CN112660092A - Downhill braking method and device for electric automobile and electric automobile - Google Patents
Downhill braking method and device for electric automobile and electric automobile Download PDFInfo
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Abstract
The application discloses downhill braking method and device of an electric automobile and the electric automobile, wherein the method comprises the following steps: when the gradient value of the environment where the vehicle is located is larger than a preset threshold value, detecting the pedal opening degree of the electric vehicle; identifying a target braking deceleration of the vehicle according to the pedal opening degree; the actual speed and the actual deceleration of the vehicle are collected, and a target braking value is generated based on the target braking deceleration so that the actual deceleration reaches the target braking deceleration by electric braking and/or hydraulic braking. Therefore, the problems that the braking stroke and the braking deceleration of the conventional electric automobile do not correspond when going downhill, so that the braking expectation of a driver cannot be met, the braking safety risk exists and the like are solved.
Description
Technical Field
The application relates to the technical field of electric automobiles, in particular to a downhill braking method and device of an electric automobile and the electric automobile.
Background
Compared with the braking force of a traditional automobile, although the traditional electric automobile has more electric braking force parts, the stroke of a brake pedal corresponds to the total braking force basically one by one, but the stroke of the brake pedal does not correspond to the braking deceleration of the automobile. On one hand, under the working condition of a steep slope, the braking deceleration cannot meet the expectation of a driver under the same braking opening degree, the driver needs to actively increase the braking stroke, and the safety risk exists; on the other hand, after the braking stroke is increased, the braking force is very large, and the wheels are easy to lock.
Therefore, the safety of the braking of the steep descent is insufficient due to the two factors, the safety and the reliability of the vehicle are greatly reduced, and a solution is urgently needed.
Content of application
The application provides a downhill braking method and device for an electric automobile and the electric automobile, and aims to solve the problems that braking stroke and braking deceleration are not corresponding when the electric automobile is downhill at present, so that the braking expectation of a driver cannot be met, and braking safety risks exist.
An embodiment of a first aspect of the present application provides a downhill braking method for an electric vehicle, including the following steps: when the gradient value of the environment where the vehicle is located is larger than a preset threshold value, detecting the pedal opening degree of the electric vehicle; identifying a target braking deceleration of the vehicle according to the pedal opening degree; the method comprises the steps of collecting an actual vehicle speed and an actual deceleration of the vehicle, and generating a target braking value based on the target braking deceleration so as to enable the actual deceleration to reach the target braking deceleration by electric braking and/or hydraulic braking.
Further, still include: detecting whether the vehicle meets an impending lock condition; and if the locking state is met, maintaining the current braking value of the vehicle, or reducing the current braking value to a preset braking value.
Further, still include: and controlling the acoustic reminding device or the optical reminding device to carry out locking reminding.
Further, still include: acquiring battery charging data of a power battery; and obtaining the maximum allowable electric braking force according to the battery charging data.
Further, the generating the target braking value based on the target braking deceleration includes: if the target braking value is smaller than or equal to the maximum allowable electric braking force, performing electric braking by using a power motor; and if the target braking value is larger than the maximum allowable electric braking force, generating a hydraulic compensation value according to the difference between the target braking value and the maximum allowable electric braking force so as to perform hydraulic braking compensation.
In a second aspect of the present application, an embodiment provides a downhill braking device for an electric vehicle, including: the first detection module is used for detecting the pedal opening degree of the electric automobile when the gradient value of the environment where the vehicle is located is larger than a preset threshold value; an identification module for identifying a target braking deceleration of the vehicle according to the pedal opening; the braking module is used for acquiring the actual speed and the actual deceleration of the vehicle and generating a target braking value based on the target braking deceleration so as to enable the actual deceleration to reach the target braking deceleration by using electric braking and/or hydraulic braking.
Further, still include: the second detection module is used for detecting whether the vehicle meets an impending lock condition; the maintaining and adjusting module is used for maintaining the current braking value of the vehicle or adjusting the current braking value to a preset braking value when the locking state is met; and the prompting module is used for controlling the acoustic prompting equipment or the optical prompting equipment to carry out locking prompting.
Further, still include: the acquisition module is used for acquiring battery charging data of the power battery; and the analysis module is used for obtaining the maximum allowable electric braking force according to the battery charging data.
