CN115973121A - Method, device, equipment and medium for compensating braking force of vehicle - Google Patents
Method, device, equipment and medium for compensating braking force of vehicle Download PDFInfo
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- CN115973121A CN115973121A CN202211672654.XA CN202211672654A CN115973121A CN 115973121 A CN115973121 A CN 115973121A CN 202211672654 A CN202211672654 A CN 202211672654A CN 115973121 A CN115973121 A CN 115973121A
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Abstract
The invention discloses a method, a device, equipment and a medium for compensating a vehicle braking force, and belongs to the technical field of vehicles. The method comprises the following steps: acquiring working parameters of a vehicle in an energy recovery mode; judging whether the energy recovery capability of the battery meets the requirement of a driver or not according to the working parameters; when the energy recovery capacity of the battery does not meet the requirements of a driver, judging whether the vehicle electric control hydraulic braking system can normally work or not; and when the electronic control hydraulic braking system can work normally, the electronic control hydraulic braking system is controlled to provide compensation braking force for the vehicle. According to the method, when the energy recovery capacity of the battery does not meet the requirements of a driver, the compensation braking force is provided for the vehicle by controlling the electric control hydraulic braking system, so that the vehicle is decelerated, the requirements of the driver on the vehicle speed are met, the vehicle speed is controlled without the driver stepping on a brake, and the driving feeling and the driving control performance of the vehicle can be improved.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a method, a device, equipment and a medium for compensating a vehicle braking force.
Background
The energy recovery system of the vehicle is used for recovering redundant energy released by the vehicle in braking or inertia and converting the redundant energy into electric energy of a battery through a generator so as to improve the cruising ability of the vehicle. When the vehicle recovers energy, the vehicle generates recovery braking force, so that the vehicle obtains a certain deceleration, and the vehicle keeps a certain running speed.
In the related art, when a vehicle travels on a long downhill or on a straight road, a driver can control the speed of the vehicle by releasing both feet by releasing an accelerator pedal and a brake pedal and pressing an energy recovery button. However, when the battery energy recovery capability is limited, the kinetic energy (potential energy) of the vehicle will not be able to achieve the deceleration required by the driver to depress the energy recovery button by means of battery energy recovery. In this case, the vehicle is accelerated, and the driver can control the vehicle speed by stepping on the brake only after subjectively sensing that the vehicle is accelerated, so that the driving feeling and the driving controllability of the vehicle are deteriorated.
Disclosure of Invention
In view of the above problems, the present invention has been made to provide a method, an apparatus, a device and a medium for compensating a braking force of a vehicle, which overcome or at least partially solve the above problems, and which can control an electronically controlled hydraulic brake system to provide a compensating braking force to the vehicle when the energy recovery capability of a battery does not meet the driver's demand, so that the vehicle is decelerated, the driver's demand for the vehicle speed is met, and the driver does not need to step on the brake to control the vehicle speed, thereby improving the driving feeling and the driving and manipulation performance of the vehicle.
In a first aspect, the present invention provides a method of compensating for a braking force of a vehicle, the method comprising:
acquiring working parameters of a vehicle in an energy recovery mode;
judging whether the energy recovery capability of the battery meets the requirement of a driver or not according to the working parameters;
when the energy recovery capacity of the battery does not meet the requirements of a driver, judging whether the vehicle electric control hydraulic braking system can normally work or not;
and when the electric control hydraulic braking system can work normally, the electric control hydraulic braking system is controlled to provide compensation braking force for the vehicle.
Optionally, the operating parameters at least include a battery temperature, a battery state of charge, an actual battery charging power, and an energy recovery gear currently selected by the driver.
Optionally, the determining whether the energy recovery capability of the battery meets the driver demand according to the working parameters includes:
determining target recovery power required by a driver according to the energy recovery gear;
judging whether the energy recovery capability of the battery is limited or not according to the battery temperature or the battery charge state;
and when the energy recovery capacity of the battery is limited and the actual charging power of the battery is smaller than the target recovery power, judging that the energy recovery capacity of the battery does not meet the requirement of a driver.
Optionally, the determining whether the energy recovery capability of the battery is limited according to the battery temperature or the battery state of charge includes:
determining the residual electric quantity of the battery according to the state of charge of the battery;
and when the temperature of the battery is smaller than a temperature threshold value or the residual electric quantity of the battery is larger than an electric quantity threshold value, judging that the energy recovery capacity of the battery is limited.
