Vehicle comfortable braking method and device, vehicle and storage medium

Abstract

The invention provides a vehicle comfortable braking method and device, a vehicle and a storage medium, and relates to the technical field of automobiles. The method comprises the steps that when a comfortable braking intention is recognized, whether braking is safe or not is judged based on the driving condition of the vehicle; if the judgment result shows that braking is safe, the vehicle is controlled to conduct comfortable braking according to a preset comfortable braking strategy, and the preset comfortable braking strategy comprises the steps that the rigidity of a suspension system of the vehicle is adjusted, and the deceleration in the vehicle braking process is adjusted to be within a preset deceleration range. Safety judgment is carried out on the driving condition of the vehicle before comfortable braking is carried out, when comfortable braking is carried out under the safe driving condition, the rigidity of a suspension system is adjusted so as to reduce the out-of-control risk of the vehicle, double control over comfortable braking safety is carried out in the two time periods before comfortable braking and during comfortable braking, and the safety of the vehicle is improved. Therefore, the safety of comfortable braking of the vehicle is effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a vehicle comfort braking method, a device, a vehicle and a storage medium. Background Art

[0002] With the continuous development of the automobile industry, new energy vehicles are being used more and more widely. The braking method of new energy vehicles has changed significantly compared to traditional automobile braking methods. It is not just simple hydraulic braking, but also braking through the negative torque of the motor and braking through the negative torque of the motor and hydraulic braking. Since new energy vehicles are different from fuel vehicles in terms of braking system response characteristics and vehicle dynamic characteristics, they have poor comfort during braking, which reduces the comfort of passengers.

[0003] At present, with the application of the wire-controlled hydraulic system with brake pedal decoupling, it is applied to the comfort braking of new energy vehicles. While ensuring that the brake pedal feel does not change, it can also reduce the pitch during braking and stop, so as to improve the vehicle's comfort braking performance. However, the existing comfort braking will increase the braking distance, and when the safe braking distance provided by the road conditions is short, accidents are prone to occur. Summary of the invention

[0004] The problem solved by the invention is how to improve the safety of vehicle comfort braking.

[0005] In order to solve the above problems, the present invention provides a vehicle comfort braking method, device, vehicle and storage medium.

[0006] In a first aspect, the present invention provides a vehicle comfort braking method, comprising:

[0007] When the comfort braking intention is identified, whether the braking is safe is determined based on the vehicle's driving conditions;

[0008] If the judgment result shows that braking is safe, the vehicle is controlled to perform comfort braking according to a preset comfort braking strategy, wherein the preset comfort braking strategy includes adjusting the stiffness of the suspension system of the vehicle and adjusting the deceleration of the vehicle during braking to a preset deceleration range.

[0009] Optionally, adjusting the deceleration during the braking process of the vehicle to a preset deceleration range includes:

[0010] The deceleration is adjusted to the preset deceleration range by controlling the value of the negative torque of the motor and / or the brake pressure of the hydraulic brake system;

[0011] The suspension system includes air springs and / or shock absorbers; and adjusting the stiffness of the suspension system of the vehicle includes:

[0012] The stiffness of the suspension system of the vehicle is adjusted by changing the number of air chambers used by the air spring and / or increasing the damping of the shock absorber.

[0013] Optionally, before determining whether braking is safe based on the driving condition of the vehicle when the comfort braking intention is identified, the method further comprises:

[0014] When a comfort braking preparation intention is identified, entering a comfort braking preparation state, braking the vehicle in the comfort braking preparation state, and identifying whether the comfort braking intention exists according to a current vehicle speed of the vehicle;

[0015] The comfort brake preparation intention includes:

[0016] The comfort brake switch is turned on, the current vehicle speed is greater than the first preset vehicle speed, and a brake signal is received;

[0017] The comfort braking intention includes:

[0018] The comfort brake switch is turned on, the current vehicle speed is equal to a second preset vehicle speed, and the brake signal is received, wherein the second preset vehicle speed is less than the first preset vehicle speed.

[0019] Optionally, braking the vehicle in the comfort braking preparation state and identifying whether the comfort braking intention exists according to the current vehicle speed of the vehicle includes:

[0020] In response to the braking signal, the vehicle is braked according to a braking deceleration obtained from a brake pedal stroke until the current vehicle speed reaches the second preset vehicle speed, and it is determined that the comfort braking intention exists.

[0021] Optionally, judging whether braking is safe based on the driving condition of the vehicle includes:

[0022] When the current vehicle speed reaches the second preset vehicle speed, obtaining a current distance between the vehicle and the preceding vehicle, and comparing the current distance with a preset safety distance, wherein the preset safety distance is obtained according to a preset deceleration and a preset margin distance;

[0023] When the current distance is greater than the preset safety distance, determining that braking is safe;

[0024] When the current distance is less than or equal to the preset safety distance, it is determined that braking is unsafe.

[0025] Optionally, the vehicle comfort braking method further includes:

[0026] If the judgment result shows that braking is unsafe, the vehicle is controlled to brake according to an emergency braking strategy, which includes obtaining a real-time braking deceleration according to a real-time brake pedal travel and adjusting the stiffness of a suspension system of the vehicle.

