CN117985011A - Vehicle braking method and system - Google Patents

Abstract

The application discloses a vehicle braking method and a system, wherein a power mode for representing the type of power used by a vehicle in the running process is obtained, a braking mode corresponding to the vehicle is determined based on the comparison result of target running information corresponding to the power mode and target reference information, the target running information is information for representing the braking power requirement and the running state of the vehicle in the power mode, and the target reference information is information for comparing with the target running information in the power mode; and controlling the vehicle to brake based on the braking mode. The braking mode suitable for the current vehicle is flexibly selected by combining the power mode, the vehicle running state and the vehicle braking power requirement, so that the braking system can provide the braking performance meeting the vehicle braking power requirement under various braking scenes, and the driving safety and the driving experience are improved.

Description

Vehicle braking method and system

Technical Field

The application relates to the technical field of vehicle braking control, in particular to a vehicle braking method and system.

Background

Braking refers to an action of stopping or slowing down a locomotive, vehicle, other transportation means or machinery, etc. in operation. At present, a vehicle only adopts a fixed braking mode to realize braking control in the running of the vehicle, such as mechanical braking, motor braking or engine braking. Mechanical braking is the deceleration or parking of a vehicle by friction to generate a braking force. The response speed of mechanical braking may be affected by a variety of factors including the mechanical structure of the braking system, the coefficient of friction of the materials, and the response time of the driver, and thus may not respond quickly to braking demands in some situations. Motor braking may be limited by factors such as battery charge or motor temperature during high power braking. If the battery is low or the motor temperature is too high, the motor braking performance may be affected and even the braking force may be insufficient. Engine braking generates braking force by adjusting the operating state of the engine, with less braking force.

In the high-power braking, if only mechanical braking is relied on, the braking distance is excessively long due to slow response speed; if only motor braking or engine braking is relied upon, the braking demand may not be met due to insufficient braking force. In low-power braking, excessive use of mechanical braking may result in greater braking acceleration, too hard a braking process, and affect ride comfort, and thus, a fixed vehicle braking mode cannot accommodate variable vehicle braking power requirements, and vehicle braking control lacks flexibility.

Disclosure of Invention

Based on the above problems, the application provides a vehicle braking method and system for improving the flexibility of vehicle braking.

In order to solve the above problems, the technical solution provided by the embodiment of the present application is as follows:

the first aspect of the present application provides a vehicle braking method, comprising:

Acquiring a power mode of the vehicle, wherein the power mode is used for representing the power type used by the vehicle in the running process;

Determining a braking mode corresponding to the vehicle based on a comparison result of target operation information and target reference information corresponding to the power mode, wherein the target operation information is information for representing the braking power requirement and the vehicle operation state of the vehicle in the power mode, and the target reference information is information for comparing with the target operation information in the power mode;

and controlling the vehicle to brake based on the braking mode.

In one possible implementation manner, the power mode includes a hybrid mode, the target operation information includes a brake pedal opening, the target reference information includes a pedal reference value, and determining, based on a comparison result of the target operation information and the target reference information corresponding to the power mode, a braking mode corresponding to the vehicle includes:

Obtaining a target power braking demand based on a comparison result of the opening degree of the braking pedal and the pedal reference value;

and comparing the limiting condition of the target power braking requirement with the target running information to determine a braking mode corresponding to the vehicle, wherein the limiting condition is used for representing a standard which needs to be reached when the braking mode corresponding to the target braking power requirement is started.

In one possible implementation manner, the power mode includes a hybrid mode, the target operation information includes a brake pedal opening, an accelerator pedal opening, a battery power, and a vehicle speed, the target reference information includes a first pedal reference value, a first battery reference value, and a first vehicle speed reference value, and determining, based on a comparison result of the target operation information and the target reference information corresponding to the power mode, a braking mode corresponding to the vehicle includes:

When the opening degree of the brake pedal is smaller than the first pedal reference value, the opening degree of the accelerator pedal is zero, the electric quantity of the battery is smaller than the first battery reference value, and the vehicle speed is larger than the first vehicle speed reference value, the corresponding braking mode of the vehicle is sliding braking.

In one possible implementation manner, the power mode includes a hybrid mode, the target operation information includes a brake pedal opening, a battery power, and a vehicle speed, the target reference information includes a first pedal reference value, a second battery reference value, and a first vehicle speed reference value, and determining, based on a comparison result of the target operation information and the target reference information corresponding to the power mode, a braking mode corresponding to the vehicle includes:

When the opening degree of the brake pedal is not smaller than the first pedal reference value and smaller than the second pedal reference value, the electric quantity of the battery is smaller than the second battery reference value, and the vehicle speed is larger than the first vehicle speed reference value, the corresponding braking mode of the vehicle is mechanical braking and electric driving system braking.

In one possible implementation manner, the power mode includes a hybrid mode, the target operation information includes a brake pedal opening, the target reference information includes a second pedal reference value and a fourth pedal reference value, and determining the braking mode corresponding to the vehicle based on a comparison result of the target operation information and the target reference information corresponding to the power mode includes:

and when the opening degree of the brake pedal is not smaller than the second pedal reference value and smaller than the fourth pedal reference value and the target operation information meets the in-cylinder braking condition, the corresponding braking mode of the vehicle is in-cylinder braking.

In one possible implementation manner, the power mode includes a hybrid mode, the target operation information includes a brake pedal opening and a battery power, the target reference information includes a third pedal reference value, a fourth pedal reference value, and a third battery reference value, and determining, based on a comparison result of the target operation information and the target reference information corresponding to the power mode, a braking mode corresponding to the vehicle includes:

And when the opening degree of the brake pedal is larger than the fourth pedal reference value and smaller than the third pedal reference value, the target operation information meets the in-cylinder braking condition, and the battery electric quantity is smaller than the third battery reference value, and the corresponding braking modes of the vehicle are in-cylinder braking and electric braking.

In one possible implementation manner, the power mode includes a hybrid mode, the target operation information includes a brake pedal opening and a battery power, the target reference information includes a third pedal reference value, a fourth pedal reference value, and a third battery reference value, and determining, based on a comparison result of the target operation information and the target reference information corresponding to the power mode, a braking mode corresponding to the vehicle includes:

And when the opening degree of the brake pedal is larger than a fourth pedal reference value and smaller than a third pedal reference value, the target running information does not meet the in-cylinder braking condition, and the electric quantity of the battery is smaller than the third battery reference value, and the corresponding braking modes of the vehicle are electric drive system braking and mechanical braking.