Optionally, the compensation method further includes:
and when the energy recovery capacity of the battery is judged to be limited, displaying the limited reasons, wherein the limited reasons comprise that the temperature of the battery is too low or the residual capacity of the battery is too high.
Optionally, when the electronic control hydraulic brake system can work normally, the controlling the electronic control hydraulic brake system to provide a compensation braking force for a vehicle includes:
determining a current first decelerating driving force of the vehicle and a second decelerating driving force required by a driver;
calculating a difference between the first decelerating driving force and the second decelerating driving force;
and determining the magnitude of the compensation braking force which needs to be provided for the vehicle by the electronic control hydraulic braking system according to the difference, and controlling the electronic control hydraulic braking system to provide the compensation braking force with the corresponding magnitude for the vehicle.
Optionally, the compensation method further includes:
detecting whether a driver switches a gear for energy recovery; the energy recovery gears at least comprise three gears of low, medium and high;
and when the condition that the driver switches the energy recovery gear is detected, judging whether the energy recovery capability of the battery meets the requirement of the driver according to the working parameters again.
In a second aspect, the present invention provides a compensation apparatus for a braking force of a vehicle, the compensation apparatus comprising:
the working parameter acquisition module is used for acquiring working parameters of the vehicle in an energy recovery mode;
the first judgment module is used for judging whether the energy recovery capability of the battery meets the requirement of a driver according to the working parameters;
the second judgment module is used for judging whether the vehicle electronic control hydraulic braking system can normally work or not when the energy recovery capacity of the battery does not meet the requirement of a driver;
and the compensation braking force control module is used for controlling the electric control hydraulic braking system to provide compensation braking force for the vehicle when the electric control hydraulic braking system can work normally.
In a third aspect, the present invention provides an electronic device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the compensation method according to the first aspect.
In a fourth aspect, the present invention provides a computer-readable storage medium having stored thereon computer instructions for causing a computer to execute the compensation method according to the first aspect.
The technical scheme provided by the embodiment of the invention at least has the following technical effects or advantages:
according to the method, the device, the equipment and the medium for compensating the braking force of the vehicle, provided by the embodiment of the invention, whether the energy recovery capability of the battery meets the requirements of a driver or not is judged by acquiring the working parameters of the vehicle in an energy recovery mode. When the energy recovery capability of the battery does not meet the requirement of a driver, further judging whether the vehicle electronic control hydraulic braking system can normally work or not; when the electric control hydraulic braking system can work normally, the electric control hydraulic braking system can be controlled to provide compensation braking force for the vehicle, so that the vehicle is decelerated, the requirement of a driver on the vehicle speed is met, the driver does not need to step on a brake to control the vehicle speed, and the running feeling and the driving control performance of the vehicle can be improved.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 provides a schematic view of a vehicle driving on a long downhill road;
FIG. 2 provides a schematic view of a vehicle driving on a level road;
FIG. 3 is a flowchart of a method for compensating a braking force of a vehicle according to an embodiment of the present invention;
fig. 4 is a block diagram of a compensating device for a braking force of a vehicle according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
Before describing in detail the method for compensating for a braking force of a vehicle according to an embodiment of the present invention, the following abbreviations and key terms are used:
PHEV: plug-in hybrid electric vehicle, plug-in hybrid electric vehicle;
HEV: hybrid Electric Vehicle, hybrid Vehicle (no external large battery charging socket);
EV: electric Vehicle, electric Vehicle;
SOC: state Of Charge, battery State Of Charge, to reflect the remaining capacity Of the battery;
PDCU: powertrain Domain Control Unit, power Domain controller;
BMS: building Management System, battery control System.
