CN116605065A

CN116605065A - Vehicle braking method and device, vehicle and electronic device

Info

Publication number: CN116605065A
Application number: CN202310736665.8A
Authority: CN
Inventors: 谭宇皓; 闫鲁平; 官浩; 隋清海
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2023-06-20
Filing date: 2023-06-20
Publication date: 2023-08-18

Abstract

The invention discloses a vehicle braking method and device, a vehicle and an electronic device, and relates to the technical field of vehicles. Wherein the method comprises the following steps: acquiring braking temperatures of a plurality of braking motors in a vehicle, wherein the plurality of braking motors are used for respectively applying braking forces to a plurality of wheels of the vehicle; acquiring a required braking force in response to the braking temperature of a first number of the plurality of braking motors being greater than a temperature threshold, wherein the required braking force is used for representing the braking force currently required by a driver; determining a target braking force to be applied to the plurality of wheels based on the required braking force; the vehicle is braked based on the target braking force to adjust the braking temperature. The invention solves the technical problems of low comprehensiveness, weak anti-interference and low safety caused by the fact that the related technology outputs brake control by receiving a driver brake request to finish the whole vehicle braking.

Description

Vehicle braking method and device, vehicle and electronic device

Technical Field

The invention relates to the technical field of vehicles, in particular to a vehicle braking method and device, a vehicle and an electronic device.

Background

With the rapid development of brake electric control systems, the brake-by-wire technology (Electro Mechanical Braking, EMB) can be used for controlling the braking force of a vehicle as a technology for controlling the electronic stability of the vehicle, but a brake-by-wire execution unit generally faces the problem of heat dissipation of the motor operation, and once the motor is overheated, the failure is caused, and the result is serious. Therefore, a braking method for a vehicle is necessary.

At present, the braking control is output by receiving a braking request of a driver to finish braking of the whole vehicle, but when the vehicle runs on a long downhill road section or a long-time running congestion road section, the method can cause current to supply power to a motor for a long time to finish continuous or frequent braking, so that the temperature of the motor is continuously increased, the service life of the motor is influenced, more hazard risks exist, the comprehensiveness is low, the anti-interference performance is weak, and the safety is low.

In view of the above problems, no effective solution has been proposed at present.

Disclosure of Invention

The embodiment of the invention provides a vehicle braking method and device, a vehicle and an electronic device, which at least solve the technical problems of low comprehensiveness, weak anti-interference and low safety caused by the fact that the related technology outputs braking control by receiving a driver braking request to finish braking of a whole vehicle.

According to one embodiment of the present invention, there is provided a braking method of a vehicle, including: acquiring braking temperatures of a plurality of braking motors in a vehicle, wherein the plurality of braking motors are used for respectively applying braking forces to a plurality of wheels of the vehicle; acquiring a required braking force in response to the braking temperature of a first number of the plurality of braking motors being greater than a temperature threshold, wherein the required braking force is used for representing the braking force currently required by a driver; determining a target braking force to apply to a plurality of wheels based on the demand braking force, wherein the plurality of wheels includes: a first number of wheels corresponding to the first number of brake motors and a second number of wheels corresponding to the second number of brake motors, wherein the second number of brake motors are the rest brake motors except the first number of brake motors in the plurality of brake motors, and the target braking force applied to the first number of wheels is smaller than the target braking force applied to the second number of wheels; the vehicle is braked based on the target braking force to adjust the braking temperature.

Optionally, determining the target braking force to apply to the plurality of wheels based on the demand braking force includes: determining a battery state of the vehicle, wherein the battery state is used for representing a charge value of the battery; determining a target braking force based on the energy recovery function and the required braking force in response to the battery state satisfying the energy recovery condition; in response to the battery state not meeting the energy recovery condition, a target braking force is determined based on the controller and the required braking force.

Optionally, determining the target braking force based on the energy recovery function and the required braking force includes: determining current information and energy recovery information of the battery; determining a recovery braking force based on the current information and the energy recovery information, wherein the recovery braking force is a braking force provided by an energy recovery function; the braking force applied to the first number of wheels is determined based on the recovered braking force, and the braking force applied to the second number of wheels is determined based on the required braking force.

Optionally, acquiring the braking temperatures of the plurality of braking motors in the vehicle includes: the braking temperature is acquired by temperature sensors installed at preset positions of a plurality of braking motors.

Optionally, obtaining the required braking force includes: the required braking force is determined based on a pedal simulator of the vehicle.

Optionally, the method further comprises: and sending prompt information in response to the braking temperature of a first number of the plurality of braking motors being greater than a temperature threshold, wherein the prompt information is used for prompting a driver to run at a reduced speed.

