Brake nodding inhibition method and device, electronic equipment and storage medium

Abstract

The invention provides a brake nodding inhibition method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining the inertia release duration of a target vehicle in a current driving scene when the target vehicle is in a brake state; reducing the braking recovery torque corresponding to the target vehicle to a target value; the target value refers to a braking recovery torque parameter value for releasing the running inertia of the target vehicle; and after the inertia release duration, the numerical value corresponding to the brake recovery torque is recovered to the numerical value before reduction. According to the method, the numerical value corresponding to the braking recovery torque is controlled, the vehicle braking nodding is restrained, the situation that due to the fact that the braking nodding amplitude is too large, control over the vehicle by a driver is disturbed is avoided, and the vehicle running stability and safety and the riding comfort are improved.

Description

Technical Field

[0001] The present invention relates to the field of brake control, and in particular to a brake nodding suppression method, device, electronic equipment and storage medium. Background Art

[0002] Brake nodding refers to the longitudinal vibration of the vehicle body due to inertia when the vehicle brakes suddenly. When the amplitude of brake nodding is too large, it will greatly interfere with the driver's control of the vehicle, reduce the stability and safety of the vehicle and reduce the ride comfort. Summary of the invention

[0003] In view of this, the purpose of the present application is to provide a brake nodding suppression method, device, electronic device and storage medium, which can suppress the vehicle's brake nodding, avoid interfering with the driver's control of the vehicle due to excessive brake nodding, and improve the vehicle's driving stability and safety as well as ride comfort.

[0004] In a first aspect, an embodiment of the present application provides a method for suppressing brake nodding, the method for suppressing brake nodding comprising:

[0005] When the target vehicle is in a braking state, the duration of the inertia release of the target vehicle in the current driving scenario is obtained;

[0006] reducing the braking recovery torque corresponding to the target vehicle to a target value; the target value refers to a braking recovery torque parameter value for releasing the driving inertia of the target vehicle;

[0007] After the inertia release lasts for a certain period of time, the value corresponding to the braking recovery torque is restored to the value before the reduction.

[0008] In a possible implementation, obtaining the inertia release duration of the target vehicle in the current driving scenario includes:

[0009] If the current driving scenario is that the driving parameters of the target vehicle meet the preset numerical conditions and there is a vehicle in front of the target vehicle, then the distance between the target vehicle and the vehicle in front is obtained;

[0010] The duration of inertia release is calculated based on the distance between the target vehicle and the vehicle ahead.

[0011] In a possible implementation, calculating the duration of inertia release according to the distance between the target vehicle and the vehicle ahead includes:

[0012] Substitute the distance between the target vehicle and the vehicle ahead into the following formula to obtain the duration of inertia release:

[0013] t = A*m+B;

[0014] Among them, t is the duration of inertia release, A is the first correlation coefficient, m is the distance between the target vehicle and the vehicle in front, and B is the second correlation coefficient.

[0015] In a possible implementation, obtaining the inertia release duration of the target vehicle in the current driving scenario further includes:

[0016] If the current driving scenario is that the driving parameters of the target vehicle meet the preset numerical conditions and there is no vehicle in front of the target vehicle, the preset inertia release duration is determined as the inertia release duration of the target vehicle in the current driving scenario.

[0017] In a possible implementation, the target value is determined by the following steps:

[0018] Obtaining an influencing parameter value corresponding to a preset inertia influencing factor of the target vehicle;

[0019] The target value is determined according to the influencing parameter value corresponding to the preset inertia influencing factor.

[0020] In a possible implementation manner, determining the target value according to the influencing parameter value corresponding to the preset inertia influencing factor includes:

[0021] If the number of preset inertia influencing factors is greater than 1, an initial value corresponding to each preset inertia influencing factor is calculated according to an influencing parameter value corresponding to each preset inertia influencing factor; the initial value corresponding to each preset inertia influencing factor refers to a braking recovery torque parameter value for releasing the driving inertia of the target vehicle caused by each preset inertia influencing factor;

[0022] Calculate the target value based on the initial values ​​corresponding to all preset inertia influencing factors.

[0023] In a possible implementation manner, the preset inertia influencing factor includes at least one of the weight of the target vehicle, the pedal depth of the current braking, and the initial braking speed of the current braking.