In one possible implementation manner, the power mode includes a hybrid mode, the target operation information includes a brake pedal opening and a battery power, the target reference information includes a third pedal reference value, a fourth pedal reference value, and a third battery reference value, and determining, based on a comparison result of the target operation information and the target reference information corresponding to the power mode, a braking mode corresponding to the vehicle includes:

and when the opening degree of the brake pedal is larger than the fourth pedal reference value and smaller than the third pedal reference value, the target running information meets the in-cylinder braking condition, and the electric quantity of the battery is larger than the third battery reference value, and the corresponding braking modes of the vehicle are in-cylinder braking and mechanical braking.

In one possible implementation manner, the power mode includes a hybrid mode, the target operation information includes a brake pedal opening and a battery power, the target reference information includes a fourth battery reference value and a third pedal reference value, and determining, based on a comparison result of the target operation information and the target reference information corresponding to the power mode, a braking mode corresponding to the vehicle includes:

And when the opening degree of the brake pedal is larger than a third pedal reference value, the target operation information meets the in-cylinder braking condition, and the electric quantity of the battery is smaller than a fourth battery reference value, and the corresponding braking modes of the vehicle are in-cylinder braking, electric braking and mechanical braking.

In one possible implementation manner, the power mode includes a hybrid mode, the target operation information includes a brake pedal opening and a battery power, the target reference information includes a fourth battery reference value and a third pedal reference value, and determining, based on a comparison result of the target operation information and the target reference information corresponding to the power mode, a braking mode corresponding to the vehicle includes:

And when the opening degree of the brake pedal is larger than a third pedal reference value, the target operation information does not meet the in-cylinder braking condition, and the electric quantity of the battery is smaller than a fourth battery reference value, and the corresponding braking modes of the vehicle are electric braking and mechanical braking.

In one possible implementation manner, the power mode includes a hybrid mode, the target operation information includes a brake pedal opening and a battery power, the target reference information includes a fourth battery reference value and a third pedal reference value, and determining, based on a comparison result of the target operation information and the target reference information corresponding to the power mode, a braking mode corresponding to the vehicle includes:

And when the opening degree of the brake pedal is larger than a third pedal reference value, the target operation information meets the in-cylinder braking condition, and the electric quantity of the battery is not smaller than a fourth battery reference value, and the corresponding braking modes of the vehicle are in-cylinder braking and mechanical braking.

In one possible implementation manner, the power mode includes a pure electric mode, the target operation information includes an accelerator pedal opening, a brake pedal opening, a vehicle speed and a battery power, the target reference information includes a first pedal reference value, a second battery reference value and a first vehicle speed reference value, and the determining, based on a comparison result of the target operation information and the target reference information corresponding to the power mode, a braking mode corresponding to the vehicle includes:

When the opening degree of the brake pedal is smaller than the first pedal reference value, the opening degree of the accelerator pedal is zero, the electric quantity of the battery is smaller than the second battery reference value, and the vehicle speed is larger than the first vehicle speed reference value, the corresponding braking mode of the vehicle is electric drive system braking.

In one possible implementation manner, the power mode includes a pure electric mode, the target operation information includes a brake pedal opening, a vehicle speed and a battery power, the target reference information includes a first pedal reference value, a second battery reference value and a first vehicle speed reference value, and the determining the braking mode corresponding to the vehicle based on a comparison result of the target operation information and the target reference information corresponding to the power mode includes:

when the opening degree of the brake pedal is larger than the first pedal reference value, the electric quantity of the battery is smaller than the second battery reference value, and the vehicle speed is larger than the first vehicle speed reference value, the corresponding braking mode of the vehicle is mechanical braking and electric drive system braking.

In one possible implementation manner, the power mode includes an engine mode, the target operation information includes an accelerator pedal opening and a brake pedal opening, the target reference information includes a first pedal reference value, and determining, based on a comparison result of the target operation information and the target reference information corresponding to the power mode, a braking mode corresponding to the vehicle includes:

When the opening of the brake pedal is smaller than the first pedal reference value, the opening of the acceleration brake pressing plate is zero, the target operation information meets the in-cylinder brake condition, the in-cylinder brake function is in a starting state, and the corresponding brake mode of the vehicle is in-cylinder brake.

In one possible implementation manner, the power mode includes an engine mode, the target operation information includes a brake pedal opening, the target reference information includes a first pedal reference value, and determining a braking mode corresponding to the vehicle based on a comparison result of the target operation information and the target reference information corresponding to the power mode includes:

when the opening degree of the brake pedal is larger than a first pedal reference value, the target operation information meets the in-cylinder braking condition, the in-cylinder braking is in a starting state, and the corresponding braking modes of the vehicle are in-cylinder braking and mechanical braking.

A second aspect of the present application provides a vehicle brake system comprising:

An acquisition unit for acquiring a power mode of the vehicle, the power mode being used for characterizing a power type used by the vehicle during operation;

The determining unit is used for determining a braking mode corresponding to the vehicle based on a comparison result of target operation information and target reference information corresponding to the power mode, wherein the target operation information is information for representing the braking power requirement and the vehicle operation state of the vehicle in the power mode, and the target reference information is information for comparing with the target operation information in the power mode;

and the control unit is used for controlling the vehicle to brake based on the braking mode.

A third aspect of the present application provides an electronic device, comprising: the vehicle braking system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the vehicle braking method according to the first aspect when executing the computer program.

A fourth aspect of the application provides a computer readable storage medium having instructions stored therein which, when executed on a terminal device, cause the terminal device to perform the vehicle braking method as described in the preceding first aspect.

