CN117301866A - Vehicle brake control method and device, vehicle and storage medium - Google Patents

Vehicle brake control method and device, vehicle and storage medium Download PDF

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Publication number
CN117301866A
CN117301866A CN202210711285.4A CN202210711285A CN117301866A CN 117301866 A CN117301866 A CN 117301866A CN 202210711285 A CN202210711285 A CN 202210711285A CN 117301866 A CN117301866 A CN 117301866A
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CN
China
Prior art keywords
torque
braking
hydraulic
brake
driving motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210711285.4A
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Chinese (zh)
Inventor
刘志刚
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Great Wall Motor Co Ltd
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Great Wall Motor Co Ltd
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Publication date
Application filed by Great Wall Motor Co Ltd filed Critical Great Wall Motor Co Ltd
Priority to CN202210711285.4A priority Critical patent/CN117301866A/en
Publication of CN117301866A publication Critical patent/CN117301866A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/18—Controlling the braking effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/14—Acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque

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

Abstract

The application provides a vehicle brake control method, a device, a vehicle and a storage medium, wherein the vehicle brake control method comprises the following steps: acquiring target acceleration of a vehicle and driving torque output by a driving motor; determining a brake level and a hydraulic brake torque according to the change rate of the target acceleration; when the target acceleration is zero, controlling the hydraulic system to execute hydraulic braking torque; when the driving torque output by the driving motor is smaller than the preset torque, acquiring energy recovery torque; and when the driving torque output by the driving motor is less than zero, controlling the driving motor to work according to the braking grade and the energy recovery torque. The hydraulic system is controlled to hydraulically brake according to the brake level of the vehicle, so that the brake torque required to be provided by the driving motor is reduced, the change rate of the torque when the driving motor crosses the zero point is reduced, the impact force on the gear is reduced, abnormal sound generated by the gear is reduced, the service life of the gear is prolonged, and the driving stability of the vehicle is improved.

