CN116353560A - Vehicle control method, device and system and vehicle - Google Patents

Vehicle control method, device and system and vehicle Download PDF

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Publication number
CN116353560A
CN116353560A CN202310064907.3A CN202310064907A CN116353560A CN 116353560 A CN116353560 A CN 116353560A CN 202310064907 A CN202310064907 A CN 202310064907A CN 116353560 A CN116353560 A CN 116353560A
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China
Prior art keywords
link
braking
information
energy recovery
negative torque
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CN202310064907.3A
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Chinese (zh)
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杨振
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Great Wall Motor Co Ltd
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Great Wall Motor Co Ltd
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Priority to CN202310064907.3A priority Critical patent/CN116353560A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

The application provides a vehicle control method, device and system and a vehicle, wherein the method comprises the following steps: acquiring advice switch information of an energy recovery switch of a vehicle on a current driving road section; acquiring a current operation mode of an energy recovery link; and respectively corresponding braking force requests of the hydraulic braking link and/or the negative torque braking link are distributed to the hydraulic braking link and/or the negative torque braking link according to the recommended switch information and the operation mode. The problem that abnormal sound and vibration of the vehicle are caused by frequent change of the rotating speed or steering of the motor in a bumpy road section can be avoided, the vehicle can be ensured to reasonably recover energy, the driving experience of a user is improved, and the NVH performance of the whole vehicle is improved.

Description

Vehicle control method, device and system and vehicle
Technical Field
The application relates to the technical field of automobiles, in particular to a vehicle control method, device and system and a vehicle.
Background
At present, for an electric automobile, energy is recovered by utilizing vehicle braking, so that the energy consumption of the vehicle can be reduced to a great extent, and the endurance mileage of the vehicle can be prolonged.
However, because the motor shaft of the electric automobile is rigidly connected with the driving structure of the whole automobile, when the automobile recovers energy through deceleration or braking, the motor rotation speed or steering change can occur, and vibration or abnormal sound is generated among all the rigid connection structures, particularly on bumpy road sections or road sections with frequent gradient changes, the frequent motor rotation speed or steering change can enable a user to feel the vibration or abnormal sound of the automobile more easily, the driving feeling of the user is seriously affected, and meanwhile, the NVH performance of the automobile is negatively affected to a certain extent.
Disclosure of Invention
In view of the foregoing, embodiments of the present application provide a vehicle control method, apparatus, system, and vehicle, so as to overcome or at least partially solve the foregoing problems.
In a first aspect of the embodiments of the present application, there is provided a vehicle control method, applicable to a brake controller, the method including:
acquiring advice switch information of an energy recovery switch of a vehicle on a current driving road section; wherein the advice switch information is generated based on whether the current travel section is a bumpy section; the recommended switching information includes: the energy recovery switch advice on information corresponding to the current travel section being a bumpy section, or the energy recovery switch advice on information corresponding to the current travel section not being a bumpy section;
Acquiring a current operation mode of an energy recovery link;
and respectively corresponding braking force requests of the hydraulic braking link and/or the negative torque braking link are distributed to the hydraulic braking link and/or the negative torque braking link according to the recommended switch information and the operation mode.
Optionally, the allocating braking force requests corresponding to the hydraulic braking link and/or the negative torque braking link according to the recommended switch information and the operation mode includes:
when the operation mode is an intelligent starting mode, according to a braking force distribution principle corresponding to the recommended switch information, respectively distributing braking force requests corresponding to the hydraulic braking link and/or the negative torque braking link;
and when the operation mode is a normal opening mode or a normal closing mode, distributing the braking force requests corresponding to the hydraulic braking links and/or the negative torque braking links according to the braking force distribution principle corresponding to the operation mode.
Optionally, when the operation mode is a normal on mode or a normal off mode, according to a braking force allocation principle corresponding to the operation mode, the braking force request corresponding to each of the hydraulic braking link and/or the negative torque braking link is allocated to the hydraulic braking link and/or the negative torque braking link, which includes:
when the operation mode is the normal opening mode, distributing braking force requests corresponding to the hydraulic braking link and the negative torque braking link according to braking force distribution principles corresponding to the normal opening mode;
and under the condition that the operation mode is the normal closing mode, distributing the braking force request corresponding to the hydraulic braking link according to the braking force distribution principle corresponding to the normal closing mode, and closing the negative torque braking link.
Optionally, when the operation mode is the intelligent on mode, according to a braking force distribution principle corresponding to the recommended switch information, the braking force request corresponding to each of the hydraulic braking link and/or the negative torque braking link is distributed to the hydraulic braking link and/or the negative torque braking link, which includes:
When the recommended switch information is recommended opening information, according to a braking force distribution principle corresponding to the recommended opening information, distributing braking force requests corresponding to the hydraulic braking link and the negative torque braking link respectively;
and under the condition that the recommended switch information is recommended closing information, distributing a braking force request corresponding to the hydraulic braking link according to a braking force distribution principle corresponding to the recommended closing information, and closing the negative torque braking link.
Optionally, the allocating the braking force request corresponding to each of the hydraulic braking link and/or the negative torque braking link to the hydraulic braking link and/or the negative torque braking link includes:
under the condition that braking force requests corresponding to the hydraulic braking link and the negative torque braking link are distributed to the hydraulic braking link and the negative torque braking link, distributing the corresponding torques of the hydraulic braking link and the negative torque braking link to the hydraulic braking link and the negative torque braking link according to a preset distribution proportion;
And under the condition that the braking force request corresponding to the hydraulic braking link is distributed to the hydraulic braking link and the negative torque braking link is closed, the torque corresponding to the hydraulic braking link is distributed to the hydraulic braking link.