Optionally, braking the vehicle based on the target braking force includes: determining a driving mode of the vehicle; determining a brake noise standard value based on the driving modes, wherein different driving modes correspond to different brake noise standard values; the vehicle is braked based on the brake noise criterion value and the target braking force.

According to one embodiment of the present invention, there is also provided a brake apparatus of a vehicle including: a first acquisition module for acquiring braking temperatures of a plurality of brake motors in the vehicle, wherein the plurality of brake motors are used for respectively applying braking forces to a plurality of wheels of the vehicle; the second acquisition module is used for acquiring a required braking force in response to the fact that the braking temperature of a first number of braking motors in the plurality of braking motors is larger than a temperature threshold value, wherein the required braking force is used for representing the braking force required by a driver currently; a determining module for determining a target braking force to be applied to a plurality of wheels based on the required braking force, wherein the plurality of wheels includes: a first number of wheels corresponding to the first number of brake motors and a second number of wheels corresponding to the second number of brake motors, wherein the second number of brake motors are the rest brake motors except the first number of brake motors in the plurality of brake motors, and the target braking force applied to the first number of wheels is smaller than the target braking force applied to the second number of wheels; and the braking module is used for braking the vehicle based on the target braking force so as to adjust the braking temperature.

Optionally, the determining module is further configured to determine a battery state of the vehicle, where the battery state is used to represent a charge value of the battery; determining a target braking force based on the energy recovery function and the required braking force in response to the battery state satisfying the energy recovery condition; in response to the battery state not meeting the energy recovery condition, a target braking force is determined based on the controller and the required braking force.

Optionally, the determining module is further configured to determine current information and energy recovery information of the battery; determining a recovery braking force based on the current information and the energy recovery information, wherein the recovery braking force is a braking force provided by an energy recovery function; the braking force applied to the first number of wheels is determined based on the recovered braking force, and the braking force applied to the second number of wheels is determined based on the required braking force.

Optionally, the first acquisition module is further configured to acquire the braking temperature by temperature sensors installed at preset positions of the plurality of braking motors.

Optionally, the second acquisition module is further configured to determine the required braking force based on a pedal simulator of the vehicle.

Optionally, the first obtaining module is further configured to send a prompt message in response to a braking temperature of a first number of the plurality of braking motors being greater than a temperature threshold, where the prompt message is configured to prompt the driver to run at a reduced speed.

Optionally, the braking module is further configured to determine a driving mode of the vehicle; determining a brake noise standard value based on the driving modes, wherein different driving modes correspond to different brake noise standard values; the vehicle is braked based on the brake noise criterion value and the target braking force.

According to an embodiment of the present application, there is also provided a vehicle for performing the braking method of the vehicle in any one of the above.

According to one embodiment of the present application, there is also provided a computer-readable storage medium having stored therein a computer program, wherein the computer program is arranged to perform the method of braking a vehicle of any one of the above, when run on a computer or processor.

According to one embodiment of the application, there is also provided an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the method of braking a vehicle as in any of the above.

In an embodiment of the present application, by acquiring brake temperatures of a plurality of brake motors in a vehicle, wherein the plurality of brake motors are configured to apply braking forces to a plurality of wheels of the vehicle, respectively, acquiring a required braking force in response to the brake temperature of a first number of the plurality of brake motors being greater than a temperature threshold, wherein the required braking force is configured to represent a braking force currently required by a driver, and determining a target braking force to be applied to the plurality of wheels based on the required braking force, wherein the plurality of wheels include: the vehicle braking control system comprises a first number of wheels corresponding to a first number of braking motors and a second number of wheels corresponding to a second number of braking motors, wherein the second number of braking motors are the rest braking motors except the first number of braking motors in a plurality of braking motors, target braking force applied to the first number of wheels is smaller than target braking force applied to the second number of wheels, and finally, the vehicle is braked based on the target braking force to adjust the braking temperature, so that the vehicle stability can be ensured through braking force distribution, the temperature of the motor with high temperature is reduced, the service life of the motor is ensured, the vehicle state is safer, the technical effects of high comprehensiveness, high interference resistance and high safety are achieved, and the technical problems that the comprehensiveness is low, the interference resistance is weak and the safety is low are solved by receiving a driver braking request to output braking control in the related art.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:

FIG. 1 is a flow chart of a method of braking a vehicle according to one embodiment of the application;

FIG. 2 is a schematic diagram illustrating a temperature-operating state correspondence relationship according to one embodiment of the present application;

FIG. 3 is a schematic illustration of a method of braking a vehicle according to one embodiment of the application;

fig. 4 is a block diagram of a brake apparatus of a vehicle according to one embodiment of the present application.

Detailed Description

For ease of understanding, a description of some of the concepts related to the embodiments of the application are given by way of example for reference.

