The invention provides a vehicle braking control method and device, a vehicle and a storage medium. The vehicle braking control method comprises the steps that the target acceleration of the vehicle and the driving torque output by a driving motor are obtained; according to the change rate of the target acceleration, the braking grade and the hydraulic braking torque are determined; when the target acceleration is zero, the hydraulic system is controlled to execute the hydraulic braking torque; when the driving torque output by the driving motor is smaller than the preset torque, energy recovery torque is obtained; and when the driving torque output by the driving motor is smaller than zero, the driving motor is controlled to work according to the braking grade and the energy recovery torque. By recognizing the braking grade of the vehicle and controlling the hydraulic system to conduct hydraulic braking according to the braking grade of the vehicle, the braking torque needing to be provided by the driving motor is reduced, the torque change rate of the driving motor at the torque zero crossing point is reduced, the impact force on the gear is reduced, the abnormal sound generated by the gear is reduced, and the service life of the gear is prolonged. And the stability of vehicle driving is improved.

    本申请提供了一种车辆制动控制方法、装置、车辆及存储介质,上述车辆制动控制方法包括:获取车辆的目标加速度和驱动电机输出的驱动扭矩;根据目标加速度的变化速率,确定制动等级和液压制动扭矩;当目标加速度为零时,控制液压系统执行液压制动扭矩;当驱动电机输出的驱动扭矩小于预设扭矩时,获取能量回收扭矩;当驱动电机输出的驱动扭矩小于零时,根据制动等级和能量回收扭矩控制驱动电机工作。通过识别车辆的制动等级,并根据车辆的制动等级控制液压系统进行液压制动,减小驱动电机需要提供的制动扭矩,降低驱动电机在扭矩过零点时扭矩的变化速率,降低对齿轮的冲击力,降低齿轮产生的异响,延长齿轮的使用寿命,提高了车辆驾驶的平稳性。


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    Title :

    Vehicle braking control method and device, vehicle and storage medium


    Additional title:

    车辆制动控制方法、装置、车辆及存储介质


    Contributors:
    LIU ZHIGANG (author)

    Publication date :

    2023-12-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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