Rear wheel brake control method, device and equipment and storage medium

Abstract

The invention discloses a rear wheel brake control method, device and equipment and a storage medium, and the method comprises the steps: when it is determined that brake signals of a vehicle intelligent integrated brake control unit and an EPB controller are not all invalid, vehicle brake is controlled preferentially according to the vehicle intelligent integrated brake control unit and the EPB controller; and when it is determined that the brake signals of the intelligent integrated brake control unit and the EPB controller of the vehicle fail, the rotation directions of the rear wheels are controlled through an added rear wheel steering system, so that the rotation directions of the two rear wheels are opposite, and vehicle braking is controlled. Under the extreme condition that the IPB and the EPB fail at the same time, it can be ensured that the vehicle can still be braked emergently, and the driving safety is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and particularly to a rear-wheel braking control method, device, equipment and storage medium. Background Art

[0002] With the rapid development of automotive electronic control technology, the braking system of vehicles has gradually evolved from traditional mechanical braking to electronic wire control braking system. Currently, the mainstream braking systems usually adopt an intelligent integrated braking control unit (IPB) and an electronic parking brake system (EPB) to achieve the braking function of vehicles. The IPB is responsible for conventional driving braking, while the EPB is mainly used for parking braking or providing auxiliary braking in emergency situations. However, there are still certain limitations in the redundancy design of the existing braking systems.

[0003] In the prior art, redundant braking solutions mostly focus on the collaborative work of the IPB and the EPB. For example, when the IPB fails, the EPB can be used as a backup system to provide partial braking force. However, this solution does not consider the extreme situation where both the IPB and the EPB fail simultaneously. Especially in the emergency braking scenario, this dual failure may cause the vehicle to completely lose its braking ability, thus triggering serious safety hazards.

[0004] Therefore, how to control the vehicle braking when both the IPB and the EPB fail simultaneously is a technical problem that urgently needs to be solved at present. Summary of the Invention

[0005] The main object of the present invention is to provide a rear-wheel braking control method, device, equipment and storage medium, which can ensure that the vehicle can still be emergently braked to a stop in the extreme situation where both the IPB and the EPB fail simultaneously, and greatly improve the driving safety.

[0006] In a first aspect, the present application provides a rear-wheel braking control method, which includes the following steps:

[0007] When it is determined that the braking signals of the vehicle intelligent integrated braking control unit and the EPB controller are not all failed, the vehicle is preferentially braked according to the vehicle intelligent integrated braking control unit and the EPB controller;

[0008] When it is determined that the braking signals of both the vehicle intelligent integrated braking control unit and the EPB controller are failed, the rotation direction of the rear wheels is controlled by using the added rear-wheel steering system, so that the rotation directions of the two rear wheels are opposite to control the vehicle braking.

[0009] In combination with the above first aspect, as an optional implementation manner, the added rear-wheel steering system is used to control the left rear wheel to rotate right or left, and the right rear wheel to rotate left or right, and the rotation angles of the two wheels are controlled to be the same.

[0010] In combination with the above first aspect, as an alternative implementation, the air conditioner or the air volume setting switch inside the vehicle is reused to adjust the steering angle of the rear wheels of the vehicle.

[0011] In combination with the above first aspect, as an alternative implementation, it is detected in real time whether the rear wheel steering system receives the braking signals from the vehicle intelligent integrated braking control unit and the EPB controller;

[0012] If the braking signals from the vehicle intelligent integrated braking control unit and the EPB controller are received, it is determined that the braking signals of the vehicle intelligent integrated braking control unit and the EPB controller both fail;

[0013] If any one of the braking signals from the vehicle intelligent integrated braking control unit or the EPB controller is received, it is determined that the braking signals of the vehicle intelligent integrated braking control unit and the EPB controller do not all fail.

[0014] In combination with the above first aspect, as an alternative implementation, if it is determined that the braking signals do not all fail, the vehicle is inhibited from entering the rear wheel steering redundant braking mode;

[0015] If it is determined that the braking signals both fail, the vehicle is activated to enter the rear wheel steering redundant braking mode.

[0016] In combination with the above first aspect, as an alternative implementation, after the vehicle enters the rear wheel steering redundant braking mode and no vehicle steering angle signal input is detected within a preset time, the rear wheel steering system calculates the vehicle target steering angle based on the current vehicle speed, longitudinal and lateral accelerations, and vehicle yaw rate and responds.