The following is shown:

linear actuation (Electromechanical Braking, EMB): a technique for an electronic stability control system for a vehicle that assists a driver in better steering and maneuvering a vehicle by independently braking the wheels. In particular, the EMB may implement the following functions: the safety is improved: in emergency situations, such as avoiding collisions or preventing uncontrolled skidding, the EMB can quickly respond and balance and maintain the stability of the vehicle by braking a particular wheel; and (3) reducing the braking distance: the use of EMB allows for faster completion of tasks when stopping or slowing down is required compared to conventional braking systems, and because each wheel has a separate steering device, the braking effort of each wheel can be adjusted depending on road conditions and other factors; improve driving comfort: the EMB can more accurately adjust the braking force of each wheel, so that the whole process becomes smooth and stable. This means that unnecessary jerky feeling is reduced when driving on a highway, and the chassis noise level is also greatly reduced.

Wheel intelligent terminal: a mobile device based on the technology of the Internet of things can be installed on mobile devices such as vehicles, robots and the like and is used for collecting, processing and transmitting data. The system can monitor the state and position information of the vehicle in real time and provide navigation service, traffic information and other functions; meanwhile, other intelligent devices such as cameras, temperature sensors and the like can be connected to collect and analyze data. The hub intelligent terminal uses cloud computing technology to process a large amount of data and transmits the data to a server or other terminal devices through a wireless network.

At present, the working logic of an execution unit of an EMB (electro-mechanical brake) is that an electronic control unit (Electronic Control Unit, ECU) receives a brake request of a driver, a bottom drive inputs a message signal to a wheel intelligent terminal, and a motor is powered by current to push a friction plate to be in contact with a brake disc, so that the braking of the whole vehicle is completed. If the EMB system is to be carried in the future, when the vehicle runs on a long downhill road section or a long-time running congestion road section, current is caused to supply power to the motor for a long time to complete continuous or frequent braking, so that the temperature of the motor is caused to continuously rise, the service life of the motor is influenced, and more hazard risks exist.

Battery management system (Battery Management System, BMS for short): an integrated battery monitoring and control system is responsible for monitoring parameters such as voltage, current, temperature and the like of the battery and calculating the electric quantity of the battery according to the parameters.

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

According to one embodiment of the present invention, there is provided an embodiment of a method of braking a vehicle, it being noted that the steps shown in the flowchart of the figures may be performed in a computer system, such as a set of computer executable instructions, and that, although a logical sequence is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than what is shown or described herein.

The method embodiments may be performed in an electronic device, similar control device or system that includes a memory and a processor. Taking an electronic device as an example, the electronic device may include one or more processors and memory for storing data. Optionally, the electronic apparatus may further include a communication device for a communication function and a display device. It will be appreciated by those of ordinary skill in the art that the foregoing structural descriptions are merely illustrative and are not intended to limit the structure of the electronic device. For example, the electronic device may also include more or fewer components than the above structural description, or have a different configuration than the above structural description.

The processor may include one or more processing units. For example: the processor may include a processing device of a central processing unit (central processing unit, CPU), a graphics processor (graphics processing unit, GPU), a digital signal processing (digital signal processing, DSP) chip, a microprocessor (microcontroller unit, MCU), a programmable logic device (field-programmable gate array, FPGA), a neural network processor (neural-network processing unit, NPU), a tensor processor (tensor processing unit, TPU), an artificial intelligence (artificial intelligent, AI) type processor, or the like. Wherein the different processing units may be separate components or may be integrated in one or more processors. In some examples, the electronic device may also include one or more processors.

The memory may be used to store a computer program, for example, a computer program corresponding to a braking method of a vehicle in an embodiment of the present invention, and the processor implements the braking method of a vehicle by running the computer program stored in the memory. The memory may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid state memory. In some examples, the memory may further include memory remotely located with respect to the processor, which may be connected to the electronic device through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The communication device is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the communication device includes a network adapter (network interface controller, NIC) that can connect to other network devices through the base station to communicate with the internet. In one example, the communication device may be a Radio Frequency (RF) module for communicating with the internet wirelessly.

Display devices may be, for example, touch screen type liquid crystal displays (liquid crystal display, LCDs) and touch displays (also referred to as "touch screens" or "touch display screens"). The liquid crystal display may enable a user to interact with a user interface of the mobile terminal. In some embodiments, the mobile terminal has a graphical user interface (graphical user interface, GUI) with which a user can interact with the GUI by touching finger contacts and/or gestures on the touch-sensitive surface, where the human-machine interaction functionality optionally includes the following interactions: executable instructions for performing the above-described human-machine interaction functions, such as creating web pages, drawing, word processing, making electronic documents, games, video conferencing, instant messaging, sending and receiving electronic mail, talking interfaces, playing digital video, playing digital music, and/or web browsing, are configured/stored in a computer program product or readable storage medium executable by one or more processors.