Compared with the prior art, the application has the following beneficial effects:

Determining a braking mode corresponding to a vehicle by acquiring a power mode for representing a power type used by the vehicle in a running process based on a comparison result of target running information corresponding to the power mode and target reference information, wherein the target running information is information for representing a vehicle braking power requirement and a vehicle running state in the power mode, and the target reference information is information for comparing with the target running information in the power mode; and controlling the vehicle to brake based on the braking mode. The braking mode suitable for the current vehicle is flexibly selected by combining the power mode, the vehicle running state and the vehicle braking power requirement, so that the problem that the fixed vehicle braking mode is selected in the traditional scheme and cannot adapt to the change of the vehicle braking power requirement is solved, the braking system can provide the braking performance meeting the vehicle braking power requirement in various braking scenes, and the driving safety and the driving experience are improved.

Drawings

In order to more clearly illustrate this embodiment or the technical solutions of the prior art, the drawings that are required for the description of the embodiment or the prior art will be briefly described, 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 schematic diagram of a parallel hybrid conventional system;

FIG. 2 is a schematic diagram of a hybrid system drive and brake energy transfer path provided by an embodiment of the present application;

FIG. 3 is a flow chart of a vehicle braking method according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a braking mode determination flow in a hybrid mode according to an embodiment of the present application;

FIG. 5 is a schematic diagram of a braking mode determination flow in a hybrid mode according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a braking mode determination flow in a hybrid mode according to an embodiment of the present application;

FIG. 7 is a schematic diagram of a braking mode determination flow in a hybrid mode according to an embodiment of the present application;

FIG. 8 is a schematic diagram of a braking mode determination flow in a pure mode according to an embodiment of the present application;

FIG. 9 is a schematic diagram of a braking mode determination flow in engine mode according to an embodiment of the present application;

FIG. 10 is a schematic diagram of a determining flow of a braking method of a vehicle according to an embodiment of the present application;

fig. 11 is a block diagram of a vehicle braking system according to an embodiment of the present application.

Detailed Description

In order to make the present application better understood by those skilled in the art, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

In order to facilitate understanding of the technical solution provided by the embodiments of the present application, the following description will first explain the background technology related to the embodiments of the present application.

As described above, the heavy commercial vehicle is heavy, the operating condition is more in ascending and descending slopes, and mechanical braking is used for a long time, so that the brake pad is easy to overheat, and braking failure is caused. In addition, heavy duty commercial vehicle hybrid braking systems are relatively complex, including energy recovery, in-cylinder engine braking, and air pressure mechanical braking systems, and no sophisticated solutions exist today. FIG. 1 is a schematic diagram of a parallel hybrid power traditional system, wherein a hybrid commercial vehicle has large mass and complex working condition, and the vehicle brakes for a long time to easily cause overheat of a braking system, so that the driving safety is affected. The central control unit is used as the core of the whole system and is responsible for receiving and processing information from each sensor and controlling the operation of other systems according to the information. The electric power steering system is used for providing power assistance for a driver through a steering pump, so that the steering is easier, an auxiliary engine controller is used for managing and controlling auxiliary equipment of an automobile, such as an air conditioner, a sound and the like. In the figure, the systems are closely connected and cooperated through an electric circuit and a controller local area network bus to jointly realize various functions of the automobile.

Moreover, under different braking demand powers, if a fixed and unchanged braking mode is always selected, the following disadvantages exist:

the braking performance is poor: different brake demand powers require different brake response speeds and brake efforts. A fixed braking pattern may not accommodate these variations. For example, in emergency situations where rapid deceleration is required, if only mechanical braking is relied upon, the braking distance may be too long due to an insufficient rapid braking response. In the case of a smooth deceleration, excessive motor braking may result in too hard a braking process, affecting ride comfort.

The energy utilization efficiency is low: the motor brake has an energy recovery function, and can convert kinetic energy in the braking process into electric energy for storage. But the efficiency of energy recovery will vary at different brake demand powers. The fixed use of motor braking may result in inefficient energy recovery, resulting in wasted energy.

Uneven brake system load: different braking modes can generate different loads during braking. If the same braking mode is used all the time, excessive wear of the braking system may result, while other braking systems are in an idle state. This not only shortens the service life of the brake system, but also increases maintenance costs.

Safety problem: under the condition of high-power braking, if only a single braking mode is relied on, braking failure can be caused by insufficient braking force, and running safety is threatened. Likewise, overuse of a braking regimen under low power braking demands may also induce unstable or discontinuous braking behavior, increasing the running risk.

In order to solve the problem, the embodiment of the application provides a vehicle braking method and a vehicle braking system, which are used for determining a braking mode suitable for a current vehicle according to a power mode and a comparison result of target running information and target reference information corresponding to the power mode. That is, the brake control function of the hybrid vehicle is expanded to cover three systems of motor braking, engine braking and mechanical braking. In the case of an inactive drive anti-skid system, the brake control is divided into three classes according to different modes of operation. Under the modes, the corresponding braking control modes can be triggered by comprehensively considering the electric quantity state of the electric drive system battery, the braking power requirement of a driver, the in-cylinder braking condition and other factors. Thus, the function setting and independent control of the three brake systems can be realized. On the premise of ensuring the driving safety, the energy is recovered to the maximum extent, and frequent triggering of a mechanical braking system is reduced, so that the braking performance and the safety of the vehicle are improved.

The braking system of the hybrid vehicle has the advantages that the braking system has both an in-cylinder braking function of an engine and an energy recovery function of a motor; the Hybrid electric vehicle (Hybrid ELECTRIC VEHICLE, HEV) can realize bidirectional conversion and transmission of energy, the energy transmission path is shown in the following fig. 2, and fig. 2 is a schematic diagram of a driving and braking energy transmission path of the Hybrid system according to the embodiment of the application.

In order to make the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The following describes a vehicle braking method provided by the present application by way of an embodiment. Referring to fig. 3, fig. 3 is a flowchart of a vehicle braking method according to an embodiment of the present application, where the method includes:

s101, acquiring a power mode of the vehicle.

The power mode is used for representing the power type used by the vehicle in the running process and can comprise a pure electric mode, a hybrid mode and an engine mode, wherein the engine mode is used for driving the vehicle by an engine only, and the motor does not work and is generally used in an abnormal state of a high-voltage system; the engine mode is that the engine is started, the engine provides energy for driving the vehicle, the parallel hybrid electric vehicle is a vehicle driven by the engine and the motor together, and the series hybrid electric vehicle is a vehicle driven by the generator driven by the engine; the electric-only mode is when the engine is not on and is in close proximity to the motor-driven vehicle.