Further, the brake module includes: the first braking unit is used for performing electric braking by using a power motor when the target braking value is less than or equal to the maximum allowable electric braking force; and the second brake unit is used for generating a hydraulic compensation value according to the difference between the target brake value and the maximum allowable electric brake force when the target brake value is larger than the maximum allowable electric brake force so as to perform hydraulic brake compensation.
An embodiment of a third aspect of the present application provides an electric vehicle, including the downhill braking device of the electric vehicle according to the foregoing embodiment.
When the electric automobile descends a slope, the target braking deceleration of a driver is determined by collecting the opening degree of a brake pedal, and the target deceleration can be achieved through electric braking and hydraulic braking, so that the braking travel and the braking deceleration are corresponding by using the electric braking and the hydraulic braking, the braking expectation of the driver is met, the use experience of the driver is improved, the braking risk is reduced, and the safety and the reliability of the electric automobile are improved. Therefore, the problems that the braking stroke and the braking deceleration of the conventional electric automobile do not correspond when going downhill, so that the braking expectation of a driver cannot be met, and the braking safety risk exists are solved.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow chart of a downhill braking method of an electric vehicle according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a system hardware structure for executing a downhill braking method of an electric vehicle according to an embodiment of the present application;
FIG. 3 is a schematic flow chart illustrating a downhill braking method for an electric vehicle according to an embodiment of the present application;
fig. 4 is an exemplary diagram of a downhill braking device of an electric vehicle according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The downhill braking method and device for an electric vehicle and the electric vehicle according to the embodiments of the present application will be described below with reference to the drawings. In order to solve the problem that the braking safety risk exists because the braking travel and the braking deceleration of the conventional electric vehicle do not correspond when the electric vehicle goes downhill, which is mentioned in the center of the background art, the application provides a downhill braking method of the electric vehicle. Therefore, the problems that the braking stroke and the braking deceleration of the conventional electric automobile do not correspond when going downhill, so that the braking expectation of a driver cannot be met, and the braking safety risk exists are solved.
Specifically, fig. 1 is a schematic flowchart of a downhill braking method of an electric vehicle according to an embodiment of the present application.
As shown in fig. 1, the downhill braking method of the electric vehicle includes the following steps:
in step S101, when the gradient value of the environment in which the vehicle is located is greater than a preset threshold value, the pedal opening of the electric vehicle is detected.
The execution subject of the downhill braking method for an electric vehicle may be the electric vehicle. The downhill braking method of the electric vehicle according to the embodiment of the present application may be executed by the downhill braking device of the electric vehicle according to the embodiment of the present application, and the downhill braking device of the electric vehicle according to the embodiment of the present application may be configured in any electric vehicle to execute the downhill braking method of the electric vehicle according to the embodiment of the present application. The execution main body of the downhill braking method of the electric automobile can be a vehicle control unit in the electric automobile.
The preset threshold may be set according to an actual situation, and is not specifically limited herein. When the gradient value is larger than the preset threshold value, the condition that the vehicle is in a steep slope braking condition can be understood, and when the vehicle is in the steep slope braking condition, the pedal opening degree is firstly detected for subsequent braking judgment.
In this embodiment, the slope value of the environment where the vehicle is located can be detected through the slope sensor, and the opening degree of the brake pedal can be detected through the brake opening degree sensor.
In step S102, a target braking deceleration of the vehicle is identified based on the pedal opening degree.
Here, the pedal opening degree may indicate the magnitude of the braking force, and therefore, the embodiment of the present application may determine the braking deceleration according to the pedal opening degree.
In step S103, an actual vehicle speed and an actual deceleration of the vehicle are acquired, and a target braking value is generated based on the target braking deceleration so that the actual deceleration reaches the target braking deceleration using electric braking and/or hydraulic braking.
The method and the device can acquire the actual speed and the actual deceleration of the vehicle according to the wheel speed sensor, and meet the target braking deceleration by utilizing electromechanical braking and/or hydraulic braking.
It can be understood that the embodiment of the application utilizes the coupling of electric braking and hydraulic braking to correspond the braking stroke and the braking deceleration of the vehicle, so that the actual deceleration and the braking feeling of the vehicle are the same under the same braking stroke of a driver, the braking expectation of the driver is met, and the braking safety precaution is increased.
In some embodiments, further comprising: detecting whether the vehicle meets an impending lock condition; and if the locking state is met, maintaining the current braking value of the vehicle, or reducing the current braking value to a preset braking value.
The preset brake value may be determined according to the current brake value, or may be set according to an actual situation, which is not specifically limited herein.