In this embodiment, a braking method of a vehicle running on an electronic device is provided, fig. 1 is a flowchart of a braking method of a vehicle according to one embodiment of the present invention, and as shown in fig. 1, the flowchart includes the following steps:

Step S10, acquiring braking temperatures of a plurality of braking motors in a vehicle;

wherein the plurality of brake motors are for applying braking forces to a plurality of wheels of the vehicle, respectively.

The brake temperature of the brake motor in a vehicle is used to indicate the operating conditions of the brake system, in particular the heat generation and dissipation of the brakes, it being understood that the higher the brake temperature of the brake motor in a vehicle, the more severe or poorly dissipated the brake, possibly risking a brake failure.

The plurality of brake motors are used to apply braking forces to a plurality of wheels of the vehicle, respectively, it being understood that each wheel has an independent brake motor to effect the application of braking forces. Alternatively, the magnitude of the braking force can be adjusted by controlling the rotation speed and the torque of the motor, the braking motor is usually tightly combined with a braking system and a control system of the vehicle, and the braking force is distributed to each wheel according to the needs through signal transmission and calculation control, so that the accuracy and the effect of braking can be improved, and better stability and safety can be provided.

This step may be understood as acquiring the brake temperatures of a plurality of brake motors in the vehicle for applying brake forces to a plurality of wheels of the vehicle, respectively, and alternatively, the brake temperatures of the plurality of brake motors may be monitored and measured by sensors of the vehicle, which is not limited in the embodiment of the present invention.

Step S11, acquiring a required braking force in response to the braking temperature of a first number of braking motors in the plurality of braking motors being greater than a temperature threshold;

wherein the required braking force is used to represent the braking force currently required by the driver.

The temperature threshold is understood to mean the highest temperature threshold for ensuring the normal operation of the brake motor, i.e. above which the brake temperature of the brake motor is too high, which affects the normal operation.

This step may be understood as meaning that when the braking temperature of the first number of brake motors out of the plurality of brake motors is greater than the maximum temperature threshold value indicating that the brake motors are guaranteed to operate normally, the braking temperature of the first number of brake motors is too high to affect normal operation, and at this time, a braking force indicating the current demand of the driver, i.e., a demand braking force, is acquired.

Alternatively, the required braking force may be determined based on factors such as the driving style of the driver, the type and performance of the vehicle, the road condition, and the environment, and the embodiment of the present invention is not limited.

Step S12 of determining a target braking force to be applied to the plurality of wheels based on the required braking force;

wherein the plurality of wheels includes: the first number of wheels corresponding to the first number of brake motors and the second number of wheels corresponding to the second number of brake motors, wherein the second number of brake motors are the rest brake motors except for the first number of brake motors in the plurality of brake motors, and the target braking force applied to the first number of wheels is smaller than the target braking force applied to the second number of wheels.

This step may be understood as determining the target braking force applied to the plurality of wheels based on the braking force currently demanded by the driver, that is, the target braking force applied to the first number of wheels corresponding to the first number of brake motors and the second number of wheels corresponding to the remaining brake motors other than the first number of brake motors.

It can be understood that when the braking temperature of the first number of braking motors is greater than the temperature threshold, the braking temperature of the first number of braking motors is too high, so that normal operation is affected, and at the moment, smaller braking force is applied to the first number of wheels corresponding to the first number of braking motors, so that the braking temperature of the first number of braking motors can be reduced.

Step S13, braking the vehicle based on the target braking force to adjust the braking temperature.

This step can be understood as braking the vehicle based on the target braking forces applied to the plurality of wheels to adjust the braking temperature.

Through the steps, braking temperatures of a plurality of braking motors in a vehicle are obtained, wherein the plurality of braking motors are used for respectively applying braking forces to a plurality of wheels of the vehicle, a required braking force is obtained in response to the braking temperature of a first number of the plurality of braking motors being greater than a temperature threshold value, the required braking force is used for representing braking force required by a driver currently, and target braking force applied to the plurality of wheels is determined based on the required braking force, and the plurality of wheels comprise: the vehicle braking control system comprises a first number of wheels corresponding to a first number of braking motors and a second number of wheels corresponding to a second number of braking motors, wherein the second number of braking motors are the rest braking motors except the first number of braking motors in a plurality of braking motors, target braking force applied to the first number of wheels is smaller than target braking force applied to the second number of wheels, and finally, the vehicle is braked based on the target braking force to adjust the braking temperature, so that the vehicle stability can be ensured through braking force distribution, the temperature of the motor with high temperature is reduced, the service life of the motor is ensured, the vehicle state is safer, the technical effects of high comprehensiveness, high interference resistance and high safety are achieved, and the technical problems that the comprehensiveness is low, the interference resistance is weak and the safety is low are solved by receiving a driver braking request to output braking control in the related art.