In actual use, the driver may select an appropriate power mode according to specific needs and driving circumstances. For example, a purely electric mode may be selected in urban congested road segments to reduce fuel consumption and emissions; the hybrid mode or engine operating mode may be selected during long trips or when more power is required.

The power mode of the vehicle is obtained during the running process of the vehicle by the following methods:

inspection dashboard display: some vehicles may display the current power mode directly on the dashboard. This is typically represented by a specific icon or text. During driving, the dashboard may be viewed to confirm the current power mode.

Checking a vehicle-mounted display screen: many modern vehicles are equipped with a central display or touch screen. Settings or information about the power mode may be looked up on these screens. Options related to vehicle settings or driving modes can be found through the navigation menu to view the current power mode.

Using a mobile phone application: the vehicle supports connections with smart phone applications through which various information of the vehicle, including power modes, can be obtained.

S102, determining a braking mode corresponding to the vehicle based on a comparison result of the target running information corresponding to the power mode and the target reference information.

The target operation information is information for representing the braking power requirement and the operation state of the vehicle in the power mode, and the target reference information is information for comparing with the target operation information in the power mode. When the antilock brake system is in an inactive state, a power mode of the vehicle is acquired.

In an actual application scene, the power mode directly corresponds to a braking mode that a current vehicle braking system can be started, and when the vehicle is in a pure engine working mode, the high-pressure system is abnormal, and the vehicle braking system only comprises an in-cylinder braking system and a mechanical braking system. When the vehicle is in the pure electric operation mode, the engine is not operated and is in a flameout state, and the vehicle braking system only comprises a motor energy recovery braking and mechanical braking system. When the vehicle is in a hybrid mode, the vehicle braking system comprises three braking system working modes, namely engine braking, motor energy recovery and mechanical braking.

And the braking modes which are required to be selected in different vehicle use scenes under the power mode are determined by combining the comparison result of the target running information and the target reference information corresponding to the power mode.

And S103, controlling the vehicle to brake based on the braking mode.

In one possible implementation manner, the power mode includes a hybrid mode, the target operation information includes a brake pedal opening, the target reference information includes a pedal reference value, and determining, based on a comparison result of the target operation information and the target reference information corresponding to the power mode, a braking mode corresponding to the vehicle includes:

and A1, obtaining a target power braking requirement based on a comparison result of the opening degree of the braking pedal and the pedal reference value.

The brake power requirement of the driver is judged according to the opening degree of the brake pedal of the driver, four types of power brake requirements can be obtained through dividing, and the requirements can be expressed as a low-power brake requirement, a medium and large brake requirement and a high-power brake requirement.

In an actual application scene, the pedal reference value can be set for comparing with the opening of the brake pedal, so that the target power braking requirement corresponding to the current vehicle can be obtained. For example, it may be set that when the brake pedal opening is smaller than the first pedal reference value, the accelerator pedal opening is zero, the target power meter braking demand of the vehicle is a low-power braking demand, when the brake pedal opening is not smaller than the first pedal reference value, smaller than the second pedal reference value, the target power meter braking demand of the vehicle is a medium braking demand, when the brake pedal opening is not smaller than the second pedal reference value, smaller than the third pedal reference value, the target power meter braking demand of the vehicle is a medium large braking demand, and when the brake pedal opening is not smaller than the third pedal reference value, smaller than the fourth pedal reference value, the target power meter braking demand of the vehicle is a high-power braking demand.

And A2, comparing the limiting condition of the target power braking requirement with the target running information to determine a braking mode corresponding to the vehicle.

The limiting condition is used for representing a standard which needs to be reached when a braking mode corresponding to the target braking power requirement is started. In the practical application scenario, each power braking requirement has a corresponding braking mode starting standard. For example, it may be set that when the target power meter braking demand of the vehicle is a low-power braking demand, the slip braking may be started when the target running information of the vehicle corresponds to the battery level being smaller than the first battery reference value and the vehicle speed being greater than the first vehicle speed reference value. The method can be arranged when the target power meter braking requirement of the vehicle is a medium power braking requirement, and the mechanical braking and the electric driving system braking can be started only when the battery electric quantity is smaller than the second battery reference value and the vehicle speed is larger than the first vehicle speed reference value, namely, the corresponding braking mode of the vehicle is mechanical braking and electric driving system braking. It should be noted that the above-mentioned limitation conditions are all exemplified, the scope of the limitation conditions in the present application is not limited, and the limitation conditions and the braking modes corresponding to the vehicles can be set according to the actual requirements.

In the practical application scene, the motor energy recovery function can be divided into three types according to the states of parts and the demands of drivers: the overspeed braking of parts and the sliding braking without the brake without the oil door and the stepping braking are prevented.

Prevent spare part overspeed braking: when the motor speed is too high, approaching or exceeding its design speed limit, the motor energy recovery function may be rapidly interposed in order to avoid component damage and system failure. At this time, the motor is switched to the power generation state, and the motor rotation speed is prevented from rising continuously by generating the reverse electromagnetic force. Therefore, the motor and other related parts can be protected, redundant kinetic energy can be converted into electric energy to be stored, and the energy utilization efficiency is improved.

Non-brake oilless door sliding brake: during the vehicle coasting, the motor energy recovery function will also function if the driver is neither braking nor accelerating. At this time, the motor is interposed with a small braking force, and kinetic energy in the sliding process is converted into electric energy by adjusting the running state of the motor. This slight braking effect contributes to smooth deceleration of the vehicle while achieving efficient recovery of energy.

Stepping on the brake: when the driver steps on the brake pedal, the motor energy recovery function intervenes with a large braking torque. At this time, the motor not only provides additional braking torque to help the vehicle to quickly slow down, but also converts kinetic energy generated in the braking process into electric energy for storage. The mode can obviously improve the energy recovery efficiency and prolong the endurance mileage of the electric vehicle.