[0024] In a second aspect, an embodiment of the present application further provides a brake nodding suppression device, the brake nodding suppression device comprising:

[0025] An acquisition module, used for acquiring the duration of inertia release of the target vehicle in the current driving scenario when the target vehicle is in a braking state;

[0026] A reduction module, used to reduce the braking recovery torque corresponding to the target vehicle to a target value; the target value refers to a braking recovery torque parameter value for releasing the driving inertia of the target vehicle;

[0027] The recovery module is used to restore the value corresponding to the braking recovery torque to the value before the reduction after the inertia release lasts for a certain period of time.

[0028] In a possible implementation, the acquisition module is specifically used to obtain the distance between the target vehicle and the vehicle in front if the current driving scenario is that the driving parameters of the target vehicle meet the preset numerical conditions and there is a vehicle in front of the target vehicle; and calculate the duration of inertia release based on the distance between the target vehicle and the vehicle in front.

[0029] In a possible implementation, the acquisition module is specifically configured to substitute the distance between the target vehicle and the vehicle ahead into the following formula to obtain the inertia release duration:

[0030] t = A*m+B;

[0031] Among them, t is the duration of inertia release, A is the first correlation coefficient, m is the distance between the target vehicle and the vehicle in front, and B is the second correlation coefficient.

[0032] In a possible implementation, the acquisition module is specifically used to determine the preset inertia release duration as the inertia release duration of the target vehicle in the current driving scenario if the current driving scenario is that the driving parameters of the target vehicle meet the preset numerical conditions and there is no vehicle in front of the target vehicle.

[0033] In a possible implementation, the reducing module is further used to:

[0034] Obtaining an influencing parameter value corresponding to a preset inertia influencing factor of the target vehicle;

[0035] The target value is determined according to the influencing parameter value corresponding to the preset inertia influencing factor.

[0036] In one possible implementation, the reduction module is specifically used to calculate the initial value corresponding to each preset inertia influencing factor according to the influence parameter value corresponding to each preset inertia influencing factor if the number of preset inertia influencing factors is greater than 1; the initial value corresponding to each preset inertia influencing factor refers to the braking recovery torque parameter value for releasing the driving inertia of the target vehicle caused by each preset inertia influencing factor; and the target value is calculated according to the initial values ​​corresponding to all preset inertia influencing factors.

[0037] In a possible implementation manner, the preset inertia influencing factor includes at least one of the weight of the target vehicle, the pedal depth of the current braking, and the initial braking speed of the current braking.

[0038] In the third aspect, an embodiment of the present application further provides an electronic device, comprising: a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the storage medium communicate through the bus, and the processor executes the machine-readable instructions to perform the steps of the method for suppressing braking nodding as described in any one of the first aspects.

[0039] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for suppressing braking nodding as described in any one of the first aspects are executed.

[0040] The embodiment of the present application provides a method, device, electronic device and storage medium for suppressing brake nodding, the method comprising: when the target vehicle is in a braking state, obtaining the duration of inertia release of the target vehicle in the current driving scenario; reducing the corresponding brake recovery torque of the target vehicle to a target value; the target value refers to the parameter value of the brake recovery torque that releases the driving inertia of the target vehicle; after the duration of inertia release, restoring the value corresponding to the brake recovery torque to the value before reduction. The present application suppresses the vehicle's brake nodding by controlling the value corresponding to the brake recovery torque, avoids interference with the driver's control of the vehicle due to excessive brake nodding, and improves the vehicle's driving stability and safety as well as ride comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 A flow chart of a method for suppressing brake nodding provided by an embodiment of the present application is shown;

[0043] Figure 2 A flowchart of obtaining the duration of inertia release provided by an embodiment of the present application is shown;

[0044] Figure 3 A schematic diagram of the structure of a brake nodding suppression device provided in an embodiment of the present application is shown;

[0045] Figure 4 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0046] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0047] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0048] In order to enable those skilled in the art to use the content of this application, the following implementation is provided in conjunction with a specific application scenario "brake control field". For those skilled in the art, the general principles defined herein can be applied to other embodiments and application scenarios without departing from the spirit and scope of this application. Although this application is mainly described around the "brake control field", it should be understood that this is only an exemplary embodiment.

[0049] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0050] A method for suppressing brake nodding provided in an embodiment of the present application is described in detail below.

[0051] Reference Figure 1 As shown, it is a flow chart of a method for suppressing brake nodding provided in an embodiment of the present application. The specific execution process of the method for suppressing brake nodding is as follows:

[0052] S101. When the target vehicle is in a braking state, obtain the duration of inertia release of the target vehicle in the current driving scenario.

[0053] S102. Reduce the braking recovery torque corresponding to the target vehicle to a target value; the target value refers to a braking recovery torque parameter value for releasing the driving inertia of the target vehicle.