[0027] Optionally, the vehicle comfort braking method further includes:

[0028] When the vehicle stops, obtaining a target brake pressure according to a brake pedal stroke when the vehicle stops;

[0029] The brake pressure of the hydraulic brake system is adjusted to the target brake pressure.

[0030] In a second aspect, the present invention provides a vehicle comfort braking device, comprising:

[0031] A judgment module, for judging whether braking is safe based on the driving conditions of the vehicle when a comfort braking intention is identified;

[0032] A control module is used to control the vehicle to perform comfort braking according to a preset comfort braking strategy if the judgment result shows that braking is safe, wherein the preset comfort braking strategy includes adjusting the stiffness of the suspension system of the vehicle and adjusting the deceleration of the vehicle during braking to a preset deceleration range.

[0033] In a third aspect, the present invention provides a vehicle, comprising a memory and a processor;

[0034] The memory is used to store computer programs;

[0035] The processor is used to implement the vehicle comfort braking method as described in the first aspect when executing the computer program.

[0036] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the vehicle comfort braking method as described in the first aspect is implemented.

[0037] The vehicle comfort braking method, device, vehicle and storage medium of the present invention have the following beneficial effects: when the comfort braking intention is identified, before the vehicle enters the comfort braking, it is determined whether the braking is safe based on the vehicle's driving conditions. When the judgment result shows that the braking is safe, it means that the current vehicle driving conditions (such as road conditions, etc.) support the vehicle to perform comfort braking. For example, the distance provided to the vehicle for braking is long enough to meet the braking distance required for comfort braking. At this time, the preset comfort braking strategy is adopted, that is, the deceleration is adjusted to the preset deceleration range and the suspension system is adjusted. Comfort braking is performed only when the vehicle driving conditions are safe, so as to avoid the occurrence of safety accidents caused by the vehicle performing comfort braking under unsafe conditions. Among them, adjusting the stiffness of the suspension system can reduce the vehicle pitch and body tilt when the stiffness of the suspension system is too low during the vehicle braking process, as well as the impact and vibration when the stiffness of the suspension system is too high, thereby improving the comfort of the vehicle braking process; and the braking system brakes according to the adjusted deceleration, that is, brakes the vehicle at a smaller deceleration within a preset range, which can reduce the pitch, body tilt and vibration caused by the sudden deceleration of the vehicle, further improving the comfort of the vehicle braking process, and at the same time, the smooth braking process can reduce the risk of vehicle loss of control. The present invention makes a safety judgment on the driving condition of the vehicle before performing comfort braking, and only performs comfort braking under safe driving conditions to ensure the safety of comfort braking, and the risk of vehicle loss of control can be reduced by adjusting the stiffness of the suspension system and reducing the braking deceleration for comfort braking, thereby further improving the safety of comfort braking to a certain extent, and performs dual control of comfort braking safety in two time periods before and during comfort braking, effectively improving the safety of vehicle comfort braking. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of a vehicle comfort braking method provided by an embodiment of the present invention Figure 1 ;

[0039] Figure 2 A schematic diagram of a vehicle comfort braking method provided by an embodiment of the present invention Figure 2 ;

[0040] Figure 3 A schematic diagram of the structure of a vehicle comfort braking device provided by an embodiment of the present invention Figure 1 ;

[0041] Figure 4 A schematic diagram of the structure of a vehicle comfort braking device provided by an embodiment of the present invention Figure 2 ;

[0042] Figure 5 A schematic diagram of a vehicle structure provided by an embodiment of the present invention;

[0043] Figure 6This is a schematic diagram of the simulation test results. DETAILED DESCRIPTION

[0044] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be interpreted as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0045] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0046] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0047] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0048] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only used for illustrative purposes, and are not used to limit the scope of these messages or information.

[0049] In view of the problems existing in the above-mentioned related technologies, the present embodiment provides a vehicle comfort braking method, device, vehicle and storage medium.

[0050] like Figure 1 As shown, a vehicle comfort braking method provided by an embodiment of the present invention includes:

[0051] Step S100: When a comfort braking intention is identified, whether braking is safe is determined based on the vehicle's driving conditions.

[0052] Specifically, when the vehicle brakes, it includes emergency braking and slow braking. When the vehicle brakes urgently, it means that the vehicle encounters an emergency situation (for example, a pedestrian suddenly appears in front and needs to stop urgently). The braking safety of the vehicle is much greater than the braking comfort of the vehicle. At this time, the driver gives priority to the braking time and braking safety of the vehicle, and the driver shows the intention of safe emergency braking. When the vehicle brakes slowly, it means that the vehicle brakes slowly in a safe driving environment for different situations (for example, to reduce the discomfort caused by the pitching caused by rapid braking). The braking comfort of the vehicle is much greater than the braking safety of the vehicle. At this time, the driver gives priority to the comfort of the vehicle braking, and the driver shows the intention of comfortable braking. The intention of comfortable braking can be identified according to, for example, the force and the stepping time of the brake pedal during braking. For example, when the driver steps on the brake pedal hard and does not lift it, it means that the vehicle is in an unsafe state and needs emergency braking, which is identified as the intention of safe emergency braking. When the driver steps on the brake pedal lightly and intermittently, it means that the vehicle is in a safe state and slow braking is performed, which is identified as the intention of comfortable braking.