In a possible implementation manner, the power mode includes a hybrid mode, the target operation information includes a brake pedal opening, an accelerator pedal opening, a battery power and a vehicle speed, the target reference information includes a first pedal reference value, a first battery reference value and a first vehicle speed reference value, for a determination flow of a braking mode in such a braking scenario, fig. 4 may be referred to a fig. 4, and fig. 4 is a schematic diagram of a determination flow of a braking mode in the hybrid mode according to an embodiment of the present application, where the determining, based on a comparison result between the target operation information and the target reference information corresponding to the power mode, the braking mode corresponding to the vehicle includes:

When the opening degree of the brake pedal is smaller than the first pedal reference value, the opening degree of the accelerator pedal is zero, the electric quantity of the battery is smaller than the first battery reference value, and the vehicle speed is larger than the first vehicle speed reference value, the corresponding braking mode of the vehicle is sliding braking.

Namely judging whether the sliding braking is satisfied according to the accelerator pedal and the brake pedal, if so, directly entering the sliding braking, and if not, directly entering the mechanical braking.

In practical application scenarios, the vehicle control system needs to monitor the input signals of the accelerator pedal and the brake pedal in real time. The signal of the accelerator pedal reflects the driver's need for acceleration of the vehicle, while the signal of the brake pedal indicates the driver's intention to slow down or stop the vehicle.

When the vehicle is in a coasting state, i.e., the accelerator pedal is not depressed and the vehicle is running by inertia, the control system evaluates whether the conditions for coasting braking are satisfied. These conditions may include one or more of vehicle speed, road grade, vehicle load status, and battery level. For example, on long downhill sections where the ramp is not large, the coasting brake can automatically keep the vehicle speed within a safe range by adjusting the motor load, thereby improving the safety. While traveling on flat roads, the coasting brakes help the vehicle gradually slow down during coasting.

If the coast braking condition is met, the control system will enter the coast braking mode directly. In the slip braking mode, the vehicle may be decelerated by means of motor braking or engine braking, etc. using kinetic energy during slip, while minimizing the use of a mechanical braking system to improve energy recovery efficiency and extend the service life of the braking system.

If the coast braking conditions are not met or the driver needs to slow down or park more quickly, the control system will go directly into the mechanical braking mode. The mechanical braking realizes braking effect by generating resistance through friction force, and has the characteristics of quick response and large braking force.

The braking control process based on the accelerator pedal and the brake pedal operation can intelligently select a proper braking mode according to the intention of a driver and the state of the vehicle, so that the safety, the comfort and the energy efficiency performance of the vehicle are improved. Meanwhile, the device is also beneficial to reducing unnecessary mechanical braking, prolonging the service life of a braking system and reducing maintenance cost.

In a possible implementation manner, the power mode includes a hybrid mode, the target operation information includes a brake pedal opening, a battery power and a vehicle speed, for a braking scenario with such a medium braking power requirement, a determining flow of a braking mode may refer to fig. 5, and fig. 5 is a schematic diagram of a determining flow of a braking mode in the hybrid mode according to an embodiment of the present application, where the target reference information includes a first pedal reference value, a second battery reference value and a first vehicle speed reference value, and determining, based on a comparison result of the target operation information and the target reference information corresponding to the power mode, the braking mode corresponding to the vehicle includes:

When the opening degree of the brake pedal is not smaller than the first pedal reference value and smaller than the second pedal reference value, the electric quantity of the battery is smaller than the second battery reference value, and the vehicle speed is larger than the first vehicle speed reference value, the corresponding braking mode of the vehicle is mechanical braking and electric driving system braking.

I.e. when the braking power demand of the vehicle is in a medium state, the electric drive system and the mechanical system co-operate. In some cases, the electric drive system may not meet the braking demand. This may be due to low battery SOC (state of charge), motor performance limitations, or other factors, such as the electric drive system not meeting constraints on battery charge and vehicle speed, in which case the control system may adjust the braking strategy to accomplish the braking task solely by means of the mechanical braking system. Only the mechanical braking system works at the moment, and compared with the low-power braking requirement, the set limit value of the battery electric quantity is higher at the moment, and the braking intervention time is longer.

In a possible implementation manner, for a braking scenario with a medium-bias high-power braking requirement, a determining flow of a braking manner may refer to fig. 6, and fig. 6 is a schematic diagram of a determining flow of a braking manner in a hybrid mode provided by an embodiment of the present application, where determining, based on a comparison result of target running information and target reference information corresponding to the power mode, a braking manner corresponding to the vehicle includes:

and when the opening degree of the brake pedal is not smaller than the second pedal reference value and smaller than the fourth pedal reference value and the target operation information meets the in-cylinder braking condition, the corresponding braking mode of the vehicle is in-cylinder braking.

And when the opening degree of the brake pedal is larger than the fourth pedal reference value and smaller than the third pedal reference value, the target operation information meets the in-cylinder braking condition, and the battery electric quantity is smaller than the third battery reference value, and the corresponding braking modes of the vehicle are in-cylinder braking and electric braking.

And when the opening degree of the brake pedal is larger than a fourth pedal reference value and smaller than a third pedal reference value, the target running information does not meet the in-cylinder braking condition, and the electric quantity of the battery is smaller than the third battery reference value, and the corresponding braking modes of the vehicle are electric drive system braking and mechanical braking.

And when the opening degree of the brake pedal is larger than the fourth pedal reference value and smaller than the third pedal reference value, the target running information meets the in-cylinder braking condition, and the electric quantity of the battery is larger than the third battery reference value, and the corresponding braking modes of the vehicle are in-cylinder braking and mechanical braking.

That is, the braking demand is larger than the medium power demand, which can be called medium bias high power demand in the actual application scenario, if the vehicle meets the in-cylinder braking condition, the in-cylinder braking function is directly started; if the vehicle does not meet the in-cylinder braking condition, the braking power demand part is preferably supplemented by motor braking, and at the moment, the set value SOC of the battery electric quantity is higher, and the electric drive braking time and power are longer; if the electric drive system is not satisfied, for example, if the following high pressure or SOC is high, the mechanical brake and the in-cylinder brake together provide braking force.

In an actual application scenario, when the braking demand is large, the system will first determine whether the in-cylinder braking condition is satisfied. In-cylinder braking is an efficient braking method that generates braking force by changing the operating state inside the engine. If the condition of in-cylinder braking is met, the system directly starts the in-cylinder braking function, and the kinetic energy of the vehicle is consumed by utilizing the compression and expansion processes of the engine, so that rapid deceleration is realized.