Description

Vehicle brake control method and device, vehicle and storage medium
Technical Field
The application belongs to the technical field of vehicles, and particularly relates to a vehicle braking control method and device, a vehicle and a storage medium.
Background
Unlike conventional fuel vehicles, the power of the electric vehicle is derived from a driving motor, and the driving motor has the capability of converting electric energy into mechanical energy to drive the vehicle to move, and also has the capability of converting the mechanical energy into electric energy to charge a vehicle-mounted power battery, namely, the energy recovery function (comprising braking energy recovery and sliding energy recovery, which respectively correspond to different driving conditions) specific to the electric vehicle.
When the electric automobile is braked rapidly, the working torque of the driving motor is changed from driving torque to energy recovery torque, abnormal noise of the gear can be generated when the torque of the driving motor crosses zero, comfort of a driver is affected, and service life of the gear is affected.
Disclosure of Invention
The embodiment of the application provides a vehicle braking control method, a vehicle braking control device, a vehicle and a storage medium, which can solve the problem that gear abnormal sound can be generated when the torque of a driving motor passes through a zero point during braking of an electric automobile.
In a first aspect, an embodiment of the present application provides a vehicle brake control method, including:
acquiring target acceleration of a vehicle and driving torque output by a driving motor;
determining a brake level and a hydraulic brake torque according to the change rate of the target acceleration;
when the target acceleration is zero, controlling a hydraulic system to execute the hydraulic braking torque;
when the driving torque output by the driving motor is smaller than the preset torque, acquiring energy recovery torque;
and when the driving torque output by the driving motor is smaller than zero, controlling the driving motor to work according to the braking grade and the energy recovery torque.
Optionally, before the determining the brake level and the hydraulic brake torque according to the change rate of the target acceleration, the method includes:
acquiring a first time for the target acceleration to decrease from a maximum value to zero;
and calculating the change rate of the target acceleration according to the first time and the maximum value of the target acceleration.
Optionally, the determining the braking level and the hydraulic braking torque according to the change rate of the target acceleration includes:
when the change rate of the target acceleration is smaller than a first change rate, determining that the braking grade is light braking, and determining that the hydraulic braking torque is zero;
when the change rate of the target acceleration is greater than the first change rate and less than the second change rate, determining that the braking level is moderate braking, and determining that the hydraulic braking torque is first hydraulic braking torque;
and when the change rate of the target acceleration is greater than a second change rate, determining that the braking grade is heavy braking, and determining that the hydraulic braking torque is a second hydraulic braking torque.
Optionally, when the brake level is light braking, the hydraulic braking torque is zero;
the control hydraulic system executing the hydraulic braking torque includes:
disabling braking of the hydraulic system;
the controlling the driving motor to work according to the braking grade and the energy recovery torque comprises the following steps:
and controlling the driving motor to execute the energy recovery torque to perform energy recovery.
Optionally, when the braking level is a moderate braking, the hydraulic braking torque is a first hydraulic braking torque;
the control hydraulic system executing the hydraulic braking torque includes:
controlling the hydraulic system to execute the first hydraulic braking torque to brake;
the controlling the driving motor to work according to the braking grade and the energy recovery torque comprises the following steps:
and controlling the driving motor to execute the energy recovery torque to perform energy recovery.
Optionally, after the controlling the hydraulic system to perform the first hydraulic braking torque to perform braking, the method further includes:
and controlling the hydraulic system to stop executing the first hydraulic braking torque when the duration of executing the first hydraulic braking torque to brake reaches a preset time.
Optionally, when the braking level is heavy braking, the hydraulic braking torque is a second hydraulic braking torque;
the control hydraulic system executing the hydraulic braking torque includes:
controlling the hydraulic system to execute the second hydraulic braking torque to brake;
the controlling the driving motor to work according to the braking grade and the energy recovery torque comprises the following steps:
and prohibiting the driving motor from executing the energy recovery torque to perform energy recovery.
In a second aspect, an embodiment of the present application provides a vehicle brake control device, including:
the first acquisition module is used for acquiring target acceleration of the vehicle and driving torque output by the driving motor;
the parameter determining module is used for determining a braking grade and hydraulic braking torque according to the change rate of the target acceleration;
the first control module is used for controlling the hydraulic system to execute the hydraulic braking torque when the target acceleration is zero;
the second acquisition module is used for acquiring energy recovery torque when the driving torque output by the driving motor is smaller than the preset torque;
and the second control module is used for controlling the driving motor to work according to the braking grade and the energy recovery torque when the driving torque output by the driving motor is smaller than zero.
In a third aspect, embodiments of the present application provide a vehicle comprising a memory, a controller and a computer program stored in the memory and executable on the controller, the controller implementing the method of any one of the first aspects when executing the computer program.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which, when executed by a controller, implements the method of any one of the first aspects.
Compared with the prior art, the embodiment of the application has the beneficial effects that:
