CN116279488A

CN116279488A - Auxiliary braking method, device, system, equipment and medium

Info

Publication number: CN116279488A
Application number: CN202310409831.3A
Authority: CN
Inventors: 田兴兴; 张占峰; 陈雨; 司小云; 唐冰海; 王聪; 李峥峥; 李孟华; 王桢
Original assignee: FAW Jiefang Automotive Co Ltd
Current assignee: FAW Jiefang Automotive Co Ltd
Priority date: 2023-04-17
Filing date: 2023-04-17
Publication date: 2023-06-23

Abstract

The embodiment of the invention discloses an auxiliary braking method, an auxiliary braking device, an auxiliary braking system, auxiliary braking equipment and an auxiliary braking medium. The method comprises the following steps: acquiring current braking data of the vehicle in response to the auxiliary braking operation; determining a current required torque of the vehicle according to the current braking data; determining a target required torque of the vehicle according to the current required torque; and controlling the vehicle to run according to the target required torque. According to the scheme, on the premise of ensuring the braking performance, the vehicle is automatically braked in the downhill process, the driver does not need to frequently tread the brake pedal, the vehicle speed is kept stable, the labor intensity of the driver is reduced, and the increase of the fatigue degree of the driver is avoided; meanwhile, the embodiment of the invention can realize vehicle braking without a brake pedal, avoid the failure of a braking friction pair caused by the temperature rise due to frequent braking, and improve the reliability and safety of braking.

Description

Auxiliary braking method, device, system, equipment and medium

Technical Field

The embodiment of the invention relates to the field of electric automobiles, in particular to an auxiliary braking method, an auxiliary braking device, an auxiliary braking system, auxiliary braking equipment and auxiliary braking media.

Background

In the downhill running process of the vehicle, frequent braking is needed to avoid continuous increase of the speed of the vehicle and ensure running safety, so that a driver is required to frequently step on a brake pedal, the labor intensity of the driver is increased, and driving fatigue is more likely to occur. In the prior art, most of vehicles driven by an engine adopt engine braking or a retarder as auxiliary braking, so that the braking times of a driver are effectively reduced, the temperature rise of a braking friction pair caused by frequent braking is avoided, and the braking reliability is greatly improved.

In the prior art, engine exhaust braking may also be employed to achieve auxiliary braking for engine driven vehicles. However, in electrically driven vehicles, the auxiliary braking effect cannot be achieved by engine exhaust braking. Therefore, it is important for how the electrically driven vehicle achieves auxiliary braking.

Disclosure of Invention

The invention provides an auxiliary braking method, an auxiliary braking device, an auxiliary braking system, auxiliary braking equipment and an auxiliary braking medium for an electrically driven vehicle.

According to an aspect of the present invention, there is provided an auxiliary braking method including:

acquiring current braking data of the vehicle in response to the auxiliary braking operation;

determining a current required torque of the vehicle according to the current braking data;

determining a target required torque of the vehicle according to the current required torque;

and controlling the vehicle to run according to the target required torque.

According to another aspect of the present invention, there is provided an auxiliary brake device including:

the current braking data acquisition module is used for responding to auxiliary braking operation and acquiring current braking data of the vehicle;

the current required torque determining module is used for determining the current required torque of the vehicle according to the current braking data;

a target required torque determining module, configured to determine a target required torque of the vehicle according to the current required torque;

and the vehicle running module is used for controlling the vehicle to run according to the target required torque.

According to another aspect of the present invention, there is provided an auxiliary brake system comprising: the vehicle control system and the braking system;

the whole vehicle control system is in communication connection with the braking system and is used for responding to auxiliary braking operation, acquiring current braking data of the vehicle and determining the current deceleration according to the current braking data;

the braking system is used for determining the target required torque according to the current deceleration and controlling the vehicle to run according to the target required torque.

According to another aspect of the present invention, there is provided an electronic apparatus including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the auxiliary braking method according to any one of the embodiments of the present invention.

According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute the auxiliary braking method according to any one of the embodiments of the present invention.