[0053] Due to the characteristics of comfortable braking, the braking distance and braking time will be increased to a certain extent during the braking process. If the braking distance available in the driving situation is short or the driving road conditions are complex and there are many emergencies (such as the sudden appearance of pedestrians or lane-changing vehicles), the safety road conditions required for comfortable braking cannot be met, and if the braking distance available in the driving situation is long or the driving road conditions are safe (such as fewer pedestrians or vehicles around and the distance from the vehicle is far), the safety road conditions required for comfortable braking can be met, and comfortable braking can be performed. Therefore, after recognizing that the person intends to perform comfortable braking, whether the braking is safe is determined according to the driving situation of the vehicle. The judgment method can use a pre-trained neural network model, etc., for example, obtain the vehicles and pedestrians around the vehicle in a preset time period before braking, use the pre-trained behavior prediction model, predict the motion trajectory of the next time period according to the motion trajectory of the surrounding vehicles and pedestrians in the preset time period, and then combine the braking trajectory of the vehicle to determine whether the vehicle braking is safe. By making a vehicle braking safety judgment on the driving situation of the vehicle, a comfortable braking strategy is selected or it is determined whether to turn on the comfortable braking according to the result, so as to improve the vehicle braking safety.

[0054] Step S200: If the judgment result shows that braking is safe, control the vehicle to perform comfort braking according to a preset comfort braking strategy, wherein the preset comfort braking strategy includes adjusting the stiffness of the suspension system of the vehicle and adjusting the deceleration of the vehicle during braking to a preset deceleration range.

[0055] Specifically, as described above, when the judgment result shows that braking is safe, it means that the braking distance that can be provided by the vehicle driving situation at this time is long or the driving road condition is safe, and the safe road condition required for comfortable braking is met, and the preset comfortable braking strategy is adopted for comfortable braking. The preset comfortable braking strategy includes adjusting the stiffness of the vehicle suspension system to reduce the vehicle body tilt, body vibration, etc. caused by the vehicle braking process to a certain extent, and adjusting the braking deceleration to a preset deceleration range, and making the vehicle braking system brake according to the deceleration within the preset deceleration range, wherein the preset deceleration range of this embodiment is usually set to a range with a smaller value, such as 0.02g-0.1g, to avoid the serious pitching phenomenon during the vehicle braking process due to excessive deceleration. In the case of determining that the vehicle braking is safe, the preset comfortable braking strategy is adopted to achieve comfortable braking from the dual aspects of adjusting the deceleration to the preset deceleration range and adjusting the stiffness of the suspension system, thereby increasing the braking comfort of the vehicle. It should be noted that when the judgment result shows that braking is unsafe, it means that the braking distance that can be provided by the vehicle driving situation may be short or there are complex or sudden driving conditions, etc. At this time, the vehicle braking is controlled according to the braking pressure applied by the driver to ensure the safety of the vehicle braking.

[0056] In the embodiment of the present invention, when the intention of comfort braking is identified, before the vehicle enters the comfort braking, it is determined whether the braking is safe based on the driving condition of the vehicle. When the judgment result shows that the braking is safe, it means that the current driving condition of the vehicle (such as road conditions, etc.) supports the vehicle to perform comfort braking. For example, the distance provided to the vehicle for braking is long enough to meet the braking distance required for comfort braking. At this time, the preset comfort braking strategy is adopted, that is, the deceleration is adjusted to the preset deceleration range and the suspension system is adjusted. Comfort braking is performed only when the vehicle driving condition is safe, so as to avoid the occurrence of safety accidents caused by the vehicle performing comfort braking under unsafe conditions. Among them, adjusting the stiffness of the suspension system can reduce the vehicle pitch and body tilt when the stiffness of the suspension system is too low during the vehicle braking process, and the impact and vibration when the stiffness of the suspension system is too high, thereby improving the comfort of the vehicle braking process; and the braking system brakes according to the adjusted deceleration, that is, the vehicle is braked at a smaller deceleration within the preset range, which can reduce the pitch, body tilt and vibration caused by the sudden deceleration of the vehicle, further improving the comfort of the vehicle braking process. At the same time, the smooth braking process can reduce the risk of vehicle loss of control. The present invention makes a safety assessment of the driving condition of the vehicle before performing comfort braking, and performs comfort braking only under safe driving conditions to ensure the safety of comfort braking. Comfort braking can reduce the risk of vehicle loss of control by adjusting the stiffness of the suspension system and reducing the braking deceleration, thereby further improving the safety of comfort braking to a certain extent. Dual control of comfort braking safety is performed in two time periods, before and during comfort braking, effectively improving the safety of vehicle comfort braking.

[0057] Optionally, adjusting the deceleration during the braking process of the vehicle to a preset deceleration range includes:

[0058] The deceleration is adjusted to the preset deceleration range by controlling the value of the negative torque of the motor and / or the brake pressure of the hydraulic brake system.