It can be understood that, because the Braking force required by Braking is larger when the vehicle descends a steep slope, when the wheel is determined to be in the impending lock state through four-wheel speed calculation and an Anti-lock Braking System (ABS) feedback state in the Braking process, that is, when the wheel is detected to be impending lock, the electric Braking force is controlled to be reduced or not increased in advance, the wheel lock probability is reduced, and the Braking safety is improved.
In some embodiments, further comprising: and controlling the acoustic reminding device or the optical reminding device to carry out locking reminding.
The acoustic reminding device can be a loudspeaker, and the loudspeaker is a transducer for converting an electric signal into an acoustic signal so as to remind a driver of wheel locking through voice. The optical warning device may be an indicator light, which is generally used to reflect the operating state of the circuit (power on or power off), the operating state of the electrical device (operation, shutdown or test), the position state (on or off), and the like, so as to warn the driver of the wheel lock through the indicator light. Of course, the embodiment of the present application may also adopt a mode of combining the optical reminding and the acoustic reminding, so as to better realize the reminding of the wheel locking, and is not specifically limited herein.
In some embodiments, further comprising: acquiring battery charging data of a power battery; and obtaining the maximum allowable electric braking force according to the battery charging data.
The battery charging data may include battery charging capability data fed back by the battery management system and motor execution electric braking force capability data fed back by the motor controller, so as to obtain the maximum allowable electric braking force.
In some embodiments, generating the target braking value based on the target braking deceleration comprises: if the target braking value is less than or equal to the maximum allowable electric braking force, performing electric braking by using a power motor; and if the target braking value is larger than the maximum allowable electric braking force, generating a hydraulic compensation value according to the difference between the target braking value and the maximum allowable electric braking force so as to perform hydraulic braking compensation.
It can be understood that, when the electric brake can meet the target brake, the embodiment of the application can only adopt the electric brake to brake; when the target braking cannot be met only through the electric braking, the embodiment of the application performs braking compensation through the hydraulic braking so as to meet the target braking. The embodiment of the application can preferentially adopt electric braking in the braking process, and when the electric braking cannot be met, hydraulic braking is requested.
In this embodiment, a safety protection mechanism is added on the basis of the braking system hardware of the vehicle in the embodiment of the application to realize the downhill braking method of the electric vehicle. As shown in fig. 2, a hardware system for executing the method of the embodiment of the present application includes: VCU (Vehicle control Unit), left front wheel speed sensor, right front wheel speed sensor, left rear wheel speed sensor, right rear wheel speed sensor, brake stroke sensor, gradient sensor, ABS, ESC (Electronic Stability Controller, Vehicle body Stability control System), MCU (Microcontroller Unit, motor Controller), BMS (Battery Management System), and ICM (meter), the braking process of the hardware System is as follows:
1. the VCU is used as a functional core module, and directly acquires 4 wheel speed sensor signals through 4 hard lines to judge the vehicle speed and the actual deceleration of the vehicle so as to ensure the stability and the real-time performance of the signals;
2. the VCU judges the braking opening degree through a hard line acquisition braking opening degree sensor;
3. the VCU judges the gradient of the vehicle through a hard-wire acquisition gradient sensor;
4. judging the maximum allowable electric braking force according to the battery charging capacity fed back by the BMS and the motor execution electric braking force capacity fed back by the MCU;
5. when the electric braking force meets the braking requirement, the MCU is preferentially requested to execute the electric braking; when the electric braking force does not meet the braking requirement, requesting ESC to perform hydraulic braking compensation;
6. judging the state to be locked according to the wheel speed judgment of the four wheels and the feedback of the ABS;
7. when the brake protection system is activated, the user is prompted in the form of an indicator light or sound.