However, relying solely on in-cylinder braking may not meet all braking requirements. At this point, the system will preferentially utilize motor braking to supplement the insufficient braking power. The motor braking has the advantages of quick response, adjustable braking force and the like, and can quickly respond to the change of braking demands. During motor braking operation, the SOC (state of charge) set point of the battery is correspondingly increased. The electric motor braking device is used for ensuring that the battery has enough electric quantity in the braking process to support the motor braking operation, and meanwhile, more braking energy can be recovered, so that the energy utilization efficiency is improved.

However, if the electric drive system fails to meet the braking demand for some reason (e.g., high pressure or SOC too high, etc.), the system initiates a mode in which the mechanical braking and in-cylinder braking together provide braking force. The mechanical braking generates braking force through friction, and has the characteristics of large braking force and high reliability. The braking force can be further increased by the in-cylinder braking, so that the vehicle can be rapidly decelerated in a short time and safely stopped.

In-cylinder braking conditions generally refer to conditions in which the vehicle or engine conditions meet the requirements for in-cylinder braking system activation under certain conditions. In-cylinder braking is a technique for generating braking force by using an internal mechanism of an engine, and is generally used for reducing the burden of a braking system in a specific scene and improving the running safety. The in-cylinder braking conditions may be adaptively set and adjusted according to one or more of engine speed, throttle state, vehicle speed, vehicle load state, vehicle running state, system failure state. When the in-cylinder braking condition is satisfied, the in-cylinder braking function can be activated, thereby assisting the braking of the vehicle and improving the running safety and economy. It should be noted that in-cylinder braking conditions of different vehicle types and engine types may be different in an actual application scenario, so in actual application, the setting may be adaptively adjusted according to the vehicle type.

In a possible implementation manner, for a braking scenario of a high-power braking requirement, a determining flow of a braking manner may refer to fig. 7, and fig. 7 is a schematic diagram of a determining flow of a braking manner in a hybrid mode provided by an embodiment of the present application, where determining, based on a comparison result of target running information and target reference information corresponding to the power mode, a braking manner corresponding to the vehicle includes:

And when the opening degree of the brake pedal is larger than a third pedal reference value, the target operation information meets the in-cylinder braking condition, and the electric quantity of the battery is smaller than a fourth battery reference value, and the corresponding braking modes of the vehicle are in-cylinder braking, electric braking and mechanical braking.

And when the opening degree of the brake pedal is larger than a third pedal reference value, the target operation information does not meet the in-cylinder braking condition, and the electric quantity of the battery is smaller than a fourth battery reference value, and the corresponding braking modes of the vehicle are electric braking and mechanical braking.

And when the opening degree of the brake pedal is larger than a third pedal reference value, the target operation information meets the in-cylinder braking condition, and the electric quantity of the battery is not smaller than a fourth battery reference value, and the corresponding braking modes of the vehicle are in-cylinder braking and mechanical braking.

In addition, the electric brake allowable battery charge SOC is set higher, and the working time of the electric brake system is increased.

In order to meet high power braking demands and extend the operating time of the electric brake system, the electric brake allowed intervening battery charge SOC set point may be higher. This means that even if the battery level is already relatively high, the electric brake system can still intervene to provide more braking force. By increasing the SOC set point, it is ensured that the electric brake system can continuously operate during high-power braking, thereby increasing braking power and braking efficiency.

In addition, extending the operating time of the electric brake system also helps to improve the energy recovery efficiency. In the high-power braking process, the electric braking system can charge the battery by recovering braking energy, so that the energy efficiency of the vehicle is further improved. By increasing the operating time of the electric brake system, more braking energy can be recovered, reducing energy waste.

In a possible implementation manner, the power mode includes a pure electric mode, the target operation information includes an accelerator pedal opening, a brake pedal opening, a vehicle speed and a battery power, the target reference information includes a first pedal reference value, a second battery reference value and a first vehicle speed reference value, for a determination flow of a braking mode in a braking scenario in which the vehicle is in the pure electric mode, fig. 8 may be referred to a flow chart of determining the braking mode in the pure electric mode, and the determining, based on a comparison result of the target operation information and the target reference information corresponding to the power mode, the braking mode corresponding to the vehicle includes:

When the opening degree of the brake pedal is smaller than the first pedal reference value, the opening degree of the accelerator pedal is zero, the electric quantity of the battery is smaller than the second battery reference value, and the vehicle speed is larger than the first vehicle speed reference value, the corresponding braking mode of the vehicle is electric drive system braking.

When the opening degree of the brake pedal is larger than the first pedal reference value, the electric quantity of the battery is smaller than the second battery reference value, and the vehicle speed is larger than the first vehicle speed reference value, the corresponding braking mode of the vehicle is mechanical braking and electric drive system braking.

When the vehicle is in a pure electric mode, the engine does not work and is in a flameout state, and the vehicle braking system only comprises a motor energy recovery braking and mechanical braking system; firstly judging whether the vehicle is coasting braking, if the driver does not press the accelerator pedal and the brake pedal at the moment, judging that the vehicle is coasting braking, and only recovering energy by the electric drive system at the moment; if the driver presses the brake pedal, the brake mode can be judged at the moment, and the motor and the mechanical brake system provide negative torque to brake the vehicle at the moment; when the vehicle does not meet the limit condition for entering energy recovery braking, the vehicle is only in the mechanical braking torque mode.

In a possible implementation manner, the power mode includes an engine mode, the target operation information includes an accelerator pedal opening and a brake pedal opening, the target reference information includes a first pedal reference value, for a braking scenario in which a vehicle is in the engine mode, a determining flow of a braking manner may refer to fig. 9, and fig. 9 is a schematic diagram of a determining flow of the braking manner in the engine mode according to an embodiment of the present application, where determining, based on a comparison result between the target operation information and the target reference information corresponding to the power mode, the braking manner corresponding to the vehicle includes:

When the opening of the brake pedal is smaller than the first pedal reference value, the opening of the acceleration brake pressing plate is zero, the target operation information meets the in-cylinder brake condition, the in-cylinder brake function is in a starting state, and the corresponding brake mode of the vehicle is in-cylinder brake.

When the opening degree of the brake pedal is larger than a first pedal reference value, the target operation information meets the in-cylinder braking condition, the in-cylinder braking is in a starting state, and the corresponding braking modes of the vehicle are in-cylinder braking and mechanical braking.

