WO2022022598A1 - Brake control method for electric vehicle, and electronic device and storage medium - Google Patents

Brake control method for electric vehicle, and electronic device and storage medium Download PDF

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Publication number
WO2022022598A1
WO2022022598A1 PCT/CN2021/109074 CN2021109074W WO2022022598A1 WO 2022022598 A1 WO2022022598 A1 WO 2022022598A1 CN 2021109074 W CN2021109074 W CN 2021109074W WO 2022022598 A1 WO2022022598 A1 WO 2022022598A1
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WIPO (PCT)
Prior art keywords
electric vehicle
braking
target
control signal
preset
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PCT/CN2021/109074
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French (fr)
Chinese (zh)
Inventor
易琅琳
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四川鼎鸿智电装备科技有限公司
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Publication of WO2022022598A1 publication Critical patent/WO2022022598A1/en

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    • 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
    • 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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present application relates to the technical field of electric vehicles, and in particular, to a method, electronic device and storage medium for braking control of an electric vehicle.
  • Construction machinery such as loaders, excavators, bulldozers, etc.
  • loaders excavators, bulldozers, etc.
  • construction machinery can be used for loading and unloading, pushing, and construction of bulk materials such as soil, sand, and coal.
  • all-electric drive loaders have outstanding advantages in reducing energy consumption and pollution because they do not need to use fuel as a driving force.
  • the prior art When the construction machinery needs to be braked during the working process, the prior art generally adopts the friction braking system to realize the braking. Build pressure on the brake oil circuit, the pressure is transmitted to the brake cylinder through the brake oil circuit, and the cylinder pushes the brake caliper to squeeze the brake disc to generate friction, thereby braking through the friction torque.
  • the car brakes frequently, and the caliper will frequently squeeze the brake pads.
  • the brake pads wear out quickly, and sometimes the high heat generated by the braking will affect the braking effect and also affect the driving safety.
  • Construction machinery will encounter different working environments and working conditions during working and driving, and the braking conditions will also be different.
  • braking conditions such as low-speed braking, high-speed braking, emergency braking and downhill braking. Due to the difference in braking distance, load, etc., the braking force required by construction machinery is also different, and the required braking energy is also different. If only a single braking mode is used, the energy utilization The rate is not high, and the braking efficiency and braking effect need to be improved.
  • Embodiments of the present application provide a method, electronic device, and storage medium for braking control of an electric vehicle, so as to solve the problem of wasting energy and resources caused by the inability of existing electric vehicles to select a corresponding braking mode according to actual working conditions.
  • the present application provides a braking control method for an electric vehicle, the method comprising:
  • the electric vehicle signal including braking parameters
  • a target preset range according to the braking parameter and multiple preset braking parameter ranges, where the target preset range is a braking parameter including the braking parameter in the multiple preset braking parameter ranges Scope;
  • the target electric vehicle control signal is an electric vehicle control signal corresponding to the target preset range among a plurality of electric vehicle control signals
  • the target electric vehicle controller sending the target electric vehicle control signal to a target electric vehicle controller to activate a target braking component connected to the target electric vehicle controller to brake the electric vehicle, the target electric vehicle controller being a plurality of electric vehicles An electric vehicle controller in the controller corresponding to the target electric vehicle braking signal.
  • the present application also provides an electronic device, the electronic device comprising:
  • processors one or more processors
  • one or more application programs wherein the one or more application programs are stored in the memory and configured to be performed by the processor to perform the following steps:
  • the electric vehicle signal including braking parameters
  • a target preset range according to the braking parameter and multiple preset braking parameter ranges, where the target preset range is a braking parameter including the braking parameter in the multiple preset braking parameter ranges Scope;
  • the target electric vehicle control signal is an electric vehicle control signal corresponding to the target preset range among a plurality of electric vehicle control signals
  • the target electric vehicle controller sending the target electric vehicle control signal to a target electric vehicle controller to activate a target braking component connected to the target electric vehicle controller to brake the electric vehicle, the target electric vehicle controller being a plurality of electric vehicles An electric vehicle controller in the controller corresponding to the target electric vehicle braking signal.
  • the present application also provides a computer-readable storage medium on which a computer program is stored, and the computer program is loaded by a processor to perform the following steps:
  • the electric vehicle signal including braking parameters
  • a target preset range according to the braking parameter and multiple preset braking parameter ranges, where the target preset range is a braking parameter including the braking parameter in the multiple preset braking parameter ranges Scope;
  • the target electric vehicle control signal is an electric vehicle control signal corresponding to the target preset range among a plurality of electric vehicle control signals
  • the target electric vehicle controller sending the target electric vehicle control signal to a target electric vehicle controller to activate a target braking component connected to the target electric vehicle controller to brake the electric vehicle, the target electric vehicle controller being a plurality of electric vehicles An electric vehicle controller in the controller corresponding to the target electric vehicle braking signal.
  • the beneficial effects of the present application are: obtaining the braking parameters of the electric vehicle from the received braking signal of the electric vehicle; determining the target preset range according to the braking parameters and a plurality of preset braking parameter ranges; generating a target electric vehicle control signal from the target preset range, where the target electric vehicle control signal is a control signal corresponding to the target preset range among a plurality of electric vehicle control signals; sending the target electric vehicle control signal to the target the electric vehicle controller to activate the target braking component connected to the target electric vehicle controller to brake and decelerate the electric vehicle.
  • the braking force required for the braking of the electric vehicle is identified by acquiring the braking parameters of the electric vehicle after receiving the braking parameters at the service, and identifying the target preset braking parameter range to which the braking parameters belong, thereby identifying the braking force required for the braking of the electric vehicle, and correspondingly Select the braking mode corresponding to the braking of the electric vehicle, and send the control signal in this mode to the corresponding controller, so that the control components connected to the controller are activated to control the braking of the electric vehicle to improve the braking efficiency , while helping to save energy.
  • FIG. 1 is a schematic diagram of a scene of a braking control method for a construction machine provided by an embodiment of the present application
  • FIG. 2 is a schematic flowchart of an embodiment of a braking control method for a construction machine provided in an embodiment of the present application
  • step 102 in the embodiment of the present application.
  • FIG. 4 is a schematic flowchart of an embodiment of step 104 in the embodiment of the present application.
  • FIG. 5 is a schematic flowchart of an embodiment of step 104 in the embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of an embodiment of a control device for a construction machine provided in an embodiment of the present application
  • FIG. 7 is a schematic structural diagram of an embodiment of an electronic device for a braking control method for a construction machine provided in an embodiment of the present application.
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, features defined as “first”, “second” may expressly or implicitly include one or more of said features. In the description of the present invention, “plurality” means two or more, unless otherwise expressly and specifically defined.
  • Embodiments of the present application provide a method, an apparatus, an electronic device, and a storage medium for an electric vehicle, which will be described in detail below.
  • an all-electric-driven construction machine is used as an embodiment of an electric vehicle, and will be described and introduced from the perspective of a control system of the construction machine, which can be specifically integrated in a network device.
  • FIG. 1 is a schematic diagram of a scene of a braking control method for a construction machine provided in this embodiment.
  • the control system for the construction machine collects braking parameters of the construction machine 200 during operation, wherein the construction machine It can be construction machinery such as loaders, excavators, bulldozers, etc.; then the collected braking parameters are sent to the network device 100, and the network device 100 identifies the braking force required for braking according to the collected braking parameters, and according to the braking force to generate different brake control signals, and send the required brake control signals to the corresponding brake controller to enable the brake controller to activate the corresponding control components, which can be electromagnetic brake control Different brake components are controlled by different brake controllers, for example, the electromagnetic brake controller controls the motor brake to generate friction braking force, or the motor controller controls the motor to stop working, so as to make the construction machinery brake.
  • the electromagnetic brake controller controls the motor brake to generate friction braking force
  • the motor controller controls the motor to stop working, so as to make the construction machinery brake.
  • the network device 100 may be a server, and the server may be an independent server, or a server network or server cluster composed of servers.
  • the server described in the embodiment of the present invention includes but is not limited to A computer, a network host, a single network server, a set of multiple network servers, or a cloud server composed of multiple servers.
  • the cloud server is composed of a large number of computers or network servers based on cloud computing (Cloud Computing).
  • FIG. 1 the schematic diagram of the scene of the control system of the construction machine shown in FIG. 1 is only an example, and the control system and the scene of the construction machine described in the embodiments of the present application are for the purpose of illustrating the technical solutions of the embodiments of the present application more clearly. This does not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those of ordinary skill in the art know that with the evolution of the control system of construction machinery and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are not suitable for similar technologies. question, the same applies.
  • an embodiment of the present invention provides a braking control method for a construction machine.
  • the execution body of the braking control method for the construction machine is a braking control device for the construction machine.
  • the braking control device for the construction machine is applied to a server.
  • the braking control method of the construction machinery includes: receiving a braking signal of the construction machinery, where the braking signal includes braking parameters, and acquiring the braking parameters of the construction machinery; according to the braking parameters and a plurality of preset braking parameter ranges , determine the target preset range; generate the target construction machinery control signal according to the target preset range; send the target construction machinery control signal to the target construction machinery controller to activate the target brake component connected to the target construction machinery controller Slow down the construction machinery brake.
  • the braking control method for construction machinery includes the following steps 101 to 104:
  • Step 101 Receive a construction machinery braking signal, where the construction machinery signal includes braking parameters;
  • brake signals for example, it can be a service brake signal, an emergency brake signal, or a parking brake signal, etc.
  • brake parameters for example, it can include a service brake signal. Parameters, emergency braking parameters or parking brake parameters, etc., are not specifically limited here.
  • the braking parameter can be represented by a digital value or a special value (ASCII code or special number), for example, it can be a specific braking digital value such as an acceleration value, a braking torque value, etc., or it can be "PARK", “P” , "STOP” and other eigenvalues, which are not specifically limited here.
  • the brake signal of construction machinery can be generated by the start of the brake device.
  • the start of the brake signal can be started manually, for example, the driver depresses the brake pedal, or the environmental monitoring device can send the brake start signal to the controller. , the controller controls the braking device to start to generate the braking signal.
  • the braking parameter can be obtained by analyzing the braking signal, and the braking parameter is the braking parameter of the construction machinery when the braking signal is generated.
  • the braking speed is the speed generated when braking
  • the braking acceleration is the acceleration generated when braking decelerates
  • the value of the braking acceleration is a negative value
  • the acceleration a and the braking speed V can be obtained from a speed sensor, such as from a gyro
  • Step 102 Determine a target preset range according to the braking parameter and multiple preset braking parameter ranges, where the target preset range is one of the multiple preset braking parameter ranges corresponding to the braking parameter. range of braking parameters.
  • the braking condition is determined according to the braking parameter range in which the braking parameter is located, and then the corresponding braking mode is determined.
  • the multiple preset braking parameter ranges are ranges corresponding to different braking parameters, and the preset braking parameter ranges are preset.
  • the step 102 the step of determining the target preset range according to the braking parameter and a plurality of preset braking parameter ranges, may further include the following steps 201-202:
  • Step 201 Compare the braking parameters with the multiple preset braking parameter ranges, respectively, to obtain a comparison result.
  • the acceleration can be divided into multiple ranges, for example, the first preset braking parameter range is -1.5m/s 2 to 0 m/s 2 , and the second preset braking parameter range is is -1.5m/s 2 to -4m/s 2 , the third preset braking parameter range is -8m/s 2 to -4m/s 2 , and the obtained braking parameters are compared with the first preset braking parameters respectively.
  • the parameter range, the second preset braking parameter range, and the third preset braking parameter range are compared to obtain a comparison result.
  • Step 202 According to the comparison result, take the preset braking parameter range corresponding to the braking parameter as the target preset braking parameter range.
  • the value of -3m/s 2 is respectively combined with the first preset braking parameter range, the second preset braking parameter range, the third preset braking parameter range and the Set the braking parameter range comparison, wherein the first preset braking parameter range, the second preset braking parameter range, and the third preset braking parameter range are ranges including different preset accelerations. If the acceleration falls within the second preset braking parameter range, it can be known that the target preset range is the second preset range.
  • Step 103 Generate a target construction machinery control signal according to the target preset range, where the target construction machinery control signal is a control signal corresponding to the target preset range in a plurality of construction machinery control signals.
  • control signals there may be multiple control signals, such as a first control signal, a second control signal, a third control signal, etc.
  • the control signals correspond to the preset braking parameter range, for example, the first control signal corresponds to the first preset braking The parameter range, the second control signal corresponds to the second preset braking parameter range, and the third control signal corresponds to the third preset braking parameter range.
  • the corresponding braking control signal that is, the target construction machinery control signal.
  • Step 104 Send the target construction machinery control signal to the target construction machinery controller to activate the target braking component connected to the target construction machinery controller to brake the construction machinery, and the target construction machinery controller is a plurality of The construction machinery controller corresponding to the target construction machinery control signal in the construction machinery controller.
  • the construction machinery controller is the controller that controls the brake parts of the loader.
  • Each construction machinery controller controls one brake part correspondingly.
  • the brake components meet the requirements of different braking force when the construction machinery encounters different working conditions during the operation and driving, so as to realize the braking of the construction machinery.
  • the braking component can be an electric motor or a motor brake,
  • Table 1 is a schematic table of the braking control method of construction machinery.
  • different accelerations can reflect the different braking forces required by the construction machinery during driving, and different control components can be selected according to different braking forces to make the construction machinery brake.
  • the braking control method for construction machinery obtains the braking parameters of the construction machinery after receiving the braking signal of the construction machinery, and identifies the target preset braking parameter range to which the braking parameters belong, so as to obtain the braking parameters of the construction machinery. Identify the braking force required by the construction machinery brake, and select the corresponding braking mode of the construction machinery brake, and send the control signal in the mode to the corresponding controller, so as to connect the control components with the controller. Start and control construction machinery braking to improve braking efficiency and save energy.
  • the construction machinery braking signal includes a service braking parameter
  • the target preset braking parameter range includes a first preset braking parameter range
  • the target construction machinery control signal includes a first braking parameter range.
  • a control signal, the target construction machinery controller includes a motor controller, and the motor controller is connected with the wheel drive motor.