Alternatively, in step S10, acquiring the braking temperatures of the plurality of braking motors in the vehicle may include performing the steps of:

step S100, acquiring a braking temperature by temperature sensors installed at preset positions of a plurality of braking motors.

The preset position may be understood as a position in the vicinity of which the braking temperature of the braking motor can be accurately measured for accurately acquiring the braking temperature of the braking motor, and the step may be understood as acquiring the braking temperature by a temperature sensor installed at a position in the vicinity of which the braking temperature of the braking motor can be accurately measured for a plurality of braking motors.

Optionally, in step S10, the following steps may be further included:

step S101, a prompt message is sent in response to the braking temperature of a first number of braking motors in the plurality of braking motors being greater than a temperature threshold;

the prompt information is used for prompting the driver to run at a reduced speed.

It will be appreciated that the temperature threshold is used to indicate a maximum temperature threshold that ensures proper operation of the brake motor, i.e. a temperature above which the brake motor is at too high a brake temperature, affecting proper operation.

The step can be understood that when the braking temperature of the first number of braking motors in the plurality of braking motors is greater than a temperature threshold, namely, the braking temperature of the first number of braking motors is greater than a highest temperature threshold for ensuring normal operation of the braking motors, the braking temperature of the first number of braking motors is too high to influence normal operation, and prompt information for prompting a driver to run at a reduced speed is sent at the moment to prompt the driver to execute a speed reduction operation, so that the braking temperature of the first number of braking motors is reduced, and safe driving is ensured.

Alternatively, the information interaction system in the vehicle may display a prompt message for driving in an image or text for example, so as to prompt the driver to run at a reduced speed, which is not limited in the embodiment of the present invention.

Alternatively, in step S11, acquiring the required braking force may include the following execution steps:

step S110, a required braking force is determined based on a pedal simulator of the vehicle.

This step may be understood as determining the braking force currently demanded by the driver based on a pedal simulator of the vehicle, alternatively, the braking force demand may be set by determining parameters of the simulator, and the required braking force may be determined by several steps of testing the adjustment and verification results using the pedal simulator, the embodiment of the invention is not limited.

Specifically, parameters of a simulator may be determined by determining a vehicle mass, a vehicle type (car, truck, etc.), a vehicle speed range, etc., and then a braking force currently demanded by a driver is input, and a vehicle braking process is simulated by a pedal simulator to convert a pedal force into a braking force. And performing a braking test on the simulator, adjusting the pedal force according to the set braking force requirement, and observing whether the braking force output by the simulator meets the requirement. Meanwhile, according to the test result, if the braking force is not satisfactory, parameters of the simulator, such as vehicle mass, speed range and the like, may need to be adjusted to carry out the test again. Finally, through multiple tests and adjustment, the pedal simulator can accurately simulate the required braking force, and the embodiment of the invention is not limited.

Optionally, in step S12, determining the target braking force to be applied to the plurality of wheels based on the required braking force may include performing the steps of:

step S120, determining the battery state of the vehicle;

wherein, the battery state is used for representing the electric quantity value of the battery.

This step may be understood as determining a battery status of the vehicle for representing an electrical quantity value of the battery.

Alternatively, it may be determined by the BMS, and embodiments of the present invention are not limited. Specifically, the voltage of the battery may be measured using a voltage sensor, the current of the battery may be measured using a current sensor, and the temperature of the battery may be measured using a temperature sensor. By monitoring the above parameters, the BMS can calculate the amount of electricity of the battery in real time and display it on the dashboard of the vehicle.

Illustratively, the battery power is generally expressed in terms of a percentage, i.e., the percentage of the remaining power to the total capacity, and the BMS estimates and adjusts the battery power according to the characteristics and use conditions of the battery to provide accurate power display.

It will be appreciated that the power level of the vehicle battery is an estimated value, and the accuracy thereof is affected by various factors, such as the aging degree of the battery, the temperature change, the usage mode, etc., and thus, in actual use, the power level may have a certain error.

Step S121 of determining a target braking force based on the energy recovery function and the required braking force in response to the battery state satisfying the energy recovery condition;

energy recovery is understood to mean the conversion of kinetic energy of an electric vehicle when the vehicle is coasting or braking into electrical energy by converting the brake into a generator for storage in a battery. The energy recovery function is turned on or turned on, which means that the resistance of the braking system to the wheels is increased so that more kinetic energy can be collected and stored.