when the vehicle is braked, the target acceleration of the vehicle and the driving torque output by the driving motor are firstly obtained, and then the braking grade and the hydraulic braking torque are determined according to the change rate of the target acceleration, wherein the braking grade represents the current braking degree. When the target acceleration is zero, the hydraulic system is controlled to execute hydraulic braking torque, and braking torque required to be provided by the driving motor is reduced, so that the change rate of the torque of the driving motor at the moment of zero crossing is reduced. And when the driving torque output by the driving motor is smaller than the preset torque, acquiring the energy recovery torque of the driving motor. When the driving torque output by the driving motor is less than zero, the driving motor is controlled to work according to the braking grade and the energy recovery torque, so that the driving motor can recover energy. According to the vehicle braking control method, the braking grade of the vehicle is identified, the hydraulic system is controlled to carry out hydraulic braking according to the braking grade of the vehicle, braking torque required to be provided by the driving motor is reduced, so that the change rate of torque when the driving motor crosses a zero point is reduced, impact force on the gear is reduced, abnormal noise generated by the gear is reduced, the service life of the gear is prolonged, and the driving stability of the vehicle is improved.
It will be appreciated that the advantages of the second to fourth aspects may be found in the relevant description of the first aspect and are not repeated here.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a vehicle brake control method according to an embodiment of the present application;
FIG. 2 is a flow chart of a vehicle brake control method provided in another embodiment of the present application;
fig. 3 is a schematic structural view of a vehicle brake control device according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted in context as "when …" or "upon" or "in response to determining" or "in response to detecting". Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
As shown in fig. 1, the vehicle brake control method includes steps S101 to S105.
Step S101, acquiring a target acceleration of the vehicle and a driving torque output by the driving motor.
Specifically, the target acceleration of the vehicle is generated by the adaptive cruise system ACC (Adaptive Cruise Control) on the vehicle in accordance with the current state of the vehicle, and the driving torque output by the driving motor can be obtained by a sensor on the vehicle for monitoring the state of the driving motor.
Step S102, determining a braking grade and hydraulic braking torque according to the change rate of the target acceleration.
Specifically, when the vehicle is braked, the driver releases the accelerator pedal (electric door pedal) and subsequently presses the brake pedal to brake the vehicle. In the process that a driver starts to release the accelerator pedal to step on the brake pedal, the adaptive cruise system ACC generates corresponding target acceleration according to the state of the vehicle, and the change trend of the target acceleration is gradually reduced. At this time, the change rate of the target acceleration is calculated during the period from when the driver starts to release the accelerator pedal to when the brake pedal is depressed, and the change rate of the target acceleration can reflect the degree of the current brake of the driver, so that the brake level of the vehicle is determined according to the change rate of the target acceleration, and the brake level of the vehicle can be classified into light brake, medium brake or heavy brake.
Meanwhile, the hydraulic braking torque is determined according to the change rate of the target acceleration, so that a subsequent hydraulic system can execute the hydraulic braking torque to brake the vehicle, and further the braking torque required to be provided by the driving motor is reduced. The greater the rate of change of the target acceleration, the more urgent the vehicle's current braking is indicated, and the greater the hydraulic braking torque determined at this time. The smaller the rate of change of the target acceleration, the slower the current braking of the vehicle is indicated, and the smaller the hydraulic braking torque is determined at this time.
Illustratively, as shown in FIG. 2, step S1021 and step S1022 are included prior to step S102.
In step S1021, a first time taken for the target acceleration to decrease from the maximum value to zero is acquired.
Specifically, when the vehicle starts to enter the braking process, the target acceleration of the vehicle gradually decreases, and at this time, the first time taken for the target acceleration to decrease from the maximum value, which is the value of the target acceleration when the target acceleration changes from increasing to decreasing, is acquired.
Step S1022, calculating the change rate of the target acceleration according to the first time and the maximum value of the target acceleration.
Specifically, after the maximum value and the first time of the target acceleration are obtained, the maximum value and the first time of the target acceleration are brought into the first formula, and the change rate of the target acceleration can be obtained. Wherein, the first formula is:
where k is the rate of change of the target acceleration, a max Maximum value of target acceleration, t 1 Is the first time.
In addition to calculating the rate of change of the target acceleration by the methods of step S1021 and step S1022, the rate of change of the target acceleration may be obtained through step a, step B, and step C.
And step A, periodically acquiring a target acceleration value in the process that the target acceleration is reduced to zero from the maximum value.
Specifically, in the process that the target acceleration is reduced from the maximum value to zero, the target acceleration value is acquired at a frequency of the period T, and a plurality of target acceleration values can be obtained. The designer may set the specific value of the period according to the actual situation, for example, set the period T to 50ms or 100ms.
And B, calculating a first change rate of the target acceleration according to the target acceleration values acquired in any two adjacent periods.
Exemplary, the target acceleration value obtained in the first period is a 1 The target acceleration value obtained in the second period is a 2 The target acceleration value obtained in the nth period is a n . The first rate of change is calculated as:
wherein k is n-1 For the n-1 th first rate of change, a n For the target acceleration value, a, acquired in the nth cycle n-1 And the target acceleration value obtained in the n-1 th period is T which is the acquisition period.
And C, calculating the average value of all the first change rates to obtain the change rate of the target acceleration.
Illustratively, the rate of change of the target acceleration is:
where k is the rate of change of the target acceleration that is ultimately determined, k 1 、k 2 、…k n-1 For each calculated first rate of change, n is the number of acquisition cycles.