[0059] Specifically, the value of the motor negative torque and / or the brake pressure of the hydraulic braking system are used to adjust the deceleration. For example, when the comfort braking intention is identified, if the deceleration requested by the driver (for example, which can be obtained based on the brake pedal stroke) is 0.3g, then only the value of the motor negative torque can be adjusted to adjust the current braking deceleration to a preset deceleration range (for example, 0.02g-0.1g); if the deceleration requested by the driver (for example, which can be obtained based on the brake pedal stroke) is 0.5g, the value of the motor negative torque can be adjusted to provide the vehicle with a braking deceleration of 0.3g, and the brake pressure of the hydraulic braking system can be adjusted to provide the vehicle with a deceleration of 0.2g. By simultaneously adjusting the value of the motor negative torque and the brake pressure of the hydraulic braking system, the current braking deceleration can be adjusted to the preset deceleration range (for example, 0.02g-0.1g).

[0060] This embodiment uses the negative torque of the motor in conjunction with the hydraulic brake system to reduce the braking burden of the brake system, avoid the problem of decreased sensitivity of the brake system due to long-term braking of the same brake system, and reduce the risk of brake failure.

[0061] Optionally, the suspension system includes air springs and / or shock absorbers; and adjusting the stiffness of the suspension system of the vehicle includes:

[0062] The stiffness of the suspension system of the vehicle is adjusted by changing the number of air chambers used by the air spring and / or increasing the damping of the shock absorber.

[0063] Specifically, the suspension system used in this embodiment includes air springs and / or shock absorbers (such as CCD shock absorbers, CCD, Continuously Controlled Damping). For air springs, the double-cavity empty spring is adjusted to a single-cavity empty spring, and the air pressure is adjusted to increase the stiffness of the air spring, thereby reducing the sinking of the vehicle body when braking and improving the suspension support force. For shock absorbers, the damping force of the shock absorber is increased to effectively suppress the vibration and bumping of the vehicle body, thereby improving the comfort and stability when braking.

[0064] Optionally, before determining whether braking is safe based on the driving condition of the vehicle when the comfort braking intention is identified, the method further comprises:

[0065] When a comfort braking preparation intention is identified, a comfort braking preparation state is entered, the vehicle is braked in the comfort braking preparation state, and whether the comfort braking intention exists is identified according to the current vehicle speed of the vehicle.

[0066] The comfort brake preparation intention includes:

[0067] The comfort brake switch is turned on, the current vehicle speed is greater than the first preset vehicle speed, and a brake signal is received.

[0068] The comfort braking intention includes:

[0069] The comfort brake switch is turned on, the current vehicle speed is equal to a second preset vehicle speed, and the brake signal is received, wherein the second preset vehicle speed is less than the first preset vehicle speed.

[0070] Specifically, the magnitude of the force borne by the brake sensor (i.e., the magnitude of the force applied by the driver on the brake pedal) is usually obtained to determine whether the vehicle is performing comfort braking. If the force borne by the brake sensor is small, the vehicle enters comfort braking. If the force borne by the brake sensor is large, emergency braking is performed. However, when performing comfort braking, the brake system needs to calculate, for example, the motor negative torque value, the hydraulic brake system brake pressure, the shock absorber damping value, etc. according to the actual driving conditions of the vehicle. Therefore, a certain response time is required before the brake system starts comfort braking, i.e., the comfort braking preparation state. If the vehicle enters comfort braking only by the magnitude of the force borne by the brake sensor, and directly enters the comfort braking state, it may cause the brake system to react untimely, the comfort braking effect is poor, and even the brake system fails. In addition, the magnitude of the force borne by the brake sensor when the vehicle performs emergency braking or comfort braking is different due to different driving environments. For example, when the road surface is slippery due to rain and snow, if the brake is stepped on suddenly in an emergency, it may cause the vehicle to slip and cause an accident. At this time, the driver will use the point brake method, i.e., lightly step on the brake sensor to brake. At this time, if the vehicle is only determined by the magnitude of the force borne by the brake sensor to determine whether the vehicle is performing comfort braking, the judgment result is inaccurate. Based on this, this embodiment responds by identifying the comfort braking preparation intention and waking up the braking system (or the comfort braking module in the braking system) to facilitate subsequent smooth comfort braking. The current vehicle speed, comfort braking switch and received braking signal are used as identification conditions for the comfort braking preparation intention and the comfort braking intention, and collaborative control of people and vehicles is adopted to increase the accuracy of identifying the comfort braking intention and the comfort braking preparation intention.

[0071] In this embodiment, a hard switch or a software function switch (i.e., a comfort brake switch) may be provided in the vehicle to allow the driver to choose whether to turn on or off the comfort brake. A first preset vehicle speed and a second preset vehicle speed are provided, and the first preset vehicle speed is greater than the second preset vehicle speed. The first preset vehicle speed is used as the identification condition for the comfort preparation braking intention, and the second preset vehicle speed is used as the identification condition for the comfort braking intention. The time taken for the vehicle to decelerate from the first preset vehicle speed to the second preset vehicle speed is the comfort braking response time provided for the braking system.

[0072] When the comfort brake switch is turned on, the current vehicle speed is greater than the first preset speed and a brake signal is received, the comfort brake preparation intention is judged to be recognized, and the comfort brake preparation state is entered, and then the vehicle speed is monitored in real time. When the current vehicle speed is less than or equal to the second preset speed, the comfort brake switch is turned on and a brake signal is received, the comfort brake intention is judged to be recognized.