It will be appreciated that when the energy recovery function is turned on or turned on, additional resistance is created as the wheel continues to rotate due to the load created by the generator. This resistance, also known as "drag torque", can help slow vehicle speed and convert some of the remaining kinetic inertia into current that can be used for charging.

This step can be understood as meaning that the energy recovery function is turned on or turned on when the battery state satisfies the energy recovery condition, at which time the target braking force is determined based on the energy recovery function and the braking force currently demanded by the driver.

Step S122, in response to the battery state not satisfying the energy recovery condition, determines a target braking force based on the controller and the required braking force.

This step may be understood as meaning that the energy recovery function is not turned on when the battery state satisfies the energy recovery condition, at which time the target braking force is determined based on the braking force currently demanded by the vehicle electronic control unit and the driver.

Alternatively, in step S121, determining the target braking force based on the energy recovery function and the required braking force may include performing the steps of:

step S1210, determining current information and energy recovery information of the battery;

the current information may be understood as a battery operating current state of the vehicle, and the energy recovery information may be understood as information indicating conversion of kinetic energy of the vehicle while coasting or braking into electric energy to be stored in the battery.

This step can be understood as determining the battery operating current state of the vehicle and converting kinetic energy of the vehicle while coasting or braking into information that is stored in the battery.

Step S1211 of determining a recovery braking force based on the current information and the energy recovery information;

wherein the recovered braking force is the braking force provided by the energy recovery function.

This step can be understood as determining the braking force provided by the energy recovery function based on the battery operating current state of the vehicle and information that converts kinetic energy of the vehicle while coasting or braking into electrical energy for storage in the battery.

Step S1212 determines the braking force applied to the first number of wheels based on the recovered braking force, and determines the braking force applied to the second number of wheels based on the required braking force.

This step may be understood as determining the braking force applied to the first number of wheels based on the braking force provided by the energy recovery function and determining the braking force applied to the second number of wheels based on the braking force currently demanded by the driver.

Illustratively, if the first number is 1, the second number is 3, and the required braking force is F, then the braking forces applied to the first number of wheels are all provided by the recovered braking force, and the remaining second number of 3 wheels evenly distribute the braking force of F/3, embodiments of the present invention are not limited.

Fig. 2 is a schematic diagram of a temperature-working state correspondence relationship according to an embodiment of the present invention, as shown in fig. 2, and a specific implementation process of the above steps is comprehensively described. In fig. 2, the horizontal axis represents time, the vertical axis represents temperature, the threshold line represents the highest temperature threshold value that ensures the normal operation of the vehicle brake motor, and the recovery four-wheel brake temperature line represents the boundary line where the energy recovery function is not performed. Above the return four-wheel braking temperature line as shown in fig. 2 is a case where the target braking force is determined based on the energy recovery function and the required braking force, and below the return four-wheel braking temperature line is a normal wheel four-wheel braking case.

Alternatively, in step S13, braking the vehicle based on the target braking force may include the following steps of:

step S130, determining a driving mode of the vehicle;

it will be appreciated that the vehicle may take different modes of operation under different driving conditions, and this step may be understood as determining the mode of operation of the vehicle under different driving conditions, for example, a normal driving mode, a sport mode, an economy mode, an autopilot mode, etc., and embodiments of the present invention are not limited.

Step S131, determining a brake noise standard value based on the driving mode;

wherein, different driving modes correspond to different brake noise standard values.

It will be appreciated that braking noise is generated as the vehicle is operated, if the braking noise is too high, it may cause interference to the driver, causing a safety hazard, and this step may be understood as determining different braking noise standard values corresponding to different driving modes based on the operation modes of the vehicle under different driving conditions.

Alternatively, the brake noise standard value may be determined in combination with various factors in the actual driving process, such as road surface condition, vehicle wear degree, etc., and the embodiment of the present invention is not limited.

Step S132, braking the vehicle based on the brake noise criterion value and the target braking force.

The step can be understood as braking the vehicle based on different driving modes corresponding to different braking noise standard values and target braking forces, so that the vehicle guarantees safe driving while meeting the braking force currently required by a driver.

Fig. 3 is a schematic diagram of a braking method of a vehicle according to an embodiment of the present invention, as shown in fig. 3, and a specific implementation procedure of the above steps is comprehensively described, wherein fig. 3 includes a front-right EMB executing unit 300, a front-right temperature sensor 310, a front-left EMB executing unit 301, a front-left temperature sensor 311, a rear-right EMB executing unit 302, a rear-right temperature sensor 312, a rear-left EMB executing unit 303, a rear-left temperature sensor 313, an electronic control unit ECU 320, and a pedal simulator 330.