In a second aspect of the embodiments of the present application, a vehicle control method is provided, which is applicable to an intelligent driving controller, and the method includes:
acquiring road condition information of a vehicle on a current driving road section;
judging whether the current driving road section is a bumpy road section or not according to the road condition information;
generating advice switch information of a corresponding energy recovery switch according to whether the current driving road section is a bumpy road section or not, and sending the advice switch information to a brake controller; the recommended switching information includes: the energy recovery switch advice on information corresponding to the current travel section being a bumpy section, or the energy recovery switch advice on information corresponding to the current travel section not being a bumpy section;
the brake controller is used for distributing braking force requests corresponding to the hydraulic brake link and/or the negative torque brake link based on the current operation mode of the energy recovery link and the recommended switching information of the energy recovery switch.
In a third aspect of the embodiments of the present application, there is provided a vehicle control apparatus adapted for a brake controller, the apparatus comprising:
the first acquisition module is used for acquiring the recommended switching information of the energy recovery switch of the vehicle on the current driving road section; wherein the advice switch information is generated based on whether the current travel section is a bumpy section; the recommended switching information includes: the energy recovery switch advice on information corresponding to the current travel section being a bumpy section, or the energy recovery switch advice on information corresponding to the current travel section not being a bumpy section;
the second acquisition module is used for acquiring the current operation mode of the energy recovery link;
and the first distribution module is used for distributing braking force requests corresponding to the hydraulic braking links and/or the negative torque braking links respectively to the hydraulic braking links and/or the negative torque braking links according to the recommended switch information and the operation mode.
Optionally, the braking force request corresponding to each of the hydraulic braking link and/or the negative torque braking link is allocated to the hydraulic braking link and/or the negative torque braking link according to the recommended switch information and the operation mode, and the first allocation module includes:
The first allocation submodule is used for allocating the braking force requests corresponding to the hydraulic braking links and/or the negative torque braking links according to the braking force allocation principle corresponding to the recommended switch information under the condition that the operation mode is an intelligent starting mode;
and the second allocation submodule is used for allocating the braking force requests corresponding to the hydraulic braking links and/or the negative torque braking links according to the braking force allocation principle corresponding to the operation mode when the operation mode is the normal opening mode or the normal closing mode.
Optionally, when the operation mode is a normal on mode or a normal off mode, according to a braking force allocation principle corresponding to the operation mode, the braking force request corresponding to each of the hydraulic braking link and/or the negative torque braking link is allocated to the hydraulic braking link and/or the negative torque braking link, and the second allocation submodule includes:
the first distribution subunit is used for distributing the braking force requests corresponding to the hydraulic braking link and the negative torque braking link according to the braking force distribution principle corresponding to the normal opening mode when the operation mode is the normal opening mode;
And the second allocation subunit is used for allocating the braking force request corresponding to the hydraulic braking link according to the braking force allocation principle corresponding to the normal closing mode and closing the negative torque braking link under the condition that the running mode is the normal closing mode.
Optionally, when the operation mode is the intelligent on mode, according to a braking force allocation principle corresponding to the recommended switch information, the braking force request corresponding to each of the hydraulic braking link and/or the negative torque braking link is allocated to the hydraulic braking link and/or the negative torque braking link, and the first allocation submodule includes:
a third allocation subunit, configured to allocate, when the recommended switch information is recommended opening information, braking force requests corresponding to the hydraulic braking link and the negative torque braking link respectively to the hydraulic braking link and the negative torque braking link according to a braking force allocation principle corresponding to the recommended opening information;
and the fourth distribution subunit is used for distributing the braking force request corresponding to the hydraulic braking link according to the braking force distribution principle corresponding to the recommended closing information and closing the negative torque braking link under the condition that the recommended switching information is the recommended closing information.
Optionally, said allocating said braking force request to said hydraulic brake link and/or said negative torque brake link comprises:
a fifth allocation subunit, configured to allocate, when the braking force requests corresponding to the hydraulic braking link and the negative torque braking link are allocated to the hydraulic braking link and the negative torque braking link, the torques corresponding to the hydraulic braking link and the negative torque braking link respectively to the hydraulic braking link and the negative torque braking link according to a preset allocation proportion;
and a sixth allocation subunit, configured to allocate all the torques corresponding to the hydraulic brake links when allocating the braking force requests corresponding to the hydraulic brake links and closing the negative torque brake links.
In a fourth aspect of the embodiments of the present application, there is provided a vehicle control apparatus adapted for an intelligent driving controller, the apparatus comprising:
the third acquisition module is used for acquiring road condition information of the vehicle on the current driving road section;
the judging module is used for judging whether the current driving road section is a bumpy road section or not according to the road condition information;
The generation module is used for generating advice switch information of the corresponding energy recovery switch according to whether the current driving road section is a bumpy road section or not and sending the advice switch information to the brake controller; the recommended switching information includes: the energy recovery switch advice on information corresponding to the current travel section being a bumpy section, or the energy recovery switch advice on information corresponding to the current travel section not being a bumpy section; the brake controller is used for distributing braking force requests corresponding to the hydraulic brake link and/or the negative torque brake link based on the current operation mode of the energy recovery link and the recommended switching information of the energy recovery switch.
In a fifth aspect of embodiments of the present application, there is provided a vehicle control system including: the intelligent driving system comprises an acquisition module, an intelligent driving controller, a braking controller, a hydraulic controller and a power controller;
the acquisition module is used for acquiring road condition information of a current driving road section of the vehicle and sending the road condition information to the intelligent driving controller;
the intelligent driving controller is used for judging whether the current driving road section is a bumpy road section according to the road condition information; generating advice switch information of a corresponding energy recovery switch according to whether the current driving road section is a bumpy road section or not, and sending the advice switch information to a brake controller; the recommended switching information includes: the energy recovery switch advice on information corresponding to the current travel section being a bumpy section, or the energy recovery switch advice on information corresponding to the current travel section not being a bumpy section;
The brake controller is used for acquiring the current operation mode of the energy recovery link and distributing the braking force requests corresponding to the hydraulic controller and/or the power controller according to the recommended switching information of the energy recovery switch and the operation mode; the hydraulic controller is used for controlling a hydraulic braking link according to a braking force request corresponding to the hydraulic controller; and the power controller is used for controlling the negative torque braking link according to the braking power request corresponding to the power controller.