[0054] S103: After the inertia release lasts for a certain period of time, the value corresponding to the braking recovery torque is restored to the value before the reduction.

[0055] The embodiment of the present application provides a method for suppressing brake nodding, the method comprising: when the target vehicle is in a braking state, obtaining the duration of inertia release of the target vehicle in the current driving scenario; reducing the corresponding brake recovery torque of the target vehicle to a target value; the target value refers to the parameter value of the brake recovery torque that releases the driving inertia of the target vehicle; after the duration of inertia release, restoring the value corresponding to the brake recovery torque to the value before reduction. The present application suppresses the vehicle's brake nodding by controlling the value corresponding to the brake recovery torque, avoids interference with the driver's control of the vehicle due to excessive brake nodding, and improves the vehicle's driving stability and safety as well as ride comfort.

[0056] The following is a description of the exemplary steps of the present application embodiment:

[0057] S101. When the target vehicle is in a braking state, obtain the duration of inertia release of the target vehicle in the current driving scenario.

[0058] In the implementation mode of the present application, the target vehicle refers to an electric vehicle that needs to suppress brake nodding. The driving scenario is used to constrain the numerical value corresponding to the duration of inertia release; the driving scenario is composed of two aspects, the first aspect is whether the driving parameters of the target vehicle meet the preset numerical conditions, and the second aspect is whether there is a vehicle in front of the target vehicle; wherein the driving parameters may include the current driving speed and deceleration of the target vehicle, etc., depending on the actual situation. The duration of inertia release refers to the duration of releasing the driving inertia of the target vehicle.

[0059] Here, suppressing the brake nodding too early will cause the inertia release duration to be too long due to the excessive inertia that needs to be released, resulting in excessive extension of the braking time; while suppressing the brake nodding too late will cause the inertia release duration to be too short due to the short time from the target vehicle stopping, thereby reducing the inhibitory effect of the brake nodding; therefore, the embodiment of the present application sets a preset numerical condition through the driving parameter to constrain the numerical value corresponding to the inertia release duration, which can prevent the braking time from being excessively extended and ensure the inhibitory effect of the brake nodding.

[0060] In addition, if the distance between the front vehicle and the target vehicle is very close, a long inertia release duration may cause a vehicle collision. Therefore, the value corresponding to the inertia release duration is constrained by whether there is a vehicle in front of the target vehicle to prevent the vehicle from colliding.

[0061] Specifically, different driving scenarios correspond to different ways of obtaining the duration of inertia release; refer to Figure 2 As shown, it is a flowchart of obtaining the duration of inertia release provided by an embodiment of the present application, which is as follows:

[0062] S201. If the current driving scenario is that the driving parameters of the target vehicle meet preset numerical conditions and there is a vehicle in front of the target vehicle, then obtain the distance between the target vehicle and the vehicle in front.

[0063] In the implementation manner of the present application, if the distance between the front vehicle and the target vehicle is very close, the inertia release duration is too long and may cause the vehicles to collide. Therefore, when there is a vehicle in front of the target vehicle, the distance between the target vehicle and the front vehicle is obtained.

[0064] For example, assuming that the driving parameter is the vehicle speed, the current driving speed of the target vehicle is 3 km / h, the preset numerical condition is that the driving speed is less than or equal to 5 km / h, and there is a vehicle in front of the target vehicle. Therefore, the current driving scenario is that the driving parameter of the target vehicle meets the preset numerical condition, and there is a vehicle in front of the target vehicle, then the closest distance between the target vehicle and the vehicle in front is obtained.

[0065] S202: Calculate the duration of inertia release according to the distance between the target vehicle and the vehicle ahead.

[0066] In the implementation mode of the present application, the greater the distance between the target vehicle and the vehicle ahead, the longer the inertia release duration. Generally, there is a linear relationship between the distance between the target vehicle and the vehicle ahead and the inertia release duration, and the correlation coefficient between the distance between the target vehicle and the vehicle ahead and the inertia release duration is determined by the aforementioned preset numerical conditions.

[0067] Specifically, the distance between the target vehicle and the vehicle ahead is substituted into the following acquisition formula to obtain the duration of inertia release:

[0068] t = A*m+B;

[0069] Among them, t is the duration of inertia release, A is the first correlation coefficient, m is the distance between the target vehicle and the vehicle in front, and B is the second correlation coefficient.