[0017] In combination with the above first aspect, as an alternative implementation, when it is determined that the vehicle speed drops below the set safe vehicle speed and the vehicle yaw rate is within the set safe range, the rear wheel steering system is used to control the rear wheels to return to the middle position at the same angular velocity, and after confirming that both rear wheels have returned to the middle, the rear wheel steering redundant braking mode is exited.

[0018] In a second aspect, the present application provides a rear wheel based braking control device, which includes:

[0019] A first control module, which is used to preferentially control the vehicle braking according to the vehicle intelligent integrated braking control unit and the EPB controller when it is determined that the braking signals of the vehicle intelligent integrated braking control unit and the EPB controller do not all fail;

[0020] A first control module, which is used to control the rotation direction of the rear wheels by using the added rear wheel steering system when it is determined that the braking signals of the vehicle intelligent integrated braking control unit and the EPB controller both fail, so that the rotation directions of the two rear wheels are opposite to control the vehicle braking.

[0021] In a third aspect, the present application further provides an electronic device, which includes: a processor; and a memory storing computer-readable instructions thereon. When the computer-readable instructions are executed by the processor, the method according to any one of the first aspect is implemented.

[0022] In a fourth aspect, the present application further provides a computer-readable storage medium storing computer program instructions, which when executed by a computer, cause the computer to execute the method according to any one of the first aspect.

[0023] The present application provides a rear-wheel braking control method, device, equipment and storage medium. The method includes the steps of: when it is determined that not all of the braking signals of the vehicle intelligent integrated braking control unit and the EPB controller have failed, preferentially controlling the vehicle braking according to the vehicle intelligent integrated braking control unit and the EPB controller; when it is determined that the braking signals of the vehicle intelligent integrated braking control unit and the EPB controller have both failed, using the added rear-wheel steering system to control the rotation direction of the rear wheels so that the rotation directions of the two rear wheels are opposite to control the vehicle braking. The present application can ensure that the vehicle can still be emergently braked in an extreme situation where the IPB and the EPB fail simultaneously, greatly improving the driving safety.

[0024] It should be understood that the above general description and the following detailed description are only exemplary and do not limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present invention and used together with the specification to explain the principles of the present invention.

[0026] Figure 1 It is a flowchart of a rear-wheel braking control method provided in an embodiment of the present application;

[0027] Figure 2 It is a schematic diagram of a rear-wheel braking control device provided in an embodiment of the present application;

[0028] Figure 3 It is a rear-wheel braking control logic diagram provided in an embodiment of the present application;

[0029] Figure 4 It is a schematic diagram of an electronic device provided in an embodiment of the present application;

[0030] Figure 5 It is a schematic diagram of a computer-readable program medium provided in an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] Here, exemplary embodiments will be described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0032] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities.

[0033] The embodiments of the present application provide a rear-wheel braking control method, device, equipment, and storage medium, which can ensure that the vehicle can still be emergently braked in extreme cases where both the IPB and EPB fail, greatly improving driving safety.

[0034] To achieve the above technical effects, the general idea of the present application is as follows:

[0035] A rear-wheel braking control method, the method includes steps:

[0036] S101: When it is determined that the braking signals of the vehicle intelligent integrated braking control unit and the EPB controller are not all invalid, preferentially control the vehicle braking according to the vehicle intelligent integrated braking control unit and the EPB controller.

[0037] S102: When it is determined that the braking signals of the vehicle intelligent integrated braking control unit and the EPB controller are both invalid, use the added rear-wheel steering system to control the rotation direction of the rear wheels so that the rotation directions of the two rear wheels are opposite to control the vehicle braking.

[0038] The following further describes the embodiments of the present application in detail with reference to the accompanying drawings.

[0039] Refer to Figure 1 , Figure 1 As shown in the flowchart of a rear-wheel braking control method provided by the present invention, as Figure 1 shown, the method includes steps:

[0040] Step S101: When it is determined that the braking signals of the vehicle intelligent integrated braking control unit and the EPB controller are not all invalid, preferentially control the vehicle braking according to the vehicle intelligent integrated braking control unit and the EPB controller.

[0041] Specifically, real-time detect whether the rear-wheel steering system receives the braking signals of the vehicle intelligent integrated braking control unit and the EPB controller;

[0042] If the braking signals of the vehicle intelligent integrated braking control unit and the EPB controller are received, it is determined that the braking signals of both the vehicle intelligent integrated braking control unit and the EPB controller are invalid.