A sixth aspect of embodiments of the present application provides a vehicle comprising a brake controller for performing the vehicle control method according to the first aspect of the present application, or an intelligent driving controller for performing the vehicle control method according to the second aspect of the present application; alternatively, the vehicle includes a vehicle control device as described in the embodiments of the present application.
The application has the following advantages:
the embodiment of the application provides a vehicle control method, which comprises the following steps: acquiring advice switch information of an energy recovery switch of a vehicle on a current driving road section; wherein the advice switch information is generated based on whether the current travel section is a bumpy section; the recommended switching information includes: the energy recovery switch advice on information corresponding to the current travel section being a bumpy section, or the energy recovery switch advice on information corresponding to the current travel section not being a bumpy section; acquiring a current operation mode of an energy recovery link; and respectively corresponding braking force requests of the hydraulic braking link and/or the negative torque braking link are distributed to the hydraulic braking link and/or the negative torque braking link according to the recommended switch information and the operation mode. According to the method and the device for controlling the vehicle to stop energy recovery, under the condition that the current driving road section is the bumpy road section, the recommended information for stopping energy recovery is generated, so that the vehicle is ensured to reasonably perform energy recovery when the vehicle is driven to the bumpy road section, the driving feeling of a user is improved, and the NVH performance of the whole vehicle is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments of the present application will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of steps of a vehicle control method for a brake controller according to an embodiment of the present application;
FIG. 2 is a flowchart of steps of a vehicle control method for an intelligent driving controller according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a vehicle control apparatus for a brake controller according to an embodiment of the present application;
fig. 4 is a schematic diagram of a vehicle control device applied to an intelligent driving controller according to an embodiment of the present application;
fig. 5 is a schematic diagram of a vehicle control system according to an embodiment of the present application.
Detailed Description
Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the embodiments of the present application. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Currently, in the prior art, an implementation manner of energy recovery of an electric vehicle generally realizes conversion of kinetic energy and electric energy of the electric vehicle through a motor or a generator with reversible function. Specifically, in the process of decelerating or braking the automobile, the reversible motor works in the form of a generator, and the kinetic energy of running of the electric automobile drives the generator to work, so that the kinetic energy of running of the automobile is converted into electric energy and stored in a storage battery; when the automobile starts or accelerates, the electric energy stored in the storage battery can be converted into kinetic energy to drive the automobile. In the process of decelerating or braking the electric automobile, the braking system of the automobile can judge the deceleration or braking force transmitted by the intelligent driving system, meanwhile, different braking modules are mobilized to execute braking by combining the executable negative torque range of the motor, and particularly, the braking can be executed through motor braking and/or hydraulic braking, and when the braking is executed through the motor, the energy recovery link is started.
Because the motor shaft is rigidly connected with the driving structure of the whole vehicle, when the motor is switched between two working modes of driving and energy recovery, the phenomenon that the motor speed is over 0 is generated, when the motor speed is over 0 to represent that the motor is changed from positive to negative, the motor speed is changed from positive to 0 and then from 0 to negative, vibration or abnormal sound is generated between the driving structures of the whole vehicle in the process, particularly when the vehicle is on a bumpy road section or a road section with larger gradient change, the motor needs to be braked repeatedly, so that the abnormal occurrence of vibration or abnormal sound of the vehicle is caused, and the driving feeling of a user and the NVH performance of the whole vehicle are seriously influenced.
In a first aspect of the embodiments of the present application, as shown in fig. 1, a control method of a vehicle is provided, where the control method of the vehicle is applied to a brake controller of the vehicle, and the specific method includes:
step S101, acquiring advice switch information of an energy recovery switch of a vehicle on a current driving road section; wherein the advice switch information is generated based on whether the current travel section is a bumpy section; the recommended switching information includes: the energy recovery switch advice on information corresponding to the current travel section being a bumpy section, or the energy recovery switch advice on information corresponding to the current travel section not being a bumpy section;
step S102, acquiring the current operation mode of the energy recovery link;
and step S103, respectively corresponding braking force requests of the hydraulic braking link and/or the negative torque braking link are distributed to the hydraulic braking link and/or the negative torque braking link according to the recommended switching information of the energy recovery switch and the operation mode.
Specifically, the road condition information of the current running road section of the vehicle is obtained through an acquisition module in the intelligent driving system of the vehicle, and in practical application, the acquisition module can be a high-definition camera, a vehicle-mounted radar or a sensor, namely, the road condition information of the current running road section of the vehicle can be perceived through the high-definition camera, the vehicle-mounted radar or the sensor and the like which are arranged on the vehicle. On the other hand, in combination with the IMU (Inertial measurement unit ) of the vehicle itself, it is deduced whether the gradient or height at which the vehicle is currently located is frequently changing. In the method, the current transverse acceleration or longitudinal acceleration or yaw acceleration of the vehicle can be calculated through the IMU of the vehicle, and whether the gradient or the height of the vehicle is frequently changed or not can be deduced by judging the change condition of the transverse acceleration or the longitudinal acceleration or the yaw acceleration, so that whether the current running road section of the vehicle is a bumpy road section or not can be judged. If the lateral acceleration or the longitudinal acceleration or the yaw acceleration of the vehicle changes more frequently, the current running road section of the vehicle is a bumpy road section, and if the lateral acceleration or the longitudinal acceleration or the yaw acceleration of the vehicle increases or decreases steadily, the current running road section of the vehicle is not a bumpy road section.
Further, the intelligent driving controller of the vehicle intelligent driving system outputs corresponding energy recovery switch advice switch information according to whether the current driving section of the vehicle is a bumpy section or not, according to whether the current driving section of the vehicle is a bumpy section or not. The method specifically comprises the following steps: when the road section where the vehicle is currently running is judged to be a bumpy road section, the intelligent driving controller outputs the recommended closing information of the energy recovery switch, and the braking controller of the vehicle closes the energy recovery link in response to the recommended closing information of the energy recovery switch; when the road section on which the vehicle is currently running is judged not to be a bumpy road section, the intelligent driving controller outputs the energy recovery switch proposal on information, and the brake controller of the vehicle keeps the energy recovery link on in response to the energy recovery switch proposal on information.