The embodiment of the invention provides an auxiliary braking scheme, which is used for acquiring current braking data of a vehicle by responding to auxiliary braking operation; determining a current required torque of the vehicle according to the current braking data; determining a target required torque of the vehicle according to the current required torque; and controlling the vehicle to run according to the target required torque. According to the scheme, on the premise of ensuring the braking performance, the vehicle is automatically braked in the downhill process, the driver does not need to frequently tread the brake pedal, the vehicle speed is kept stable, the labor intensity of the driver is reduced, and the increase of the fatigue degree of the driver is avoided; meanwhile, the embodiment of the invention can realize vehicle braking without a brake pedal, avoid the failure of a braking friction pair caused by the temperature rise due to frequent braking, and improve the reliability and safety of braking.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of an auxiliary braking method according to a first embodiment of the present invention;

fig. 2 is a flowchart of an auxiliary braking method according to a second embodiment of the present invention;

fig. 3 is a schematic structural view of an auxiliary braking device according to a third embodiment of the present invention

Fig. 4 is a schematic structural diagram of an auxiliary braking system according to a fourth embodiment of the present invention;

fig. 5 is a schematic structural diagram of an electronic device for implementing an auxiliary braking method according to a fifth embodiment of the present invention.

Detailed Description

The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.

Example 1

Fig. 1 is a flowchart of an auxiliary braking according to an embodiment of the present invention, where the embodiment is applicable to a situation where auxiliary braking of a vehicle is implemented when the vehicle is in a downhill state, the method may be performed by an auxiliary braking device, which may be implemented in hardware and/or software, and the device may be configured in an electronic apparatus carrying auxiliary braking functions.

Referring to the auxiliary braking method shown in fig. 1, it includes:

s110, responding to auxiliary braking operation, and acquiring current braking data of the vehicle.

The auxiliary braking operation refers to a command that can be used to start auxiliary braking. The embodiment of the present invention does not limit the manner in which the auxiliary braking operation is performed, and may be set by a technician according to experience. For example, this may be performed by an auxiliary brake switch.

It should be noted that, the embodiment of the present invention does not limit the type of the vehicle, and the vehicle may be set by a technician according to experience, and only needs to ensure that the vehicle can be driven electrically. For example, a pure electric vehicle or an extended range hybrid vehicle may be used.

The current braking data refers to data which can be used for controlling the vehicle to realize braking at the current moment. Alternatively, the current braking data may include at least one of a vehicle speed, a current longitudinal acceleration, a gradient angle, and the like for a preset period of time.

The length of the preset time period is not limited in any way, and the preset time period can be set by a technician according to experience. The mode of acquiring the vehicle speed in the preset time period is not limited, and the mode can be set by a technician according to experience. For example, it may be acquired by a vehicle speed sensor.

The current longitudinal acceleration refers to acceleration of the vehicle parallel to the ramp. The embodiment of the invention does not limit the mode of acquiring the current longitudinal acceleration, and can be set by a technician according to experience. For example, it may be acquired by an acceleration sensor.

The gradient angle refers to the angle of a ramp where the vehicle is located at the current moment. The embodiment of the invention does not limit the way of acquiring the ramp angle, and can be set by a technician according to experience. By way of example, it may be acquired by an angle sensor.

It can be understood that the current braking data is determined by introducing the vehicle speed, the current longitudinal acceleration and the gradient angle in the preset time period, so that the richness of the current braking data is improved, the condition that the accuracy of the determined current braking data is not high when the current braking data is determined according to single data is avoided, and the accuracy and the comprehensiveness of the determined current braking data are improved.

Specifically, when the vehicle is in a downhill state, the driver performs an auxiliary braking operation; in response to the auxiliary braking operation, current braking data of the vehicle in a downhill state is acquired.

It should be noted that, in the embodiment of the present invention, the current brake data may be obtained by setting a gradient threshold. Specifically, when the gradient of the vehicle reaches a gradient threshold value, the current braking data of the vehicle can be obtained. The magnitude of the gradient threshold is not limited in any way, and the gradient threshold can be set by a technician according to experience and can be repeatedly determined through a large number of experiments.

S120, determining the current required torque of the vehicle according to the current braking data.