[0043] If any braking signal of the vehicle intelligent integrated braking control unit or the EPB controller is received, it is determined that the braking signals of the vehicle intelligent integrated braking control unit and the EPB controller are not all invalid.

[0044] If the braking signals of the vehicle intelligent integrated braking control unit and the EPB controller are not received, it is determined that the braking signals of both the vehicle intelligent integrated braking control unit and the EPB controller are normal, that is, effective, and normal braking can be performed.

[0045] In one embodiment, if it is determined that the braking signals are not all invalid, the vehicle is inhibited from entering the rear-wheel steering redundant braking mode, that is, normal braking (braking in the way of IPB or EPB) is adopted.

[0046] If it is determined that the braking signals are all invalid, the vehicle is activated to enter the rear-wheel steering redundant braking mode (using the added RWS redundant braking system to perform braking).

[0047] It can be understood that when the rear-wheel steering system RWS receives the braking signals of the vehicle intelligent integrated braking control unit IPB and the EPB controller, it means that both the IPB and EPB braking functions are invalid, that is, when the emergency braking is ineffective, the RWS will receive the braking signal. When the RWS does not receive the IPB or EPB signal, it means that the IPB and EPB functions are not invalid and can be used normally.

[0048] In one embodiment, if it is detected that the rear-wheel steering system does not receive the braking signals of the vehicle intelligent integrated braking control unit and the EPB controller, it is determined that neither the vehicle intelligent integrated braking control unit nor the EPB controller is invalid or faulty, and the vehicle braking is given priority to respond according to the vehicle intelligent integrated braking control unit and the EPB controller, and the redundant braking function of the rear-wheel steering system is inhibited.

[0049] Specifically: Initialize each system of the vehicle, and determine whether the braking signals of the IPB and EPB systems are both invalid or faulty. If the IPB and EPB systems are not both invalid, the vehicle braking is given priority to respond according to the IPB and EPB controls, and the RWS redundant braking function is inhibited and no relevant intervention is performed. If the IPB and EPB braking functions are both invalid, the RWS redundant braking control can be activated. The specific activation method is to long-press the P button (for illustration only, not a fixed activation method). At this time, the instrument IVI prompts the vehicle to enter the RWS redundant braking control, and at the same time prompts the customer to hold the steering wheel firmly.

[0050] In addition, it should be explained that IPB (Integrated power brake intelligent integrated brake control unit), EPB (Electronic Parking Brake EPB controller), and RWS (Rear Wheel Steering System rear wheel steering system).

[0051] Step S102: When it is determined that the brake signals of the vehicle intelligent integrated brake control unit and the EPB controller both fail, use the added rear wheel steering system to control the rotation direction of the rear wheels so that the rotation directions of the two rear wheels are opposite to control vehicle braking.

[0052] Specifically, use the added rear wheel steering system to control the left rear wheel to rotate right or left, and the right rear wheel to rotate left or right, and control the rotation angles of the two wheels to be the same and the rotation directions to be opposite. Among them, the steering angle of the vehicle rear wheels is adjusted by reusing the air conditioner or the air volume setting switch in the vehicle.

[0053] For easy understanding, an example is given. After entering the rear wheel steering redundant braking mode, the RWS controls the left rear wheel to rotate right and the right rear wheel to rotate left, and the rotation directions of the two rear wheels are opposite and the angles are the same.

[0054] Optionally, after entering the rear wheel steering redundant braking mode, the RWS controls the left rear wheel to rotate left and the right rear wheel to rotate right, and the rotation directions of the two rear wheels are opposite and the angles are the same (it should be explained that if the angles are different, it will cause the vehicle body to change its trajectory and cannot maintain a straight line).

[0055] That is, because the two rear wheels form an inwards or outwards V shape, the wheels cannot rotate normally, and the friction between the wheels and the ground provides braking force, thereby achieving the purpose of vehicle braking.

[0056] In an embodiment, when entering the rear wheel steering redundant braking mode, if no vehicle steering angle signal input is detected within a preset time, the rear wheel steering system calculates the vehicle target steering angle based on the current vehicle speed, longitudinal and lateral accelerations, and vehicle yaw rate and responds.

