven wheel, the second wheel comprises a left rear drive motor driven wheel and a front drive motor driven wheel, and the braking action comprises reducing the driving torque of the right rear drive motor and increasing the driving torque of the left rear drive motor and the front drive motor.

[0196] In some embodiments of the present disclosure, the vehicle comprises a front drive motor, a left rear drive motor and a right rear drive motor.

[0197] The first wheel comprises a left front drive motor driven wheel and a left rear drive motor driven wheel, the second wheel is a right rear drive motor driven wheel, and the braking action comprises reducing the driving torque of the left rear drive motor, increasing the driving torque of the right rear drive motor, and increasing the braking torque of the left front drive motor driven wheel.

[0198] The first wheel comprises a left front drive motor driven wheel and a left rear drive motor driven wheel, the second wheel is a right rear drive motor driven wheel, and the braking action comprises reducing the driving torque of the left rear drive motor, increasing the driving torque of the right rear drive motor, and increasing the braking torque of the left front drive motor driven wheel.

[0199] In some embodiments of the present disclosure, the left side wheels of the vehicle comprise a front drive motor driven left front wheel and a left rear drive motor driven left rear wheel, and the right side wheels of the vehicle comprise a front drive motor driven right front wheel and a right rear drive motor driven right rear wheel.

[0200] In some embodiments, the control device further comprises a judging module.

[0201] The judging module is configured to determine that the left front wheel and the left rear wheel are both the first wheel in the slip state if the wheel speed change value of the left side wheels of the vehicle exceeds a first threshold value, the ratio of the actual vehicle speed of the vehicle to the converted vehicle speed exceeds a preset range, and the wheel speed difference between the left side wheels and the right side wheels of the vehicle exceeds a second threshold value.

[0202] In some embodiments of the present disclosure, one tire of the vehicle corresponds to one drive motor, and the braking action comprises reducing the driving torque of the first drive motor of the first wheel and increasing the driving torque of the second drive motor of the second wheel in the non-slip state.

[0203] In some embodiments of the present disclosure, the vehicle comprises a controller, a braking system connected in communication with the controller, and a drive motor connected in communication with the controller. In a case where a rotation state of a first wheel of the vehicle is a slip state, the controller controls to perform a braking action, the braking action comprising controlling to reduce a drive torque of a first drive motor of the first wheel and / or to increase a braking torque of the first wheel, and controlling to increase a drive torque of a second drive motor of a second wheel whose rotation state is a non-slip state. Through some embodiments of the present disclosure, the effect of preventing slip can be achieved while not reducing the acceleration performance of the vehicle, thereby improving the power and stability of the vehicle. In addition, by redistributing the drive torque of the drive motor, in combination with the characteristics of the drive motor being fast in response, high in accuracy, and renewable, the response speed and control accuracy can be improved.

[0204] Some embodiments of the present disclosure further provide a controller, comprising a processor, a memory, and a computer program stored on the memory and capable of running on the processor, the computer program being executed by the processor to implement the above-mentioned braking control method of the vehicle.

[0205] Some embodiments of the present disclosure further provide a computer readable storage medium, having stored thereon a computer program, the computer program being executed by a processor to implement the above-mentioned braking control method of the vehicle.

[0206] For the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts are described in the part of the method embodiments.

[0207] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present disclosure are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of relevant data need to comply with relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation portal for user to choose authorization or refusal.

[0208] Each of the embodiments in the specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the embodiments can be referred to each other.

[0209] Those skilled in the art will appreciate that some embodiments of the disclosure can be embodied as a method, an apparatus, or a computer program product. Accordingly, some embodiments of the disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, some embodiments of the disclosure can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) embodying computer-readable program code.

[0210] Some embodiments of the disclosure are described with reference to the flowchart illustrations and / or block diagrams of the methods, terminal devices (systems) and computer program products according to some embodiments of the disclosure. 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, an embedded processor or other programmable data processing terminal devices to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal devices, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0211] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal devices to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions means which implement the function specified in the flowchart illustrations and / or block diagrams block or blocks.

[0212] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal devices to cause a series of operational steps to be performed on the computer or other programmable terminal devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal devices provide steps for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0213] While preferred embodiments of some embodiments of the disclosure have been described, those skilled in the art will appreciate that other modifications and variations to the preferred embodiments are possible in light of the above teachings. It is, therefore, contemplated that the appended claims be construed to include all such modifications and variations as falling within the true scope of some embodiments of the disclosure.

[0214] Finally, it needs to be pointed out that in this article, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or terminal device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or terminal device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or terminal device including the above element.

[0215] The above provides a detailed description of the provided vehicle brake control method, controller, vehicle and medium, and the principles and embodiments of the present disclosure are described herein. The above description of the embodiments is only used to help understand the method and core idea of the present disclosure; at the same time, for those skilled in the art, according to the idea of the present disclosure, the specific implementation and application range will be changed, and the above description of the present disclosure should not be understood as a limitation.

Claims

1. A brake control method of a vehicle, wherein, The vehicle comprises a controller, a braking system connected to the controller in communication, and a driving motor connected to the controller in communication, the method comprises: In a case where a rotation state of a first wheel of the vehicle is a slip state, the controller controls to perform a braking action; wherein, The braking action comprises: At least one of controlling to reduce a driving torque of a first driving motor of the first wheel, or controlling to increase a braking torque of the first wheel; and Controlling to increase a driving torque of a second driving motor of a second wheel whose rotation state is a non-slip state.