Secondly, the application scenarios related to the embodiment of the invention are simply introduced:
currently, most PHEV/HEV vehicles on the market have energy recovery capabilities. When the vehicle runs on a long downhill or a straight road, a driver can release feet by loosening an accelerator pedal and a brake pedal and press an energy recovery button arranged in the vehicle to control the speed of the vehicle. The energy recovery button can control the gear for switching energy recovery (for example, three gears of low, medium and high). The energy recovery capability of the battery is different in different gears, and the corresponding generated recovery braking force is also different, namely the final maintained running speed of the vehicle is also different. When the driver switches from low to medium gear or from medium to high gear, this indicates that the driver desires a further increase in the deceleration of the vehicle. The following exemplary description sets forth several scenarios for energy recovery of a vehicle:
scene 1: long downhill road and straight road
Fig. 1 provides a schematic view of a scene that a vehicle runs on a long downhill road, and fig. 2 provides a schematic view of a scene that the vehicle runs on a straight road, when the vehicle runs on the long downhill road as shown in fig. 1, or runs on the straight road as shown in fig. 2 and the distance from a preceding vehicle is reduced, a driver can release both feet by releasing an accelerator pedal and a brake pedal, and press an energy recovery button (different gears correspond to different deceleration requirements) to meet the control of the vehicle speed when the vehicle runs downhill. At this time, the vehicle is in the EV energy recovery mode, the kinetic energy and the potential energy of the vehicle are converted into the energy of the motor, the battery is charged, the energy is recovered, and the SOC of the battery is in the rising state. When the battery SOC is larger than a certain threshold, the kinetic energy and potential energy of the vehicle cannot meet the deceleration demand of the driver pressing the energy recovery button by means of battery energy recovery, i.e. the battery energy recovery capability is limited. At this time, the vehicle can run at an accelerated speed, and the driver can only subjectively feel that the vehicle runs at an accelerated speed and then control the speed of the vehicle by stepping on the brake.
Scene 2: very low temperature environment
When the battery is in a very low temperature environment, the activity of the battery chemical substances is reduced, so that the energy recovery capability of the battery is greatly limited. Therefore, in an extremely low temperature environment, the energy recovery capability of the battery is limited regardless of the state of the battery SOC, that is, regardless of whether the SOC is low SOC, medium SOC, or high SOC. For example: when the battery is at-30 ℃ and the SOC is 50%, the energy recovery capability is not limited in the SOC state alone, but the activity of the battery becomes very low due to the low temperature of the battery, resulting in the energy recovery capability being greatly limited. At the moment, the kinetic energy and the potential energy of the vehicle can not be recovered through the battery energy to meet the deceleration requirement of pressing an energy recovery button by a driver, and the driver still needs to actively step on the brake to control the vehicle speed.
The common points of the above scenarios are: when the battery energy recovery capability is limited such that the vehicle deceleration cannot meet the driver's demand for depression of the energy recovery button deceleration, the running feeling and driving drivability of the vehicle may deteriorate.
In order to solve the above problems, the present invention provides a method for compensating a braking force of a vehicle, which can provide a compensating braking force to the vehicle by controlling an electronically controlled hydraulic brake system, so that the vehicle obtains a deceleration that is missing due to a limited energy recovery capability, meets a driver's demand for different vehicle speeds, and improves the driving feeling and driving manipulation performance of the vehicle.
Next, a brief description will be given of an implementation environment relating to a method for compensating a vehicle braking force according to an embodiment of the present invention.
In the embodiment, the vehicle is at least provided with an electric control hydraulic braking system, a battery control system, a display device, a power domain controller and a power assembly system. The electronic control hydraulic braking system is used for providing braking force for a vehicle, and is also used for providing compensation braking force for the vehicle in the compensation method; the battery control system is used for monitoring the state of the battery, ensuring the reliability and high efficiency of the operation of the battery and particularly collecting the temperature and the SOC state of the battery; the display device is used for displaying related information; the power domain controller is used for controlling a power assembly of the vehicle, and the power assembly system is used for providing running power for the vehicle.
After describing application scenarios and implementation environments related to the embodiments of the present invention, the method for compensating a braking force of a vehicle according to the embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Fig. 3 is a flowchart of a method for compensating a braking force of a vehicle according to an embodiment of the present invention, and as shown in fig. 3, the method includes:
and S301, acquiring working parameters of the vehicle in an energy recovery mode.
Optionally, the operating parameters include at least a battery temperature, a battery state of charge, an actual battery charging power, and a currently selected energy recovery gear by the driver. When the vehicle enters the energy recovery mode, the acquisition of relevant operating parameters can be started.
In the embodiment, the operating parameters of the vehicle in the energy recovery mode can be acquired through the PDCU. Specifically, the battery temperature CAN be detected by a temperature sensor, the battery temperature detected by the temperature sensor is collected by a battery BMS, and the collected battery SOC information and the actual charging power of the battery are transmitted to the PDCU together through a CAN bus.
Optionally, before performing step S301, the method may further include:
it is determined whether the vehicle enters an energy recovery mode.