[0057] For easy understanding, a specific description is given. If no rotation angle input is received after entering the rear wheel steering redundant braking mode for a certain time (preset 1S, which can be calibrated according to the vehicle speed, and the higher the vehicle speed, the shorter the waiting time for intervention), the RWS will automatically match a target rear wheel rotation angle to the rear wheels based on the current vehicle speed, longitudinal and lateral accelerations, vehicle yaw rate, etc. (a calibration value can be set, mainly to calculate the maximum rear wheel rotation angle that does not cause the vehicle to lose stability based on the vehicle dynamics model according to the current vehicle speed, longitudinal and lateral accelerations, and yaw rate).

[0058] In one embodiment, when it is determined that the vehicle speed drops below the set safe vehicle speed and the vehicle yaw rate is within the set safe range, the rear wheel steering system is used to control the rear wheels to return to the middle position at the same angular velocity, and after confirming that the rear wheels have all returned to the middle position, the redundant braking mode of the rear wheel steering is exited.

[0059] It can be understood that when the vehicle speed drops below the safe vehicle speed (below 5 KPH, which can be a calibrated value) and the vehicle yaw rate is within the safe range (0.5° / s, which can be used as a calibrated value), the driver can exit the redundant braking function of the rear wheel steering by pressing the EPB switch for a long time to meet the need to change lanes to a safer position.

[0060] The exit process is as follows: The RWS controls the rear two wheels to return to the middle position at the same angular velocity. After the RWS confirms that the rear wheels have all returned to the middle position, it exits the redundant braking function, and the instrument prompts the exit of the rear wheel redundant braking. The driver can operate the steering wheel and accelerator to change the lane of the vehicle to the emergency lane or a safe position.

[0061] After that, the redundant braking of the rear wheel steering is turned on again until the vehicle stops. The rear wheels are kept in the redundant braking mode to prevent the vehicle from slipping.

[0062] In one embodiment, the control software logic is encapsulated in the RWS controller, and the working states of the IPB and EPB are detected intelligently by the RWS to perform real-time redundant braking control of the rear wheel steering.

[0063] In summary, in this application, when it is determined that the braking signals of the vehicle intelligent integrated braking control unit and the EPB controller are not all invalid, the vehicle braking is preferentially controlled according to the vehicle intelligent integrated braking control unit and the EPB controller; when it is determined that the braking signals of the vehicle intelligent integrated braking control unit and the EPB controller are both invalid, the rotation direction of the rear wheels is controlled by using the added rear wheel steering system so that the rotation directions of the two rear wheels are opposite to control the vehicle braking, which can ensure that the vehicle can still be emergently braked in the extreme case where the IPB and EPB fail simultaneously, greatly improving the driving safety.

[0064] Refer to Figure 2 , Figure 2 shown is a schematic diagram of a rear wheel braking control device provided by the present invention. As Figure 2 shown, the device includes:

[0065] The first control module 201: It is used to preferentially control the vehicle braking according to the vehicle intelligent integrated braking control unit and the EPB controller when it is determined that the braking signals of the vehicle intelligent integrated braking control unit and the EPB controller are not all invalid.

[0066] Second control module 202: It is used to control the rotation direction of the rear wheels by using the added rear-wheel steering system when it is determined that the braking signals of both the vehicle intelligent integrated braking control unit and the EPB controller fail, so that the rotation directions of the two rear wheels are opposite to control vehicle braking.

[0067] Further, in a possible implementation, the second control module is further used to control the left rear wheel to rotate right or left, and the right rear wheel to rotate left or right by using the added rear-wheel steering system, and control the rotation angles of the two wheels to be the same.

[0068] Further, in a possible implementation, the second control module is further used to adjust the steering angle of the vehicle's rear wheels by reusing the air conditioner or the air volume setting switch in the vehicle.

[0069] Further, in a possible implementation, the second control module is further used to detect in real time whether the rear-wheel steering system receives the braking signals of the vehicle intelligent integrated braking control unit and the EPB controller;

[0070] If the braking signals of the vehicle intelligent integrated braking control unit and the EPB controller are received, it is determined that the braking signals of both the vehicle intelligent integrated braking control unit and the EPB controller fail;

[0071] If any one of the braking signals of the vehicle intelligent integrated braking control unit or the EPB controller is received, it is determined that the braking signals of both the vehicle intelligent integrated braking control unit and the EPB controller do not all fail.