The downhill braking method of the electric vehicle will be further explained by a specific embodiment, as shown in fig. 3, including the following steps:
s1, when the vehicle runs normally, entering a state judgment process;
s2, when a downhill is detected, the gradient is larger than a preset threshold value, and the opening degree of a brake pedal is larger than an opening degree threshold value, the brake system and the protection function are judged to be activated, and a target brake deceleration is calculated according to the brake stroke;
s3, if the condition in the S2 is not met, the brake system and the protection function are not activated;
s4, calculating the total braking force of the actual demand according to the target deceleration and the actual deceleration;
s5, acquiring signals of a four-wheel speed sensor through hard wires, and calculating the four-wheel speed and the vehicle speed;
s6, calculating the actual deceleration of the vehicle according to the change of the vehicle speed in a fixed time;
s7, calculating the maximum executable electric braking force of the vehicle by integrating the battery charging capacity fed back by the BMS and the maximum executable torque of the motor fed back by the MCU, and judging whether the electric braking force meets the requirement of the calculated total braking force;
s8, if the electric braking force in the S7 meets the total braking force requirement, the motor is controlled to execute corresponding electric braking force preferentially;
s9, if the electric braking force in S7 does not meet the total braking force requirement, the corresponding electric braking force is executed by the control motor, and meanwhile, the ESC is requested to supplement the residual required braking force in a hydraulic braking mode;
s10, the ABS reduces the threshold value of wheel locking condition judgment, judges the pre-locking state, and sends the pre-locking state (I) when the wheel is about to be locked; the VCU independently judges a pre-locking state II according to the four-wheel state;
s11, when the pre-locking state II occurs, controlling the currently executed electric braking force not to be increased; when a pre-locking state (I) occurs, controlling the currently executed electric braking force to rapidly descend in a large gradient, and reducing the actual locking probability of the wheels;
and S12, when the electric braking force starts to be reduced after the pre-lock state (i) occurs, prompting the current state of the user by using a meter in a voice or indicator lamp mode.
According to the downhill braking method of the electric automobile, when the electric automobile goes downhill, the target braking deceleration of a driver is determined by collecting the opening degree of a brake pedal, and the target deceleration can be achieved through electric braking and hydraulic braking, so that electric braking and hydraulic braking are utilized, the braking stroke and the braking deceleration are corresponded to meet the braking expectation of the driver, the use experience of the driver is improved, the braking risk is reduced, and when the imminent locking is detected, the electric braking force is controlled to be reduced or not increased in advance, the wheel locking probability is reduced, the braking safety is improved, and the safety and the reliability of the electric automobile are improved.
Next, a downhill braking apparatus of an electric vehicle according to an embodiment of the present application will be described with reference to the drawings.
Fig. 4 is a block schematic diagram of a downhill braking device of an electric vehicle according to an embodiment of the present application.
As shown in fig. 4, the downhill braking device 10 of the electric vehicle includes: a first detection module 100, an identification module 200, and a brake module 300.
The first detection module 100 is used for detecting the pedal opening of the electric automobile when the gradient value of the environment where the vehicle is located is greater than a preset threshold value; the identification module 200 is used for identifying a target braking deceleration of the vehicle according to the pedal opening degree; the brake module 300 is configured to collect an actual vehicle speed and an actual deceleration of the vehicle, and generate a target brake value based on the target brake deceleration so that the actual deceleration reaches the target brake deceleration by electric braking and/or hydraulic braking.
Further, the apparatus 10 of the embodiment of the present application further includes: the device comprises a second detection module, a maintaining and adjusting module and a prompting module. The second detection module is used for detecting whether the vehicle meets an impending locking condition; the maintaining and down-regulating module is used for maintaining the current braking value of the vehicle or down-regulating the current braking value to a preset braking value when the locking state is met; and the prompting module is used for controlling the acoustic prompting equipment or the optical prompting equipment to carry out locking prompting.
Further, the apparatus 10 of the embodiment of the present application further includes: the device comprises an acquisition module and an analysis module. The acquisition module is used for acquiring battery charging data of the power battery; and the analysis module is used for obtaining the maximum allowable electric braking force according to the battery charging data.
Further, the brake module 300 includes: a first brake unit and a second brake unit. The first braking unit is used for performing electric braking by using the power motor when the target braking value is less than or equal to the maximum allowable electric braking force; and the second brake unit is used for generating a hydraulic compensation value according to the difference between the target brake value and the maximum allowable electric brake force when the target brake value is larger than the maximum allowable electric brake force so as to perform hydraulic brake compensation.
It should be noted that the foregoing explanation of the embodiment of the downhill braking method for an electric vehicle is also applicable to the downhill braking device for an electric vehicle of this embodiment, and will not be described herein again.
According to the downhill braking device of the electric automobile, when the electric automobile goes downhill, the target braking deceleration of a driver is determined by collecting the opening degree of a brake pedal, and the target deceleration can be achieved through electric braking and hydraulic braking, so that electric braking and hydraulic braking are utilized, the braking stroke and the braking deceleration are corresponded, the braking expectation of the driver is met, the use experience of the driver is improved, the braking risk is reduced, and when the impending locking is detected, the electric braking force is controlled to be reduced or not increased in advance, the wheel locking probability is reduced, the braking safety is improved, and the safety and the reliability of the electric automobile are improved.