Illustratively, step S102 includes steps S1023 to S1025, as shown in fig. 2.
Step S1023, when the change rate of the target acceleration is smaller than the first change rate, determining that the braking level is light braking and determining that the hydraulic braking torque is zero.
Specifically, when the rate of change of the target acceleration is smaller than the first rate of change, the degree of braking of the vehicle is gentle, and thus the braking level is determined to be light braking. No intervening braking of the hydraulic system is required at this time, and thus the hydraulic braking torque is determined to be zero.
And step S1024, when the change rate of the target acceleration is larger than the first change rate and smaller than the second change rate, determining that the braking level is moderate braking, and determining that the hydraulic braking torque is first hydraulic braking torque.
Specifically, when the rate of change of the target acceleration is greater than the first rate of change and less than the second rate of change, the determined vehicle brake level is moderate braking, and the determined hydraulic brake torque is the first hydraulic brake torque. The subsequent hydraulic system executes the first hydraulic braking torque to brake, and reduces the braking torque required to be provided by the driving motor.
In step S1025, when the rate of change of the target acceleration is greater than the second rate of change, the braking level is determined to be heavy braking, and the hydraulic braking torque is determined to be the second hydraulic braking torque.
Specifically, when the rate of change of the target acceleration is greater than the second rate of change, the vehicle is subjected to emergency braking, at which time the brake level is determined to be heavy braking, and the hydraulic braking torque is determined to be the second hydraulic braking torque. The subsequent hydraulic system executes the first hydraulic braking torque to brake, and reduces the braking torque required to be provided by the driving motor.
Since the hydraulic braking torque determined when the braking level is the moderate braking is the first hydraulic braking torque and the hydraulic braking torque determined when the braking level is the severe braking is the second hydraulic braking torque, it is necessary to set the second hydraulic braking torque to be larger than the first hydraulic braking torque. The first hydraulic braking torque and the second hydraulic braking torque may be fixed torque values or torque variation curves. The designer can set the values of the first hydraulic braking torque and the second hydraulic braking torque according to the actual situation. The designer may also set specific values for the first rate of change and the second rate of change based on actual conditions so that the current level of braking of the vehicle can be distinguished by the first rate of change and the second rate of change.
In step S103, when the target acceleration is zero, the hydraulic system is controlled to execute the hydraulic braking torque.
Specifically, when the driver depresses the brake pedal, the target acceleration generated by the adaptive cruise system ACC is zero, and at this time, the hydraulic system is controlled to execute the hydraulic braking torque to brake the vehicle.
Step S104, when the driving torque output by the driving motor is smaller than the preset torque, the energy recovery torque is obtained.
Specifically, as the vehicle brakes, the driving torque output by the driving motor may gradually decrease, and when the driving torque output by the driving motor is smaller than the preset torque, the vehicle controller HCU (Hybrid Control Unit) on the vehicle generates the energy recovery torque of the driving motor according to the current state of the vehicle.
Step S105, when the driving torque output by the driving motor is less than zero, the driving motor is controlled to work according to the braking grade and the energy recovery torque.
Specifically, when the driving torque output by the driving motor is smaller than zero, the driving motor controls the driving motor to work according to the braking grade and the energy recovery torque, so that the driving motor recovers energy.
According to the vehicle braking control method, the braking grade of the vehicle is identified, the hydraulic system is controlled to carry out hydraulic braking according to the braking grade of the vehicle, braking torque required to be provided by the driving motor is reduced, so that the change rate of torque when the driving motor crosses a zero point is reduced, impact force on the gear is reduced, abnormal noise generated by the gear is reduced, the service life of the gear is prolonged, and the driving stability of the vehicle is improved.
Illustratively, when the brake level is light braking and the hydraulic brake torque is zero, the hydraulic system is controlled to execute the hydraulic brake torque with zero torque, i.e. the hydraulic system is prohibited from braking. At this time, the vehicle is braked by means of the driving motor. When the driving torque output by the driving motor is smaller than zero, the driving motor is controlled to execute energy recovery torque to recover energy.
When the braking level is moderate braking and the hydraulic braking torque is the first hydraulic braking torque, the hydraulic system is controlled to execute the first hydraulic braking torque to brake, and the hydraulic system and the driving motor are braked together. When the driving torque output by the driving motor is smaller than zero, the driving motor is controlled to execute energy recovery torque to recover energy. When the duration of the hydraulic system executing the first hydraulic braking torque to brake reaches the preset time, the hydraulic system is controlled to stop executing the first hydraulic braking torque, and the hydraulic pressure of the hydraulic system becomes zero so that the following vehicle starts or accelerates.
When the braking grade is heavy braking and the hydraulic braking torque is the second hydraulic braking torque, the hydraulic system is controlled to execute the second hydraulic braking torque to brake, and the hydraulic system and the driving motor are braked together at the moment. Since the vehicle is heavily braked (emergency braked), the state of the vehicle cannot satisfy the condition for energy recovery of the drive motor at this time, and therefore, when the drive torque output by the drive motor is less than zero, the drive motor is prohibited from executing the energy recovery torque for energy recovery.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.
As shown in fig. 3, the vehicle brake control apparatus includes:
a first acquisition module 31 for acquiring a target acceleration of the vehicle and a driving torque output by the driving motor;