[0073] Optionally, braking the vehicle in the comfort braking preparation state and identifying whether the comfort braking intention exists according to the current vehicle speed of the vehicle includes:

[0074] In response to the braking signal, the vehicle is braked according to a braking deceleration obtained from a brake pedal stroke until the current vehicle speed reaches the second preset vehicle speed, and it is determined that the comfort braking intention exists.

[0075] Specifically, when entering the comfort braking preparation state, the time taken for the vehicle's current speed, which is greater than the first preset speed, to decrease to the second preset speed provides the braking system with a comfortable braking response time. If no comfort braking is performed during the vehicle's deceleration, then at this time, in response to the braking signal, the brake pedal travel is obtained to obtain the braking deceleration. The braking system brakes the vehicle according to the braking deceleration until the current speed reaches the second preset speed to ensure that the vehicle decelerates normally, and at the same time determines whether there is an intention for comfort braking.

[0076] For example, the first preset vehicle speed is set to 6 kph and the second preset vehicle speed is set to 4 kph. When the comfort brake switch is turned on, the current vehicle speed is 6 kph and a brake signal is received, the comfort brake preparation intention is determined to be recognized, the comfort brake preparation state is entered, and the brake system is controlled to brake the vehicle according to the brake deceleration obtained according to the brake pedal stroke until the current vehicle speed reaches 4 kph, the comfort brake switch is turned on, the brake signal is received, and the comfort brake intention is determined to be recognized.

[0077] Optionally, judging whether braking is safe based on the driving condition of the vehicle includes:

[0078] When the current vehicle speed reaches the second preset vehicle speed, the current distance between the vehicle and the preceding vehicle is obtained, and the current distance is compared with a preset safety distance, wherein the preset safety distance is obtained according to a preset deceleration and a preset margin distance.

[0079] Specifically, when the current vehicle speed reaches the second preset speed, it is determined that the comfort brake switch is turned on and a brake signal is received, it indicates that the comfort brake intention is recognized, and the vehicle braking safety judgment is further performed. In this embodiment, a laser radar can be used to obtain the current distance between the vehicle and the vehicle in front, and compare it with the preset safety distance to determine the safety state of vehicle braking. Among them, the preset safety distance is obtained according to the current vehicle speed, the preset deceleration and the preset margin distance (for example, 1m), that is, the sum of the distance from the current vehicle speed to 0 and the preset margin distance according to the preset deceleration. It can be expressed as:

[0080] L=V 2 / 2a+b,

[0081] Among them, L represents the preset safety distance, V represents the current vehicle speed, a represents the preset deceleration, and b represents the preset margin distance.

[0082] It should be noted that the smaller the deceleration, the longer the vehicle braking distance. Therefore, the preset deceleration in this embodiment can be the minimum deceleration within the preset deceleration range, so that the calculated preset safety distance is the longest, thereby increasing the accuracy of vehicle braking safety judgment and ensuring braking safety.

[0083] When the current distance is greater than the preset safety distance, braking is determined to be safe.

[0084] When the current distance is less than or equal to the preset safety distance, it is determined that braking is unsafe.

[0085] Specifically, if the current distance is greater than the preset safety distance, it means that the distance between the vehicle and the vehicle in front meets the distance for comfortable braking, and braking safety may be displayed on the display device and feedback may be given to the braking system for comfortable braking; if the current distance is less than or equal to the preset safety distance, it means that the distance between the vehicle and the vehicle in front does not meet the distance for comfortable braking, and braking unsafe may be displayed on the display device and feedback may be given to the braking system to brake the vehicle according to the deceleration requested by the driver.

[0086] For example, if the current vehicle speed is 4kph, and the comfort brake switch is turned on and the brake signal is obtained, according to a=0.02g, b=1m, the preset safety distance at this time is calculated as 4.149m using the above method. If the current distance between the vehicle and the vehicle in front is 5m, it is judged that the braking is safe. If the current distance between the vehicle and the vehicle in front is 3m, it is judged that the braking is unsafe. If the current vehicle speed is 4kph, and the comfort brake switch is turned on and the brake signal is obtained, according to a=0.1g, b=1m, the preset safety distance at this time is calculated as 1.630m using the above method. If the current distance between the vehicle and the vehicle in front is 2m, it is judged that the braking is safe. If the current distance between the vehicle and the vehicle in front is 1m, it is judged that the braking is unsafe.

[0087] Optionally, the vehicle comfort braking method further includes:

[0088] If the judgment result shows that braking is unsafe, the vehicle is controlled to brake according to an emergency braking strategy, wherein the emergency braking strategy includes obtaining a real-time braking deceleration according to a real-time brake pedal travel and adjusting the stiffness of a suspension system of the vehicle.

[0089] Specifically, when the judgment result shows that braking is unsafe, it means that the braking distance available in the vehicle's driving situation is short or the driving road conditions are complex or there are many emergencies, and there are no safe road conditions required for comfortable braking in accordance with the preset comfortable braking strategy. At this time, an emergency braking strategy is required for braking. The emergency braking strategy includes obtaining the real-time braking deceleration based on the real-time brake pedal stroke (that is, the real-time distance the pedal moves when the driver steps on the brake pedal), controlling the vehicle to brake according to the real-time braking deceleration, and adjusting the stiffness of the vehicle suspension system to assist the braking system in braking. While the braking system performs emergency safety braking, the vehicle body tilt, body vibration, etc. caused by the vehicle braking process can be reduced by adjusting the stiffness of the vehicle suspension system, so as to achieve a balance between vehicle braking safety and comfort.