  • step 104 the step of sending the target construction machinery control signal to the target construction machinery controller to activate the target braking component connected to the target construction machinery controller to brake the construction machinery may further include:
  • Step 1) when the braking parameter is within the range of the first preset braking parameter, send the first control signal to the motor controller, and control the motor to work in the generator state to generate a reaction. Apply force and recover braking energy to achieve braking.
  • the wheel drive motor may be a permanent magnet synchronous motor, which is connected to the driving wheel of the construction machinery, and the permanent magnet synchronous motor can convert braking kinetic energy into electrical energy.
  • the first control signal is sent to the motor controller to control the wheel drive motor to decelerate and brake and recover braking energy, thereby realizing braking.
  • the first control signal is a signal for braking the permanent magnet synchronous motor and recovering braking energy.
  • the motor works in the form of a generator, and the stator coil cuts the permanent magnet rotor magnetic field lines to form an electromagnetic force, which acts on the motor rotor to decelerate, and the rotor is connected to the wheel through the transmission. , so as to generate the braking force that decelerates the construction machinery; the electric energy generated by the motor in the working state of the generator is recovered into the energy storage device of the construction machinery. The kinetic energy is converted into electrical energy by generating electricity, and the kinetic energy is dissipated to make the motor stop working, so that the construction machinery stops working, thereby realizing effective braking energy recovery.
  • the permanent magnet synchronous motor relies on electromagnetic force to realize the braking of the driving wheel. Compared with the traditional way of braking through friction discs such as friction plates, it can convert the braking kinetic energy into electric energy, and can prolong the driving mileage of construction machinery through energy recovery.
  • the construction machinery braking signal includes a service braking parameter
  • the plurality of preset braking parameter ranges include a second preset braking parameter range
  • the target construction machinery control signal includes a second control signal
  • the target construction machinery controller includes a motor controller, and the motor controller is connected to the wheel drive motor
  • step 104 the step of sending the target construction machinery control signal to the target construction machinery controller to activate the target braking component connected to the target construction machinery controller to brake the construction machinery may further include:
  • Step 2) when the braking parameter is within the second preset braking parameter range, send the second control signal to the motor controller to control the rotor of the wheel drive motor to reverse force to achieve braking.
  • the second control signal is to make the permanent magnet synchronous motor generate a reaction force signal.
  • the first preset braking parameter range is -4m/s 2 to -1.5m/s 2 .
  • the stator magnetic field of the four permanent magnet synchronous motors is changed by the four motor drivers. Under the interaction between the stator magnetic field and the rotor magnetic field of the motor, the rotor obtains a large reaction force. Similarly, the braking and deceleration of construction machinery can be realized. Purpose.
  • the construction machinery braking signal includes a service braking parameter
  • the plurality of preset braking parameter ranges include a third preset braking parameter range
  • the target construction machinery control signal includes a third control signal
  • the target construction machinery controller includes a switch element, and the switch element is connected with a motor brake.
  • step 104 the step of sending the target construction machinery control signal to the target construction machinery controller to activate the target braking component connected to the target construction machinery controller to decelerate the construction machinery brake may further include:
  • Step 3 when the braking parameter is within the range of the third preset braking parameter, send the third control signal to the switching element to control the motor brake to work.
  • the third control signal is a signal for starting the motor brake. After the switch component receives the third control signal, it controls the motor brake to start, and then controls the loader to brake.
  • the first preset braking parameter range is -8m/s 2 to -4m/s 2 , that is, when a larger braking torque is required
  • the motor brake of the motor (motor brake) is directly used, and the wheels are directly locked to achieve the purpose of emergency braking.
  • the electromagnetic braking method designed according to the principle of electromagnetic induction belongs to non-contact braking, which can reduce the loss of components, prolong the service life of the loader, and can effectively solve the problems of braking dust, braking noise and emergency braking response speed. .
  • the electromagnetic braking method has the disadvantages of low control precision compared to the transmission of the brake pedal force only through the hydraulic oil circuit, and cannot meet the requirements of rapidly increasing the braking force of the vehicle during emergency braking.
  • the construction machinery braking signal further includes an emergency braking parameter
  • the target construction machinery controller includes a switch element connected to a motor brake, and the switch element is connected to a motor brake.
  • the motor brake is connected to the wheel drive motor.
  • step 104 the step of sending the target construction machinery control signal to the target construction machinery controller to activate the target braking component connected to the target construction machinery controller to brake the construction machinery may further include:
  • Step 301 Send a target construction machinery control signal to a switch component to control the motor brake to generate a braking force, where the target construction machinery control signal is a braking control signal corresponding to the emergency braking parameter.
  • an emergency braking control signal is sent to the switch component. After the switch component receives the signal, the Control the motor brake to make the motor lock, so that the driving wheel is directly locked, so as to achieve the purpose of emergency stop.
  • the construction machinery brake signal further includes a parking brake parameter
  • the target construction machinery controller includes a switch component connected to the motor brake, so The motor brake is connected to the wheel drive motor, and step 104, the target construction machinery control signal is sent to the target construction machinery controller, so as to activate the target braking component connected to the target construction machinery controller to decelerate the construction machinery.
  • the steps may further include:
  • Step 302 Send the target construction machinery control signal to the switch element to control the motor brake to generate a braking force, where the target construction machinery control signal is a braking control signal corresponding to the parking brake parameter.
  • the construction machinery When the construction machinery needs to be parked, it sends a parking control signal to the switch component. After the switch component receives the signal, it controls the motor brake to make the motor lock, so that the driving wheel is directly locked, so as to achieve the emergency stop. Purpose.
  • the embodiment of the present application also provides a braking control device for an electric vehicle, as shown in FIG. 6 .
  • the control device 400 of the electric vehicle includes:
  • a receiving unit 401 configured to receive an electric vehicle braking signal, where the electric vehicle signal includes braking parameters
  • the processing unit 402 is configured to determine a target preset range according to the braking parameter and multiple preset braking parameter ranges, where the target preset range is that the multiple preset braking parameter ranges include the braking parameter range.
  • the electric vehicle braking signal includes a service braking parameter
  • the target preset braking parameter range includes a first preset braking parameter range
  • the target electric vehicle control signal includes a first control signal
  • the target electric vehicle controller includes a motor controller, and the motor controller is connected to a wheel drive motor
  • the processing unit 402 is used for:
  • the first control signal is sent to the motor controller to control the wheel drive motor to work in a generator state to generate a reverse action force and recover braking energy to achieve braking.
  • the electric vehicle braking signal includes a service braking parameter
  • the plurality of preset braking parameter ranges include a second preset braking parameter range
  • the target electric vehicle control signal includes a second control signal
  • the target electric vehicle controller includes a motor controller, the motor controller is connected to the wheel drive motor
  • the processing unit 402 is used for:
  • the second control signal is sent to the motor controller to control the rotor of the wheel drive motor to generate a reverse force, so as to achieve brake.
  • the electric vehicle braking signal includes a service braking parameter
  • the plurality of preset braking parameter ranges include a third preset braking parameter range
  • the target electric vehicle control signal includes a third control signal
  • the target electric vehicle controller includes a switch component, and the switch component is connected with a motor brake
  • the processing unit 402 is used for:
  • the third control signal is sent to the switching element to control the motor brake to work.
  • the electric vehicle braking signal further includes an emergency braking parameter
  • the target electric vehicle controller includes a switch element connected to a motor brake connected to a wheel drive motor connect
  • the processing unit 402 is used for:
  • the target electric vehicle control signal is sent to the switch element, and the motor brake connected with the switch element is controlled to generate a braking force to make the wheel drive motor in a locked state, and the target electric vehicle control signal is related to the parking The braking signal corresponding to the braking parameter.
  • the electric vehicle braking signal further includes a parking brake parameter
  • the target electric vehicle controller includes a switch element connected to a motor brake connected to the wheel drive motor connection
  • the processing unit 402 is used for:
  • the target electric vehicle control signal is sent to the switch element, and the motor brake connected with the switch element is controlled to generate a braking force, so that the wheel drive motor is in a parking state, and the target electric vehicle control signal is related to the parking state.
  • the braking signal corresponding to the vehicle braking parameter.
  • the processing unit 402 is used to:
  • the preset braking parameter range corresponding to the braking parameter is used as the target preset braking parameter range.
  • the braking parameters of the electric vehicle are obtained, and the braking force required for the braking of the electric vehicle is identified by identifying the target preset braking parameter range to which the braking parameters belong.
  • the braking mode corresponding to the brake of the construction machinery and send the control signal in this mode to the corresponding controller, so that the control components connected to the controller are activated to control the braking of the electric vehicle, so as to improve the braking effect. efficiency, while helping to save energy.
  • the embodiments of the present application further provide an electronic device that integrates any of the electric vehicle brake control devices provided by the embodiments of the present application. Please refer to FIG. 7 , which shows the device involved in the embodiments of the present application. Schematic diagram of the structure, specifically:
  • the device may include a processor 501 of one or more processing cores, a memory 502 of one or more computer-readable storage media, a power supply 503 and an input unit 504 and other components.
  • a processor 501 of one or more processing cores may include a processor 501 of one or more processing cores, a memory 502 of one or more computer-readable storage media, a power supply 503 and an input unit 504 and other components.
  • FIG. 7 does not constitute a limitation on the device, and may include more or less components than the one shown, or combine some components, or arrange different components. in:
  • the processor 501 is the control center of the device, using various interfaces and lines to connect various parts of the entire device, by running or executing the software programs and/or modules stored in the memory 502, and calling the data stored in the memory 502, Execute various functions of the device and process data to monitor the device as a whole.
  • the processor 501 may include one or more processing cores; in some embodiments, the processor 501 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface and Applications, etc., the modem processor mainly deals with wireless communication. It can be understood that, the above-mentioned modulation and demodulation processor may not be integrated into the processor 501 .
  • the memory 502 can be used to store software programs and modules, and the processor 501 executes various functional applications and data processing by running the software programs and modules stored in the memory 502 .
  • the memory 502 may mainly include a stored program area and a stored data area, wherein the stored program area may store an operating system, an application program (such as a sound playback function, an image playback function, etc.) required for at least one function, and the like; data created by the use of the device, etc.
  • memory 502 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, memory 502 may also include a memory controller to provide processor 501 access to memory 502 .
  • the device also includes a power supply 503 for supplying power to various components.
  • the power supply 503 may be logically connected to the processor 501 through the power management system, so as to manage charging, discharging, and power consumption management functions through the power management system.
  • the power supply 503 may also include any components such as one or more DC or AC power sources, recharging systems, power failure detection circuits, power converters, or power status indicators.
  • the device may also include an input unit 504 that may be operable to receive input numerical or character information and generate keyboard, mouse, joystick, optical, or trackball signal input related to user settings and functional control.
  • an input unit 504 may be operable to receive input numerical or character information and generate keyboard, mouse, joystick, optical, or trackball signal input related to user settings and functional control.
  • the device may also include a display unit and the like, which will not be described herein again.
  • the processor 501 in the device loads the executable files corresponding to the processes of one or more application programs into the memory 502 according to the following instructions, and the processor 501 executes them and stores them in the memory 502 .
  • the application program in the memory 502, thereby realizing various functions, as follows:
  • the electric vehicle signal including braking parameters
  • a target preset range according to the braking parameter and multiple preset braking parameter ranges, where the target preset range is a braking parameter including the braking parameter in the multiple preset braking parameter ranges Scope;
  • the target electric vehicle control signal is an electric vehicle control signal corresponding to the target preset range among a plurality of electric vehicle control signals
  • the target electric vehicle controller sending the target electric vehicle control signal to a target electric vehicle controller to activate a target braking component connected to the target electric vehicle controller to brake the electric vehicle, the target electric vehicle controller being a plurality of electric vehicles An electric vehicle controller in the controller corresponding to the target electric vehicle braking signal.
  • the braking parameters of the electric vehicle are obtained, and the braking force required for the braking of the electric vehicle is identified by identifying the target preset braking parameter range to which the braking parameters belong.
  • the braking mode corresponding to the brake of the construction machinery and send the control signal in this mode to the corresponding controller, so that the control components connected to the controller are activated to control the braking of the electric vehicle, so as to improve the braking effect. efficiency, while helping to save energy.
  • the embodiments of the present application provide a computer-readable storage medium, in which a plurality of instructions are stored, and the instructions can be loaded by a processor to execute the braking control of any construction machinery provided by the embodiments of the present application steps in the method.
  • the instruction can perform the following steps:
  • a range is set, and the target preset range is a braking parameter range corresponding to the braking parameter in the multiple preset braking parameter ranges; a target construction machinery control signal is generated according to the target preset range, and the The target construction machinery control signal is a control signal corresponding to the target preset range among the plurality of construction machinery control signals; the target construction machinery control signal is sent to the target construction machinery controller to start the connection of the target construction machinery controller.
  • the target braking component brakes and decelerates the construction machinery, and the target construction machinery controller is a construction machinery controller corresponding to the target construction machinery control signal among the plurality of construction machinery controllers.
  • the functions are implemented in the form of software functional units and sold or used as independent products, they may be stored in a computer-readable storage medium.
  • the technical solution of the present invention can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution.
  • the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.
  • the aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .
  • any of the methods provided by the embodiments of the present application can be implemented.
  • the beneficial effects that can be achieved by the braking control method of the construction machinery can be seen in the previous embodiments, which will not be repeated here.
  • the above units or structures can be implemented as independent entities, or can be arbitrarily combined to be implemented as the same or several entities.

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Abstract

A brake control method for an electric vehicle. The method comprises: receiving an electric vehicle brake signal, wherein the electric vehicle brake signal comprises a brake parameter; determining a target preset range according to the brake parameter and a plurality of preset brake parameter ranges; generating a target electric vehicle control signal according to the target preset range; and sending the target electric vehicle control signal to a target electric vehicle controller, so as to start a target brake component of the target electric vehicle controller. Further disclosed are an electronic device and a storage medium.