Specifically, the PDCU may determine whether the driver presses the energy recovery button according to a state of the energy recovery button (hereinafter abbreviated as EMode), that is, whether the vehicle enters the energy recovery mode. For example, when EMode =1 and continues for a certain time, it indicates that the driver has pressed the energy recovery button; when EMode =0 for a certain time, it indicates that the driver does not press the energy recovery button. Meanwhile, the communication condition of the PDCU and the EMode needs to be monitored, and when a communication fault occurs and the request of a driver energy recovery button is not responded, a fault lamp can be turned on the instrument.
And step S302, judging whether the energy recovery capability of the battery meets the requirement of a driver according to the working parameters.
Optionally, step S302 includes:
firstly, determining target recovery power required by a driver according to an energy recovery gear.
In this embodiment, different energy recovery gears are preset with corresponding target recovery powers. When the energy recovery gear is a low gear, the energy recovery gear corresponds to a first target recovery power; when the energy recovery gear is a middle gear, corresponding to a second target recovery power; and when the energy recovery gear is in a high gear, corresponding to a third target recovery power. The higher the gear is, the higher the corresponding target recovery power is, and the higher the battery energy recovery capability is represented.
And secondly, judging whether the energy recovery capability of the battery is limited or not according to the temperature or the charge state of the battery.
In the present embodiment, the battery remaining capacity may be determined according to the battery state of charge; and when the temperature of the battery is smaller than a temperature threshold value or the residual electric quantity of the battery is larger than an electric quantity threshold value, judging that the energy recovery capability of the battery is limited. Otherwise, when the temperature of the battery is greater than or equal to the temperature threshold value or the residual capacity of the battery is less than or equal to the capacity threshold value, the energy recovery capacity of the battery is judged to be not limited.
The PDCU can compare the acquired battery temperature and the acquired battery SOC with the pre-stored temperature threshold and electric quantity threshold to judge whether the energy recovery capacity of the battery is limited or not.
And thirdly, when the energy recovery capacity of the battery is limited and the actual charging power of the battery is smaller than the target recovery power, judging that the energy recovery capacity of the battery does not meet the requirement of a driver.
It is understood that when the actual charging power of the battery is less than the target recovered power, it means that the kinetic energy (potential energy) of the vehicle will not be able to achieve the deceleration demand corresponding to the energy recovery gear selected by the driver by means of the battery energy recovery.
In this embodiment, when it is determined that the energy recovery capability of the battery is not limited, or the actual charging power of the battery is greater than the target charging power, it is determined that the capability recovery capability of the battery meets the driver's demand. At this time, the compensating braking force does not need to be provided for the vehicle, i.e., the subsequent steps do not need to be performed.
Optionally, the method may further include:
when it is judged that the energy recovery capability of the battery is limited, a reason for the limitation is displayed. The limited reason includes that the battery temperature is too low or the battery residual capacity is too high.
In this embodiment, if the energy recovery capability of the battery is limited due to the battery temperature being too low, the displayed content may be: "battery temperature is too low and energy recovery capability is limited". If the energy recovery capability of the battery is limited due to the fact that the remaining capacity of the battery is too high, the display content may be: "battery SOC is too high and energy recovery capability is limited". Therefore, the driver can more intuitively know the reason that the battery energy recovery capability is limited, and the driving experience of the driver can be improved.
It should be noted that, in this embodiment, the reason for the limitation may be displayed by an existing meter on the vehicle, or the driver may be prompted by displaying through other devices or through other manners, which is not limited in this invention.
And step S303, when the energy recovery capability of the battery does not meet the requirement of a driver, judging whether the vehicle electric control hydraulic braking system can normally work.
In the embodiment, whether the vehicle electronic control hydraulic brake system can work normally can be judged by the following conditions:
the PDCU cannot communicate with the electric control hydraulic braking system under the condition 1, namely the communication is lost;
2, the PDCU cannot transmit correct electric control hydraulic braking force to the electric control hydraulic braking system, namely the braking force is calculated wrongly;
the condition 3 is that the electric control hydraulic braking system cannot work due to the fact that the power assembly system is abnormal;
in condition 4, the electric control hydraulic braking system has faults, such as internal logic, hardware faults and the like, so that the electric control hydraulic braking system cannot work;
and in the condition 5, the performance of the electronic control hydraulic brake system is reduced, for example, the brake system cannot brake due to the temperature rise of the friction plate, or the electronic control hydraulic brake system cannot work due to the rapid performance reduction and the like.