The current required torque refers to the torque required by the vehicle to realize downhill braking at the current moment.

In an alternative embodiment, determining the current required torque of the vehicle based on the current braking data includes: determining a current deceleration of the vehicle according to the current braking data; the current demand torque of the vehicle is determined based on the current deceleration.

The current deceleration is the deceleration required by the vehicle to maintain the vehicle speed during downhill descent at the current time.

Specifically, according to the current braking data, determining the current deceleration required for avoiding the excessive speed of the vehicle when the vehicle is in a downhill state; based on the determined current deceleration, a torque magnitude required to achieve the current deceleration, i.e., a current demand torque, is determined.

It can be appreciated that by introducing the current deceleration, determination of the current demand torque is achieved, improving the accuracy of the determined current demand torque.

S130, determining target required torque of the vehicle according to the current required torque.

The target required torque refers to the torque which can be achieved by the vehicle for realizing downhill braking at the current moment.

And S140, controlling the vehicle to run according to the target required torque.

On the basis of the above-described technical solution, in order to determine whether to respond to the auxiliary braking operation, the determination may be made by the state of charge of the battery in the vehicle. Specifically, determining a current state of charge of a battery in the vehicle; based on the current state of charge, it is determined whether to respond to an auxiliary braking operation.

The current state of charge refers to the amount of charge in the battery at the current time. Specifically, the current state of charge includes full charge and not full charge.

Specifically, if the current electric quantity state is full of electric quantity, the auxiliary braking operation is not responded; and if the current electric quantity state is that the electric quantity is not full, responding to auxiliary braking operation.

It can be appreciated that by introducing the current state of charge, determining whether to respond to the auxiliary braking operation avoids failing to achieve braking of the vehicle in response to the auxiliary braking operation when the charge is full, and improves reliability of auxiliary braking of the vehicle.

Example two

Fig. 2 is a flowchart of an auxiliary braking method according to a second embodiment of the present invention, where the present embodiment further refines the operation of determining the target required torque of the vehicle according to the current required torque to obtain the current executable torque of the driving motor in the vehicle based on the above embodiments; and determining the target required torque' of the vehicle according to the current required torque and the current executable torque so as to perfect a determination mechanism of the target required torque. In the portions of the embodiments of the present invention that are not described in detail, reference may be made to the descriptions of other embodiments.

Referring to fig. 2, the auxiliary braking method includes:

s210, responding to auxiliary braking operation, and acquiring current braking data of the vehicle.

S220, determining the current required torque of the vehicle according to the current braking data.

S230, acquiring current executable torque of a driving motor in the vehicle.

The current executable torque refers to the maximum torque which can be achieved by a driving motor in a vehicle at the current moment.

S240, determining the target required torque of the vehicle according to the current required torque and the current executable torque.

In an alternative embodiment, determining a target requested torque for the vehicle based on the current requested torque and the current executable torque includes: if the current required torque is smaller than or equal to the current executable torque, taking the current required torque as the target required torque of the vehicle; and if the current required torque is larger than the current executable torque, taking the current executable torque as the target required torque of the vehicle.

It can be appreciated that by comparing the current required torque with the current executable torque, the target required torque is determined, the accuracy and the executable performance of the determined target required torque are improved, the situation that the determined target required torque is too large to be realized by the driving motor is avoided, and the reliability of the target required torque is improved.

S250, controlling the vehicle to run according to the target required torque.

According to the auxiliary braking scheme provided by the implementation of the invention, the target required torque operation of the vehicle is determined according to the current required torque, and the target required torque operation is refined into the current executable torque of the driving motor in the vehicle; and determining the target required torque of the vehicle according to the current required torque and the current executable torque, and perfecting a determination mechanism of the target required torque. According to the scheme, the target required torque is determined by introducing the current executable torque, the accuracy of the determined target required torque is improved, the situation that the driving motor in the vehicle cannot realize the target required torque according to the determined target required torque of the current required torque when the current required torque is larger is avoided, and the executable performance of the determined target required torque is improved.