Description

电动车辆的制动控制的方法、电子设备及存储介质Method, electronic device and storage medium for braking control of electric vehicle 技术领域technical field
本申请涉及电动车辆技术领域，尤其涉及一种电动车辆的制动控制的方法、电子设备及存储介质。The present application relates to the technical field of electric vehicles, and in particular, to a method, electronic device and storage medium for braking control of an electric vehicle.
背景技术Background technique
工程机械，例如装载机、挖掘机、推土机等被广泛应用于各类施工场所，例如可以用于土壤、砂石、煤炭等等散装物料的装卸、推运以及施工等等作业。随着目前装载机的发展，全电驱装载机由于不需要使用燃油作为驱动力而降低能耗、减少污染等方面具有突出的优势。Construction machinery, such as loaders, excavators, bulldozers, etc., are widely used in various construction sites, for example, they can be used for loading and unloading, pushing, and construction of bulk materials such as soil, sand, and coal. With the development of current loaders, all-electric drive loaders have outstanding advantages in reducing energy consumption and pollution because they do not need to use fuel as a driving force.
工程机械在工作行驶过程需要制动时，现有技术一般是采用摩擦式制动系统来实现制动，摩擦式制动系统的工作过程为：踩下制动踏板，通过制动总泵内活塞给制动油路建压，该压力通过制动油路传递给制动分泵，分泵推动制动卡钳挤压刹车盘，产生摩擦力，从而通过摩擦力矩来进行制动。汽车频繁地制动，卡钳会因此频繁地挤压刹车片，这个过程中刹车片磨损得很快，而且有时因为制动产生的热量较高会影响制动效果，也影响行车安全。When the construction machinery needs to be braked during the working process, the prior art generally adopts the friction braking system to realize the braking. Build pressure on the brake oil circuit, the pressure is transmitted to the brake cylinder through the brake oil circuit, and the cylinder pushes the brake caliper to squeeze the brake disc to generate friction, thereby braking through the friction torque. The car brakes frequently, and the caliper will frequently squeeze the brake pads. During this process, the brake pads wear out quickly, and sometimes the high heat generated by the braking will affect the braking effect and also affect the driving safety.
工程机械在工作行驶过程会遇到不同的作业环境和作业条件，制动工况也会有所不同，对于不同的制动工况，如低速制动、高速刹车、紧急刹车和下长坡制动、长时间驻车等，由于刹车距离、负载等不同，工程机械所需的制动力也不同，所需耗费的制动能量也是不一样的，如果只采用单一的制动模式，则能量利用率不高，刹车效率和刹车效果均有待提高。Construction machinery will encounter different working environments and working conditions during working and driving, and the braking conditions will also be different. For different braking conditions, such as low-speed braking, high-speed braking, emergency braking and downhill braking. Due to the difference in braking distance, load, etc., the braking force required by construction machinery is also different, and the required braking energy is also different. If only a single braking mode is used, the energy utilization The rate is not high, and the braking efficiency and braking effect need to be improved.
技术问题technical problem
本申请实施例提供一种电动车辆的制动控制的方法、电子设备及存储介质，以解决现有电动车辆无法根据实际工况选择相应的制动模式而造成的能源及资源浪费的问题。Embodiments of the present application provide a method, electronic device, and storage medium for braking control of an electric vehicle, so as to solve the problem of wasting energy and resources caused by the inability of existing electric vehicles to select a corresponding braking mode according to actual working conditions.
技术解决方案technical solutions
一方面，本申请提供一种电动车辆的制动控制方法，所述方法包括：In one aspect, the present application provides a braking control method for an electric vehicle, the method comprising:
接收电动车辆制动信号，所述电动车辆信号包括制动参数；receiving an electric vehicle braking signal, the electric vehicle signal including braking parameters;
根据所述制动参数和多个预设制动参数范围，确定目标预设范围，所述目标预设范围为所述多个预设制动参数范围中包括所述制动参数的制动参数范围；Determine a target preset range according to the braking parameter and multiple preset braking parameter ranges, where the target preset range is a braking parameter including the braking parameter in the multiple preset braking parameter ranges Scope;
根据所述目标预设范围生成目标电动车辆控制信号，所述目标电动车辆控制信号为多个电动车辆控制信号中与所述目标预设范围对应的电动车辆控制信号；generating a target electric vehicle control signal according to the target preset range, where the target electric vehicle control signal is an electric vehicle control signal corresponding to the target preset range among a plurality of electric vehicle control signals;
将所述目标电动车辆控制信号发送至目标电动车辆控制器，以启动目标电动车辆控制器连接的目标制动部件，使所述电动车辆制动，所述目标电动车辆控制器为多个电动车辆控制器中与所述目标电动车辆制动信号对应的电动车辆控制器。sending the target electric vehicle control signal to a target electric vehicle controller to activate a target braking component connected to the target electric vehicle controller to brake the electric vehicle, the target electric vehicle controller being a plurality of electric vehicles An electric vehicle controller in the controller corresponding to the target electric vehicle braking signal.
另一方面，本申请还提供一种电子设备，所述电子设备包括：On the other hand, the present application also provides an electronic device, the electronic device comprising:
一个或多个处理器；one or more processors;
存储器；以及memory; and
一个或多个应用程序，其中所述一个或多个应用程序被存储于所述存储器中，并配置为由所述处理器执行以下步骤：one or more application programs, wherein the one or more application programs are stored in the memory and configured to be performed by the processor to perform the following steps:
接收电动车辆制动信号，所述电动车辆信号包括制动参数；receiving an electric vehicle braking signal, the electric vehicle signal including braking parameters;
根据所述制动参数和多个预设制动参数范围，确定目标预设范围，所述目标预设范围为所述多个预设制动参数范围中包括所述制动参数的制动参数范围；Determine a target preset range according to the braking parameter and multiple preset braking parameter ranges, where the target preset range is a braking parameter including the braking parameter in the multiple preset braking parameter ranges Scope;
根据所述目标预设范围生成目标电动车辆控制信号，所述目标电动车辆控制信号为多个电动车辆控制信号中与所述目标预设范围对应的电动车辆控制信号；generating a target electric vehicle control signal according to the target preset range, where the target electric vehicle control signal is an electric vehicle control signal corresponding to the target preset range among a plurality of electric vehicle control signals;
将所述目标电动车辆控制信号发送至目标电动车辆控制器，以启动目标电动车辆控制器连接的目标制动部件，使所述电动车辆制动，所述目标电动车辆控制器为多个电动车辆控制器中与所述目标电动车辆制动信号对应的电动车辆控制器。sending the target electric vehicle control signal to a target electric vehicle controller to activate a target braking component connected to the target electric vehicle controller to brake the electric vehicle, the target electric vehicle controller being a plurality of electric vehicles An electric vehicle controller in the controller corresponding to the target electric vehicle braking signal.
另一方面，本申请还提供一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器进行加载，以执行以下步骤：On the other hand, the present application also provides a computer-readable storage medium on which a computer program is stored, and the computer program is loaded by a processor to perform the following steps:
接收电动车辆制动信号，所述电动车辆信号包括制动参数；receiving an electric vehicle braking signal, the electric vehicle signal including braking parameters;
根据所述制动参数和多个预设制动参数范围，确定目标预设范围，所述目标预设范围为所述多个预设制动参数范围中包括所述制动参数的制动参数范围；Determine a target preset range according to the braking parameter and multiple preset braking parameter ranges, where the target preset range is a braking parameter including the braking parameter in the multiple preset braking parameter ranges Scope;
根据所述目标预设范围生成目标电动车辆控制信号，所述目标电动车辆控制信号为多个电动车辆控制信号中与所述目标预设范围对应的电动车辆控制信号；generating a target electric vehicle control signal according to the target preset range, where the target electric vehicle control signal is an electric vehicle control signal corresponding to the target preset range among a plurality of electric vehicle control signals;
将所述目标电动车辆控制信号发送至目标电动车辆控制器，以启动目标电动车辆控制器连接的目标制动部件，使所述电动车辆制动，所述目标电动车辆控制器为多个电动车辆控制器中与所述目标电动车辆制动信号对应的电动车辆控制器。sending the target electric vehicle control signal to a target electric vehicle controller to activate a target braking component connected to the target electric vehicle controller to brake the electric vehicle, the target electric vehicle controller being a plurality of electric vehicles An electric vehicle controller in the controller corresponding to the target electric vehicle braking signal.
有益效果beneficial effect
本申请的有益效果为：在接收到的电动车辆的制动信号，获取电动车辆的制动参数；根据所述制动参数和多个预设制动参数范围，确定目标预设范围；根据所述目标预设范围生成目标电动车辆控制信号，所述目标电动车辆控制信号为多个电动车辆控制信号中与所述目标预设范围对应的控制信号；将所述目标电动车辆控制信号发送至目标电动车辆控制器，以启动目标电动车辆控制器连接的目标制动部件使所述电动车辆制动减速。本申请通过在接收在行车制动参数后，获取电动车辆的制动参数，通过识别制动参数所属的目标预设制动参数范围，以此识别电动车辆制动所需的制动力，并相应选择该电动车辆制动所对应的制动模式，通过将该模式下的控制信号发送给对应的控制器，进而使得与该控制器连接控制部件启动，控制电动车辆制动，以提高制动效率，同时有利于节约能源。The beneficial effects of the present application are: obtaining the braking parameters of the electric vehicle from the received braking signal of the electric vehicle; determining the target preset range according to the braking parameters and a plurality of preset braking parameter ranges; generating a target electric vehicle control signal from the target preset range, where the target electric vehicle control signal is a control signal corresponding to the target preset range among a plurality of electric vehicle control signals; sending the target electric vehicle control signal to the target the electric vehicle controller to activate the target braking component connected to the target electric vehicle controller to brake and decelerate the electric vehicle. In the present application, the braking force required for the braking of the electric vehicle is identified by acquiring the braking parameters of the electric vehicle after receiving the braking parameters at the service, and identifying the target preset braking parameter range to which the braking parameters belong, thereby identifying the braking force required for the braking of the electric vehicle, and correspondingly Select the braking mode corresponding to the braking of the electric vehicle, and send the control signal in this mode to the corresponding controller, so that the control components connected to the controller are activated to control the braking of the electric vehicle to improve the braking efficiency , while helping to save energy.
附图说明Description of drawings
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained from these drawings without creative effort.
图1是本申请实施例提供的工程机械的制动控制方法的场景示意图；1 is a schematic diagram of a scene of a braking control method for a construction machine provided by an embodiment of the present application;
图2是本申请实施例中提供的工程机械的制动控制方法的一个实施例流程示意图；FIG. 2 is a schematic flowchart of an embodiment of a braking control method for a construction machine provided in an embodiment of the present application;
图3是本申请实施例中步骤102的一个实施例流程示意图；3 is a schematic flowchart of an embodiment of step 102 in the embodiment of the present application;
图4是本申请实施例中步骤104的一个实施例流程示意图；FIG. 4 is a schematic flowchart of an embodiment of step 104 in the embodiment of the present application;
图5是本申请实施例中步骤104的一个实施例流程示意图；FIG. 5 is a schematic flowchart of an embodiment of step 104 in the embodiment of the present application;
图6是本申请实施例中提供的工程机械的控制装置的一个实施例结构示意图；6 is a schematic structural diagram of an embodiment of a control device for a construction machine provided in an embodiment of the present application;
图7是本申请实施例中提供的工程机械的制动控制方法电子设备的一个实施例结构示意图。FIG. 7 is a schematic structural diagram of an embodiment of an electronic device for a braking control method for a construction machine provided in an embodiment of the present application.
本发明的实施方式Embodiments of the present invention
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", " The orientation or positional relationship indicated by "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation shown in the drawings Or the positional relationship is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, features defined as "first", "second" may expressly or implicitly include one or more of said features. In the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.
在本申请中，“示例性”一词用来表示“用作例子、例证或说明”。本申请中被描述为“示例性”的任何实施例不一定被解释为比其它实施例更优选或更具 优势。为了使本领域任何技术人员能够实现和使用本发明，给出了以下描述。在以下描述中，为了解释的目的而列出了细节。应当明白的是，本领域普通技术人员可以认识到，在不使用这些特定细节的情况下也可以实现本发明。在其它实例中，不会对公知的结构和过程进行详细阐述，以避免不必要的细节使本发明的描述变得晦涩。因此，本发明并非旨在限于所示的实施例，而是与符合本申请所公开的原理和特征的最广范围相一致。In this application, the word "exemplary" is used to mean "serving as an example, illustration, or illustration." Any embodiment described in this application as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the present invention. In the following description, details are set forth for the purpose of explanation. It will be understood by one of ordinary skill in the art that the present invention may be practiced without the use of these specific details. In other instances, well-known structures and procedures have not been described in detail so as not to obscure the description of the present invention with unnecessary detail. Thus, the present invention is not intended to be limited to the embodiments shown but is to be accorded the widest scope consistent with the principles and features disclosed herein.
本申请实施例提供一种电动车辆的方法、装置、电子设备及存储介质，以下分别进行详细说明。Embodiments of the present application provide a method, an apparatus, an electronic device, and a storage medium for an electric vehicle, which will be described in detail below.
在本实施例中，以全电驱式的工程机械作为电动车辆的一种实施例，将从工程机械的控制系统的角度进行描述介绍，该工程机械的控制系统具体可以集成在网络设备中。In this embodiment, an all-electric-driven construction machine is used as an embodiment of an electric vehicle, and will be described and introduced from the perspective of a control system of the construction machine, which can be specifically integrated in a network device.