When the vehicle is in the pure engine working mode, the high-pressure system of the vehicle is abnormal, and the vehicle braking system only comprises an in-cylinder braking system and a mechanical braking system; the driver manually opens the in-cylinder brake switch, the driver does not step on the accelerator pedal, the opening degree of the brake pedal is small, and at the moment, the vehicle brake torque can be completely provided by the in-cylinder brake torque; if the requirement of a brake pedal of a driver is greater than a certain degree, the mechanical brake and the in-cylinder brake work together at the moment, so that larger braking power can be provided; when none of the above conditions is satisfied, only in-cylinder braking torque is at this time.

In one possible implementation, it may be preferable to determine whether the ABS system is active; if the ABS system is activated, the steering capacity is lost at this time to prevent the vehicle from locking, and the braking torque is completely provided by the mechanical braking system. For the above-mentioned braking scenario in which whether the anti-lock braking system is activated or not needs to be determined, the determining flow of the braking mode may refer to fig. 10, and fig. 10 is a schematic diagram of determining the flow of the braking mode of the vehicle according to the embodiment of the present application.

The above is some specific implementation manners of the vehicle braking method provided by the embodiment of the application, and based on this, the application also provides a corresponding system for vehicle braking. The system provided by the embodiment of the application will be described from the aspect of functional modularization. Fig. 11 is a block diagram of a vehicle braking system according to an embodiment of the present application.

The system comprises:

An acquisition unit 110 for acquiring a power mode of the vehicle, the power mode being used for characterizing a power type used by the vehicle during operation;

a determining unit 111, configured to determine a braking mode corresponding to the vehicle based on a comparison result of target operation information corresponding to the power mode and target reference information, where the target operation information is information for representing a braking power requirement and a vehicle operation state of the vehicle in the power mode, and the target reference information is information for comparing with the target operation information in the power mode;

and a control unit 112 for controlling the vehicle to brake based on the braking mode.

The embodiment of the application also provides corresponding equipment and a computer storage medium, which are used for realizing the vehicle braking method provided by the embodiment of the application.

The device comprises a memory and a processor, wherein the memory is used for storing instructions or codes, and the processor is used for executing the instructions or codes so as to enable the device to execute the vehicle braking method according to any embodiment of the application.

The computer storage medium has code stored therein, and when the code is executed, a device executing the code implements the vehicle braking method according to any one of the embodiments of the present application.

It should be noted that, in the present description, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different manner from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system or device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the relevant points refer to the description of the method section.

It should be understood that in the present application, "at least one (item)" means one or more, and "a plurality" means two or more. "and/or" for describing the association relationship of the association object, the representation may have three relationships, for example, "a and/or B" may represent: only a, only B and both a and B are present, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b or c may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.

It is to be understood that the terms "center," "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are directional or positional relationships as indicated based on the drawings, merely to facilitate describing the invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.

It should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

It is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (16)

1. A vehicle braking method, characterized by comprising:

Acquiring a power mode of the vehicle, wherein the power mode is used for representing the power type used by the vehicle in the running process;

Determining a braking mode corresponding to the vehicle based on a comparison result of target operation information and target reference information corresponding to the power mode, wherein the target operation information is information for representing the braking power requirement and the vehicle operation state of the vehicle in the power mode, and the target reference information is information for comparing with the target operation information in the power mode;

and controlling the vehicle to brake based on the braking mode.

2. The method of claim 1, wherein the power mode includes a hybrid mode, the target operation information includes a brake pedal opening, the target reference information includes a pedal reference value, and determining the braking mode corresponding to the vehicle based on a comparison of the target operation information corresponding to the power mode and the target reference information includes:

Obtaining a target power braking demand based on a comparison result of the opening degree of the braking pedal and the pedal reference value;

and comparing the limiting condition of the target power braking requirement with the target running information to determine a braking mode corresponding to the vehicle, wherein the limiting condition is used for representing a standard which needs to be reached when the braking mode corresponding to the target braking power requirement is started.

3. The method of claim 1, wherein the power mode comprises a hybrid mode, the target operating information comprises a brake pedal opening, an accelerator pedal opening, a battery level, and a vehicle speed, the target reference information comprises a first pedal reference value, a first battery reference value, and a first vehicle speed reference value, and determining a braking mode corresponding to the vehicle based on a comparison of the target operating information and the target reference information corresponding to the power mode comprises:

When the opening degree of the brake pedal is smaller than the first pedal reference value, the opening degree of the accelerator pedal is zero, the electric quantity of the battery is smaller than the first battery reference value, and the vehicle speed is larger than the first vehicle speed reference value, the corresponding braking mode of the vehicle is sliding braking.

4. The method of claim 1, wherein the power mode includes a hybrid mode, the target operation information includes a brake pedal opening, a battery level, and a vehicle speed, the target reference information includes a first pedal reference value, a second battery reference value, and a first vehicle speed reference value, and the determining a braking mode corresponding to the vehicle based on a comparison of the target operation information and the target reference information corresponding to the power mode includes:

When the opening degree of the brake pedal is not smaller than the first pedal reference value and smaller than the second pedal reference value, the electric quantity of the battery is smaller than the second battery reference value, and the vehicle speed is larger than the first vehicle speed reference value, the corresponding braking mode of the vehicle is mechanical braking and electric driving system braking.

5. The method of claim 1, wherein the power mode includes a hybrid mode, the target operation information includes a brake pedal opening, the target reference information includes a second pedal reference value and a fourth pedal reference value, and determining the braking mode corresponding to the vehicle based on a comparison of the target operation information and the target reference information corresponding to the power mode includes:

and when the opening degree of the brake pedal is not smaller than the second pedal reference value and smaller than the fourth pedal reference value and the target operation information meets the in-cylinder braking condition, the corresponding braking mode of the vehicle is in-cylinder braking.