The embodiment also provides an electric automobile, which comprises the downhill braking device of the electric automobile. According to the electric automobile of the embodiment of the application, when the electric automobile is downhill, the target braking deceleration of a driver is determined by collecting the opening degree of the brake pedal, the target deceleration can be achieved through electric braking and hydraulic braking, electric braking and hydraulic braking are utilized, the braking travel and the braking deceleration are corresponded, the braking expectation of the driver is met, the use experience of the driver is improved, the braking risk is reduced, and when the impending locking is detected, the electric braking force is controlled to be reduced or not increased in advance, the wheel locking probability is reduced, the braking safety is improved, and the safety and reliability of the electric automobile are improved.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. A downhill braking method of an electric vehicle is characterized by comprising the following steps:
when the gradient value of the environment where the vehicle is located is larger than a preset threshold value, detecting the pedal opening degree of the electric vehicle;
identifying a target braking deceleration of the vehicle according to the pedal opening degree; and
the method comprises the steps of collecting an actual vehicle speed and an actual deceleration of the vehicle, and generating a target braking value based on the target braking deceleration so as to enable the actual deceleration to reach the target braking deceleration by electric braking and/or hydraulic braking.
2. The method of claim 1, further comprising:
detecting whether the vehicle meets an impending lock condition;
and if the locking state is met, maintaining the current braking value of the vehicle, or reducing the current braking value to a preset braking value.
3. The method of claim, further comprising:
and controlling the acoustic reminding device or the optical reminding device to carry out locking reminding.
4. The method of claim 1, further comprising:
acquiring battery charging data of a power battery;
and obtaining the maximum allowable electric braking force according to the battery charging data.
5. The method of claim 4, wherein the generating the target braking value based on the target braking deceleration comprises:
if the target braking value is smaller than or equal to the maximum allowable electric braking force, performing electric braking by using a power motor;
and if the target braking value is larger than the maximum allowable electric braking force, generating a hydraulic compensation value according to the difference between the target braking value and the maximum allowable electric braking force so as to perform hydraulic braking compensation.
6. A downhill braking device of an electric vehicle, characterized by comprising:
the first detection module is used for detecting the pedal opening degree of the electric automobile when the gradient value of the environment where the vehicle is located is larger than a preset threshold value;
an identification module for identifying a target braking deceleration of the vehicle according to the pedal opening; and
the braking module is used for acquiring the actual speed and the actual deceleration of the vehicle and generating a target braking value based on the target braking deceleration so as to enable the actual deceleration to reach the target braking deceleration by using electric braking and/or hydraulic braking.
7. The method of claim 6, further comprising:
the second detection module is used for detecting whether the vehicle meets an impending lock condition;
the maintaining and adjusting module is used for maintaining the current braking value of the vehicle or adjusting the current braking value to a preset braking value when the locking state is met;
and the prompting module is used for controlling the acoustic prompting equipment or the optical prompting equipment to carry out locking prompting.
8. The apparatus of claim 6, further comprising:
the acquisition module is used for acquiring battery charging data of the power battery;
and the analysis module is used for obtaining the maximum allowable electric braking force according to the battery charging data.
9. The apparatus of claim 8, wherein the braking module comprises:
the first braking unit is used for performing electric braking by using a power motor when the target braking value is less than or equal to the maximum allowable electric braking force;
and the second brake unit is used for generating a hydraulic compensation value according to the difference between the target brake value and the maximum allowable electric brake force when the target brake value is larger than the maximum allowable electric brake force so as to perform hydraulic brake compensation.
10. An electric vehicle characterized by comprising the downhill braking device of an electric vehicle according to any one of claims 6 to 9.
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| CN202110009246.5A CN112660092A (en) | 2021-01-05 | 2021-01-05 | Downhill braking method and device for electric automobile and electric automobile |
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| CN202110009246.5A CN112660092A (en) | 2021-01-05 | 2021-01-05 | Downhill braking method and device for electric automobile and electric automobile |
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| CN115230670A (en) * | 2022-08-24 | 2022-10-25 | 奇瑞汽车股份有限公司 | Method and device for warning of insufficient braking force of vehicle, vehicle and storage medium |
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| CN114407852B (en) * | 2022-03-31 | 2022-07-15 | 山西维度空间信息科技有限公司 | Mine car brake control method and device, mine car and storage medium |
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