请参阅图1，图1为本实施例所提供的工程机械的制动控制方法的场景示意图，该工程机械的控制系统采集工程机械200在工作过程中的制动参数，其中，所述工程机械可以是装载机、挖掘机、推土机等工程机械；然后将采集到的制动参数发送给网络设备100，网络设备100根据采集到的制动参数，识别制动所需的制动力，根据制动力的大小来生成不同的制动控制信号，并将所需的制动控制信号发送至对应的制动控制器以使得该制动控制器启动对应的控制部件，该控制器可以为电磁制动控制器或者电机控制器，通过不同的制动控制器控制不同的制动部件，例如通过电磁制动控制器控制电机制动器产生摩擦制动力，或者电机控制器控制电机停止工作，以此来使得工程机械刹车。Please refer to FIG. 1. FIG. 1 is a schematic diagram of a scene of a braking control method for a construction machine provided in this embodiment. The control system for the construction machine collects braking parameters of the construction machine 200 during operation, wherein the construction machine It can be construction machinery such as loaders, excavators, bulldozers, etc.; then the collected braking parameters are sent to the network device 100, and the network device 100 identifies the braking force required for braking according to the collected braking parameters, and according to the braking force to generate different brake control signals, and send the required brake control signals to the corresponding brake controller to enable the brake controller to activate the corresponding control components, which can be electromagnetic brake control Different brake components are controlled by different brake controllers, for example, the electromagnetic brake controller controls the motor brake to generate friction braking force, or the motor controller controls the motor to stop working, so as to make the construction machinery brake.
本申请实施例中，网络设备100可以为服务器，该服务器可以是独立的服务器，也可以是服务器组成的服务器网络或服务器集群，例如，本发明实施例中所描述的服务器，其包括但不限于计算机、网络主机、单个网络服务器、多个网络服务器集或多个服务器构成的云服务器。其中，云服务器由基于云计算(Cloud Computing)的大量计算机或网络服务器构成。In the embodiment of the present application, the network device 100 may be a server, and the server may be an independent server, or a server network or server cluster composed of servers. For example, the server described in the embodiment of the present invention includes but is not limited to A computer, a network host, a single network server, a set of multiple network servers, or a cloud server composed of multiple servers. Among them, the cloud server is composed of a large number of computers or network servers based on cloud computing (Cloud Computing).
要说明的是，图1所示的工程机械的控制系统的场景示意图仅仅是一个示例，本申请实施例描述的工程机械的控制系统以及场景是为了更加清楚的说明本申请实施例的技术方案，并不构成对于本申请实施例提供的技术方案的限定，本领域普通技术人员可知，随着工程机械的控制系统的演变和新业务场景 的出现，本申请实施例提供的技术方案对于类似的技术问题，同样适用。It should be noted that the schematic diagram of the scene of the control system of the construction machine shown in FIG. 1 is only an example, and the control system and the scene of the construction machine described in the embodiments of the present application are for the purpose of illustrating the technical solutions of the embodiments of the present application more clearly. This does not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those of ordinary skill in the art know that with the evolution of the control system of construction machinery and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are not suitable for similar technologies. question, the same applies.
首先，本发明实施例中提供一种工程机械的制动控制方法，该工程机械的制动控制方法的执行主体为工程机械的制动控制装置，该工程机械的制动控制装置应用于服务器，该工程机械的制动控制方法包括：接收工程机械制动信号，所述制动信号包括制动参数，获取工程机械的制动参数；根据所述制动参数和多个预设制动参数范围，确定目标预设范围；根据所述目标预设范围生成目标工程机械控制信号；将所述目标工程机械控制信号发送至目标工程机械控制器，以启动目标工程机械控制器连接的目标制动部件使所述工程机械制动减速。First, an embodiment of the present invention provides a braking control method for a construction machine. The execution body of the braking control method for the construction machine is a braking control device for the construction machine. The braking control device for the construction machine is applied to a server. The braking control method of the construction machinery includes: receiving a braking signal of the construction machinery, where the braking signal includes braking parameters, and acquiring the braking parameters of the construction machinery; according to the braking parameters and a plurality of preset braking parameter ranges , determine the target preset range; generate the target construction machinery control signal according to the target preset range; send the target construction machinery control signal to the target construction machinery controller to activate the target brake component connected to the target construction machinery controller Slow down the construction machinery brake.
如图2所示，为本申请实施例中工程机械的制动控制方法的一个实施例流程示意图，该工程机械的制动控制方法包括以下步骤101-步骤104：As shown in FIG. 2 , which is a schematic flowchart of an embodiment of the braking control method for construction machinery in the embodiment of the application, the braking control method for construction machinery includes the following steps 101 to 104:
步骤101、接收工程机械制动信号，所述工程机械信号包括制动参数；Step 101: Receive a construction machinery braking signal, where the construction machinery signal includes braking parameters;
其中，制动信号可以有多种，例如，可以为行车制动信号、紧急制动信号或驻车制动信号等，对应地，制动参数也可以有多种，例如，可以包括行车制动参数、紧急制动参数或驻车制动参数等，在此不做具体限定。Wherein, there can be various kinds of brake signals, for example, it can be a service brake signal, an emergency brake signal, or a parking brake signal, etc. Correspondingly, there can be various kinds of brake parameters, for example, it can include a service brake signal. Parameters, emergency braking parameters or parking brake parameters, etc., are not specifically limited here.
其中，制动参数可以用数字值或者特殊值(ASCII码或特殊数字)表征，例如，可以是加速度值、制动力矩值等具体的制动数字值，也可以是“PARK”、“P”、“STOP”等特征值，在此不做具体限定。Among them, the braking parameter can be represented by a digital value or a special value (ASCII code or special number), for example, it can be a specific braking digital value such as an acceleration value, a braking torque value, etc., or it can be "PARK", "P" , "STOP" and other eigenvalues, which are not specifically limited here.
工程机械制动信号可以由制动装置启动而产生的制动信号，制动信号的启动可以人为启动，例如司机踩下制动踏板，也可以是由环境监测装置发送制动启动信号至控制器，控制器控制制动装置启动而产生制动信号。The brake signal of construction machinery can be generated by the start of the brake device. The start of the brake signal can be started manually, for example, the driver depresses the brake pedal, or the environmental monitoring device can send the brake start signal to the controller. , the controller controls the braking device to start to generate the braking signal.
其中，所述制动参数可以通过解析制动信号获得，制动参数为工程机械在产生制动信号时的制动参数，所述制动参数可以用制动目标速度、制动踏板行程、制动加速度、制动力矩、制动力、制动踏板行程百分比、制动加速度百分比、制动速度百分比、制动力百分比、制动力矩百分比中的一种表征，在此不作具体限定。Wherein, the braking parameter can be obtained by analyzing the braking signal, and the braking parameter is the braking parameter of the construction machinery when the braking signal is generated. A representation of dynamic acceleration, braking torque, braking force, brake pedal stroke percentage, braking acceleration percentage, braking speed percentage, braking force percentage, and braking torque percentage, which are not specifically limited here.
例如，制动速度为制动时产生的速度，制动加速度为制动减速时产生的加速度，制动加速度的数值为负数值，加速度a和制动速度V可以从速度传感器获得，例如从陀螺仪、轮速传感器等直接获得制动速度V，通过获得工程机械 的初始速度V 0，在目标时间t内将速度降为V，由此可间接得出制动加速度值a＝(V 0-V)/t。 For example, the braking speed is the speed generated when braking, the braking acceleration is the acceleration generated when braking decelerates, the value of the braking acceleration is a negative value, the acceleration a and the braking speed V can be obtained from a speed sensor, such as from a gyro The braking speed V can be directly obtained by using the instrument, wheel speed sensor, etc., by obtaining the initial speed V 0 of the construction machinery, and reducing the speed to V within the target time t, the braking acceleration value a=(V 0 - V)/t.
制动力矩T也可由需求制动加速度a的值获得，即：T＝m·a·R，其中m的值为工程机械满载质量，R的值为车轮半径。The braking torque T can also be obtained from the value of the required braking acceleration a, namely: T=m·a·R, where m is the fully loaded mass of the construction machinery, and R is the wheel radius.
当然，所述制动参数也可以用制动力F表示，制动力F可由公式F＝m·a求得，其中m的值为工程机械满载质量，a为制动加速度。Of course, the braking parameter can also be represented by the braking force F, which can be obtained by the formula F=m·a, where m is the full-load mass of the construction machinery, and a is the braking acceleration.
步骤102、根据所述制动参数和多个预设制动参数范围，确定目标预设范围，所述目标预设范围为所述多个预设制动参数范围中与所述制动参数对应的制动参数范围。Step 102: Determine a target preset range according to the braking parameter and multiple preset braking parameter ranges, where the target preset range is one of the multiple preset braking parameter ranges corresponding to the braking parameter. range of braking parameters.
根据制动参数所处的制动参数范围以确定刹车工况，进而确定对应的制动模式。其中，多个预设制动参数范围为对应不同制动参数的范围，预设的制动参数范围是预先设置好的。The braking condition is determined according to the braking parameter range in which the braking parameter is located, and then the corresponding braking mode is determined. The multiple preset braking parameter ranges are ranges corresponding to different braking parameters, and the preset braking parameter ranges are preset.
其中，如图3所示，所述步骤102、根据所述制动参数和多个预设制动参数范围，确定目标预设范围的步骤，还可以进一步包括以下步骤201-步骤202：Wherein, as shown in FIG. 3, the step 102, the step of determining the target preset range according to the braking parameter and a plurality of preset braking parameter ranges, may further include the following steps 201-202:
步骤201、将所述制动参数分别与所述多个预设制动参数范围进行比对，得到比对结果。Step 201: Compare the braking parameters with the multiple preset braking parameter ranges, respectively, to obtain a comparison result.
例如，以制动参数为加速度为例，可将加速度划分为多个范围，例如第一预设制动参数范围为-1.5m/s 2至0m/s 2,第二预设制动参数范围为-1.5m/s 2至-4m/s 2，第三预设制动参数范围为-8m/s 2至-4m/s 2，再将获得的制动参数分别和第一预设制动参数范围、第二预设制动参数范围、第三预设制动参数范围进行比对，即可得到比对结果。 For example, taking the braking parameter as the acceleration as an example, the acceleration can be divided into multiple ranges, for example, the first preset braking parameter range is -1.5m/s 2 to 0 m/s 2 , and the second preset braking parameter range is is -1.5m/s 2 to -4m/s 2 , the third preset braking parameter range is -8m/s 2 to -4m/s 2 , and the obtained braking parameters are compared with the first preset braking parameters respectively. The parameter range, the second preset braking parameter range, and the third preset braking parameter range are compared to obtain a comparison result.
步骤202、根据所述比对结果，将所述制动参数对应的预设制动参数范围作为目标预设制动参数范围。Step 202: According to the comparison result, take the preset braking parameter range corresponding to the braking parameter as the target preset braking parameter range.
假设步骤102中获取到的工程机械的加速度为-3m/s 2，将-3m/s 2这个值和分别和第一预设制动参数范围、第二预设制动参数范围、第三预设制动参数范围比对，其中第一预设制动参数范围、第二预设制动参数范围、第三预设制动参数范围为包括不同预设加速度的范围，由于获取到的工程机械的加速度落在第二预设制动参数范围内，则可知目标预设范围为第二预设范围。 Assuming that the acceleration of the construction machine obtained in step 102 is -3m/s 2 , the value of -3m/s 2 is respectively combined with the first preset braking parameter range, the second preset braking parameter range, the third preset braking parameter range and the Set the braking parameter range comparison, wherein the first preset braking parameter range, the second preset braking parameter range, and the third preset braking parameter range are ranges including different preset accelerations. If the acceleration falls within the second preset braking parameter range, it can be known that the target preset range is the second preset range.
步骤103、根据所述目标预设范围生成目标工程机械控制信号，所述目标 工程机械控制信号为多个工程机械控制信号中与所述目标预设范围对应的控制信号。Step 103: Generate a target construction machinery control signal according to the target preset range, where the target construction machinery control signal is a control signal corresponding to the target preset range in a plurality of construction machinery control signals.
其中，控制信号可以有多个，例如第一控制信号、第二控制信号、第三控制信号等，控制信号与预设制动参数范围对应，例如，第一控制信号对应第一预设制动参数范围、第二控制信号对应第二预设制动参数范围、第三控制信号对应第三预设制动参数范围，在步骤102中确定目标预设范围为后，生成与该目标预设范围的对应的制动控制信号，即目标工程机械控制信号。There may be multiple control signals, such as a first control signal, a second control signal, a third control signal, etc. The control signals correspond to the preset braking parameter range, for example, the first control signal corresponds to the first preset braking The parameter range, the second control signal corresponds to the second preset braking parameter range, and the third control signal corresponds to the third preset braking parameter range. The corresponding braking control signal, that is, the target construction machinery control signal.
步骤104、将所述目标工程机械控制信号发送至目标工程机械控制器，以启动目标工程机械控制器连接的目标制动部件使所述工程机械制动，所述目标工程机械控制器为多个工程机械控制器中与所述目标工程机械控制信号对应的工程机械控制器。Step 104: Send the target construction machinery control signal to the target construction machinery controller to activate the target braking component connected to the target construction machinery controller to brake the construction machinery, and the target construction machinery controller is a plurality of The construction machinery controller corresponding to the target construction machinery control signal in the construction machinery controller.
其中，工程机械控制器是控制装载机制动部件的控制器，工程机械的控制部件可以有多个，工程机械控制器也可以有多个，每个工程机械控制器对应控制一个制动部件，不同的制动的部件满足工程机械在作业行驶过程中，遇到不同的工况时产生不同制动力需求，进而实现工程机械制动。制动部件可以是电动机或电机制动器，Among them, the construction machinery controller is the controller that controls the brake parts of the loader. There can be multiple control parts of the construction machinery, and there can also be multiple construction machinery controllers. Each construction machinery controller controls one brake part correspondingly. The brake components meet the requirements of different braking force when the construction machinery encounters different working conditions during the operation and driving, so as to realize the braking of the construction machinery. The braking component can be an electric motor or a motor brake,
如下表所示，表1为工程机械的制动控制方法的示意表格。As shown in the following table, Table 1 is a schematic table of the braking control method of construction machinery.
预设制动参数范围Preset braking parameter range 控制信号control signal 控制器controller 控制部件control part
-1.5m/s 2至0m/s 2 -1.5m/s 2 to 0m/s 2 第一控制信号first control signal 电机控制器Motor Controller 电动机electric motor
-4m/s 2至-1.5m/s 2 -4m/s 2 to -1.5m/s 2 第二控制信号second control signal 电机控制器Motor Controller 电动机electric motor
-8m/s 2至-4m/s 2 -8m/s 2 to -4m/s 2 第三控制信号third control signal 电机制动器接触器Motor Brake Contactor 电机制动器Motor brake
PARKPARK 第三控制信号third control signal 电机制动器接触器Motor Brake Contactor 电机制动器Motor brake
ESES 第三控制信号third control signal 电机制动器接触器Motor Brake Contactor 电机制动器Motor brake
表1Table 1
其中，不同的加速度可以反映工程机械在行驶过程中所需要的制动力的不同，根据不同的制动力可以选择不同的控制部件使得工程机械制动。Among them, different accelerations can reflect the different braking forces required by the construction machinery during driving, and different control components can be selected according to different braking forces to make the construction machinery brake.