The method and the device have the advantages that the advice information for closing the energy recovery is output under the condition that the current driving road section is the bumpy road section, so that the situation that the vehicle can respond to the advice information for closing the energy recovery to close the energy recovery after driving the vehicle to the bumpy road section is ensured, and the advice information for opening the energy recovery is output under the condition that the current road section is not the bumpy road section is judged, so that the vehicle can respond to the advice information for opening the energy recovery to open the energy recovery, the problem that abnormal sound and vibration of the vehicle are caused by frequent change of the rotating speed or steering of a motor on the bumpy road section is avoided, the vehicle can reasonably conduct the energy recovery, the driving feeling of a user is improved, and the NVH performance of the whole vehicle is improved.
In one possible implementation manner of the embodiment of the application, the braking force requests corresponding to the hydraulic braking link and/or the negative torque braking link are allocated to the hydraulic braking link and/or the negative torque braking link according to the recommended switching information of the energy recovery switch and the operation mode of the energy recovery link.
When the operation mode of the energy recovery link is an intelligent starting mode, according to a braking force distribution principle corresponding to the recommended switching information of the energy recovery switch, respectively distributing braking force requests corresponding to the hydraulic braking link and/or the negative torque braking link;
under the condition that the recommended switch information of the energy recovery switch is recommended switch-on information, respectively distributing braking force requests corresponding to the hydraulic braking link and the negative torque braking link according to a braking force distribution principle corresponding to the recommended switch-on information of the energy recovery switch;
and under the condition that the recommended switch information of the energy recovery switch is recommended to be closed, distributing a braking force request corresponding to the hydraulic braking link according to a braking force distribution principle corresponding to the recommended switch information of the energy recovery switch, and closing the negative torque braking link.
Specifically, the brake controller of the vehicle acquires the operation mode of the energy recovery link selected by the user, and in practical application, the operation mode of the energy recovery link can be selected from preset HMI (Human Machine Interface, human-computer interaction interface).
In this embodiment, if the operation mode of the energy recovery link selected by the user is an intelligent on mode, after the brake controller of the vehicle obtains the intelligent on mode selected by the user, the braking force distribution principle corresponding to the intelligent on mode is determined according to the recommended switch information of the energy recovery switch output by the intelligent driving controller.
Specifically, when the brake controller acquires that the operation mode of the energy recovery link selected by the user is the intelligent on mode, the brake controller receives the recommended switch information of the energy recovery switch output by the intelligent driving controller, and the recommended switch information of the energy recovery switch includes: the energy recovery switch advice on information corresponding to the current travel section being a bumpy section, or the energy recovery switch advice on information corresponding to the current travel section not being a bumpy section.
Further, when the intelligent driving controller of the vehicle senses that the current driving road section is a bumpy road section, information of the current driving road section is sent to the braking controller of the vehicle, and the braking controller determines a braking force distribution principle corresponding to the intelligent starting mode by combining an operation mode of the energy recovery link selected by a user and the suggested switching information of the energy recovery switch output by the intelligent driving controller.
In the case that the recommended switching information of the energy recovery switch is the recommended switching information of the energy recovery switch, determining a braking force distribution principle corresponding to the recommended switching information of the energy recovery switch is as follows: maintaining the hydraulic brake link and the negative torque brake link open; meanwhile, under the condition that the braking force requests corresponding to the hydraulic braking link and the negative torque braking link are distributed to the hydraulic braking link and the negative torque braking link, the corresponding torque of the braking force requests corresponding to the hydraulic braking link and the negative torque braking link is distributed to the hydraulic braking link and the negative torque braking link according to the preset distribution proportion.
In practical application, the brake torque is required to be distributed according to a preset distribution ratio in combination with regulations and according to the magnitude of the brake strength requirement of a driver, specifically, when the brake strength requirement of the driver is smaller, the torque provided by the negative torque brake link can meet the torque required by the brake strength requirement of the driver, and then the negative torque brake link provides 100% of the torque and the hydraulic brake link provides 0% of the torque. When the driver's demand strength demand is medium, a first preset proportion of torque is provided by the negative torque brake link due to regulatory restrictions, and the remaining torque is compensated by the hydraulic brake link. When the brake strength requirement of the driver is large, the maximum torque which can be provided by the negative torque brake link is provided, and the residual torque is compensated by the hydraulic brake link.
In the case where the recommended switching information of the energy recovery switch is the recommended switching information of the energy recovery switch, determining the braking force distribution principle corresponding to the recommended switching information of the energy recovery switch is: while maintaining the hydraulic brake link on and the negative torque brake link off, in the case of distributing the braking force request to the hydraulic brake link and closing the negative torque brake link, the torque corresponding to the braking force request is distributed to the hydraulic brake link entirely. In practice, in the event that the negative torque brake link is closed, the torque required for the brake strength demand is provided entirely by the hydraulic brake link in response to the driver's brake strength demand.
According to the method and the device, under the condition that the running mode of the energy recovery link selected by the user is the intelligent starting mode, the energy recovery can be intelligently started or closed according to the recommended switching information of the energy recovery switch corresponding to whether the current driving road section is a bumpy road section, so that abnormal sound or vibration of the vehicle during energy recovery of the bumpy road section can be effectively avoided, and the energy recovery can be reasonably started at a proper time.
Specifically, when the current travel route is a bumpy route, the energy recovery information output by the intelligent driving controller is the energy recovery switch advice off information, and the braking force distribution principle corresponding to the energy recovery switch advice off information is as follows: the hydraulic brake link remains open and the negative torque brake link is closed.
Further, while maintaining the hydraulic brake link on, the negative torque brake link is closed, and it is noted that closing the negative torque brake link means closing the motor brake link, i.e. closing the energy recovery link.