Example III

Fig. 3 is a schematic structural diagram of an auxiliary braking device according to a third embodiment of the present invention. The embodiment is applicable to the case of implementing auxiliary braking of a vehicle when the vehicle is in a downhill state, the method may be performed by an auxiliary braking device, which may be implemented in hardware and/or software, which may be configured in an electronic device carrying auxiliary braking functions.

As shown in fig. 3, the apparatus includes: a current braking data acquisition module 310, a current demand torque determination module 320, a target demand torque determination module 330, and a vehicle travel module 340. Wherein, the liquid crystal display device comprises a liquid crystal display device,

a current braking data acquisition module 310 for acquiring current braking data of the vehicle in response to the auxiliary braking operation;

a current demand torque determination module 320, configured to determine a current demand torque of the vehicle according to the current brake data;

a target demand torque determination module 330 for determining a target demand torque of the vehicle based on the current demand torque;

the vehicle driving module 340 is configured to control vehicle driving according to the target required torque.

The embodiment of the invention provides an auxiliary braking scheme, wherein the current braking data of a vehicle is acquired through a current braking data acquisition module in response to auxiliary braking operation; determining the current required torque of the vehicle according to the current braking data through a current required torque determining module; determining a target required torque of the vehicle according to the current required torque through a target required torque determining module; and controlling the vehicle to run according to the target required torque through a vehicle running module. According to the scheme, on the premise of ensuring the braking performance, the vehicle is automatically braked in the downhill process, the driver does not need to frequently tread the brake pedal, the vehicle speed is kept stable, the labor intensity of the driver is reduced, and the increase of the fatigue degree of the driver is avoided; meanwhile, the embodiment of the invention can realize vehicle braking without a brake pedal, avoid the failure of a braking friction pair caused by the temperature rise due to frequent braking, and improve the reliability and safety of braking.

Optionally, the target demand torque determination module 330 includes:

a current executable torque acquisition unit for acquiring a current executable torque of a drive motor in a vehicle;

and the target required torque determining unit is used for determining the target required torque of the vehicle according to the current required torque and the current executable torque.

Optionally, the target required torque determining unit is specifically configured to:

if the current required torque is smaller than or equal to the current executable torque, taking the current required torque as the target required torque of the vehicle;

and if the current required torque is larger than the current executable torque, taking the current executable torque as the target required torque of the vehicle.

Optionally, the apparatus further comprises:

the current electric quantity state determining module is used for determining the current electric quantity state of the battery in the vehicle;

and the auxiliary braking operation response module is used for determining whether to respond to the auxiliary braking operation according to the current electric quantity state.

Optionally, the current demand torque determination module 320 includes:

a current deceleration determination unit configured to determine a current deceleration of the vehicle based on the current brake data;

and the current demand torque determining unit is used for determining the current demand torque of the vehicle according to the current deceleration.

Optionally, the current braking data includes at least one of a vehicle speed, a current longitudinal acceleration, and a gradient angle for a preset period of time.

The auxiliary braking device provided by the embodiment of the invention can execute the auxiliary braking method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the auxiliary braking methods.

In the technical scheme of the invention, the related processes such as collection, storage, use, processing, transmission, provision, disclosure and the like of the current braking data, the current executable torque, the current electric quantity state and the like all conform to the regulations of related laws and regulations, and the public order is not violated.

Example IV

Fig. 4 is a schematic structural diagram of an auxiliary braking system according to a fourth embodiment of the present invention. The auxiliary braking system comprises an auxiliary braking switch, a whole vehicle control system and a braking system.

The auxiliary brake switch is electrically connected with the whole vehicle control system and is used for sending out auxiliary brake operation.

The vehicle control system is in communication connection with the braking system and is used for responding to auxiliary braking operation, acquiring current braking data of the vehicle and determining current deceleration according to the current braking data. The embodiment of the invention does not limit the mode of collecting the current braking data, and can be set by a technician according to experience. For example, current braking data may be collected by a vehicle parking system. The vehicle parking system is in communication connection with the whole vehicle control system and is used for providing current braking data for the whole vehicle control system. Specifically, after the vehicle control system responds to the auxiliary braking operation, current braking data acquired by the vehicle parking system are acquired.