本申请实施例提供的工程机械的制动控制方法通过在接收到工程机械的制动信号后，获取工程机械的制动参数，通过识别制动参数所属的目标预设制 动参数范围，以此识别工程机械制动所需的制动力，并相应选择该工程机械制动所对应的制动模式，通过将该模式下的控制信号发送给对应的控制器，进而使得与该控制器连接控制部件启动，控制工程机械制动，以提高制动效率，同时有利于节约能源。The braking control method for construction machinery provided by the embodiment of the present application obtains the braking parameters of the construction machinery after receiving the braking signal of the construction machinery, and identifies the target preset braking parameter range to which the braking parameters belong, so as to obtain the braking parameters of the construction machinery. Identify the braking force required by the construction machinery brake, and select the corresponding braking mode of the construction machinery brake, and send the control signal in the mode to the corresponding controller, so as to connect the control components with the controller. Start and control construction machinery braking to improve braking efficiency and save energy.
在本申请的一些实施例中，所述工程机械制动信号包括行车制动参数，所述目标预设制动参数范围包括第一预设制动参数范围，所述目标工程机械控制信号包括第一控制信号，所述目标工程机械控制器包括电机控制器，所述电机控制器与车轮驱动电机连接。In some embodiments of the present application, the construction machinery braking signal includes a service braking parameter, the target preset braking parameter range includes a first preset braking parameter range, and the target construction machinery control signal includes a first braking parameter range. A control signal, the target construction machinery controller includes a motor controller, and the motor controller is connected with the wheel drive motor.
对应地，步骤104、将所述目标工程机械控制信号发送至目标工程机械控制器，以启动目标工程机械控制器连接的目标制动部件使所述工程机械制动的步骤，可以进一步包括：Correspondingly, in step 104, the step of sending the target construction machinery control signal to the target construction machinery controller to activate the target braking component connected to the target construction machinery controller to brake the construction machinery may further include:
步骤1)、当所述制动参数处于所述第一预设制动参数范围内时，将所述第一控制信号发送给所述电机控制器，控制所述电机工作于发电机状态产生反向作用力并回收制动能量，实现制动。Step 1), when the braking parameter is within the range of the first preset braking parameter, send the first control signal to the motor controller, and control the motor to work in the generator state to generate a reaction. Apply force and recover braking energy to achieve braking.
其中，所述车轮驱动电机可以为永磁同步电机，与工程机械的驱动车轮连接，永磁同步电机能够将制动动能转化为电能。假设此时获得的工程机械制动参数落在第一预设制动参数范围内，其中第一预设制动参数范围为-1.5m/s 2至0m/s 2，意味着工程机械处于非低速制动状态，则将所述第一控制信号发送给所述电机控制器，控制所述车轮驱动电机减速制动并回收制动能量，从而实现制动。其中，第一控制信号为使永磁同步电机制动并收回制动能量的信号。 Wherein, the wheel drive motor may be a permanent magnet synchronous motor, which is connected to the driving wheel of the construction machinery, and the permanent magnet synchronous motor can convert braking kinetic energy into electrical energy. Assuming that the construction machinery braking parameters obtained at this time fall within the first preset braking parameter range, where the first preset braking parameter range is -1.5m/s 2 to 0m/s 2 , which means that the construction machinery is in a non- In a low-speed braking state, the first control signal is sent to the motor controller to control the wheel drive motor to decelerate and brake and recover braking energy, thereby realizing braking. The first control signal is a signal for braking the permanent magnet synchronous motor and recovering braking energy.
具体地，在接收到第一控制信号后，电动机以发电机的形式工作，定子线圈切割永磁体转子磁感线形成电磁力，该电磁力作用于电机转子使其减速，转子通过变速器与车轮连接，从而产生令工程机械减速的制动力；电动机处于发电机工作状态产生的电能，让回收到工程机械的储能装置中。通过发电将动能转化为电能，耗散动能使得电机停止工作，从而使得工程机械停止工作，由此实现有效制动能量回收。Specifically, after receiving the first control signal, the motor works in the form of a generator, and the stator coil cuts the permanent magnet rotor magnetic field lines to form an electromagnetic force, which acts on the motor rotor to decelerate, and the rotor is connected to the wheel through the transmission. , so as to generate the braking force that decelerates the construction machinery; the electric energy generated by the motor in the working state of the generator is recovered into the energy storage device of the construction machinery. The kinetic energy is converted into electrical energy by generating electricity, and the kinetic energy is dissipated to make the motor stop working, so that the construction machinery stops working, thereby realizing effective braking energy recovery.
永磁同步电机依靠电磁力实现驱动轮制动，相比传统通过摩擦片等摩擦制动盘实现制动的方式，能够将制动动能转化为电能，通过能量回收能延长工程机械的行驶里程。The permanent magnet synchronous motor relies on electromagnetic force to realize the braking of the driving wheel. Compared with the traditional way of braking through friction discs such as friction plates, it can convert the braking kinetic energy into electric energy, and can prolong the driving mileage of construction machinery through energy recovery.
在一些实施例中，所述工程机械制动信号包括行车制动参数，所述多个预设制动参数范围包括第二预设制动参数范围，所述目标工程机械控制信号包括第二控制信号，所述目标工程机械控制器包括电机控制器，所述电机控制器与车轮驱动电机连接；In some embodiments, the construction machinery braking signal includes a service braking parameter, the plurality of preset braking parameter ranges include a second preset braking parameter range, and the target construction machinery control signal includes a second control signal, the target construction machinery controller includes a motor controller, and the motor controller is connected to the wheel drive motor;
对应地，步骤104、将所述目标工程机械控制信号发送至目标工程机械控制器，以启动目标工程机械控制器连接的目标制动部件使所述工程机械制动的步骤，可以进一步包括：Correspondingly, in step 104, the step of sending the target construction machinery control signal to the target construction machinery controller to activate the target braking component connected to the target construction machinery controller to brake the construction machinery may further include:
步骤2)、当所述制动参数处于所述第二预设制动参数范围内时，将所述第二控制信号发送给所述电机控制器，控制所述车轮驱动电机的转子产生反向作用力，实现制动。Step 2), when the braking parameter is within the second preset braking parameter range, send the second control signal to the motor controller to control the rotor of the wheel drive motor to reverse force to achieve braking.
其中，第二控制信号为使永磁同步电机产生反作用力信号。假设此时获得的制动参数落在第二预设制动参数范围内，第一预设制动参数范围为-4m/s 2至-1.5m/s 2，在对制动力需求比较大的情况下，由4个电机驱动器改变4个永磁同步电机的定子磁场，在定子磁场与电机转子磁场的相互作用下，是转子获得一个较大的反作用力，同理实现工程机械制动减速的目的。 Wherein, the second control signal is to make the permanent magnet synchronous motor generate a reaction force signal. Assuming that the braking parameters obtained at this time fall within the second preset braking parameter range, the first preset braking parameter range is -4m/s 2 to -1.5m/s 2 . Under the circumstance, the stator magnetic field of the four permanent magnet synchronous motors is changed by the four motor drivers. Under the interaction between the stator magnetic field and the rotor magnetic field of the motor, the rotor obtains a large reaction force. Similarly, the braking and deceleration of construction machinery can be realized. Purpose.
在一些实施例中，所述工程机械制动信号包括行车制动参数，所述多个预设制动参数范围包括第三预设制动参数范围，所述目标工程机械控制信号包括第三控制信号，所述目标工程机械控制器包括开关元器件，所述开关元器件连接有电机制动器。In some embodiments, the construction machinery braking signal includes a service braking parameter, the plurality of preset braking parameter ranges include a third preset braking parameter range, and the target construction machinery control signal includes a third control signal, the target construction machinery controller includes a switch element, and the switch element is connected with a motor brake.
对应地，步骤104、将所述目标工程机械控制信号发送至目标工程机械控制器，以启动目标工程机械控制器连接的目标制动部件使所述工程机械制动减速的步骤，可以进一步包括：Correspondingly, in step 104, the step of sending the target construction machinery control signal to the target construction machinery controller to activate the target braking component connected to the target construction machinery controller to decelerate the construction machinery brake may further include:
步骤3)、当所述制动参数处于所述第三预设制动参数范围内时，将所述第三控制信号发送给所述开关元器件，控制所述电机制动器工作。Step 3), when the braking parameter is within the range of the third preset braking parameter, send the third control signal to the switching element to control the motor brake to work.
其中，第三控制信号为启动电机制动器的信号，开关元器件接收到第三控制信号后，控制电机制动器启动，进而控制装载机刹车。The third control signal is a signal for starting the motor brake. After the switch component receives the third control signal, it controls the motor brake to start, and then controls the loader to brake.
假设此时获得的制动参数落在第三预设制动参数范围内，第一预设制动参数范围为-8m/s 2至-4m/s 2，即在需较大的制动力矩的情况，例如在装载机处于下坡路段，则直接使用电机的电机制动器(电机抱闸)，使用车轮直接处于抱 死状态，达到紧急制动的目的。 Assuming that the braking parameters obtained at this time fall within the third preset braking parameter range, the first preset braking parameter range is -8m/s 2 to -4m/s 2 , that is, when a larger braking torque is required For example, when the loader is on a downhill road, the motor brake of the motor (motor brake) is directly used, and the wheels are directly locked to achieve the purpose of emergency braking.
根据电磁感应原理设计的电磁制动方法，属于非接触式制动，可以减少器件损耗，延长装载机的使用寿命，而且还可以有效解决制动粉尘、制动噪音和紧急制动响应速度等问题。即使在需要频繁制动的城市道路上行驶或者在长下坡行驶时，电磁制动产生的热量有限，因此温度对制动效果影响很小，避免因产生“制动热失效”现象而影响汽车安全行驶。采用电磁制动方式，相比仅通过液压油路来传递制动踏板力控制精度低等缺点，在紧急制动时不能满足迅速提高汽车制动力的要求。The electromagnetic braking method designed according to the principle of electromagnetic induction belongs to non-contact braking, which can reduce the loss of components, prolong the service life of the loader, and can effectively solve the problems of braking dust, braking noise and emergency braking response speed. . Even when driving on urban roads that require frequent braking or when driving on long downhill slopes, the heat generated by the electromagnetic brake is limited, so the temperature has little effect on the braking effect, avoiding the phenomenon of "brake heat failure" affecting the car. Drive safely. The electromagnetic braking method has the disadvantages of low control precision compared to the transmission of the brake pedal force only through the hydraulic oil circuit, and cannot meet the requirements of rapidly increasing the braking force of the vehicle during emergency braking.
在一些实施例中，如图4所示，所述工程机械制动信号还包括紧急制动参数，所述目标工程机械控制器包括开关元器件，所述开关元器件连接有电机制动器，所述电机制动器与车轮驱动电机连接。In some embodiments, as shown in FIG. 4 , the construction machinery braking signal further includes an emergency braking parameter, and the target construction machinery controller includes a switch element connected to a motor brake, and the switch element is connected to a motor brake. The motor brake is connected to the wheel drive motor.
对应地，步骤104、将所述目标工程机械控制信号发送至目标工程机械控制器，以启动目标工程机械控制器连接的目标制动部件使所述工程机械制动的步骤，可以进一步包括：Correspondingly, in step 104, the step of sending the target construction machinery control signal to the target construction machinery controller to activate the target braking component connected to the target construction machinery controller to brake the construction machinery may further include:
步骤301、将目标工程机械控制信号发送给开关元器件，以控制电机制动器产生制动力，所述目标工程机械控制信号为与所述紧急制动参数对应的制动控制信号。Step 301: Send a target construction machinery control signal to a switch component to control the motor brake to generate a braking force, where the target construction machinery control signal is a braking control signal corresponding to the emergency braking parameter.
在工程机械行驶过程中，如果遇到紧急情况，例如前方突现障碍的请下，工程机械需要紧急制动时，则发送紧急制动控制信号给开关元器件，开关元器件接收到信号后，则控制电机制动器使得电机抱闸，使驱动轮直接处于抱死状态，从而达到紧急停车的目的。During the driving process of construction machinery, if there is an emergency situation, such as when an obstacle emerges in front of you, and the construction machinery needs to brake urgently, an emergency braking control signal is sent to the switch component. After the switch component receives the signal, the Control the motor brake to make the motor lock, so that the driving wheel is directly locked, so as to achieve the purpose of emergency stop.
在一些实施例中，如图5所示，所述工程机械制动信号还包括驻车制动参数，所述目标工程机械控制器包括开关元器件，所述开关元器件连接有电机制动器，所述电机制动器与车轮驱动电机连接，步骤104、将所述目标工程机械控制信号发送至目标工程机械控制器，以启动目标工程机械控制器连接的目标制动部件使所述工程机械制动减速的步骤，还可以进一步包括：In some embodiments, as shown in FIG. 5 , the construction machinery brake signal further includes a parking brake parameter, and the target construction machinery controller includes a switch component connected to the motor brake, so The motor brake is connected to the wheel drive motor, and step 104, the target construction machinery control signal is sent to the target construction machinery controller, so as to activate the target braking component connected to the target construction machinery controller to decelerate the construction machinery. The steps may further include:
步骤302、将目标工程机械控制信号发送给开关元器件，以控制电机制动器产生制动力，所述目标工程机械控制信号为与所述驻车制动参数对应的制动控制信号。Step 302: Send the target construction machinery control signal to the switch element to control the motor brake to generate a braking force, where the target construction machinery control signal is a braking control signal corresponding to the parking brake parameter.