Under the condition that the current driving road section is not a bumpy road section, the energy recovery information output by the intelligent driving controller is the recommended opening information of the energy recovery switch, and the braking force distribution principle corresponding to the recommended opening information of the energy recovery switch is as follows: the hydraulic brake link and the negative torque brake link remain on. It should be noted that maintaining the negative torque braking link on means that the motor braking link is turned on, i.e. the energy recovery link is turned on.
Further, the on and/or off state of the brake link is dependent on the hydraulic brake link and the negative torque. Specifically, with the hydraulic brake link kept open and the negative torque brake link closed, the torque corresponding to the braking force request is distributed to the hydraulic brake link entirely.
And under the condition that the hydraulic brake link and the negative torque brake link are kept on, respectively distributing the torques corresponding to the braking force requests to the hydraulic brake link and the negative torque brake link according to a preset distribution proportion. It should be noted that when both the hydraulic brake link and the negative torque brake link are in an on state, the negative torque brake link is prioritized to perform energy recovery, specifically, braking is performed in combination with the range of negative torque executable by the negative torque brake link, and when the required braking force exceeds the range of negative torque executable by the negative torque brake link, the residual braking force is supplemented by the hydraulic brake, so that energy recovery in the braking process can be ensured, and meanwhile, the situation that the braking force is insufficient due to the limitation of the range of negative torque executable by the negative torque brake is avoided.
In a further preferred embodiment of the present application, the braking force requests corresponding to the hydraulic brake link and/or the negative torque brake link are assigned to the hydraulic brake link and/or the negative torque brake link, respectively, in accordance with the recommended switching information of the energy recovery switch and the operating mode of the energy recovery link.
And when the operation mode of the energy recovery link is a normal on mode or a normal off mode, respectively distributing the braking force requests corresponding to the hydraulic braking link and/or the negative torque braking link according to the braking force distribution principle corresponding to the operation mode of the energy recovery link.
Under the condition that the operation mode of the energy recovery link is a normal opening mode, according to a braking force distribution principle corresponding to the normal opening mode, respectively distributing braking force requests corresponding to the hydraulic braking link and the negative torque braking link;
in the case that the operation mode of the energy recovery link selected by the user is the normal on mode, determining a braking force distribution principle corresponding to the normal on mode is as follows: maintaining the hydraulic brake link and the negative torque brake link open; meanwhile, under the condition that the braking force requests corresponding to the hydraulic braking link and the negative torque braking link are distributed to the hydraulic braking link and the negative torque braking link, the corresponding torque of the braking force requests corresponding to the hydraulic braking link and the negative torque braking link is distributed to the hydraulic braking link and the negative torque braking link according to the preset distribution proportion.
In practical application, the brake torque is required to be distributed according to a preset distribution ratio in combination with regulations and according to the magnitude of the brake strength requirement of a driver, specifically, when the brake strength requirement of the driver is smaller, the torque provided by the negative torque brake link can meet the torque required by the brake strength requirement of the driver, and then the negative torque brake link provides 100% of the torque and the hydraulic brake link provides 0% of the torque. When the driver's demand strength demand is medium, a first preset proportion of torque is provided by the negative torque brake link due to regulatory restrictions, and the remaining torque is compensated by the hydraulic brake link. When the brake strength requirement of the driver is large, the maximum torque which can be provided by the negative torque brake link is provided, and the residual torque is compensated by the hydraulic brake link.
Specifically, the brake controller of the vehicle acquires the operation mode of the energy recovery link selected by the user, and in practical application, the operation mode of the energy recovery link can be selected in the preset HMI.
In this embodiment, if the operation mode of the energy recovery link selected by the user is a normal on mode, the brake controller of the vehicle determines a braking force distribution principle corresponding to the normal on mode after acquiring the intelligent on mode selected by the user.
It should be noted that, when the operation mode of the energy recovery link selected by the user is the normal on mode, it indicates that the user intends to take into consideration the influence of the road environment information on the vehicle performance and the abnormal sound caused by the vehicle vibration, and the like, at this time, both the hydraulic braking link and the negative torque braking link of the vehicle are in an on state, that is, the braking link of the motor of the vehicle is in an on state, that is, the energy recovery link of the vehicle is in an on state, and when the vehicle is decelerating or braking, the energy recovery link can perform energy recovery.
When the hydraulic braking link and the negative torque braking link are both in an open state, the negative torque braking link is prioritized to perform energy recovery, particularly braking is performed in combination with the range of the negative torque executable by the negative torque braking link, and after the required braking force exceeds the range of the negative torque executable by the negative torque braking link, the residual braking force is supplemented by the hydraulic braking, so that the energy recovery can be ensured in the braking process, and meanwhile, the situation that the braking force is insufficient due to the limitation of the range of the negative torque executable by the negative torque braking is avoided.
In the application, if the operation mode of the energy recovery link is the conventional starting mode, the vehicle always starts energy recovery, and when the vehicle decelerates or brakes, the energy recovery link can recover energy, so that the utilization rate of braking energy is improved, and the endurance mileage of the vehicle is improved.
In a further preferred embodiment of the present application, in the case that the operation mode of the energy recovery link is the normal shutdown mode, the braking force request corresponding to the hydraulic braking link is allocated to the hydraulic braking link according to the braking force allocation principle corresponding to the normal shutdown mode, and the negative torque braking link is closed.
Specifically, the brake controller of the vehicle acquires the operation mode of the energy recovery link selected by the user, and in practical application, the operation mode of the energy recovery link can be selected in the preset HMI.
In this embodiment, if the operation mode of the energy recovery link selected by the user is a normal shutdown mode, after the brake controller of the vehicle obtains the normal shutdown mode selected by the user, determining a braking force distribution principle corresponding to the normal shutdown mode includes: the hydraulic brake link remains open and the negative torque brake link is closed. Meanwhile, in the case where the braking force request is distributed to the hydraulic brake link and the negative torque brake link is closed, the torque corresponding to the braking force request is distributed to the hydraulic brake link in its entirety. In practice, in the event that the negative torque brake link is closed, the torque required for the brake strength demand is provided entirely by the hydraulic brake link in response to the driver's brake strength demand.