[0072] Further, in a possible implementation, the second control module is further used to suppress the vehicle from entering the rear-wheel steering redundant braking mode if it is determined that the braking signals do not all fail;

[0073] If it is determined that the braking signals all fail, activate the vehicle to enter the rear-wheel steering redundant braking mode.

[0074] Further, in a possible implementation, the second control module is further used to, after the vehicle enters the rear-wheel steering redundant braking mode and no vehicle steering angle signal input is detected within the preset time, the rear-wheel steering system calculates the vehicle target steering angle based on the vehicle's current vehicle speed, longitudinal and lateral accelerations, and vehicle yaw rate and responds.

[0075] Further, in a possible implementation, the second control module is further used to determine that when the vehicle speed drops below the set safe vehicle speed and the vehicle yaw rate is within the set safe range, use the rear-wheel steering system to control the rear wheels to return to the middle position at the same angular velocity, and confirm that both rear wheels return to the middle position and then exit the rear-wheel steering redundant braking mode.

[0076] Refer to Figure 3 ,Figure 3 The following is the rear-wheel braking control logic diagram provided by the present invention, as Figure 3 shown below:

[0077] Initialize each system of the vehicle, and determine whether the braking signals of the IPB and EPB systems are both invalid or faulty. If the IPB and EPB systems are not both failed, the vehicle braking will give priority to the IPB and EPB control responses by default, and the RWS redundant braking function will be suppressed without relevant intervention. If the braking functions of both the IPB and EPB are failed, the RWS redundant braking control can be activated. The specific activation method is to long-press the P button (for illustration only, not a fixed activation method). At this time, the instrument IVI will prompt that the vehicle enters the RWS redundant braking control.

[0078] After entering the rear-wheel steering redundant braking mode, the RWS controls the two rear wheels to rotate in opposite directions with the same angle, and the wheels cannot rotate normally. The friction between the wheels and the ground provides the braking force, thereby achieving the purpose of vehicle braking. Among them, the angles of the two rear wheels can be adjusted in size by reusing the setting switches such as the air conditioner or air volume inside the vehicle.

[0079] If there is no manual angle input for a certain period of time after entering the rear-wheel steering redundant braking mode, the RWS will automatically match a target rear-wheel steering angle to the rear wheels based on the current vehicle speed, longitudinal and lateral accelerations, vehicle yaw rate, etc.

[0080] When the vehicle speed drops below the safe vehicle speed and the vehicle yaw rate is within the safe range, the driver can exit the rear-wheel steering redundant braking function by long-pressing the EPB switch to meet the need to change lanes to a safer position.

[0081] The exit process is as follows:

[0082] The RWS controls the two rear wheels to return to the middle position at the same angular velocity. After the RWS confirms that both rear wheels have returned to the middle position, it exits the redundant braking function, and the instrument prompts the exit of the rear-wheel steering redundant braking. The driver can operate the steering wheel and accelerator to change the lane of the vehicle to the emergency lane or a safe position.

[0083] After that, the redundant braking of the rear-wheel steering is turned on again until the vehicle stops. The rear wheels are kept in the redundant braking mode all the time to prevent the vehicle from slipping.

[0084] In summary, based on the braking signals of the vehicle intelligent integrated braking control unit and the EPB controller, it is determined whether to enter the rear-wheel steering redundant braking mode; if so, the rear-wheel steering system is used to control the rotation direction and angle of the rear wheels so that the two rear wheels rotate in opposite directions to control vehicle braking, which can ensure that the vehicle can still be emergently braked in the extreme case where both the IPB and EPB fail, greatly improving the driving safety.

[0085] The following refers to Figure 4Describe the electronic device 400 according to this embodiment of the present invention. Figure 4 The displayed electronic device 400 is merely an example and should not impose any limitations on the functions and usage scope of the embodiments of the present invention.

[0086] As Figure 4 shown, the electronic device 400 is presented in the form of a general-purpose computing device. The components of the electronic device 400 may include, but are not limited to: at least one of the above-mentioned processing units 410, at least one of the above-mentioned storage units 420, and a bus 430 connecting different system components (including the storage unit 420 and the processing unit 410).

[0087] Among them, the storage unit stores program code, and the program code can be executed by the processing unit 410, so that the processing unit 410 executes the steps according to various exemplary embodiments of the present invention described in the "Embodiment Method" section of this specification.

[0088] The storage unit 420 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 421 and / or a cache storage unit 422, and may further include a read-only storage unit (ROM) 423.