When any one of the above 5 conditions occurs, it indicates that the electronically controlled hydraulic brake system cannot provide the compensation braking force for the vehicle, i.e. it is determined that the electronically controlled hydraulic brake system of the vehicle cannot work normally.
It should be noted that the above 5 conditions are listed for better understanding of the content of the embodiment of the present invention, and do not represent that only the above 5 conditions exist, and the conditions that the electronically controlled hydraulic brake system cannot normally operate due to other reasons are within the protection scope of the present invention, and are not described herein again.
In this embodiment, when it is determined that the vehicle electric control hydraulic brake system has a fault, the display device may prompt the driver that the electric control hydraulic brake system has the fault, so as to inform the driver that the electric control hydraulic brake system cannot provide the compensation braking force for the vehicle, and the driver is required to actively step on the brake to perform braking.
And step S304, when the electric control hydraulic braking system can work normally, controlling the electric control hydraulic braking system to provide compensation braking force for the vehicle.
Optionally, step S304 includes:
a first step of determining a current first decelerating driving force of the vehicle and a second decelerating driving force required by a driver;
in the present embodiment, when the battery energy recovery capability is limited, the battery BMS informs the PDCU of the current battery recovery capability through the CAN bus, and the PDCU converts the first deceleration driving force according to the current battery recovery capability. Meanwhile, the PDCU can calculate a second deceleration driving force required by the driver according to the gear information of the current energy recovery, and information such as an accelerator pedal, a brake pedal, a gear of a gearbox, a vehicle state and a power assembly system state of the driver.
A second step of calculating a difference between the first decelerating driving force and the second decelerating driving force;
at this time, the calculated difference is the deceleration driving force that the vehicle lacks when the battery energy recovery capability is limited.
And thirdly, determining the magnitude of the compensation braking force which needs to be provided by the electric control hydraulic braking system for the vehicle according to the difference value, and controlling the electric control hydraulic braking system to provide the compensation braking force with corresponding magnitude for the vehicle.
In this embodiment, the missing deceleration driving force (i.e. the difference) can be subjected to the limitation processing of the hydraulic braking force of the electrically controlled hydraulic brake system by the PDCU, and the magnitude of the compensation braking force to be provided to the vehicle can be finally calculated by taking the minimum vehicle speed requirement into consideration.
Optionally, the compensation method may further include:
detecting whether a driver switches a gear of energy recovery; the energy recovery gears at least comprise three gears of low, medium and high. And when the condition that the driver switches the energy recovery gear is detected, judging whether the energy recovery capability of the battery meets the requirement of the driver according to the working parameters again. Namely, it is equivalent to re-execute the above steps S301 to S304.
In the embodiment, whether the driver switches the energy recovery gear or not is detected in real time, so that whether the speed demand of the driver on the vehicle changes or not is known.
For example, if the PDCU detects that the state of the EMode is low and detects that the change in the state of the EMode is 1 → 0 → 1, the PDCU determines that the driver switches the energy recovery gear from low to medium;
if the PDCU detects that the state of the EMode is the middle gear and the change of the state of the EMode is 1 → 0 → 1, the PDCU judges that the driver switches the energy recovery gear from the middle gear to the high gear;
in the above two cases, the shift position of energy recovery is changed, that is, the driver 'S requirement is changed, at this time, the operating parameters of the vehicle in the energy recovery mode after the shift position is changed need to be obtained again, and whether the energy recovery capability of the battery meets the driver' S requirement is determined according to the newly obtained operating parameters, so as to execute the above steps S301 to S304 again.
Based on the same inventive concept, the embodiment of the present invention further provides a compensation apparatus for a vehicle braking force, fig. 4 is a block diagram of a compensation apparatus for a vehicle braking force according to an embodiment of the present invention, and as shown in fig. 4, the compensation apparatus 400 includes an operating parameter obtaining module 401, a first determining module 402, a second determining module 403, and a compensation braking force control module 404.
A working parameter obtaining module 401, configured to obtain a working parameter of a vehicle in an energy recovery mode;
a first judging module 402, configured to judge whether the energy recovery capability of the battery meets a driver demand according to the operating parameter;
a second judging module 403, configured to judge whether the vehicle electronic control hydraulic brake system can normally operate when the energy recovery capability of the battery does not meet the driver's requirement;
and a compensation braking force control module 404, configured to control the electronically controlled hydraulic braking system to provide compensation braking force for the vehicle when the electronically controlled hydraulic braking system is capable of operating normally.