Further, the on and/or off state of the brake link is dependent on the hydraulic brake link and the negative torque. Specifically, with the hydraulic brake link kept open and the negative torque brake link closed, the torque corresponding to the braking force request is distributed to the hydraulic brake link entirely. At this time, the negative torque braking link is in an off state, that is, the motor braking link is in an off state, that is, the energy recovery link is in an off state, and at this time, when the vehicle is decelerating or braking, the brake controller distributes all braking forces to the hydraulic braking link, and the hydraulic braking link decelerates or brakes the vehicle.
In the application, if the operation mode of the energy recovery link selected by the user is the conventional closing mode, the vehicle will close the energy recovery and no energy recovery is performed, so that the situation that the vehicle can not generate more frequent abnormal sound or vibration even on a bumpy road section can be ensured, and the driving feeling of the user and the NVH performance of the whole vehicle are improved.
In the embodiment of the invention, the operation mode of the energy recovery link can be determined according to the intention of the user, namely, when the user only pays attention to the performance and driving feeling of the vehicle, the conventional closing mode is selected so as to close the energy recovery link, when the user does not consider the performance and driving feeling of the vehicle, but considers saving energy and time, the conventional opening mode is selected so as to open the energy recovery link, when the user considers both the energy consumption and the driving feeling, the intelligent opening mode is selected, and the vehicle automatically opens or closes the energy recovery link according to the current road condition, so that the vehicle can recover the energy when appropriate, and good driving feeling can be provided for the user.
In a second aspect of the embodiments of the present application, a vehicle control method is provided, as shown in fig. 2, where the method is applied to an intelligent driving controller, and includes:
step S201, obtaining road condition information of a vehicle on a current driving road section;
step S202, judging whether the current driving road section is a bumpy road section or not according to the road condition information;
step S203, generating advice switch information of a corresponding energy recovery switch according to whether the current driving road section is a bumpy road section or not, and sending the advice switch information to a brake controller; the recommended switching information includes: the energy recovery switch advice on information corresponding to the current travel section being a bumpy section, or the energy recovery switch advice on information corresponding to the current travel section not being a bumpy section;
the brake controller is used for distributing braking force requests corresponding to the hydraulic brake link and/or the negative torque brake link based on the current operation mode of the energy recovery link and the recommended switching information of the energy recovery switch. It should be noted that, the specific steps of the vehicle control method according to the second aspect of the embodiment of the present application are set forth in detail above, and will not be described here again.
The embodiment of the application provides a control method of a vehicle, which comprises the following steps: acquiring advice switch information of an energy recovery switch of a vehicle on a current driving road section; wherein the advice switch information is generated based on whether the current travel section is a bumpy section; the recommended switching information includes: the energy recovery switch advice on information corresponding to the current travel section being a bumpy section, or the energy recovery switch advice on information corresponding to the current travel section not being a bumpy section; acquiring a current operation mode of an energy recovery link; and respectively corresponding braking force requests of the hydraulic braking link and/or the negative torque braking link are distributed to the hydraulic braking link and/or the negative torque braking link according to the recommended switch information and the operation mode. According to the method and the device for controlling the vehicle to stop energy recovery, under the condition that the current driving road section is the bumpy road section, the recommended information for stopping energy recovery is generated, so that the vehicle is ensured to reasonably perform energy recovery when the vehicle is driven to the bumpy road section, the driving feeling of a user is improved, and the NVH performance of the whole vehicle is improved.
Based on the same inventive concept, the embodiments of the present application further provide a vehicle control device applied to a brake controller, and referring to fig. 3, fig. 3 is a schematic diagram of the vehicle control device applied to the brake controller, where the device includes:
a first obtaining module 301, configured to obtain recommended switching information of an energy recovery switch of a vehicle on a current driving road section; wherein the advice switch information is generated based on whether the current travel section is a bumpy section; the recommended switching information includes: the energy recovery switch advice on information corresponding to the current travel section being a bumpy section, or the energy recovery switch advice on information corresponding to the current travel section not being a bumpy section;
a second acquiring module 302, configured to acquire a current operation mode of the energy recovery link;
the first allocation module 303 is configured to allocate braking force requests corresponding to the hydraulic brake link and/or the negative torque brake link according to the recommended switch information and the operation mode.
Optionally, the braking force request corresponding to each of the hydraulic braking link and/or the negative torque braking link is allocated to the hydraulic braking link and/or the negative torque braking link according to the recommended switch information and the operation mode, and the first allocation module 303 includes:
The first allocation submodule is used for allocating the braking force requests corresponding to the hydraulic braking links and/or the negative torque braking links according to the braking force allocation principle corresponding to the recommended switch information under the condition that the operation mode is an intelligent starting mode;
and the second allocation submodule is used for allocating the braking force requests corresponding to the hydraulic braking links and/or the negative torque braking links according to the braking force allocation principle corresponding to the operation mode when the operation mode is the normal opening mode or the normal closing mode.
Optionally, when the operation mode is a normal on mode or a normal off mode, according to a braking force allocation principle corresponding to the operation mode, the braking force request corresponding to each of the hydraulic braking link and/or the negative torque braking link is allocated to the hydraulic braking link and/or the negative torque braking link, and the second allocation submodule includes:
the first distribution subunit is used for distributing the braking force requests corresponding to the hydraulic braking link and the negative torque braking link according to the braking force distribution principle corresponding to the normal opening mode when the operation mode is the normal opening mode;
And the second allocation subunit is used for allocating the braking force request corresponding to the hydraulic braking link according to the braking force allocation principle corresponding to the normal closing mode and closing the negative torque braking link under the condition that the running mode is the normal closing mode.