[0070] In addition, the correlation coefficient between the distance between the target vehicle and the vehicle ahead and the duration of inertia release, ie, the first correlation coefficient A and the second correlation coefficient B, is determined by the following steps:

[0071] Step 1: When the test vehicle is in a braking state and the driving parameters meet preset numerical conditions, the distance between the test vehicle and the vehicle ahead is obtained as the target inertia release duration at each target distance.

[0072] Among them, the target inertia release duration at each target distance refers to the shortest time to avoid the test vehicle's braking nodding at each target distance when the test vehicle is in a braking state and the driving parameters meet the preset numerical conditions and the distance between the test vehicle and the vehicle in front.

[0073] Step 2: Substitute each target distance and the target inertia release duration at each target distance into the above acquisition formula to obtain a first correlation coefficient A and a second correlation coefficient B.

[0074] S203: If the current driving scenario is that the driving parameters of the target vehicle meet preset numerical conditions and there is no vehicle in front of the target vehicle, the preset inertia release duration is determined as the inertia release duration of the target vehicle in the current driving scenario.

[0075] In the implementation manner of the present application, the preset inertia release duration refers to the shortest duration for avoiding the target vehicle from braking and nodding when the driving parameters of the target vehicle meet the preset numerical conditions and there is no vehicle in front of the target vehicle.

[0076] S102. Reduce the braking recovery torque corresponding to the target vehicle to a target value; the target value refers to a braking recovery torque parameter value for releasing the driving inertia of the target vehicle.

[0077] Here, the braking force of electric vehicles has two sources, namely mechanical braking force and brake recovery torque. Usually, inertia release cannot be achieved by manually stepping on the brake pedal, so the absolute value of deceleration can be reduced by intervening in the brake recovery torque, thereby eliminating driving inertia and achieving the purpose of suppressing brake nodding.

[0078] Specifically, the target value is determined by the following steps:

[0079] Step 1: Obtain the influencing parameter value corresponding to the preset inertia influencing factor of the target vehicle.

[0080] In the implementation manner of the present application, the preset inertia influencing factor refers to the factor that affects the magnitude of the driving inertia of the target vehicle, and may include at least one of multiple influencing factors such as the weight of the target vehicle, the pedal depth of this braking, and the starting braking speed of this braking, depending on the actual situation.

[0081] Step 2: Determine the target value according to the influencing parameter value corresponding to the preset inertia influencing factor.

[0082] Among them, the larger the value corresponding to the weight of the target vehicle, the smaller the target value; the larger the value corresponding to the pedal depth of the target vehicle's current braking, the smaller the target value; the larger the value corresponding to the starting braking speed of the target vehicle's current braking, the smaller the target value. The smaller the target value, the greater the driving inertia released. Driving inertia refers to the inertia caused by the driving of the target vehicle.

[0083] Furthermore, if the number of preset inertia influencing factors is greater than 1, determining the target value according to the influencing parameter values ​​corresponding to the preset inertia influencing factors includes:

[0084] a. Calculate the initial value corresponding to each preset inertia influencing factor according to the influencing parameter value corresponding to each preset inertia influencing factor.

[0085] In the implementation manner of the present application, the initial value corresponding to each preset inertia influencing factor refers to a braking recovery torque parameter value for releasing the driving inertia of the target vehicle caused by each preset inertia influencing factor.

[0086] Here, if the preset inertia influencing factor includes the weight of the target vehicle, the influencing parameter value corresponding to the weight of the target vehicle is substituted into the following formula to obtain the initial value corresponding to the weight of the target vehicle:

[0087]

[0088] Among them, Q1 is the initial value corresponding to the weight of the target vehicle, a1 is the correlation coefficient between the initial value corresponding to the weight of the target vehicle and the weight of the target vehicle, and G is the weight of the target vehicle.

[0089] Here, if the preset inertia influencing factor includes the pedal depth of this braking, the influencing parameter value corresponding to the pedal depth of this braking is substituted into the following formula to obtain the initial value corresponding to the pedal depth of this braking:

[0090]

[0091] Among them, Q2 is the initial value corresponding to the pedal depth of this brake, a2 is the correlation coefficient between the initial value corresponding to the pedal depth of this brake and the pedal depth of this brake, and d is the pedal depth of this brake.

[0092] Here, if the preset inertia influencing factor includes the starting braking speed of this braking, the influencing parameter value corresponding to the starting braking speed of this braking is substituted into the following formula to obtain the initial value corresponding to the starting braking speed of this braking:

[0093]

[0094] Among them, Q3 is the initial value corresponding to the starting braking speed of this braking, a3 is the correlation coefficient between the initial value corresponding to the starting braking speed of this braking and the starting braking speed of this braking, and v is the starting braking speed of this braking.