The braking system is used for determining target required torque according to the current deceleration and controlling the vehicle to run according to the target required torque. Specifically, the braking system includes a motor controller and a drive motor. The motor controller is in communication connection with the whole vehicle control system, is electrically connected with the driving motor, and is used for determining current required torque according to the current deceleration and determining target required torque according to the current required torque; the driving motor is used for driving the vehicle to run according to the target required torque.

It should be noted that, the communication connection manner is not limited in any way in the embodiment of the present invention, and may be set by a technician according to experience. The communication connection may be a CAN (Controller AreaNetwork ) bus, for example.

The driving motor has three working states, one is a driving running state, namely a state of driving the vehicle to run normally; one is a braking state, i.e., a state in which the vehicle is driven to achieve braking; one is a shutdown state, i.e., a state in which the drive motor is not operating. In the embodiment of the invention, the motor controller controls the driving motor to be in a braking state according to the target required torque so that the vehicle can keep the speed in the downhill process.

Specifically, the driving motor can feed back the current executable torque to the motor controller in real time; when the motor controller receives the current deceleration, the motor controller can determine the current required torque according to the current deceleration; the motor controller can compare the current executable torque with the current required torque, determine a target required torque and feed back the target required torque to the driving motor; the driving motor drives the vehicle to run according to the received target demand torque. If the current required torque is smaller than or equal to the current executable torque, the current required torque is used as the target required torque of the vehicle; and if the current required torque is larger than the current executable torque, taking the current executable torque as the target required torque of the vehicle.

In the braking system according to the embodiment of the present invention, the braking energy recovery system in the vehicle is adopted, so that it is necessary to determine the SOC (State of Charge) of the battery before the braking system is used. Specifically, the motor controller may receive fault information of the braking system and/or SOC information of the battery, i.e., a current state of charge of the battery, to determine whether the braking system can function normally. If the fault information received by the motor controller is a brake system fault and/or the SOC information is full of electric quantity, determining that the brake system can not work normally; if not, the brake system is determined to work normally.

It can be understood that the embodiment of the invention uses the braking energy recovery system as the braking system, so that the energy generated by braking can be effectively recovered while the braking function requirement is met, the driving range of the vehicle is improved, and the effects of energy conservation and emission reduction are achieved.

The motor controller can judge whether the braking system can work normally or not, and can be used before the whole vehicle control system responds to auxiliary braking operation; the embodiment of the invention is not limited in any way, and the motor controller can also receive the current deceleration sent by the whole vehicle control system.

Further, if the motor controller determines that the braking system cannot work normally, the motor controller feeds abnormal information back to the whole vehicle control system; and the whole vehicle control system outputs an alarm signal. The abnormality information is a signal indicating that the brake system is abnormal. The alarm signal may be presented by at least one of sound, light, text, image, etc., which is not limited in any way by the embodiment of the present invention. For example, the vehicle control system may output a signal to the instrument module to illuminate the auxiliary brake fault indicator; and the instrument module lights the corresponding indicator lamp according to the received signal of the auxiliary brake fault indicator lamp. Wherein, the signal of the auxiliary brake fault indicator lamp is an instruction for controlling the corresponding indicator lamp to be lightened.

It will be appreciated that by incorporating a motor controller and drive motor, accurate control of vehicle braking is achieved.

In the embodiment of the invention, a driver starts an auxiliary brake switch in the downhill process of a vehicle, and the auxiliary brake switch sends auxiliary brake operation to a whole vehicle control system; after receiving auxiliary braking operation, the whole vehicle control system acquires current braking data acquired by a vehicle parking system; the vehicle control system determines the current deceleration according to the received current braking data; the whole vehicle control system sends the current deceleration to a motor controller in a braking system; the motor controller determines the current required torque according to the current deceleration; the motor controller compares the current required torque with the current executable torque fed back by the driving motor in real time to determine the target required torque; the motor controller feeds back the target required torque to the driving motor; the driving motor controls the vehicle to run according to the received target required torque.