Optionally, when the operation mode is the intelligent on mode, according to a braking force allocation principle corresponding to the recommended switch information, the braking force request corresponding to each of the hydraulic braking link and/or the negative torque braking link is allocated to the hydraulic braking link and/or the negative torque braking link, and the first allocation submodule includes:
a third allocation subunit, configured to allocate, when the recommended switch information is recommended opening information, braking force requests corresponding to the hydraulic braking link and the negative torque braking link respectively to the hydraulic braking link and the negative torque braking link according to a braking force allocation principle corresponding to the recommended opening information;
and the fourth distribution subunit is used for distributing the braking force request corresponding to the hydraulic braking link according to the braking force distribution principle corresponding to the recommended closing information and closing the negative torque braking link under the condition that the recommended switching information is the recommended closing information.
Optionally, said allocating said braking force request to said hydraulic brake link and/or said negative torque brake link comprises:
a fifth allocation subunit, configured to allocate, when the braking force requests corresponding to the hydraulic braking link and the negative torque braking link are allocated to the hydraulic braking link and the negative torque braking link, the torques corresponding to the hydraulic braking link and the negative torque braking link respectively to the hydraulic braking link and the negative torque braking link according to a preset allocation proportion;
and a sixth allocation subunit, configured to allocate all the torques corresponding to the hydraulic brake links when allocating the braking force requests corresponding to the hydraulic brake links and closing the negative torque brake links.
Based on the same inventive concept, the embodiment of the present application further provides a vehicle control device applied to an intelligent driving controller, and referring to fig. 4, fig. 4 is a schematic diagram of the vehicle control device applied to the intelligent driving controller, where the device includes:
a third obtaining module 401, configured to obtain road condition information of a current driving road section of the vehicle;
The judging module 402 is configured to judge whether the current driving road section is a bumpy road section according to the road condition information;
a generating module 403, configured to generate advice switch information of the corresponding energy recovery switch according to whether the current driving road section is a bump road section, and send the advice switch information to a brake controller; the recommended switching information includes: the energy recovery switch advice on information corresponding to the current travel section being a bumpy section, or the energy recovery switch advice on information corresponding to the current travel section not being a bumpy section; the brake controller is used for distributing braking force requests corresponding to the hydraulic brake link and/or the negative torque brake link based on the current operation mode of the energy recovery link and the recommended switching information of the energy recovery switch.
Based on the same inventive concept, the embodiment of the present application further provides a vehicle control system, referring to fig. 5, including: the intelligent driving system comprises an acquisition module, an intelligent driving controller, a braking controller, a hydraulic controller and a power controller;
the acquisition module is used for acquiring road condition information of a current driving road section of the vehicle and sending the road condition information to the intelligent driving controller;
The intelligent driving controller is used for judging whether the current driving road section is a bumpy road section according to the road condition information; generating advice switch information of a corresponding energy recovery switch according to whether the current driving road section is a bumpy road section or not, and sending the advice switch information to a brake controller; the recommended switching information includes: the energy recovery switch advice on information corresponding to the current travel section being a bumpy section, or the energy recovery switch advice on information corresponding to the current travel section not being a bumpy section;
the brake controller is used for acquiring the current operation mode of the energy recovery link and distributing the braking force requests corresponding to the hydraulic controller and/or the power controller according to the recommended switching information of the energy recovery switch and the operation mode; the hydraulic controller is used for controlling a hydraulic braking link according to a braking force request corresponding to the hydraulic controller; and the power controller is used for controlling the negative torque braking link according to the braking power request corresponding to the power controller.
Based on the same inventive concept, the embodiments of the present application also provide a vehicle including a brake controller for performing the vehicle control method as described in the first aspect of the present application, or including an intelligent driving controller for performing the vehicle control method as described in the second aspect of the present application; alternatively, the vehicle includes a vehicle control device as described in the embodiments of the present application.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.
It will be apparent to those skilled in the art that embodiments of the present application may be provided as a method, apparatus, or computer program product. Accordingly, the present embodiments may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application may 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, etc.) having computer-usable program code embodied therein.
Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present embodiments have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the present application.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.
The foregoing has outlined rather broadly the principles and embodiments of the present application in order that the detailed description of the method, apparatus, system, and vehicle that is provided herein may be better understood, and in order that the present application may be better understood; meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims (10)

1. A vehicle control method, adapted to a brake controller, the method comprising:
acquiring advice switch information of an energy recovery switch of a vehicle on a current driving road section; wherein the advice switch information is generated based on whether the current travel section is a bumpy section; the recommended switching information includes: the energy recovery switch advice on information corresponding to the current travel section being a bumpy section, or the energy recovery switch advice on information corresponding to the current travel section not being a bumpy section;
acquiring a current operation mode of an energy recovery link;
and respectively corresponding braking force requests of the hydraulic braking link and/or the negative torque braking link are distributed to the hydraulic braking link and/or the negative torque braking link according to the recommended switch information and the operation mode.
2. The vehicle control method according to claim 1, characterized in that the allocating braking force requests, which are respectively corresponding to the hydraulic brake link and/or the negative torque brake link, to the hydraulic brake link and/or the negative torque brake link according to the advice switch information and the operation mode includes:
when the operation mode is an intelligent starting mode, according to a braking force distribution principle corresponding to the recommended switch information, respectively distributing braking force requests corresponding to the hydraulic braking link and/or the negative torque braking link;
And when the operation mode is a normal opening mode or a normal closing mode, distributing the braking force requests corresponding to the hydraulic braking links and/or the negative torque braking links according to the braking force distribution principle corresponding to the operation mode.
3. The vehicle control method according to claim 2, characterized in that said allocating the braking force request respectively corresponding to the hydraulic brake link and/or the negative torque brake link in accordance with the braking force allocation principle corresponding to the operation mode in the case where the operation mode is the normal on mode or the normal off mode, includes:
when the operation mode is the normal opening mode, distributing braking force requests corresponding to the hydraulic braking link and the negative torque braking link according to braking force distribution principles corresponding to the normal opening mode;
and under the condition that the operation mode is the normal closing mode, distributing a braking force request corresponding to the hydraulic braking link according to a braking force distribution principle corresponding to the normal closing mode, and closing the negative torque braking link.