6. The method according to claim 1, wherein the power mode includes a hybrid mode, the target operation information includes a brake pedal opening and a battery level, the target reference information includes a third pedal reference value, a fourth pedal reference value, and a third battery reference value, and the determining the braking mode corresponding to the vehicle based on a comparison result of the target operation information and the target reference information corresponding to the power mode includes:

And when the opening degree of the brake pedal is larger than the fourth pedal reference value and smaller than the third pedal reference value, the target operation information meets the in-cylinder braking condition, and the battery electric quantity is smaller than the third battery reference value, and the corresponding braking modes of the vehicle are in-cylinder braking and electric braking.

7. The method according to claim 1, wherein the power mode includes a hybrid mode, the target operation information includes a brake pedal opening and a battery level, the target reference information includes a third pedal reference value, a fourth pedal reference value, and a third battery reference value, and the determining the braking mode corresponding to the vehicle based on a comparison result of the target operation information and the target reference information corresponding to the power mode includes:

And when the opening degree of the brake pedal is larger than a fourth pedal reference value and smaller than a third pedal reference value, the target running information does not meet the in-cylinder braking condition, and the electric quantity of the battery is smaller than the third battery reference value, and the corresponding braking modes of the vehicle are electric drive system braking and mechanical braking.

8. The method according to claim 1, wherein the power mode includes a hybrid mode, the target operation information includes a brake pedal opening and a battery level, the target reference information includes a third pedal reference value, a fourth pedal reference value, and a third battery reference value, and the determining the braking mode corresponding to the vehicle based on a comparison result of the target operation information and the target reference information corresponding to the power mode includes:

and when the opening degree of the brake pedal is larger than the fourth pedal reference value and smaller than the third pedal reference value, the target running information meets the in-cylinder braking condition, and the electric quantity of the battery is larger than the third battery reference value, and the corresponding braking modes of the vehicle are in-cylinder braking and mechanical braking.

9. The method of claim 1, wherein the power mode includes a hybrid mode, the target operation information includes a brake pedal opening and a battery level, the target reference information includes a fourth battery reference value and a third pedal reference value, and the determining the braking mode corresponding to the vehicle based on a comparison of the target operation information corresponding to the power mode and the target reference information includes:

And when the opening degree of the brake pedal is larger than a third pedal reference value, the target operation information meets the in-cylinder braking condition, and the electric quantity of the battery is smaller than a fourth battery reference value, and the corresponding braking modes of the vehicle are in-cylinder braking, electric braking and mechanical braking.

10. The method of claim 1, wherein the power mode includes a hybrid mode, the target operation information includes a brake pedal opening and a battery level, the target reference information includes a fourth battery reference value and a third pedal reference value, and the determining the braking mode corresponding to the vehicle based on a comparison of the target operation information corresponding to the power mode and the target reference information includes:

And when the opening degree of the brake pedal is larger than a third pedal reference value, the target operation information does not meet the in-cylinder braking condition, and the electric quantity of the battery is smaller than a fourth battery reference value, and the corresponding braking modes of the vehicle are electric braking and mechanical braking.

11. The method of claim 1, wherein the power mode includes a hybrid mode, the target operation information includes a brake pedal opening and a battery level, the target reference information includes a fourth battery reference value and a third pedal reference value, and the determining the braking mode corresponding to the vehicle based on a comparison of the target operation information corresponding to the power mode and the target reference information includes:

And when the opening degree of the brake pedal is larger than a third pedal reference value, the target operation information meets the in-cylinder braking condition, and the electric quantity of the battery is not smaller than a fourth battery reference value, and the corresponding braking modes of the vehicle are in-cylinder braking and mechanical braking.

12. The method of claim 1, wherein the power mode comprises a pure electric mode, the target operating information comprises an accelerator pedal opening, a brake pedal opening, a vehicle speed, and a battery level, the target reference information comprises a first pedal reference value, a second battery reference value, and a first vehicle speed reference value, and the determining the braking mode corresponding to the vehicle based on the comparison of the target operating information and the target reference information corresponding to the power mode comprises:

When the opening degree of the brake pedal is smaller than the first pedal reference value, the opening degree of the accelerator pedal is zero, the electric quantity of the battery is smaller than the second battery reference value, and the vehicle speed is larger than the first vehicle speed reference value, the corresponding braking mode of the vehicle is electric drive system braking.

13. The method of claim 1, wherein the power mode includes a pure electric mode, the target operation information includes a brake pedal opening, a vehicle speed, and a battery level, the target reference information includes a first pedal reference value, a second battery reference value, and a first vehicle speed reference value, and determining a braking mode corresponding to the vehicle based on a comparison of the target operation information and the target reference information corresponding to the power mode includes:

when the opening degree of the brake pedal is larger than the first pedal reference value, the electric quantity of the battery is smaller than the second battery reference value, and the vehicle speed is larger than the first vehicle speed reference value, the corresponding braking mode of the vehicle is mechanical braking and electric drive system braking.

14. The method of claim 1, wherein the power mode includes an engine mode, the target operation information includes an accelerator pedal opening and a brake pedal opening, the target reference information includes a first pedal reference value, and determining the braking mode corresponding to the vehicle based on a comparison of the target operation information corresponding to the power mode and the target reference information includes:

When the opening of the brake pedal is smaller than the first pedal reference value, the opening of the acceleration brake pressing plate is zero, the target operation information meets the in-cylinder brake condition, the in-cylinder brake function is in a starting state, and the corresponding brake mode of the vehicle is in-cylinder brake.

15. The method of claim 1, wherein the power mode includes an engine mode, the target operation information includes a brake pedal opening, the target reference information includes a first pedal reference value, and determining the braking mode corresponding to the vehicle based on a comparison of the target operation information corresponding to the power mode and the target reference information includes:

when the opening degree of the brake pedal is larger than a first pedal reference value, the target operation information meets the in-cylinder braking condition, the in-cylinder braking is in a starting state, and the corresponding braking modes of the vehicle are in-cylinder braking and mechanical braking.

16. A vehicle braking system, the system comprising:

An acquisition unit for acquiring a power mode of the vehicle, the power mode being used for characterizing a power type used by the vehicle during operation;

The determining unit is used for determining a braking mode corresponding to the vehicle based on a comparison result of target operation information and target reference information corresponding to the power mode, wherein the target operation information is information for representing the braking power requirement and the vehicle operation state of the vehicle in the power mode, and the target reference information is information for comparing with the target operation information in the power mode;

and the control unit is used for controlling the vehicle to brake based on the braking mode.