[0090] It should be noted that when the emergency braking strategy is adopted for comfort braking, the braking system can also stop the vehicle according to the emergency braking deceleration intelligently calculated by the automatic emergency braking system, so as to ensure safe braking of the vehicle under complex driving conditions.

[0091] In this embodiment, when the judgment result shows that braking is unsafe, it means that the current driving condition of the vehicle does not support the vehicle to perform comfortable braking. For example, the distance provided to the vehicle for braking is short, and does not meet the braking distance required for comfortable braking according to the preset comfortable braking strategy. At this time, the emergency braking strategy is adopted to brake according to the real-time braking deceleration to avoid the braking distance from becoming longer, so as to ensure the braking safety of the vehicle. At the same time, the stiffness of the suspension system is adjusted, which can improve the comfort of the vehicle braking process to a certain extent. That is, while ensuring the safe braking of the vehicle, the suspension system after adjusting the stiffness can effectively reduce the discomfort caused by the sudden and sharp deceleration of the vehicle. The present invention judges the braking safety according to the driving condition of the vehicle, and then selects the most suitable comfortable braking strategy (preset comfortable braking strategy or emergency braking strategy) so that the vehicle can take into account the safety and comfort of braking when facing different environments.

[0092] Optionally, the vehicle comfort braking method further includes:

[0093] When the vehicle stops, obtaining a target brake pressure according to a brake pedal stroke when the vehicle stops;

[0094] The brake pressure of the hydraulic brake system is adjusted to the target brake pressure.

[0095] Specifically, after the vehicle stops, in order to prevent the vehicle from rolling, a certain amount of braking pressure still needs to be applied to the vehicle. At this time, the target braking pressure is obtained based on the brake pedal stroke when the vehicle stops, and the braking pressure of the hydraulic braking system is adjusted to the target braking pressure to ensure that the vehicle stops safely.

[0096] like Figure 2 As shown, by way of example, a vehicle comfort braking method is now further introduced with reference to a specific embodiment.

[0097] (1) When the comfort brake switch is turned on, the current vehicle speed is greater than the first preset vehicle speed, and a brake signal is received, the comfort brake preparation intention is determined and recognized, and the comfort brake preparation state is entered, and the brake system brakes according to the braking deceleration obtained by the brake pedal;

[0098] (2) when the comfort brake switch is turned on, the current vehicle speed is less than or equal to the second preset vehicle speed, and a brake signal is received, the comfort brake preparation intention is determined and recognized, a preset safety distance is calculated based on the second preset vehicle speed, the preset deceleration, and the preset margin distance, the current distance between the vehicle and the preceding vehicle is obtained, and whether the vehicle braking is safe is determined based on a comparison result between the current distance and the preset safety distance;

[0099] (3) If it is determined that the vehicle is safe to brake, a preset comfort braking strategy is used for comfort braking, the stiffness of the suspension system is adjusted, that is, the number of air chambers used by the air spring and / or the damping of the shock absorber is adjusted, and the deceleration is adjusted to within the preset acceleration range by adjusting the negative torque value of the motor and / or the braking pressure of the hydraulic braking system, and the braking system is used to perform comfort braking according to the adjusted deceleration until the vehicle comes to a complete stop;

[0100] (4) if it is determined that the vehicle is safe to brake, the stiffness of the suspension system is adjusted, that is, the number of air chambers used in the air spring and / or the damping of the shock absorber is adjusted, and the real-time braking deceleration is obtained according to the real-time brake pedal travel, and the braking system brakes the vehicle according to the real-time braking deceleration until the vehicle stops;

[0101] (5) After the vehicle stops, the target braking pressure is obtained based on the brake pedal travel when the vehicle stops, and the braking pressure of the hydraulic brake system is adjusted to the target braking pressure.

[0102] The braking simulation results of the vehicle using the above vehicle comfort braking method and the vehicle without using this method are as follows Figure 6 As shown, in Figure 6 The test was carried out under the test conditions of Part C, and the braking test results of the vehicle without using this method were obtained respectively (such as Figure 6 Part A) and the vehicle braking test results using this method (such as Figure 6 From the test track of part A in the figure, it can be seen that during the process of deceleration from the vehicle speed track ① to 0 kph, the deceleration track ② fluctuates greatly; from the track ④ of the vehicle's minimum holding pressure, it can be seen that the vehicle's minimum holding pressure (the minimum braking pressure that needs to be maintained during the braking process in order to maintain the braking effect) is 40 bar, which is the same as the driver's pressure track ③; from the braking distance track ⑤, it can be seen that the braking distance is 17 cm (the braking distance track ⑤ only obtains the braking distance generated when the vehicle speed decelerates from 5 kph to 0 kph). It can be seen from the test trajectory of part B in the figure that during the process of deceleration from the vehicle speed trajectory ① to 0kph, the fluctuation of the deceleration trajectory ② is small, and the change at the end is gentle; from the trajectory ④ of the vehicle's minimum holding pressure, it can be seen that the vehicle's minimum holding pressure (the minimum braking pressure that needs to be maintained during braking to maintain the braking effect) is 10bar, which is significantly lower than the 40bar in the driver's pressure trajectory ③; from the braking distance trajectories ⑤ and ⑥, it can be seen that the braking distance when the vehicle brakes using this method is 28cm (the braking distance trajectory ⑤ only obtains the braking distance generated when the vehicle speed decelerates from 5kph to 0kph), which is 11cm longer than the braking distance when the vehicle brakes without using this method.