The front right temperature sensor 310, the front left temperature sensor 311, the rear right temperature sensor 312, and the rear left temperature sensor 313 are respectively configured to obtain motor temperatures of four EMB execution units detected in real time, the front right EMB execution unit 300, the front left EMB execution unit 301, the rear right EMB execution unit 302, and the rear left EMB execution unit 303 are respectively configured to distribute braking forces of four wheels, and the ECU 320 is configured to compare a received temperature value with a set motor temperature threshold value and control the pedal simulator 330.

When the braking method of the vehicle in fig. 3 described above is performed, the read temperature signals are sent to the electronic control unit ECU 320 by the 4 temperature sensors (310, 311, 312, 313), and the electronic control unit ECU 320 compares the received temperature values with the established motor temperature threshold values. If the motor temperature of the front right EMB execution unit is detected to exceed the temperature threshold, at this time, the ECU 320 obtains the driver braking force demand through the pedal simulator 330, if the battery state supports energy recovery and the recovery capability is feasible, the driver target braking force F is decomposed through braking force distribution, the braking force is not distributed to the front right EMB execution unit with the temperature exceeding the threshold, the braking demand is met through energy recovery all the way, at this time, the other three EMB execution units distribute the braking force of F/3 evenly, and the motor temperature of the front right EMB execution unit 300 reaches below the temperature threshold, and returns to the default four-wheel braking state. If the battery state is sufficient in electric quantity and the energy recovery or recovery capacity is not supported to be small at this time, the electronic control unit ECU 320 performs arbitration at this time, and distributes the braking force to the front right EMB executing unit 300 as small as possible, and when the energy recovery requirement is satisfied, the braking force is directly provided by the energy recovery, thereby completing the braking control of the vehicle.

From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.

The present embodiment also provides a braking device for a vehicle, which is used to implement the foregoing embodiments and the preferred embodiments, and is not described in detail. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

Fig. 4 is a block diagram of a brake apparatus of a vehicle according to an embodiment of the present invention, as shown in fig. 4, exemplified by a brake apparatus 400 of a vehicle, the apparatus comprising: a first acquisition module 401, the first acquisition module 401 being configured to acquire braking temperatures of a plurality of brake motors in a vehicle, wherein the plurality of brake motors are configured to apply braking forces to a plurality of wheels of the vehicle, respectively; a second obtaining module 402, where the second obtaining module 42 is configured to obtain a required braking force in response to a braking temperature of a first number of the plurality of brake motors being greater than a temperature threshold, where the required braking force is used to represent a braking force currently required by a driver; a determining module 403, the determining module 403 configured to determine a target braking force to be applied to a plurality of wheels based on the required braking force, wherein the plurality of wheels includes: a first number of wheels corresponding to the first number of brake motors and a second number of wheels corresponding to the second number of brake motors, wherein the second number of brake motors are the rest brake motors except the first number of brake motors in the plurality of brake motors, and the target braking force applied to the first number of wheels is smaller than the target braking force applied to the second number of wheels; the braking module 404, the braking module 404 is used for braking the vehicle based on the target braking force to adjust the braking temperature.

Optionally, the determining module 403 is further configured to determine a battery state of the vehicle, where the battery state is used to represent a charge value of the battery; determining a target braking force based on the energy recovery function and the required braking force in response to the battery state satisfying the energy recovery condition; in response to the battery state not meeting the energy recovery condition, a target braking force is determined based on the controller and the required braking force.

Optionally, the determining module 403 is further configured to determine current information and energy recovery information of the battery; determining a recovery braking force based on the current information and the energy recovery information, wherein the recovery braking force is a braking force provided by an energy recovery function; the braking force applied to the first number of wheels is determined based on the recovered braking force, and the braking force applied to the second number of wheels is determined based on the required braking force.

Optionally, the first acquisition module 401 is further configured to acquire the braking temperature by temperature sensors installed at preset positions of the plurality of braking motors.

Optionally, the second acquisition module 402 is further configured to determine the required braking force based on a pedal simulator of the vehicle.

Optionally, the first obtaining module 401 is further configured to send a prompt message in response to a braking temperature of a first number of the plurality of braking motors being greater than a temperature threshold, where the prompt message is configured to prompt the driver to run at a reduced speed.

Optionally, the braking module 404 is also used to determine a driving mode of the vehicle; determining a brake noise standard value based on the driving modes, wherein different driving modes correspond to different brake noise standard values; the vehicle is braked based on the brake noise criterion value and the target braking force. It should be noted that each of the above modules may be implemented by software or hardware, and for the latter, it may be implemented by, but not limited to: the modules are all located in the same processor; alternatively, the above modules may be located in different processors in any combination.

Embodiments of the present application also provide a vehicle for performing the steps of any of the method embodiments described above.