a parameter determination module 32 for determining a brake level and a hydraulic brake torque based on a rate of change of the target acceleration;
a first control module 33 for controlling the hydraulic system to execute the hydraulic braking torque when the target acceleration is zero;
a second obtaining module 34, configured to obtain an energy recovery torque when the driving torque output by the driving motor is less than a preset torque;
and a second control module 35, configured to control the driving motor to operate according to the braking level and the energy recovery torque when the driving torque output by the driving motor is less than zero.
In one embodiment of the present application, the vehicle brake control device further includes:
the time acquisition module is used for acquiring the first time for the target acceleration to be reduced from the maximum value to zero;
and the calculating module is used for calculating the change rate of the target acceleration according to the first time and the maximum value of the target acceleration.
In one embodiment of the present application, the parameter determination module 32 is further configured to:
when the change rate of the target acceleration is smaller than a first change rate, determining that the braking grade is light braking, and determining that the hydraulic braking torque is zero;
when the change rate of the target acceleration is greater than the first change rate and less than the second change rate, determining that the braking level is moderate braking, and determining that the hydraulic braking torque is first hydraulic braking torque;
and when the change rate of the target acceleration is greater than a second change rate, determining that the braking grade is heavy braking, and determining that the hydraulic braking torque is a second hydraulic braking torque.
In one embodiment of the present application, when the brake level is light braking, the hydraulic braking torque is zero;
the first control module 33 is further configured to inhibit braking of the hydraulic system;
the second control module 35 is further configured to control the driving motor to execute the energy recovery torque for energy recovery.
In one embodiment of the present application, when the brake level is a moderate brake, the hydraulic brake torque is a first hydraulic brake torque;
the first control module 33 is further configured to control the hydraulic system to perform the first hydraulic braking torque to perform braking;
the second control module 35 is further configured to control the driving motor to execute the energy recovery torque for energy recovery.
In one embodiment of the present application, the first control module 33 is further configured to control the hydraulic system to stop executing the first hydraulic braking torque when a duration of time during which the hydraulic system executes the first hydraulic braking torque to perform braking reaches a preset time.
In one embodiment of the present application, when the brake level is heavy braking, the hydraulic braking torque is a second hydraulic braking torque;
the first control module 33 is further configured to control the hydraulic system to perform the second hydraulic braking torque to perform braking;
the second control module 35 is further configured to prohibit the driving motor from executing the energy recovery torque for energy recovery.
It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment 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, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
Fig. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present application. As shown in fig. 4, the vehicle of this embodiment may include: at least one controller 40 (only one controller 40 is shown in fig. 4), a memory 41 and a computer program 42 stored in the memory 41 and executable on the at least one controller 40, the controller 40 implementing the steps of any of the various method embodiments described above, e.g. steps S101 to S105 in the embodiment shown in fig. 1, when executing the computer program 42. Alternatively, the controller 40, when executing the computer program 42, performs the functions of the modules/units of the apparatus embodiments described above, such as the functions of the modules 31 to 35 shown in fig. 3.
By way of example, the computer program 42 may be partitioned into one or more modules/units that are stored in the memory 41 and executed by the controller 40 to complete the present invention. The one or more modules/units may be a series of instruction segments of the computer program 42 capable of performing a specific function, which instruction segments are used to describe the execution of the computer program 42 in the vehicle.
The controller 40 may be an ESP (Electronic Stability Program, body stability control system) controller, an ACC (Adaptive Cruise Control, adaptive cruise control system) controller on the vehicle.
The memory 41 may in some embodiments be an internal storage unit of the vehicle, such as a hard disk or a memory of the vehicle. The memory 41 may in other embodiments also be an external storage device of the vehicle, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the vehicle. Further, the memory 41 may also include both an internal storage unit and an external storage device of the vehicle. The memory 41 is used for storing an operating system, application programs, boot Loader (Boot Loader), data, other programs, etc., such as program codes of the computer program 42. The memory 41 may also be used for temporarily storing data that has been output or is to be output.
The present embodiments also provide a computer readable storage medium storing a computer program 42, which computer program 42, when executed by the controller 40, implements steps that may be implemented in the various method embodiments described above.
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. With this understanding, the present application implements all or part of the flow of the method of the above-described embodiments, and may be implemented by a computer program 42 to instruct related hardware, where the computer program 42 may be stored in a computer readable storage medium, and the computer program 42 may implement the steps of the method embodiments described above when executed by the controller 40. The computer program 42 comprises computer program code, which may be in the form of source code, object code, executable files, or some intermediate form, among others. The computer readable medium may include at least: any entity or device capable of carrying the computer program code on a vehicle, a recording medium, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other manners. For example, the apparatus/network device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or 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 may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims (10)