[0103] Depend on Figure 6From the above analysis, it can be seen that when the above vehicle comfort braking method is used to brake the vehicle, compared with when the method is not used to brake the vehicle, although the braking distance is increased, the deceleration changes less, so that the braking comfort is higher, the minimum holding pressure of the vehicle is smaller, the required braking pressure is lower, and the braking pressure of the hydraulic brake system is reduced.

[0104] like Figure 3 As shown, a vehicle comfort braking device 300 provided by an embodiment of the present invention includes:

[0105] The judging module 310 is used to judge whether the braking is safe based on the driving condition of the vehicle when the comfort braking intention is recognized;

[0106] The control module 320 is used to control the vehicle to perform comfort braking according to a preset comfort braking strategy if the judgment result shows that braking is safe, wherein the preset comfort braking strategy includes adjusting the stiffness of the suspension system of the vehicle and adjusting the deceleration of the vehicle during braking to a preset deceleration range.

[0107] Optionally, the control module 320 is further configured to: adjust the deceleration to the preset deceleration range by controlling the value of the negative torque of the motor and / or the braking pressure of the hydraulic braking system.

[0108] Optionally, the suspension system includes air springs and / or shock absorbers; the control module 320 is also used to: change the number of air chambers used by the air springs and / or increase the damping of the shock absorbers to adjust the stiffness of the suspension system of the vehicle.

[0109] Optionally, the judgment module 310 is further configured to: enter a comfort braking preparation state when a comfort braking preparation intention is identified, brake the vehicle in the comfort braking preparation state, and identify whether the comfort braking intention exists according to the current vehicle speed of the vehicle;

[0110] The comfort brake preparation intention includes:

[0111] The comfort brake switch is turned on, the current vehicle speed is greater than the first preset vehicle speed, and a brake signal is received;

[0112] The comfort braking intention includes:

[0113] The comfort brake switch is turned on, the current vehicle speed is equal to a second preset vehicle speed, and the brake signal is received, wherein the second preset vehicle speed is less than the first preset vehicle speed.

[0114] Optionally, the judgment module 310 is also used to: respond to the braking signal, brake the vehicle according to the braking deceleration obtained from the brake pedal travel, until the current vehicle speed reaches the second preset vehicle speed, and determine that the comfort braking intention exists.

[0115] Optionally, the judgment module 310 is further configured to: when the current vehicle speed reaches the second preset vehicle speed, obtain the current distance between the vehicle and the preceding vehicle, and compare the current distance with a preset safety distance, wherein the preset safety distance is obtained according to a preset deceleration and a preset margin distance;

[0116] When the current distance is greater than the preset safety distance, determining that braking is safe;

[0117] When the current distance is less than or equal to the preset safety distance, it is determined that braking is unsafe.

[0118] Optionally, the control module 320 is also used to: if the judgment result shows that braking is unsafe, control the vehicle to brake according to an emergency braking strategy, wherein the emergency braking strategy includes obtaining real-time braking deceleration based on real-time brake pedal travel and adjusting the stiffness of the vehicle's suspension system.

[0119] Optionally, the vehicle comfort braking device of this embodiment is as follows: Figure 4 As shown, including:

[0120] A lidar control module, which is used to determine whether braking is safe based on the vehicle's driving conditions;

[0121] Vehicle speed detector, used to obtain the current vehicle speed;

[0122] A deceleration detector, used to obtain the deceleration;

[0123] Braking sensor, used to obtain braking signal and braking stroke;

[0124] Comfort brake switch, used by the driver to turn on or off comfort brake;

[0125] A brake module including a comfort brake function, which controls vehicle braking in response to information obtained by a laser radar control module, a vehicle speed sensor, a deceleration detector, a brake sensor, and a comfort brake switch, and calculates the magnitude of the motor negative torque, the magnitude of the hydraulic brake, the stiffness of the air spring, and the damping of the shock absorber required for comfort braking;

[0126] A motor torque control module controls the rotation of the motor in response to the magnitude of the motor negative torque obtained by the brake module;

[0127] A hydraulic control module controls the operation of wheel brakes in response to the hydraulic braking magnitude obtained by the brake module;

[0128] an air spring control module, adjusting the air spring in response to the air spring stiffness obtained by the brake module;

[0129] A shock absorber control module adjusts the shock absorber in response to the shock absorber damping obtained by the brake module.

[0130] like Figure 5 As shown, a vehicle 500 provided by an embodiment of the present invention includes a memory 510 and a processor 520; the memory 510 is used to store a computer program; the processor 520 is used to implement the vehicle comfort braking method as described above when executing the computer program.

[0131] In other words, a vehicle 500 includes a memory 510 and a processor 520 coupled to the memory 510; the memory 510 is configured to store a computer program; and the processor 520 is configured to perform the following operations when executing the computer program:

[0132] When the comfort braking intention is identified, whether the braking is safe is determined based on the vehicle's driving conditions;

[0133] If the judgment result shows that braking is safe, the vehicle is controlled to perform comfort braking according to a preset comfort braking strategy, wherein the preset comfort braking strategy includes adjusting the stiffness of the suspension system of the vehicle and adjusting the deceleration of the vehicle during braking to a preset deceleration range.