Optionally, the operating parameters include at least battery temperature, battery state of charge, actual battery charging power, and the energy recovery gear currently selected by the driver.
Optionally, the first determining module 402 further includes:
the target recovery power determining unit is used for determining the target recovery power required by the driver according to the energy recovery gear;
the first judgment unit is used for judging whether the energy recovery capacity of the battery is limited or not according to the temperature or the charge state of the battery;
and the second judgment unit is used for judging that the energy recovery capability of the battery does not meet the requirement of a driver when the energy recovery capability of the battery is limited and the actual charging power of the battery is smaller than the target recovery power.
Optionally, the first determining unit is further configured to:
determining the residual electric quantity of the battery according to the charge state of the battery;
and when the temperature of the battery is smaller than a temperature threshold value or the residual electric quantity of the battery is larger than an electric quantity threshold value, judging that the energy recovery capability of the battery is limited.
Optionally, the apparatus further includes a display module, configured to display a limitation reason when it is determined that the energy recovery capability of the battery is limited, where the limitation reason includes that the battery temperature is too low or the remaining battery capacity is too high.
Optionally, the compensating braking force control module 404 is further configured to:
determining a current first decelerating driving force of the vehicle and a second decelerating driving force required by a driver;
calculating a difference between the first decelerating driving force and the second decelerating driving force;
and determining the magnitude of the compensating braking force which needs to be provided for the vehicle by the electric control hydraulic braking system according to the difference, and controlling the electric control hydraulic braking system to provide the compensating braking force with the corresponding magnitude for the vehicle.
Optionally, the compensating device 400 further includes a gear detecting module, configured to detect whether a driver switches an energy recovery gear, where the energy recovery gear at least includes three gears, namely, a low gear, a medium gear, and a high gear.
When the situation that the driver switches the energy recovery gear is detected, whether the energy recovery capacity of the battery meets the requirement of the driver or not is judged again according to the working parameters.
Embodiments of the present invention also provide an electronic device, which may include a processor and a memory, where the processor and the memory may be communicatively connected to each other through a bus or in another manner.
The processor may be a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured as one or more Integrated circuits implementing embodiments of the present Application.
The memory may include mass storage for data or instructions. By way of example, and not limitation, memory may include a Hard Disk Drive (HDD), floppy Disk Drive, flash memory, optical Disk, magneto-optical Disk, magnetic tape, or Universal Serial Bus (USB) Drive or a combination of two or more of these. The memory may include removable or non-removable (or fixed) media, where appropriate. The memory may be internal or external to the electronic device, where appropriate. In particular embodiments, the memory may be non-volatile solid-state memory.
In one example, the Memory may be a Read Only Memory (ROM). In one example, the ROM can be mask-programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically Erasable PROM (EEPROM), electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these.
The processor reads and executes the computer program instructions stored in the memory to realize the method for compensating the vehicle braking force in any one of the above embodiments.
In one example, the electronic device may also include a communication interface and a bus. The processor, the memory and the communication interface are connected through a bus to complete mutual communication. The communication interface is mainly used for realizing communication among modules, devices, units and/or equipment in the embodiment of the application. A bus may include one or more buses, where appropriate.
In addition, in combination with the compensation method in the above embodiments, the embodiments of the present invention may be implemented by providing a computer-readable storage medium. The computer readable storage medium having stored thereon computer program instructions; the computer program instructions, when executed by a processor, implement a method of compensating for a vehicle braking force in any of the above embodiments.
The technical scheme in the embodiment of the application at least has the following technical effects or advantages:
according to the method, the device, the equipment and the medium for compensating the braking force of the vehicle, provided by the embodiment of the invention, whether the energy recovery capability of the battery meets the requirements of a driver or not is judged by acquiring the working parameters of the vehicle in an energy recovery mode. When the energy recovery capability of the battery does not meet the requirement of a driver, further judging whether the vehicle electronic control hydraulic braking system can normally work or not; when the electric control hydraulic braking system can work normally, the electric control hydraulic braking system can be controlled to provide compensation braking force for the vehicle, so that the vehicle is decelerated, the requirement of a driver on the vehicle speed is met, the driver does not need to step on a brake to control the vehicle speed, and the running feeling and the driving control performance of the vehicle can be improved.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Claims (10)
1. A compensation method for a braking force of a vehicle, characterized by comprising:
acquiring working parameters of a vehicle in an energy recovery mode;
judging whether the energy recovery capability of the battery meets the requirement of a driver or not according to the working parameters;
when the energy recovery capability of the battery does not meet the requirement of a driver, judging whether the vehicle electric control hydraulic braking system can normally work or not;
and when the electric control hydraulic braking system can work normally, the electric control hydraulic braking system is controlled to provide compensation braking force for the vehicle.