Alternatively, in the present embodiment, the above-described vehicle may be configured to store a computer program for executing the steps of:

step S1, acquiring braking temperatures of a plurality of braking motors in a vehicle;

step S2, acquiring a required braking force in response to the braking temperature of a first number of braking motors in the plurality of braking motors being greater than a temperature threshold;

step S3 of determining a target braking force to be applied to the plurality of wheels based on the required braking force;

Step S4, braking the vehicle based on the target braking force to adjust the braking temperature.

Embodiments of the present invention also provide a computer readable storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when run on a computer or processor.

Alternatively, in the present embodiment, the above-described computer-readable storage medium may be configured to store a computer program for performing the steps of:

Alternatively, in the present embodiment, the above-described computer-readable storage medium may include, but is not limited to: a usb disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media in which a computer program can be stored.

An embodiment of the invention also provides an electronic device comprising a memory in which a computer program is stored and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.

Alternatively, in the present embodiment, the processor in the electronic device may be configured to execute the computer program to perform the steps of:

Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments and optional implementations, and this embodiment is not described herein.

The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.

In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.

Claims

1. A method of braking a vehicle, comprising:

acquiring braking temperatures of a plurality of braking motors in a vehicle, wherein the plurality of braking motors are used for respectively applying braking forces to a plurality of wheels of the vehicle;

acquiring a required braking force in response to the braking temperature of a first number of the plurality of braking motors being greater than a temperature threshold, wherein the required braking force is used for representing the braking force currently required by a driver;

determining a target braking force to apply to the plurality of wheels based on the required braking force, wherein the plurality of wheels includes: a first number of wheels corresponding to the first number of brake motors and a second number of wheels corresponding to the second number of brake motors, wherein the second number of brake motors is the rest of the plurality of brake motors except for the first number of brake motors, and the target braking force applied to the first number of wheels is smaller than the target braking force applied to the second number of wheels;

braking the vehicle based on the target braking force to adjust the braking temperature.

2. The method of claim 1, wherein the determining a target braking force to apply to the plurality of wheels based on the required braking force comprises:

Determining a battery state of the vehicle, wherein the battery state is used for representing a power value of a battery;

determining the target braking force based on an energy recovery function and the required braking force in response to the battery state satisfying an energy recovery condition;

the target braking force is determined based on the controller and the required braking force in response to the battery state not satisfying the energy recovery condition.

3. The method of claim 2, wherein the determining the target braking force based on an energy recovery function and the required braking force comprises:

determining current information and energy recovery information of the battery;

determining a recovery braking force based on the current information and the energy recovery information, wherein the recovery braking force is a braking force provided by the energy recovery function;

determining a braking force applied to the first number of wheels based on the recovered braking force, and determining a braking force applied to the second number of wheels based on the required braking force.

4. The method of claim 1, wherein the obtaining braking temperatures of a plurality of braking motors in the vehicle comprises:

the braking temperature is acquired by temperature sensors installed at preset positions of the plurality of braking motors.

5. The method of claim 1, wherein the obtaining the required braking force comprises:

the required braking force is determined based on a pedal simulator of the vehicle.

6. The method as recited in claim 1, further comprising:

and sending prompt information in response to the braking temperature of a first number of the plurality of braking motors being greater than a temperature threshold, wherein the prompt information is used for prompting a driver to run at a reduced speed.

7. The method of any one of claims 1-6, wherein the braking the vehicle based on the target braking force comprises:

determining a driving mode of the vehicle;

determining a brake noise standard value based on the driving modes, wherein different driving modes correspond to different brake noise standard values;

and braking the vehicle based on the brake noise standard value and the target braking force.

8. A brake device for a vehicle, characterized by comprising:

a first acquisition module for acquiring braking temperatures of a plurality of brake motors in a vehicle, wherein the plurality of brake motors are used for respectively applying braking forces to a plurality of wheels of the vehicle;

The second acquisition module is used for acquiring a required braking force in response to the braking temperature of a first number of braking motors in the plurality of braking motors being greater than a temperature threshold, wherein the required braking force is used for representing the braking force required by a driver at present;

a determining module for determining a target braking force to be applied to the plurality of wheels based on the required braking force, wherein the plurality of wheels includes: a first number of wheels corresponding to the first number of brake motors and a second number of wheels corresponding to the second number of brake motors, wherein the second number of brake motors is the rest of the plurality of brake motors except for the first number of brake motors, and the target braking force applied to the first number of wheels is smaller than the target braking force applied to the second number of wheels;

and the braking module is used for braking the vehicle based on the target braking force so as to adjust the braking temperature.

9. A vehicle for performing the braking method of the vehicle according to any one of the preceding claims 1 to 7.

10. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the method of braking a vehicle as claimed in any one of the preceding claims 1 to 7.