1. A vehicle brake control method characterized by comprising:
acquiring target acceleration of a vehicle and driving torque output by a driving motor;
determining a brake level and a hydraulic brake torque according to the change rate of the target acceleration;
when the target acceleration is zero, controlling a hydraulic system to execute the hydraulic braking torque;
when the driving torque output by the driving motor is smaller than the preset torque, acquiring energy recovery torque;
and when the driving torque output by the driving motor is smaller than zero, controlling the driving motor to work according to the braking grade and the energy recovery torque.
2. The vehicle brake control method according to claim 1, characterized by comprising, before said determining a brake level and a hydraulic brake torque according to a rate of change of the target acceleration:
acquiring a first time for the target acceleration to decrease from a maximum value to zero;
and calculating the change rate of the target acceleration according to the first time and the maximum value of the target acceleration.
3. The vehicle brake control method according to claim 1 or 2, characterized in that the determining of the brake level and the hydraulic brake torque according to the rate of change of the target acceleration includes:
when the change rate of the target acceleration is smaller than a first change rate, determining that the braking grade is light braking, and determining that the hydraulic braking torque is zero;
when the change rate of the target acceleration is greater than the first change rate and less than the second change rate, determining that the braking level is moderate braking, and determining that the hydraulic braking torque is first hydraulic braking torque;
and when the change rate of the target acceleration is greater than a second change rate, determining that the braking grade is heavy braking, and determining that the hydraulic braking torque is a second hydraulic braking torque.
4. The vehicle brake control method according to claim 3, characterized in that when the brake level is light braking, the hydraulic braking torque is zero;
the control hydraulic system executing the hydraulic braking torque includes:
disabling braking of the hydraulic system;
the controlling the driving motor to work according to the braking grade and the energy recovery torque comprises the following steps:
and controlling the driving motor to execute the energy recovery torque to perform energy recovery.
5. The vehicle brake control method according to claim 3, characterized in that when the brake level is a moderate brake, the hydraulic brake torque is a first hydraulic brake torque;
the control hydraulic system executing the hydraulic braking torque includes:
controlling the hydraulic system to execute the first hydraulic braking torque to brake;
the controlling the driving motor to work according to the braking grade and the energy recovery torque comprises the following steps:
and controlling the driving motor to execute the energy recovery torque to perform energy recovery.
6. The vehicle brake control method according to claim 5, characterized by further comprising, after said controlling said hydraulic system to execute said first hydraulic brake torque for braking:
and controlling the hydraulic system to stop executing the first hydraulic braking torque when the duration of executing the first hydraulic braking torque to brake reaches a preset time.
7. The vehicle brake control method according to claim 3, characterized in that when the brake level is heavy braking, the hydraulic brake torque is a second hydraulic brake torque;
the control hydraulic system executing the hydraulic braking torque includes:
controlling the hydraulic system to execute the second hydraulic braking torque to brake;
the controlling the driving motor to work according to the braking grade and the energy recovery torque comprises the following steps:
and prohibiting the driving motor from executing the energy recovery torque to perform energy recovery.
8. A vehicle brake control apparatus characterized by comprising:
the first acquisition module is used for acquiring target acceleration of the vehicle and driving torque output by the driving motor;
the parameter determining module is used for determining a braking grade and hydraulic braking torque according to the change rate of the target acceleration;
the first control module is used for controlling the hydraulic system to execute the hydraulic braking torque when the target acceleration is zero;
the second acquisition module is used for acquiring energy recovery torque when the driving torque output by the driving motor is smaller than the preset torque;
and the second control module is used for controlling the driving motor to work according to the braking grade and the energy recovery torque when the driving torque output by the driving motor is smaller than zero.
9. A vehicle comprising a memory, a controller and a computer program stored in the memory and operable on the controller, wherein the controller implements the method of any one of claims 1 to 7 when executing the computer program.
10. A computer readable storage medium storing a computer program, characterized in that the computer program, when executed by a controller, implements the method according to any one of claims 1 to 7.
CN202210711285.4A 2022-06-22 2022-06-22 Vehicle brake control method and device, vehicle and storage medium Pending CN117301866A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210711285.4A CN117301866A (en) 2022-06-22 2022-06-22 Vehicle brake control method and device, vehicle and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210711285.4A CN117301866A (en) 2022-06-22 2022-06-22 Vehicle brake control method and device, vehicle and storage medium

Publications (1)

Publication Number Publication Date
CN117301866A true CN117301866A (en) 2023-12-29

Family

ID=89244972

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210711285.4A Pending CN117301866A (en) 2022-06-22 2022-06-22 Vehicle brake control method and device, vehicle and storage medium

Country Status (1)

Country Link
CN (1) CN117301866A (en)

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