[0095] b. Calculate the target value based on the initial values ​​corresponding to all preset inertia influencing factors.

[0096] In the implementation manner of the present application, the average value of the initial values ​​corresponding to all preset inertia influencing factors is calculated to obtain the target value; or the weighted value of the initial values ​​corresponding to all preset inertia influencing factors is calculated to obtain the target value.

[0097] Further, if the number of preset inertia influencing factors is equal to 1, determining the target value according to the influencing parameter value corresponding to the preset inertia influencing factor includes: calculating the target value corresponding to the preset inertia influencing factor according to the influencing parameter value corresponding to the preset inertia influencing factor. The specific calculation formula refers to the calculation formula for calculating the initial value mentioned above.

[0098] S103: After the inertia release lasts for a certain period of time, the value corresponding to the braking recovery torque is restored to the value before the reduction.

[0099] For example, assuming that the inertia release duration is 3s, the value of the braking regenerative torque before reduction is m, and the target value is n, then the braking regenerative torque of the target vehicle is reduced to the target value n, and then after 3s, the value of the braking regenerative torque is restored to m.

[0100] Based on the same inventive concept, an embodiment of the present application also provides a brake nodding suppression device corresponding to the brake nodding suppression method. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the above-mentioned brake nodding suppression method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0101] Reference Figure 3 FIG. 1 is a schematic diagram of a brake nodding suppression device provided in an embodiment of the present application, and the brake nodding suppression device includes:

[0102] An acquisition module 301 is used to acquire the duration of inertia release of the target vehicle in the current driving scenario when the target vehicle is in a braking state;

[0103] The reduction module 302 is used to reduce the braking recovery torque corresponding to the target vehicle to a target value; the target value refers to a braking recovery torque parameter value for releasing the driving inertia of the target vehicle;

[0104] The recovery module 303 is used to restore the value corresponding to the braking recovery torque to the value before the reduction after the inertia release continues for a certain period of time.

[0105] In a possible implementation, the acquisition module 301 is specifically used to obtain the distance between the target vehicle and the vehicle in front if the current driving scenario is that the driving parameters of the target vehicle meet the preset numerical conditions and there is a vehicle in front of the target vehicle; and calculate the duration of inertia release according to the distance between the target vehicle and the vehicle in front.

[0106] In a possible implementation, the acquisition module 301 is specifically configured to substitute the distance between the target vehicle and the vehicle ahead into the following formula to obtain the inertia release duration:

[0107] t = A*m+B;

[0108] Among them, t is the duration of inertia release, A is the first correlation coefficient, m is the distance between the target vehicle and the vehicle in front, and B is the second correlation coefficient.

[0109] In a possible implementation, the acquisition module 301 is specifically used to determine the preset inertia release duration as the inertia release duration of the target vehicle in the current driving scenario if the current driving scenario is that the driving parameters of the target vehicle meet the preset numerical conditions and there is no vehicle in front of the target vehicle.

[0110] In a possible implementation, the reducing module 302 is further configured to:

[0111] Obtaining an influencing parameter value corresponding to a preset inertia influencing factor of the target vehicle;

[0112] The target value is determined according to the influencing parameter value corresponding to the preset inertia influencing factor.

[0113] In one possible implementation, the reduction module 302 is specifically used to calculate the initial value corresponding to each preset inertia influencing factor according to the influence parameter value corresponding to each preset inertia influencing factor if the number of preset inertia influencing factors is greater than 1; the initial value corresponding to each preset inertia influencing factor refers to the braking recovery torque parameter value for releasing the driving inertia of the target vehicle caused by each preset inertia influencing factor; and the target value is calculated according to the initial values ​​corresponding to all preset inertia influencing factors.

[0114] In a possible implementation manner, the preset inertia influencing factor includes at least one of the weight of the target vehicle, the pedal depth of the current braking, and the initial braking speed of the current braking.

[0115] The embodiment of the present application provides a device for suppressing brake nodding, which includes: an acquisition module 301, which is used to obtain the duration of inertia release of the target vehicle in the current driving scene when the target vehicle is in a braking state; a reduction module 302, which is used to reduce the braking recovery torque corresponding to the target vehicle to a target value; the target value refers to the braking recovery torque parameter value that releases the driving inertia of the target vehicle; and a recovery module 303, which is used to restore the value corresponding to the braking recovery torque to the value before reduction after the duration of inertia release. The present application suppresses the vehicle's brake nodding by controlling the value corresponding to the braking recovery torque, avoids interference with the driver's control of the vehicle due to excessive brake nodding, and improves the vehicle's driving stability and safety as well as ride comfort.