[0134] Yet another embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the vehicle comfort braking method as described above is implemented.

[0135] In other words, a non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor performs the following operations:

[0136] When the comfort braking intention is identified, whether the braking is safe is determined based on the vehicle's driving conditions;

[0137] If the judgment result shows that braking is safe, the vehicle is controlled to perform comfort braking according to a preset comfort braking strategy, wherein the preset comfort braking strategy includes adjusting the stiffness of the suspension system of the vehicle and adjusting the deceleration of the vehicle during braking to a preset deceleration range.

[0138] In some possible embodiments, various aspects of the vehicle comfort braking method provided by the present invention can also be implemented in the form of a program product, which includes a program code. When the program product is run on a device, the program code is used to enable the control device to execute the steps of the vehicle comfort braking method according to various exemplary embodiments of the present invention described above in this specification.

[0139] Those skilled in the art will appreciate that the present embodiment may be provided as a method, system, or computer program product. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0140] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0141] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0142] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0143] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A vehicle comfort braking method, characterized in that: include: When the comfort braking intention is identified, whether the braking is safe is determined based on the vehicle's driving conditions; If the judgment result shows that braking is safe, the vehicle is controlled to perform comfort braking according to a preset comfort braking strategy, wherein the preset comfort braking strategy includes adjusting the stiffness of the suspension system of the vehicle and adjusting the deceleration of the vehicle during braking to a preset deceleration range.

2. The vehicle comfort braking method according to claim 1, characterized in that: The step of adjusting the deceleration during the braking process of the vehicle to a preset deceleration range comprises: The deceleration is adjusted to the preset deceleration range by controlling the value of the negative torque of the motor and / or the brake pressure of the hydraulic brake system; And / or, the suspension system includes air springs and / or shock absorbers; and adjusting the stiffness of the suspension system of the vehicle includes: The stiffness of the suspension system of the vehicle is adjusted by changing the number of air chambers used by the air spring and / or increasing the damping of the shock absorber.

3. The vehicle comfort braking method according to claim 1, characterized in that: Before determining whether braking is safe based on the driving condition of the vehicle when the comfort braking intention is recognized, the method includes: When a comfort braking preparation intention is identified, entering a comfort braking preparation state, braking the vehicle in the comfort braking preparation state, and identifying whether the comfort braking intention exists according to a current vehicle speed of the vehicle; The comfort brake preparation intention includes: The comfort brake switch is turned on, the current vehicle speed is greater than the first preset vehicle speed, and a brake signal is received; The comfort braking intention includes: The comfort brake switch is turned on, the current vehicle speed is equal to a second preset vehicle speed, and the brake signal is received, wherein the second preset vehicle speed is less than the first preset vehicle speed.

4. The vehicle comfort braking method according to claim 3, characterized in that: The step of braking the vehicle in the comfort braking preparation state and identifying whether the comfort braking intention exists according to the current vehicle speed of the vehicle comprises: In response to the braking signal, the vehicle is braked according to a braking deceleration obtained from a brake pedal stroke until the current vehicle speed reaches the second preset vehicle speed, and it is determined that the comfort braking intention exists.

5. The vehicle comfort braking method according to claim 4, characterized in that: The determining whether braking is safe based on the driving condition of the vehicle includes: When the current vehicle speed reaches the second preset vehicle speed, obtaining a current distance between the vehicle and the preceding vehicle, and comparing the current distance with a preset safety distance, wherein the preset safety distance is obtained according to a preset deceleration and a preset margin distance; When the current distance is greater than the preset safety distance, determining that braking is safe; When the current distance is less than or equal to the preset safety distance, it is determined that braking is unsafe.

6. The vehicle comfort braking method according to claim 1, characterized in that: After judging whether braking is safe based on the driving condition of the vehicle, the method further includes: If the judgment result shows that braking is unsafe, the vehicle is controlled to brake according to an emergency braking strategy, wherein the emergency braking strategy includes obtaining a real-time braking deceleration according to a real-time brake pedal travel and adjusting the stiffness of a suspension system of the vehicle.

7. The vehicle comfort braking method according to any one of claims 1 to 6, characterized in that: Also includes: When the vehicle stops, obtaining a target brake pressure according to a brake pedal stroke when the vehicle stops; The brake pressure of the hydraulic brake system is adjusted to the target brake pressure.

8. A vehicle comfort braking device, characterized in that: include: A judgment module, for judging whether braking is safe based on the driving conditions of the vehicle when a comfort braking intention is identified; A control module is used to control the vehicle to perform comfort braking according to a preset comfort braking strategy if the judgment result shows that braking is safe, wherein the preset comfort braking strategy includes adjusting the stiffness of the suspension system of the vehicle and adjusting the deceleration of the vehicle during braking to a preset deceleration range.

9. A vehicle, characterized in that: including memory and processor; The memory is used to store computer programs; The processor is used to implement the vehicle comfort braking method as described in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle comfort braking method as described in any one of claims 1 to 7 is implemented.

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