2. The compensation method of claim 1, wherein the operating parameters include at least battery temperature, battery state of charge, battery actual charge power, and driver currently selected energy recovery gear.
3. The compensation method of claim 2, wherein the determining whether the energy recovery capability of the battery meets the driver demand based on the operating parameter comprises:
determining target recovery power required by a driver according to the energy recovery gear;
judging whether the energy recovery capability of the battery is limited or not according to the battery temperature or the battery charge state;
and when the energy recovery capacity of the battery is limited and the actual charging power of the battery is smaller than the target recovery power, judging that the energy recovery capacity of the battery does not meet the requirement of a driver.
4. The compensation method of claim 3, wherein the determining whether the energy recovery capability of the battery is limited based on the battery temperature or the battery state of charge comprises:
determining the residual electric quantity of the battery according to the charge state of the battery;
and when the temperature of the battery is smaller than a temperature threshold value or the residual electric quantity of the battery is larger than an electric quantity threshold value, judging that the energy recovery capacity of the battery is limited.
5. The compensation method of claim 4, further comprising:
and when the energy recovery capacity of the battery is judged to be limited, displaying the limited reasons, wherein the limited reasons comprise that the temperature of the battery is too low or the residual capacity of the battery is too high.
6. The compensation method of claim 1, wherein the controlling the electronically controlled hydraulic brake system to provide the compensating braking force to the vehicle when the electronically controlled hydraulic brake system is capable of operating normally comprises:
determining a current first decelerating driving force of the vehicle and a second decelerating driving force required by a driver;
calculating a difference between the first decelerating driving force and the second decelerating driving force;
and determining the magnitude of the compensation braking force which needs to be provided for the vehicle by the electronic control hydraulic braking system according to the difference, and controlling the electronic control hydraulic braking system to provide the compensation braking force with the corresponding magnitude for the vehicle.
7. The compensation method of claim 1, further comprising:
detecting whether a driver switches a gear for energy recovery; the energy recovery gears at least comprise three gears of low, medium and high;
and when the condition that the driver switches the energy recovery gear is detected, judging whether the energy recovery capability of the battery meets the requirement of the driver according to the working parameters again.
8. A compensating device for a braking force of a vehicle, characterized by comprising:
the working parameter acquisition module is used for acquiring working parameters of the vehicle in an energy recovery mode;
the first judgment module is used for judging whether the energy recovery capability of the battery meets the requirement of a driver or not according to the working parameters;
the second judging module is used for judging whether the vehicle electronic control hydraulic braking system can normally work or not when the energy recovery capability of the battery does not meet the requirement of a driver;
and the compensation braking force control module is used for controlling the electronic control hydraulic braking system to provide compensation braking force for the vehicle when the electronic control hydraulic braking system can normally work.
9. An electronic device, comprising: a memory and a processor, the memory and the processor being communicatively coupled to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the compensation method of any of claims 1-7.
10. A computer-readable storage medium having stored thereon computer instructions for causing a computer to perform the compensation method of any one of claims 1-7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211672654.XA CN115973121A (en) | 2022-12-26 | 2022-12-26 | Method, device, equipment and medium for compensating braking force of vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211672654.XA CN115973121A (en) | 2022-12-26 | 2022-12-26 | Method, device, equipment and medium for compensating braking force of vehicle |
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| CN202211672654.XA Pending CN115973121A (en) | 2022-12-26 | 2022-12-26 | Method, device, equipment and medium for compensating braking force of vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117429269A (en) * | 2023-12-15 | 2024-01-23 | 中国第一汽车股份有限公司 | Control method for closed-loop braking energy recovery function of new energy vehicle type and vehicle |
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2022
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117429269A (en) * | 2023-12-15 | 2024-01-23 | 中国第一汽车股份有限公司 | Control method for closed-loop braking energy recovery function of new energy vehicle type and vehicle |
| CN117429269B (en) * | 2023-12-15 | 2024-04-09 | 中国第一汽车股份有限公司 | Control method for closed-loop braking energy recovery function of new energy vehicle type and vehicle |
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