[0116] like Figure 4 As shown, an electronic device 400 provided in an embodiment of the present application includes: a processor 401, a memory 402 and a bus, the memory 402 stores machine-readable instructions executable by the processor 401, when the electronic device is running, the processor 401 and the memory 402 communicate through the bus, and the processor 401 executes the machine-readable instructions to perform the steps of the brake nodding suppression method as described above.

[0117] Specifically, the memory 402 and the processor 401 can be general-purpose memories and processors, which are not specifically limited here. When the processor 401 runs the computer program stored in the memory 402, the brake nodding suppression method can be executed.

[0118] Corresponding to the above-mentioned method for suppressing brake nodding, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned method for suppressing brake nodding are executed.

[0119] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0120] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0121] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0122] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the information processing method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0123] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for suppressing brake nodding, characterized in that: The method for suppressing brake nodding includes: When the target vehicle is in a braking state, obtaining the duration of inertia release of the target vehicle in the current driving scenario; reducing the braking recovery torque corresponding to the target vehicle to a target value; the target value refers to a braking recovery torque parameter value for releasing the driving inertia of the target vehicle; After the inertia release duration has elapsed, the value corresponding to the braking recovery torque is restored to the value before the reduction.

2. The method for suppressing brake nodding according to claim 1, characterized in that: The obtaining of the inertia release duration of the target vehicle in the current driving scenario includes: If the current driving scene is that the driving parameters of the target vehicle meet the preset numerical conditions, and there is a vehicle in front of the target vehicle, then obtaining the distance between the target vehicle and the vehicle in front; The inertia release duration is calculated according to the distance between the target vehicle and the vehicle ahead.

3. The method for suppressing brake nodding according to claim 2, characterized in that: The step of calculating the duration of the inertia release according to the distance between the target vehicle and the vehicle ahead includes: Substitute the distance between the target vehicle and the vehicle ahead into the following formula to obtain the duration of the inertia release: t = A*m+B; Wherein, t is the duration of inertia release, A is the first correlation coefficient, m is the distance between the target vehicle and the vehicle in front, and B is the second correlation coefficient.

4. The method for suppressing brake nodding according to claim 1, characterized in that: The step of obtaining the inertia release duration of the target vehicle in the current driving scenario further includes: If the current driving scenario is that the driving parameters of the target vehicle meet preset numerical conditions and there is no vehicle in front of the target vehicle, the preset inertia release duration is determined as the inertia release duration of the target vehicle in the current driving scenario.

5. The method for suppressing brake nodding according to any one of claims 1 to 4, characterized in that: The target value is determined by the following steps: Acquiring an influencing parameter value corresponding to a preset inertia influencing factor of the target vehicle; The target value is determined according to the influencing parameter value corresponding to the preset inertia influencing factor.

6. The method for suppressing brake nodding according to claim 5, characterized in that: The determining the target value according to the influencing parameter value corresponding to the preset inertia influencing factor comprises: If the number of the preset inertia influencing factors is greater than 1, then the initial value corresponding to each preset inertia influencing factor is calculated according to the influencing parameter value corresponding to each preset inertia influencing factor; the initial value corresponding to each preset inertia influencing factor refers to the braking recovery torque parameter value for releasing the driving inertia of the target vehicle caused by each preset inertia influencing factor; The target value is calculated according to the initial values ​​corresponding to all the preset inertia influencing factors.

7. The method for suppressing brake nodding according to claim 5, characterized in that: The preset inertia influencing factor includes at least one of the weight of the target vehicle, the pedal depth of this braking, and the initial braking speed of this braking.

8. A brake nodding suppression device, characterized in that: The brake nodding suppression device comprises: An acquisition module, used for acquiring the duration of inertia release of the target vehicle in the current driving scenario when the target vehicle is in a braking state; A reduction module, used to reduce the braking recovery torque corresponding to the target vehicle to a target value; the target value refers to a braking recovery torque parameter value for releasing the driving inertia of the target vehicle; The recovery module is used to restore the value corresponding to the braking recovery torque to the value before the reduction after the inertia release duration has passed.

9. An electronic device, characterized in that: include: A processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of the brake nodding suppression method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for suppressing braking nodding according to any one of claims 1 to 7 are executed.

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