The invention relates to a braking efficiency decline compensation method and device, a vehicle and a storage medium in the technical field of vehicle braking, and the method comprises the steps that in the vehicle braking process, the required deceleration of the vehicle at the current moment is determined; determining a proportional-integral torque according to the required deceleration, the proportional control parameter, the integral control parameter and the actual deceleration, and determining a feed-forward torque according to the vehicle mass and the required deceleration; and determining a target compensation torque according to the proportional integral torque and the feed-forward torque, and compensating the target compensation torque through a recovery torque of a driving motor. And the safety risk caused by the decline of the braking efficiency of the vehicle is reduced, and the driving safety of the vehicle is improved.

    本公开涉及车辆制动技术领域的一种制动效能衰退补偿方法,装置,车辆及存储介质,包括:在车辆制动过程中,确定所述车辆当前时刻的需求减速度;根据所述需求减速度、比例控制参数、积分控制参数以及实际减速度确定比例积分扭矩,以及根据车辆质量以及所述需求减速度确定前馈扭矩;根据所述比例积分扭矩以及所述前馈扭矩,确定目标补偿扭矩,并通过驱动电机的回收扭矩补偿所述目标补偿扭矩。降低了车辆因制动效能衰退引起的安全风险,提高了车辆行驶的安全性。


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    Title :

    Braking efficiency decline compensation method and device, vehicle and storage medium


    Additional title:

    制动效能衰退补偿方法,装置,车辆及存储介质


    Contributors:

    Publication date :

    2023-01-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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