2. The method of claim 1, further comprising: The controller determines a rotation state of a first wheel of the vehicle according to driving information, the rotation state comprises the slip state and the non-slip state, the driving information comprises vehicle speed information of the vehicle and wheel speed information of a plurality of wheels of the vehicle, the plurality of wheels comprises the first wheel.

3. The method of claim 2, wherein, The wheel speed information is obtained according to resolver signals of driving motors of the plurality of wheels.

4. The method of claim 2 or 3, wherein, The vehicle speed information comprises a converted vehicle speed and an actual vehicle speed, the converted vehicle speed is obtained according to wheel speed information of at least one wheel of the plurality of wheels.

5. The method of any one of claims 2-4, wherein, The wheel speed information of the plurality of wheels is further used to determine a wheel speed change value of the first wheel, and the rotation state of the first wheel is obtained according to the wheel speed change value of the first wheel and the vehicle speed information.

6. The method of any one of claims 2-5, wherein, The determination of the rotation state of the first wheel of the vehicle according to the driving information comprises: When the driving information meets a preset condition, the first wheel of the vehicle is in the slip state, and the preset condition comprises that the wheel speed change value of the first wheel exceeds a first threshold value, and a ratio of the actual vehicle speed of the vehicle to the converted vehicle speed of the vehicle exceeds a preset range.

7. The method of any one of claims 1-6, wherein, The vehicle comprises a front driving motor and a rear driving motor; The first driving motor is the front driving motor, the second driving motor is the rear driving motor, and the braking action comprises reducing the driving torque of the front driving motor and increasing the driving torque of the rear driving motor.

8. The method of any one of claims 1-6, wherein, The vehicle comprises a front driving motor and a rear driving motor; The first driving motor is the rear driving motor, the second driving motor is the front driving motor, and the braking action comprises reducing the driving torque of the rear driving motor and increasing the driving torque of the front driving motor.

9. The method of any one of claims 1-6, wherein, The vehicle comprises a front driving motor, a left rear driving motor and a right rear driving motor; The first driving motor is the front driving motor, the second driving motor is the left rear driving motor and the right rear driving motor, and the braking action comprises reducing the driving torque of the front driving motor and increasing the driving torque of the left rear driving motor and the right rear driving motor.

10. The method of any one of claims 1-6, wherein, The vehicle comprises a front driving motor, a left rear driving motor and a right rear driving motor; The first wheel is a wheel driven by the left rear drive motor, the second wheel includes a wheel driven by the right rear drive motor and a wheel driven by the front drive motor, and the braking action includes reducing the driving torque of the left rear drive motor and increasing the driving torque of the right rear drive motor and the front drive motor. The first wheel is a wheel driven by the right rear drive motor, the second wheel includes a wheel driven by the left rear drive motor and a wheel driven by the front drive motor, and the braking action includes reducing the driving torque of the right rear drive motor and increasing the driving torque of the left rear drive motor and the front drive motor.

11. The method of any one of claims 1-6, wherein, The vehicle includes a front drive motor, a left rear drive motor and a right rear drive motor; The first wheel includes a left wheel driven by the front drive motor and a wheel driven by the left rear drive motor, the second wheel is a wheel driven by the right rear drive motor, and the braking action includes reducing the driving torque of the left rear drive motor, increasing the driving torque of the right rear drive motor, and increasing the braking torque of the left wheel driven by the front drive motor. The first wheel includes a left wheel driven by the front drive motor and a wheel driven by the left rear drive motor, the second wheel is a wheel driven by the right rear drive motor, and the braking action includes reducing the driving torque of the left rear drive motor, increasing the driving torque of the right rear drive motor, and increasing the braking torque of the left wheel driven by the front drive motor. The left wheels of the vehicle include a front left wheel driven by the front drive motor and a rear left wheel driven by the left rear drive motor, and the right wheels of the vehicle include a front right wheel driven by the front drive motor and a rear right wheel driven by the right rear drive motor; 12. The method of claim 11, wherein, The method further includes: if the wheel speed variation value of the left wheels of the vehicle exceeds a first threshold value, the ratio of the actual vehicle speed of the vehicle to the converted vehicle speed exceeds a preset range, and the wheel speed difference between the left wheels and the right wheels of the vehicle exceeds a second threshold value, determining that the front left wheel and the rear left wheel are both the first wheel in the slip state. The vehicle has one drive motor corresponding to one tire, and the braking action includes reducing the driving torque of the first drive motor of the first wheel and controlling the increase of the driving torque of the second drive motor of the second wheel in the non-slip state.

13. The method of any one of claims 1-6, wherein, 14. A controller (530) comprising a processor, a memory, and a computer program stored on the memory and capable of running on the processor, wherein the computer program is executed by the processor to implement the braking control method of the vehicle according to any one of claims 1 to 13.

15. A vehicle (500) comprising a braking execution system (510), a drive motor (520), and a controller (530) according to claim 14. The computer readable storage medium stores a computer program, which is executed by the processor to implement the braking control method of the vehicle according to any one of claims 1 to 13.

16. A computer readable storage medium, wherein, ​

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