当工程机械需要驻车时，则发送驻车控制信号给开关元器件，开关元器件接收到信号后，则控制电机制动器使得电机抱闸，使驱动轮直接处于抱死状态，从而达到紧急停车的目的。When the construction machinery needs to be parked, it sends a parking control signal to the switch component. After the switch component receives the signal, it controls the motor brake to make the motor lock, so that the driving wheel is directly locked, so as to achieve the emergency stop. Purpose.
为了更好实施本申请实施例中工程机械的制动控制方法，在工程机械的制动控制方法基础之上，本申请实施例中还提供一种电动车辆的制动控制装置，如图6所示，所述电动车辆的控制装置400包括：In order to better implement the braking control method for construction machinery in the embodiment of the present application, on the basis of the braking control method for construction machinery, the embodiment of the present application also provides a braking control device for an electric vehicle, as shown in FIG. 6 . As shown, the control device 400 of the electric vehicle includes:
接收单元401，用于接收电动车辆制动信号，所述电动车辆信号包括制动参数；a receiving unit 401, configured to receive an electric vehicle braking signal, where the electric vehicle signal includes braking parameters;
处理单元402，用于根据所述制动参数和多个预设制动参数范围，确定目标预设范围，所述目标预设范围为所述多个预设制动参数范围中包括所述制动参数的制动参数范围；根据所述目标预设范围生成目标电动车辆控制信号，所述目标电动车辆控制信号为多个电动车辆控制信号中与所述目标预设范围对应的电动车辆控制信号；将所述目标电动车辆控制信号发送至目标电动车辆控制器，以启动目标电动车辆控制器连接的目标制动部件，使所述电动车辆制动，所述目标电动车辆控制器为多个电动车辆控制器中与所述目标电动车辆制动信号对应的电动车辆控制器。The processing unit 402 is configured to determine a target preset range according to the braking parameter and multiple preset braking parameter ranges, where the target preset range is that the multiple preset braking parameter ranges include the braking parameter range. The braking parameter range of the dynamic parameters; the target electric vehicle control signal is generated according to the target preset range, and the target electric vehicle control signal is the electric vehicle control signal corresponding to the target preset range among the plurality of electric vehicle control signals ; Send the target electric vehicle control signal to the target electric vehicle controller to activate the target braking component connected to the target electric vehicle controller to brake the electric vehicle, and the target electric vehicle controller is a plurality of electric vehicles An electric vehicle controller corresponding to the target electric vehicle braking signal among the vehicle controllers.
在一些实施例中，所述电动车辆制动信号包括行车制动参数，所述目标预设制动参数范围包括第一预设制动参数范围，所述目标电动车辆控制信号包括第一控制信号，所述目标电动车辆控制器包括电机控制器，所述电机控制器与车轮驱动电机连接；In some embodiments, the electric vehicle braking signal includes a service braking parameter, the target preset braking parameter range includes a first preset braking parameter range, and the target electric vehicle control signal includes a first control signal , the target electric vehicle controller includes a motor controller, and the motor controller is connected to a wheel drive motor;
所述处理单元402用于：The processing unit 402 is used for:
当所述制动参数处于所述第一预设制动参数范围内时，将所述第一控制信号发送给所述电机控制器，控制所述车轮驱动电机工作于发电机状态产生反向作用力并回收制动能量，实现制动。When the braking parameter is within the range of the first preset braking parameter, the first control signal is sent to the motor controller to control the wheel drive motor to work in a generator state to generate a reverse action force and recover braking energy to achieve braking.
在一些实施例中，所述电动车辆制动信号包括行车制动参数，所述多个预设制动参数范围包括第二预设制动参数范围，所述目标电动车辆控制信号包括第二控制信号，所述目标电动车辆控制器包括电机控制器，所述电机控制器与车轮驱动电机连接；In some embodiments, the electric vehicle braking signal includes a service braking parameter, the plurality of preset braking parameter ranges include a second preset braking parameter range, and the target electric vehicle control signal includes a second control signal, the target electric vehicle controller includes a motor controller, the motor controller is connected to the wheel drive motor;
所述处理单元402用于：The processing unit 402 is used for:
当所述制动参数处于所述第二预设制动参数范围内时，将所述第二控制信号发送给所述电机控制器，控制所述车轮驱动电机的转子产生反向作用力，实现制动。When the braking parameter is within the second preset braking parameter range, the second control signal is sent to the motor controller to control the rotor of the wheel drive motor to generate a reverse force, so as to achieve brake.
在一些实施例中，所述电动车辆制动信号包括行车制动参数，所述多个预设制动参数范围包括第三预设制动参数范围，所述目标电动车辆控制信号包括第三控制信号，所述目标电动车辆控制器包括开关元器件，所述开关元器件连接有电机制动器；In some embodiments, the electric vehicle braking signal includes a service braking parameter, the plurality of preset braking parameter ranges include a third preset braking parameter range, and the target electric vehicle control signal includes a third control signal, the target electric vehicle controller includes a switch component, and the switch component is connected with a motor brake;
所述处理单元402用于：The processing unit 402 is used for:
当所述制动参数处于所述第三预设制动参数范围内时，将所述第三控制信号发送给所述开关元器件，控制所述电机制动器工作。When the braking parameter is within the range of the third preset braking parameter, the third control signal is sent to the switching element to control the motor brake to work.
在一些实施例中，所述电动车辆制动信号还包括紧急制动参数，所述目标电动车辆控制器包括开关元器件，所述开关元器件连接有电机制动器，所述电机制动器与车轮驱动电机连接；In some embodiments, the electric vehicle braking signal further includes an emergency braking parameter, and the target electric vehicle controller includes a switch element connected to a motor brake connected to a wheel drive motor connect;
所述处理单元402用于：The processing unit 402 is used for:
将目标电动车辆控制信号发送给开关元器件，控制与所述开关元器件连接的电机制动器产生制动力使所述车轮驱动电机处于抱死状态，所述目标电动车辆控制信号为与所述驻车制动参数对应的制动信号。The target electric vehicle control signal is sent to the switch element, and the motor brake connected with the switch element is controlled to generate a braking force to make the wheel drive motor in a locked state, and the target electric vehicle control signal is related to the parking The braking signal corresponding to the braking parameter.
在一些实施例中，所述电动车辆制动信号还包括驻车制动参数，所述目标电动车辆控制器包括开关元器件，所述开关元器件连接有电机制动器，所述电机制动器与车轮驱动电机连接；In some embodiments, the electric vehicle braking signal further includes a parking brake parameter, and the target electric vehicle controller includes a switch element connected to a motor brake connected to the wheel drive motor connection;
所述处理单元402用于：The processing unit 402 is used for:
将目标电动车辆控制信号发送给开关元器件，控制与所述开关元器件连接的电机制动器产生制动力，使所述车轮驱动电机处于驻车状态，所述目标电动车辆控制信号为与所述驻车制动参数对应的制动信号。The target electric vehicle control signal is sent to the switch element, and the motor brake connected with the switch element is controlled to generate a braking force, so that the wheel drive motor is in a parking state, and the target electric vehicle control signal is related to the parking state. The braking signal corresponding to the vehicle braking parameter.
在一些实施例中，所述处理单元402用于：In some embodiments, the processing unit 402 is used to:
将所述制动参数分别与所述多个预设制动参数范围进行比对，得到比对结果；Comparing the braking parameters with the multiple preset braking parameter ranges, respectively, to obtain a comparison result;
根据所述比对结果，将所述制动参数对应的预设制动参数范围作为目标预设制动参数范围。According to the comparison result, the preset braking parameter range corresponding to the braking parameter is used as the target preset braking parameter range.
本申请通过在接收在电动车辆制动信号后，获取电动车辆的制动参数，通过识别制动参数所属的目标预设制动参数范围，以此识别电动车辆制动所需的制动力，并相应选择该工程机械制动所对应的制动模式，通过将该模式下的控制信号发送给对应的控制器，进而使得与该控制器连接控制部件启动，控制电动车辆制动，以提高制动效率，同时有利于节约能源。In the present application, after receiving the braking signal of the electric vehicle, the braking parameters of the electric vehicle are obtained, and the braking force required for the braking of the electric vehicle is identified by identifying the target preset braking parameter range to which the braking parameters belong. Correspondingly select the braking mode corresponding to the brake of the construction machinery, and send the control signal in this mode to the corresponding controller, so that the control components connected to the controller are activated to control the braking of the electric vehicle, so as to improve the braking effect. efficiency, while helping to save energy.
本申请实施例还提供一种电子设备，其集成了本申请实施例所提供的任一种电动车辆的制动控制装置，请参考图7，图7示出了本申请实施例所涉及的设备的结构示意图，具体来讲：The embodiments of the present application further provide an electronic device that integrates any of the electric vehicle brake control devices provided by the embodiments of the present application. Please refer to FIG. 7 , which shows the device involved in the embodiments of the present application. Schematic diagram of the structure, specifically:
该设备可以包括一个或者一个以上处理核心的处理器501、一个或一个以上计算机可读存储介质的存储器502、电源503和输入单元504等部件。本领域技术人员可以理解，图7中示出的设备结构并不构成对设备的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。其中：The device may include a processor 501 of one or more processing cores, a memory 502 of one or more computer-readable storage media, a power supply 503 and an input unit 504 and other components. Those skilled in the art can understand that the device structure shown in FIG. 7 does not constitute a limitation on the device, and may include more or less components than the one shown, or combine some components, or arrange different components. in:
处理器501是该设备的控制中心，利用各种接口和线路连接整个设备的各个部分，通过运行或执行存储在存储器502内的软件程序和/或模块，以及调用存储在存储器502内的数据，执行设备的各种功能和处理数据，从而对设备进行整体监控。可选的，处理器501可包括一个或多个处理核心；在一些实施例中，处理器501可集成应用处理器和调制解调处理器，其中，应用处理器主要处理操作系统、用户界面和应用程序等，调制解调处理器主要处理无线通信。可以理解的是，上述调制解调处理器也可以不集成到处理器501中。The processor 501 is the control center of the device, using various interfaces and lines to connect various parts of the entire device, by running or executing the software programs and/or modules stored in the memory 502, and calling the data stored in the memory 502, Execute various functions of the device and process data to monitor the device as a whole. Optionally, the processor 501 may include one or more processing cores; in some embodiments, the processor 501 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface and Applications, etc., the modem processor mainly deals with wireless communication. It can be understood that, the above-mentioned modulation and demodulation processor may not be integrated into the processor 501 .
存储器502可用于存储软件程序以及模块，处理器501通过运行存储在存储器502的软件程序以及模块，从而执行各种功能应用以及数据处理。存储器502可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序(比如声音播放功能、图像播放功能等)等；存储数据区可存储根据设备的使用所创建的数据等。此外，存储器502可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。相应地，存储器502还可以包括存储器控制器，以提供处理器501对存储器502的访问。The memory 502 can be used to store software programs and modules, and the processor 501 executes various functional applications and data processing by running the software programs and modules stored in the memory 502 . The memory 502 may mainly include a stored program area and a stored data area, wherein the stored program area may store an operating system, an application program (such as a sound playback function, an image playback function, etc.) required for at least one function, and the like; data created by the use of the device, etc. Additionally, memory 502 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, memory 502 may also include a memory controller to provide processor 501 access to memory 502 .
设备还包括给各个部件供电的电源503，电源503具体可以通过电源管理系统与处理器501逻辑相连，从而通过电源管理系统实现管理充电、放电、以及 功耗管理等功能。电源503还可以包括一个或一个以上的直流或交流电源、再充电系统、电源故障检测电路、电源转换器或者电源状态指示器等任意组件。The device also includes a power supply 503 for supplying power to various components. Specifically, the power supply 503 may be logically connected to the processor 501 through the power management system, so as to manage charging, discharging, and power consumption management functions through the power management system. The power supply 503 may also include any components such as one or more DC or AC power sources, recharging systems, power failure detection circuits, power converters, or power status indicators.
该设备还可包括输入单元504，该输入单元504可用于接收输入的数字或字符信息，以及产生与用户设置以及功能控制有关的键盘、鼠标、操作杆、光学或者轨迹球信号输入。The device may also include an input unit 504 that may be operable to receive input numerical or character information and generate keyboard, mouse, joystick, optical, or trackball signal input related to user settings and functional control.
尽管未示出，设备还可以包括显示单元等，在此不再赘述。具体在本申请实施例中，设备中的处理器501会按照如下的指令，将一个或一个以上的应用程序的进程对应的可执行文件加载到存储器502中，并由处理器501来运行存储在存储器502中的应用程序，从而实现各种功能，如下：Although not shown, the device may also include a display unit and the like, which will not be described herein again. Specifically, in this embodiment of the present application, the processor 501 in the device loads the executable files corresponding to the processes of one or more application programs into the memory 502 according to the following instructions, and the processor 501 executes them and stores them in the memory 502 . The application program in the memory 502, thereby realizing various functions, as follows:
接收电动车辆制动信号，所述电动车辆信号包括制动参数；receiving an electric vehicle braking signal, the electric vehicle signal including braking parameters;
根据所述制动参数和多个预设制动参数范围，确定目标预设范围，所述目标预设范围为所述多个预设制动参数范围中包括所述制动参数的制动参数范围；Determine a target preset range according to the braking parameter and multiple preset braking parameter ranges, where the target preset range is a braking parameter including the braking parameter in the multiple preset braking parameter ranges Scope;
根据所述目标预设范围生成目标电动车辆控制信号，所述目标电动车辆控制信号为多个电动车辆控制信号中与所述目标预设范围对应的电动车辆控制信号；generating a target electric vehicle control signal according to the target preset range, where the target electric vehicle control signal is an electric vehicle control signal corresponding to the target preset range among a plurality of electric vehicle control signals;
将所述目标电动车辆控制信号发送至目标电动车辆控制器，以启动目标电动车辆控制器连接的目标制动部件，使所述电动车辆制动，所述目标电动车辆控制器为多个电动车辆控制器中与所述目标电动车辆制动信号对应的电动车辆控制器。sending the target electric vehicle control signal to a target electric vehicle controller to activate a target braking component connected to the target electric vehicle controller to brake the electric vehicle, the target electric vehicle controller being a plurality of electric vehicles An electric vehicle controller in the controller corresponding to the target electric vehicle braking signal.