The embodiment of the invention provides an auxiliary braking scheme, which realizes that the vehicle braking is automatically realized in the downhill process of the vehicle on the premise of ensuring the braking performance through a whole vehicle control system and a braking system, and the vehicle speed is kept stable without frequent stepping on a brake pedal by a driver, so that the labor intensity of the driver is reduced, and the increase of the fatigue degree of the driver is avoided; meanwhile, the embodiment of the invention can realize vehicle braking without a brake pedal, avoid the failure of a braking friction pair caused by the temperature rise due to frequent braking, and improve the reliability and safety of braking.

Example five

Fig. 5 is a schematic structural diagram of an electronic device for implementing an auxiliary braking method according to a fifth embodiment of the present invention. The electronic device 510 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 5, the electronic device 510 includes at least one processor 511, and a memory communicatively connected to the at least one processor 511, such as a Read Only Memory (ROM) 512, a Random Access Memory (RAM) 513, etc., in which the memory stores computer programs executable by the at least one processor, and the processor 511 may perform various suitable actions and processes according to the computer programs stored in the Read Only Memory (ROM) 512 or the computer programs loaded from the storage unit 518 into the Random Access Memory (RAM) 513. In the RAM 513, various programs and data required for the operation of the electronic device 510 can also be stored. The processor 511, the ROM 512, and the RAM 513 are connected to each other by a bus 514. An input/output (I/O) interface 515 is also connected to bus 514.

Various components in the electronic device 510 are connected to the I/O interface 515, including: an input unit 516 such as a keyboard, a mouse, etc.; an output unit 517 such as various types of displays, speakers, and the like; a storage unit 518 such as a magnetic disk, optical disk, etc.; and a communication unit 519 such as a network card, modem, wireless communication transceiver, or the like. The communication unit 519 allows the electronic device 510 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunications networks.

The processor 511 may be a variety of general and/or special purpose processing components with processing and computing capabilities. Some examples of processor 511 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 511 performs the various methods and processes described above, such as an auxiliary braking method.

In some embodiments, the auxiliary braking method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 518. In some embodiments, some or all of the computer program may be loaded and/or installed onto the electronic device 510 via the ROM 512 and/or the communication unit 519. When the computer program is loaded into RAM 513 and executed by processor 511, one or more steps of the auxiliary braking method described above may be performed. Alternatively, in other embodiments, the processor 511 may be configured to perform the auxiliary braking method in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. An auxiliary braking method, characterized by comprising:

and controlling the vehicle to run according to the target required torque.

2. The method of claim 1, wherein said determining a target required torque for the vehicle based on the current required torque comprises:

acquiring current executable torque of a driving motor in the vehicle;

and determining a target required torque of the vehicle according to the current required torque and the current executable torque.

3. The method of claim 2, wherein the determining the target demand torque for the vehicle based on the current demand torque and the current executable torque comprises:

if the current required torque is smaller than or equal to the current executable torque, taking the current required torque as a target required torque of the vehicle;

4. The method according to claim 1, wherein the method further comprises:

determining a current state of charge of a battery in the vehicle;

and determining whether to respond to the auxiliary braking operation according to the current electric quantity state.

5. The method of claim 1, wherein said determining a current demand torque of the vehicle based on the current braking data comprises:

determining a current deceleration of the vehicle according to the current braking data;

and determining the current required torque of the vehicle according to the current deceleration.

6. The method of any of claims 1-5, wherein the current braking data includes at least one of a vehicle speed, a current longitudinal acceleration, and a grade angle over a preset period of time.

7. An auxiliary brake device, comprising:

8. An auxiliary braking system, comprising: the vehicle control system and the braking system;

9. The system of claim 8, wherein the braking system comprises a motor controller and a drive motor;

the motor controller is electrically connected with the driving motor and is used for determining the current required torque according to the current deceleration and determining the target required torque according to the current required torque;

the driving motor is used for driving the vehicle to run according to the target required torque.

10. An electronic device, comprising:

one or more processors;

a memory for storing one or more programs;

when executed by the one or more processors, causes the one or more processors to implement an auxiliary braking method as claimed in any one of claims 1 to 6.

11. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements an auxiliary braking method as claimed in any one of claims 1-6.