4. The vehicle control method according to claim 2, wherein, in the case where the operation mode is the intelligent on mode, the braking force request corresponding to each of the hydraulic brake link and/or the negative torque brake link is allocated to the hydraulic brake link and/or the negative torque brake link in accordance with the braking force allocation principle corresponding to the advice switch information, comprising:
when the recommended switch information is recommended opening information, according to a braking force distribution principle corresponding to the recommended opening information, distributing braking force requests corresponding to the hydraulic braking link and the negative torque braking link respectively;
and under the condition that the recommended switch information is recommended closing information, distributing a braking force request corresponding to the hydraulic braking link according to a braking force distribution principle corresponding to the recommended closing information, and closing the negative torque braking link.
5. The vehicle control method according to any one of claims 2 to 4, characterized in that the allocating the braking force requests, which are respectively corresponding to the hydraulic brake link and/or the negative torque brake link, to the hydraulic brake link and/or the negative torque brake link includes:
Under the condition that braking force requests corresponding to the hydraulic braking link and the negative torque braking link are distributed to the hydraulic braking link and the negative torque braking link, distributing the corresponding torques of the hydraulic braking link and the negative torque braking link to the hydraulic braking link and the negative torque braking link according to a preset distribution proportion;
and under the condition that the braking force request corresponding to the hydraulic braking link is distributed to the hydraulic braking link and the negative torque braking link is closed, the torque corresponding to the hydraulic braking link is distributed to the hydraulic braking link.
6. A vehicle control method, adapted to an intelligent driving controller, comprising:
acquiring road condition information of a vehicle on a current driving road section;
judging whether the current driving road section is a bumpy road section or not according to the road condition information;
generating advice switch information of a corresponding energy recovery switch according to whether the current driving road section is a bumpy road section or not, and sending the advice switch information to a brake controller; the recommended switching information includes: the energy recovery switch advice on information corresponding to the current travel section being a bumpy section, or the energy recovery switch advice on information corresponding to the current travel section not being a bumpy section;
The brake controller is used for distributing braking force requests corresponding to the hydraulic brake link and/or the negative torque brake link based on the current operation mode of the energy recovery link and the recommended switching information of the energy recovery switch.
7. A vehicle control apparatus adapted for use with a brake controller, the apparatus comprising:
the first acquisition module is used for acquiring the recommended switching information of the energy recovery switch of the vehicle on the current driving road section; wherein the advice switch information is generated based on whether the current travel section is a bumpy section; the recommended switching information includes: the energy recovery switch advice on information corresponding to the current travel section being a bumpy section, or the energy recovery switch advice on information corresponding to the current travel section not being a bumpy section;
the second acquisition module is used for acquiring the current operation mode of the energy recovery link;
and the first distribution module is used for distributing braking force requests corresponding to the hydraulic braking links and/or the negative torque braking links respectively to the hydraulic braking links and/or the negative torque braking links according to the recommended switch information and the operation mode.
8. A vehicle control apparatus adapted for use with an intelligent drive controller, the apparatus comprising:
the third acquisition module is used for acquiring road condition information of the vehicle on the current driving road section;
the judging module is used for judging whether the current driving road section is a bumpy road section or not according to the road condition information;
the generation module is used for generating advice switch information of the corresponding energy recovery switch according to whether the current driving road section is a bumpy road section or not and sending the advice switch information to the brake controller; the recommended switching information includes: the energy recovery switch advice on information corresponding to the current travel section being a bumpy section, or the energy recovery switch advice on information corresponding to the current travel section not being a bumpy section;
the brake controller is used for distributing braking force requests corresponding to the hydraulic brake link and/or the negative torque brake link based on the current operation mode of the energy recovery link and the recommended switching information of the energy recovery switch.
9. A vehicle control system, characterized by comprising: the intelligent driving system comprises an acquisition module, an intelligent driving controller, a braking controller, a hydraulic controller and a power controller;
The acquisition module is used for acquiring road condition information of a current driving road section of the vehicle and sending the road condition information to the intelligent driving controller;
the intelligent driving controller is used for judging whether the current driving road section is a bumpy road section according to the road condition information; generating advice switch information of a corresponding energy recovery switch according to whether the current driving road section is a bumpy road section or not, and sending the advice switch information to a brake controller; the recommended switching information includes: the energy recovery switch advice on information corresponding to the current travel section being a bumpy section, or the energy recovery switch advice on information corresponding to the current travel section not being a bumpy section;
the brake controller is used for acquiring the current operation mode of the energy recovery link and distributing the braking force requests corresponding to the hydraulic controller and/or the power controller according to the recommended switching information of the energy recovery switch and the operation mode; the hydraulic controller is used for controlling a hydraulic braking link according to a braking force request corresponding to the hydraulic controller; and the power controller is used for controlling the negative torque braking link according to the braking power request corresponding to the power controller.
10. A vehicle, characterized in that the vehicle includes a brake controller for executing the vehicle control method according to any one of claims 1 to 5, or an intelligent driving controller for executing the vehicle control method according to claim 6; alternatively, the vehicle includes the vehicle control device according to claim 7 or 8.
CN202310064907.3A 2023-01-17 2023-01-17 Vehicle control method, device and system and vehicle Pending CN116353560A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310064907.3A CN116353560A (en) 2023-01-17 2023-01-17 Vehicle control method, device and system and vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310064907.3A CN116353560A (en) 2023-01-17 2023-01-17 Vehicle control method, device and system and vehicle

Publications (1)

Publication Number Publication Date
CN116353560A true CN116353560A (en) 2023-06-30

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310064907.3A Pending CN116353560A (en) 2023-01-17 2023-01-17 Vehicle control method, device and system and vehicle

Country Status (1)

Country Link
CN (1) CN116353560A (en)

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