本申请通过在接收在电动车辆制动信号后，获取电动车辆的制动参数，通过识别制动参数所属的目标预设制动参数范围，以此识别电动车辆制动所需的制动力，并相应选择该工程机械制动所对应的制动模式，通过将该模式下的控制信号发送给对应的控制器，进而使得与该控制器连接控制部件启动，控制电动车辆制动，以提高制动效率，同时有利于节约能源。In the present application, after receiving the braking signal of the electric vehicle, the braking parameters of the electric vehicle are obtained, and the braking force required for the braking of the electric vehicle is identified by identifying the target preset braking parameter range to which the braking parameters belong. Correspondingly select the braking mode corresponding to the brake of the construction machinery, and send the control signal in this mode to the corresponding controller, so that the control components connected to the controller are activated to control the braking of the electric vehicle, so as to improve the braking effect. efficiency, while helping to save energy.
本领域普通技术人员可以理解，上述实施例的各种方法中的全部或部分步骤可以通过指令来完成，或通过指令控制相关的硬件来完成，该指令可以存储于一计算机可读存储介质中，并由处理器进行加载和执行。Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above-mentioned embodiments can be completed by instructions, or by instructions that control relevant hardware, and the instructions can be stored in a computer-readable storage medium, and loaded and executed by the processor.
为此，本申请实施例提供一种计算机可读存储介质，其中存储有多条指令， 该指令能够被处理器进行加载，以执行本申请实施例所提供的任一种工程机械的制动控制方法中的步骤。例如，该指令可以执行如下步骤：To this end, the embodiments of the present application provide a computer-readable storage medium, in which a plurality of instructions are stored, and the instructions can be loaded by a processor to execute the braking control of any construction machinery provided by the embodiments of the present application steps in the method. For example, the instruction can perform the following steps:
接收工程机械制动信号；当所述工程机械制动信号中包括行车制动参数时，获取工程机械的制动参数；根据所述制动参数和多个预设制动参数范围，确定目标预设范围，所述目标预设范围为所述多个预设制动参数范围中与所述制动参数对应的制动参数范围；根据所述目标预设范围生成目标工程机械控制信号，所述目标工程机械控制信号为多个工程机械控制信号中与所述目标预设范围对应的控制信号；将所述目标工程机械控制信号发送至目标工程机械控制器，以启动目标工程机械控制器连接的目标制动部件使所述工程机械制动减速，所述目标工程机械控制器为多个工程机械控制器中与所述目标工程机械控制信号对应的工程机械控制器。Receive a construction machinery braking signal; when the construction machinery braking signal includes service braking parameters, obtain the braking parameters of the construction machinery; determine a target preset according to the braking parameters and a plurality of preset braking parameter ranges. A range is set, and the target preset range is a braking parameter range corresponding to the braking parameter in the multiple preset braking parameter ranges; a target construction machinery control signal is generated according to the target preset range, and the The target construction machinery control signal is a control signal corresponding to the target preset range among the plurality of construction machinery control signals; the target construction machinery control signal is sent to the target construction machinery controller to start the connection of the target construction machinery controller. The target braking component brakes and decelerates the construction machinery, and the target construction machinery controller is a construction machinery controller corresponding to the target construction machinery control signal among the plurality of construction machinery controllers.
其中，所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。Wherein, if the functions are implemented in the form of software functional units and sold or used as independent products, they may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .
由于该计算机可读存储介质中所存储的指令，可以执行本申请实施例所提供的任一种工程机械的制动控制方法中的步骤，因此，可以实现本申请实施例所提供的任一种工程机械的制动控制方法所能实现的有益效果，详见前面的实施例，在此不再赘述。Because the instructions stored in the computer-readable storage medium can execute the steps in any of the construction machinery braking control methods provided by the embodiments of the present application, any one of the methods provided by the embodiments of the present application can be implemented. The beneficial effects that can be achieved by the braking control method of the construction machinery can be seen in the previous embodiments, which will not be repeated here.
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见上文针对其他实施例的详细描述，此处不再赘述。In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference may be made to the above detailed description of other embodiments, and details are not repeated here.
具体实施时，以上各个单元或结构可以作为独立的实体来实现，也可以进行任意组合，作为同一或若干个实体来实现，以上各个单元或结构的具体实施可参见前面的方法实施例，在此不再赘述。During specific implementation, the above units or structures can be implemented as independent entities, or can be arbitrarily combined to be implemented as the same or several entities. For the specific implementation of the above units or structures, reference may be made to the foregoing method embodiments. No longer.
以上对本申请实施例所提供的一种工程机械的制动控制方法、装置、设备及存储介质进行了详细介绍，本申请实施例中应用了具体个例对本申请实施例的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请实施例的方法及其核心思想；同时，对于本领域的技术人员，依据本申请实施例的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请实施例的限制。The braking control method, device, device, and storage medium for a construction machine provided by the embodiments of the present application have been described in detail above. Specific examples are used in the embodiments of the present application to describe the principles and implementations of the embodiments of the present application. Explanation, the descriptions of the above embodiments are only used to help understand the methods and core ideas of the embodiments of the present application; at the same time, for those skilled in the art, according to the ideas of the embodiments of the present application, the specific implementation and application scope will be There are changes. In summary, the contents of this specification should not be construed as limitations on the embodiments of the present application.

Claims (20)

  1. 一种电动车辆的制动控制方法，其中，所述方法包括：A braking control method for an electric vehicle, wherein the method comprises:
    接收电动车辆制动信号，所述电动车辆信号包括制动参数；receiving an electric vehicle braking signal, the electric vehicle signal including braking parameters;
    根据所述制动参数和多个预设制动参数范围，确定目标预设范围，所述目标预设范围为所述多个预设制动参数范围中包括所述制动参数的制动参数范围；Determine a target preset range according to the braking parameter and multiple preset braking parameter ranges, where the target preset range is a braking parameter including the braking parameter in the multiple preset braking parameter ranges Scope;
    根据所述目标预设范围生成目标电动车辆控制信号，所述目标电动车辆控制信号为多个电动车辆控制信号中与所述目标预设范围对应的电动车辆控制信号；generating a target electric vehicle control signal according to the target preset range, where the target electric vehicle control signal is an electric vehicle control signal corresponding to the target preset range among a plurality of electric vehicle control signals;
    将所述目标电动车辆控制信号发送至目标电动车辆控制器，以启动目标电动车辆控制器连接的目标制动部件，使所述电动车辆制动，所述目标电动车辆控制器为多个电动车辆控制器中与所述目标电动车辆制动信号对应的电动车辆控制器。sending the target electric vehicle control signal to a target electric vehicle controller to activate a target braking component connected to the target electric vehicle controller to brake the electric vehicle, the target electric vehicle controller being a plurality of electric vehicles An electric vehicle controller in the controller corresponding to the target electric vehicle braking signal.
  2. 根据权利要求1所述的制动控制方法，其中，所述电动车辆制动信号包括行车制动参数，所述目标预设制动参数范围包括第一预设制动参数范围，所述目标电动车辆控制信号包括第一控制信号，所述目标电动车辆控制器包括电机控制器，所述电机控制器与车轮驱动电机连接；The braking control method according to claim 1, wherein the electric vehicle braking signal includes a service braking parameter, the target preset braking parameter range includes a first preset braking parameter range, and the target electric vehicle braking The vehicle control signal includes a first control signal, the target electric vehicle controller includes a motor controller, and the motor controller is connected to the wheel drive motor;
    所述将所述目标电动车辆控制信号发送至目标电动车辆控制器的步骤包括：The step of sending the target electric vehicle control signal to the target electric vehicle controller includes:
    当所述制动参数处于所述第一预设制动参数范围内时，将所述第一控制信号发送给所述电机控制器，控制所述车轮驱动电机处于发电状态产生反向作用力并回收制动能量，实现电动车辆制动。When the braking parameter is within the range of the first preset braking parameter, the first control signal is sent to the motor controller to control the wheel drive motor to be in a power generation state to generate a reverse force and Recover braking energy to realize electric vehicle braking.
  3. 根据权利要求1所述的制动控制方法，其中，所述电动车辆制动信号包括行车制动参数，所述多个预设制动参数范围包括第二预设制动参数范围，所述目标电动车辆控制信号包括第二控制信号，所述目标电动车辆控制器包括电机控制器，所述电机控制器与车轮驱动电机连接；The braking control method of claim 1, wherein the electric vehicle braking signal includes a service braking parameter, the plurality of preset braking parameter ranges include a second preset braking parameter range, the target The electric vehicle control signal includes a second control signal, and the target electric vehicle controller includes a motor controller connected to the wheel drive motor;
    所述将所述目标电动车辆控制信号发送至目标电动车辆控制器的步骤包括：The step of sending the target electric vehicle control signal to the target electric vehicle controller includes:
    当所述制动参数处于所述第二预设制动参数范围内时，将所述第二控制信号发送给所述电机控制器，控制所述车轮驱动电机的转子产生反向作用力，实现制动。When the braking parameter is within the second preset braking parameter range, the second control signal is sent to the motor controller to control the rotor of the wheel drive motor to generate a reverse force, so as to achieve brake.
  4. 根据权利要求1所述的制动控制方法，其中，所述电动车辆制动信号包括行车制动参数，所述多个预设制动参数范围包括第三预设制动参数范围，所述目标电动车辆控制信号包括第三控制信号，所述目标电动车辆控制器包括开关元器件，所述开关元器件连接有电机制动器；The braking control method according to claim 1, wherein the electric vehicle braking signal includes a service braking parameter, the plurality of preset braking parameter ranges include a third preset braking parameter range, the target The electric vehicle control signal includes a third control signal, and the target electric vehicle controller includes a switch element connected with a motor brake;
    所述将所述目标电动车辆控制信号发送至目标电动车辆控制器的步骤包括：The step of sending the target electric vehicle control signal to the target electric vehicle controller includes:
    当所述制动参数处于所述第三预设制动参数范围内时，将所述第三控制信号发送给所述开关元器件，控制所述电机制动器工作。When the braking parameter is within the range of the third preset braking parameter, the third control signal is sent to the switching element to control the motor brake to work.
  5. 根据权利要求1所述的制动控制方法，其中，所述电动车辆制动信号包括紧急制动参数，所述目标电动车辆控制器包括开关元器件，所述开关元器件连接有电机制动器，所述电机制动器与车轮驱动电机连接；The braking control method according to claim 1, wherein the electric vehicle braking signal includes an emergency braking parameter, and the target electric vehicle controller includes a switch element connected to a motor brake, and the The motor brake is connected to the wheel drive motor;
    所述将所述目标电动车辆控制信号发送至目标电动车辆控制器的步骤包括：The step of sending the target electric vehicle control signal to the target electric vehicle controller includes:
    将目标电动车辆控制信号发送给开关元器件，控制与所述开关元器件连接的电机制动器产生制动力使所述车轮驱动电机处于抱死状态，所述目标电动车辆控制信号为与所述紧急制动参数对应的制动信号。The target electric vehicle control signal is sent to the switch element, and the motor brake connected to the switch element is controlled to generate a braking force so that the wheel drive motor is in a locked state, and the target electric vehicle control signal is related to the emergency brake. The braking signal corresponding to the dynamic parameter.
  6. 根据权利要求1所述的制动控制方法，其中，所述电动车辆制动信号包括驻车制动参数，所述目标电动车辆控制器包括开关元器件，所述开关元器件连接有电机制动器，所述电机制动器与车轮驱动电机连接；The braking control method according to claim 1, wherein the electric vehicle braking signal includes a parking brake parameter, and the target electric vehicle controller includes a switch element connected to a motor brake, the motor brake is connected with the wheel drive motor;
    所述将所述目标电动车辆控制信号发送至目标电动车辆控制器的步骤包括：The step of sending the target electric vehicle control signal to the target electric vehicle controller includes:
    将目标电动车辆控制信号发送给开关元器件，控制与所述开关元器件连接的电机制动器产生制动力，使所述车轮驱动电机处于驻车状态，所述目标电动车辆控制信号为与所述驻车制动参数对应的制动信号。The target electric vehicle control signal is sent to the switch element, and the motor brake connected with the switch element is controlled to generate a braking force, so that the wheel drive motor is in a parking state, and the target electric vehicle control signal is related to the parking state. The braking signal corresponding to the vehicle braking parameter.
  7. 根据权利要求1所述的制动控制方法，其中，所述根据所述制动参数和多个预设制动参数范围，确定目标预设范围的步骤包括：The braking control method according to claim 1, wherein the step of determining the target preset range according to the braking parameter and a plurality of preset braking parameter ranges comprises:
    将所述制动参数分别与所述多个预设制动参数范围进行比对，得到比对结果；Comparing the braking parameters with the multiple preset braking parameter ranges, respectively, to obtain a comparison result;
    根据所述比对结果，将所述制动参数对应的预设制动参数范围作为目标预设制动参数范围。According to the comparison result, the preset braking parameter range corresponding to the braking parameter is used as the target preset braking parameter range.
  8. 一种电子设备，其中，所述电子设备包括：An electronic device, wherein the electronic device comprises:
    一个或多个处理器；one or more processors;
    存储器；以及memory; and
    一个或多个应用程序，其中所述一个或多个应用程序被存储于所述存储器中，并配置为由所述处理器执行以下步骤：one or more application programs, wherein the one or more application programs are stored in the memory and configured to be performed by the processor to perform the following steps:
    接收电动车辆制动信号，所述电动车辆信号包括制动参数；receiving an electric vehicle braking signal, the electric vehicle signal including braking parameters;
    根据所述制动参数和多个预设制动参数范围，确定目标预设范围，所述目标预设范围为所述多个预设制动参数范围中包括所述制动参数的制动参数范围；Determine a target preset range according to the braking parameter and multiple preset braking parameter ranges, where the target preset range is a braking parameter including the braking parameter in the multiple preset braking parameter ranges Scope;
    根据所述目标预设范围生成目标电动车辆控制信号，所述目标电动车辆控制信号为多个电动车辆控制信号中与所述目标预设范围对应的电动车辆控制信号；generating a target electric vehicle control signal according to the target preset range, where the target electric vehicle control signal is an electric vehicle control signal corresponding to the target preset range among a plurality of electric vehicle control signals;
    将所述目标电动车辆控制信号发送至目标电动车辆控制器，以启动目标电动车辆控制器连接的目标制动部件，使所述电动车辆制动，所述目标电动车辆控制器为多个电动车辆控制器中与所述目标电动车辆制动信号对应的电动车辆控制器。sending the target electric vehicle control signal to a target electric vehicle controller to activate a target braking component connected to the target electric vehicle controller to brake the electric vehicle, the target electric vehicle controller being a plurality of electric vehicles An electric vehicle controller in the controller corresponding to the target electric vehicle braking signal.
  9. 根据权利要求8所述的电子设备，其中，所述电动车辆制动信号包括行车制动参数，所述目标预设制动参数范围包括第一预设制动参数范围，所述目标电动车辆控制信号包括第一控制信号，所述目标电动车辆控制器包括电机控制器，所述电机控制器与车轮驱动电机连接；The electronic device of claim 8, wherein the electric vehicle braking signal includes a service braking parameter, the target preset braking parameter range includes a first preset braking parameter range, and the target electric vehicle control The signal includes a first control signal, and the target electric vehicle controller includes a motor controller connected to a wheel drive motor;
    所述处理器执行所述将所述目标电动车辆控制信号发送至目标电动车辆控制器的步骤包括：The step of the processor performing the step of sending the target electric vehicle control signal to the target electric vehicle controller includes:
    当所述制动参数处于所述第一预设制动参数范围内时，将所述第一控制信号发送给所述电机控制器，控制所述车轮驱动电机处于发电状态产生反向作用力并回收制动能量，实现电动车辆制动。When the braking parameter is within the range of the first preset braking parameter, the first control signal is sent to the motor controller to control the wheel drive motor to be in a power generation state to generate a reverse force and Recover braking energy to realize electric vehicle braking.
  10. 根据权利要求8所述的电子设备，其中，所述电动车辆制动信号包括行车制动参数，所述多个预设制动参数范围包括第二预设制动参数范围，所述目标电动车辆控制信号包括第二控制信号，所述目标电动车辆控制器包括电机控制器，所述电机控制器与车轮驱动电机连接；8. The electronic device of claim 8, wherein the electric vehicle braking signal includes a service braking parameter, the plurality of preset braking parameter ranges include a second preset braking parameter range, the target electric vehicle the control signal includes a second control signal, the target electric vehicle controller includes a motor controller, the motor controller is connected to the wheel drive motor;
    所述处理器执行所述将所述目标电动车辆控制信号发送至目标电动车辆控制器的步骤包括：The step of the processor performing the step of sending the target electric vehicle control signal to the target electric vehicle controller includes:
    当所述制动参数处于所述第二预设制动参数范围内时，将所述第二控制信号发送给所述电机控制器，控制所述车轮驱动电机的转子产生反向作用力，实现制动。When the braking parameter is within the second preset braking parameter range, the second control signal is sent to the motor controller to control the rotor of the wheel drive motor to generate a reverse force, so as to achieve brake.
  11. 根据权利要求8所述的电子设备，其中，所述电动车辆制动信号包括行车制动参数，所述多个预设制动参数范围包括第三预设制动参数范围，所述目标电动车辆控制信号包括第三控制信号，所述目标电动车辆控制器包括开关元器件，所述开关元器件连接有电机制动器；The electronic device of claim 8, wherein the electric vehicle braking signal includes a service braking parameter, the plurality of preset braking parameter ranges include a third preset braking parameter range, the target electric vehicle The control signal includes a third control signal, and the target electric vehicle controller includes a switch element connected with a motor brake;
    所述处理器执行所述将所述目标电动车辆控制信号发送至目标电动车辆控制器的步骤包括：The step of the processor performing the step of sending the target electric vehicle control signal to the target electric vehicle controller includes:
    当所述制动参数处于所述第三预设制动参数范围内时，将所述第三控制信号发送给所述开关元器件，控制所述电机制动器工作。When the braking parameter is within the range of the third preset braking parameter, the third control signal is sent to the switching element to control the motor brake to work.
  12. 根据权利要求8所述的电子设备，其中，所述电动车辆制动信号包括紧急制动参数，所述目标电动车辆控制器包括开关元器件，所述开关元器件连接有电机制动器，所述电机制动器与车轮驱动电机连接；The electronic device of claim 8, wherein the electric vehicle braking signal includes an emergency braking parameter, and the target electric vehicle controller includes a switch element connected to a motor brake, the motor The brake is connected with the wheel drive motor;
    所述处理器执行所述将所述目标电动车辆控制信号发送至目标电动车辆控制器的步骤包括：The step of the processor performing the step of sending the target electric vehicle control signal to the target electric vehicle controller includes:
    将目标电动车辆控制信号发送给开关元器件，控制与所述开关元器件连接的电机制动器产生制动力使所述车轮驱动电机处于抱死状态，所述目标电动车辆控制信号为与所述紧急制动参数对应的制动信号。The target electric vehicle control signal is sent to the switch element, and the motor brake connected to the switch element is controlled to generate a braking force so that the wheel drive motor is in a locked state, and the target electric vehicle control signal is related to the emergency brake. The braking signal corresponding to the dynamic parameter.
  13. 根据权利要求8所述的电子设备，其中，所述电动车辆制动信号包括驻车制动参数，所述目标电动车辆控制器包括开关元器件，所述开关元器件连接有电机制动器，所述电机制动器与车轮驱动电机连接；8. The electronic device of claim 8, wherein the electric vehicle braking signal includes a parking brake parameter, the target electric vehicle controller includes a switching element connected to a motor brake, the The motor brake is connected with the wheel drive motor;
    所述处理器执行所述将所述目标电动车辆控制信号发送至目标电动车辆 控制器的步骤包括：The step of the processor performing the step of sending the target electric vehicle control signal to the target electric vehicle controller includes:
    将目标电动车辆控制信号发送给开关元器件，控制与所述开关元器件连接的电机制动器产生制动力，使所述车轮驱动电机处于驻车状态，所述目标电动车辆控制信号为与所述驻车制动参数对应的制动信号。The target electric vehicle control signal is sent to the switch element, and the motor brake connected with the switch element is controlled to generate a braking force, so that the wheel drive motor is in a parking state, and the target electric vehicle control signal is related to the parking state. The braking signal corresponding to the vehicle braking parameter.
  14. 根据权利要求8所述的电子设备，其中，所述处理器执行所述根据所述制动参数和多个预设制动参数范围，确定目标预设范围的步骤包括：The electronic device according to claim 8, wherein the step of the processor performing the step of determining the target preset range according to the braking parameter and a plurality of preset braking parameter ranges comprises:
    将所述制动参数分别与所述多个预设制动参数范围进行比对，得到比对结果；Comparing the braking parameters with the multiple preset braking parameter ranges, respectively, to obtain a comparison result;
    根据所述比对结果，将所述制动参数对应的预设制动参数范围作为目标预设制动参数范围。According to the comparison result, the preset braking parameter range corresponding to the braking parameter is used as the target preset braking parameter range.
  15. 一种计算机可读存储介质，其中，其上存储有计算机程序，所述计算机程序被处理器进行加载，以执行以下步骤：A computer-readable storage medium, wherein a computer program is stored thereon, and the computer program is loaded by a processor to perform the following steps:
    接收电动车辆制动信号，所述电动车辆信号包括制动参数；receiving an electric vehicle braking signal, the electric vehicle signal including braking parameters;
    根据所述制动参数和多个预设制动参数范围，确定目标预设范围，所述目标预设范围为所述多个预设制动参数范围中包括所述制动参数的制动参数范围；Determine a target preset range according to the braking parameter and multiple preset braking parameter ranges, where the target preset range is a braking parameter including the braking parameter in the multiple preset braking parameter ranges Scope;
    根据所述目标预设范围生成目标电动车辆控制信号，所述目标电动车辆控制信号为多个电动车辆控制信号中与所述目标预设范围对应的电动车辆控制信号；generating a target electric vehicle control signal according to the target preset range, where the target electric vehicle control signal is an electric vehicle control signal corresponding to the target preset range among a plurality of electric vehicle control signals;
    将所述目标电动车辆控制信号发送至目标电动车辆控制器，以启动目标电动车辆控制器连接的目标制动部件，使所述电动车辆制动，所述目标电动车辆控制器为多个电动车辆控制器中与所述目标电动车辆制动信号对应的电动车辆控制器。sending the target electric vehicle control signal to a target electric vehicle controller to activate a target braking component connected to the target electric vehicle controller to brake the electric vehicle, the target electric vehicle controller being a plurality of electric vehicles An electric vehicle controller in the controller corresponding to the target electric vehicle braking signal.
  16. 根据权利要求15所述的计算机可读存储介质，其中，所述电动车辆制动信号包括行车制动参数，所述目标预设制动参数范围包括第一预设制动参数范围，所述目标电动车辆控制信号包括第一控制信号，所述目标电动车辆控制器包括电机控制器，所述电机控制器与车轮驱动电机连接；16. The computer-readable storage medium of claim 15, wherein the electric vehicle braking signal includes a service braking parameter, the target preset braking parameter range includes a first preset braking parameter range, the target The electric vehicle control signal includes a first control signal, the target electric vehicle controller includes a motor controller, and the motor controller is connected to the wheel drive motor;
    所述处理器执行所述将所述目标电动车辆控制信号发送至目标电动车辆控制器的步骤包括：The step of the processor performing the step of sending the target electric vehicle control signal to the target electric vehicle controller includes:
    当所述制动参数处于所述第一预设制动参数范围内时，将所述第一控制信号发送给所述电机控制器，控制所述车轮驱动电机处于发电状态产生反向作用力并回收制动能量，实现电动车辆制动。When the braking parameter is within the range of the first preset braking parameter, the first control signal is sent to the motor controller to control the wheel drive motor to be in a power generation state to generate a reverse force and Recover braking energy to realize electric vehicle braking.
  17. 根据权利要求15所述的计算机可读存储介质，其中，所述电动车辆制动信号包括行车制动参数，所述多个预设制动参数范围包括第二预设制动参数范围，所述目标电动车辆控制信号包括第二控制信号，所述目标电动车辆控制器包括电机控制器，所述电机控制器与车轮驱动电机连接；16. The computer-readable storage medium of claim 15, wherein the electric vehicle braking signal includes a service braking parameter, the plurality of preset braking parameter ranges includes a second preset braking parameter range, the The target electric vehicle control signal includes a second control signal, and the target electric vehicle controller includes a motor controller connected to the wheel drive motor;
    所述处理器执行所述将所述目标电动车辆控制信号发送至目标电动车辆控制器的步骤包括：The step of the processor performing the step of sending the target electric vehicle control signal to the target electric vehicle controller includes:
    当所述制动参数处于所述第二预设制动参数范围内时，将所述第二控制信号发送给所述电机控制器，控制所述车轮驱动电机的转子产生反向作用力，实现制动。When the braking parameter is within the second preset braking parameter range, the second control signal is sent to the motor controller to control the rotor of the wheel drive motor to generate a reverse force, so as to achieve brake.
  18. 根据权利要求15所述的计算机可读存储介质，其中，所述电动车辆制动信号包括行车制动参数，所述多个预设制动参数范围包括第三预设制动参数范围，所述目标电动车辆控制信号包括第三控制信号，所述目标电动车辆控制器包括开关元器件，所述开关元器件连接有电机制动器；16. The computer-readable storage medium of claim 15, wherein the electric vehicle braking signal includes a service braking parameter, the plurality of preset braking parameter ranges includes a third preset braking parameter range, the The target electric vehicle control signal includes a third control signal, and the target electric vehicle controller includes a switch element connected with a motor brake;
    所述处理器执行所述将所述目标电动车辆控制信号发送至目标电动车辆控制器的步骤包括：The step of the processor performing the step of sending the target electric vehicle control signal to the target electric vehicle controller includes:
    当所述制动参数处于所述第三预设制动参数范围内时，将所述第三控制信号发送给所述开关元器件，控制所述电机制动器工作。When the braking parameter is within the range of the third preset braking parameter, the third control signal is sent to the switching element to control the motor brake to work.
  19. 根据权利要求15所述的计算机可读存储介质，其中，所述电动车辆制动信号包括紧急制动参数，所述目标电动车辆控制器包括开关元器件，所述开关元器件连接有电机制动器，所述电机制动器与车轮驱动电机连接；16. The computer-readable storage medium of claim 15, wherein the electric vehicle braking signal includes an emergency braking parameter, and the target electric vehicle controller includes a switch element connected to a motor brake, the motor brake is connected with the wheel drive motor;
    所述处理器执行所述将所述目标电动车辆控制信号发送至目标电动车辆控制器的步骤包括：The step of the processor performing the step of sending the target electric vehicle control signal to the target electric vehicle controller includes:
    将目标电动车辆控制信号发送给开关元器件，控制与所述开关元器件连接的电机制动器产生制动力使所述车轮驱动电机处于抱死状态，所述目标电动车辆控制信号为与所述紧急制动参数对应的制动信号。The target electric vehicle control signal is sent to the switch element, and the motor brake connected with the switch element is controlled to generate a braking force to make the wheel drive motor in a locked state, and the target electric vehicle control signal is related to the emergency brake. The braking signal corresponding to the dynamic parameter.
  20. 根据权利要求15所述的计算机可读存储介质，其中，所述处理器执 行所述根据所述制动参数和多个预设制动参数范围，确定目标预设范围的步骤包括：The computer-readable storage medium of claim 15, wherein the step of the processor performing the step of determining a target preset range based on the braking parameter and a plurality of preset braking parameter ranges comprises:
    将所述制动参数分别与所述多个预设制动参数范围进行比对，得到比对结果；Comparing the braking parameters with the multiple preset braking parameter ranges, respectively, to obtain a comparison result;
    根据所述比对结果，将所述制动参数对应的预设制动参数范围作为目标预设制动参数范围。According to the comparison result, the preset braking parameter range corresponding to the braking parameter is used as the target preset braking parameter range.
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