[0089] The storage unit 420 may further include a program / utility 424 having a set (at least one) of program modules 425. Such program modules 425 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include the implementation of a network environment.

[0090] The bus 430 may represent one or more of several types of bus structures, including a storage unit bus or a storage unit controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0091] The electronic device 400 can also communicate with one or more external devices (such as a keyboard, a pointing device, a Bluetooth device, etc.), and can also communicate with one or more devices that enable a user to interact with the electronic device 400, and / or communicate with any device that enables the electronic device 400 to communicate with one or more other computing devices (such as a router, a modem, etc.). Such communication can be carried out through the input / output (I / O) interface 450. Moreover, the electronic device 400 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 460. As shown in the figure, the network adapter 460 communicates with other modules of the electronic device 400 through the bus 430. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in combination with the electronic device 400, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0092] Through the description of the above embodiments, those skilled in the art can easily understand that the exemplary embodiments described herein can be implemented by software, or can be implemented by a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product, and the software product can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0093] According to the solution of the present disclosure, there is also provided a computer-readable storage medium, on which a program product capable of implementing the above method of this specification is stored. In some possible embodiments, various aspects of the present invention can also be implemented in the form of a program product, which includes program code. When the program product runs on a terminal device, the program code is used to enable the terminal device to execute the steps according to various exemplary embodiments of the present invention described in the above "Exemplary Method" section of this specification.

[0094] Reference Figure 5 As shown, a program product 500 for implementing the above method according to an embodiment of the present invention is described. It can adopt a portable compact disc read-only memory (CD-ROM) and include program code, and can run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, the readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, device, or device.

[0095] The program product may adopt any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0096] The computer-readable signal medium may include a data signal propagated in a baseband or as a part of a carrier wave, in which the readable program code is carried. Such a propagated data signal may take various forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The readable signal medium may also be any readable medium other than the readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device.

[0097] The program code contained on the readable medium may be transmitted by any appropriate medium, including but not limited to wireless, wire, optical fiber cable, RF, etc., or any suitable combination of the above.

[0098] The program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, etc., and also including conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, executed as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., by connecting through the Internet using an Internet service provider).

[0099] In addition, the above-mentioned drawings are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present invention, rather than for limiting purposes. It is easy to understand that the processes shown in the above-mentioned drawings do not indicate or limit the chronological order of these processes. Additionally, it is also easy to understand that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0100] In summary, a rear-wheel braking control method, device, equipment, and storage medium provided by this application, wherein the method includes the steps of: determining whether to enter the rear-wheel steering redundant braking mode based on the braking signals of the vehicle intelligent integrated braking control unit and the EPB controller; if so, using the rear-wheel steering system to control the rotation direction and angle of the rear wheels so that the rotation directions of the two rear wheels are opposite to control vehicle braking. This application can ensure that the vehicle can still be emergently braked in the extreme case where both the IPB and the EPB fail, greatly improving driving safety.

[0101] The above are only specific implementation manners of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application will not be limited to these embodiments shown herein, but rather will be accorded the widest scope consistent with the principles and novel features claimed herein.

[0102] This invention is described with reference to the flowcharts and / or block diagrams of methods, equipment (systems), and computer program products according to embodiments of the invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing device generate means for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

Claims

1. A rear-wheel braking control method, characterized in that Including: When it is determined that not all of the braking signals of the vehicle intelligent integrated braking control unit and the EPB controller have failed, the vehicle braking is preferentially controlled in accordance with the vehicle intelligent integrated braking control unit and the EPB controller; When it is determined that the braking signals of both the vehicle intelligent integrated braking control unit and the EPB controller have failed, the rotation direction of the rear wheels is controlled by using the added rear-wheel steering system so that the rotation directions of the two rear wheels are opposite to control vehicle braking.

2. The method according to claim 1, wherein The controlling the rotation direction of the rear wheels by using the added rear-wheel steering system includes: Controlling the left rear wheel to rotate right or left and the right rear wheel to rotate left or right by using the added rear-wheel steering system, and controlling the rotation angles of the two wheels to be the same.

3. The method according to claim 2, wherein Also including: Adjusting the steering angle of the vehicle's rear wheels by reusing the air conditioner or the air volume setting switch inside the vehicle.

4. The method according to claim 1, characterized in that, Including: Real-time detecting whether the rear-wheel steering system receives the braking signals of the vehicle intelligent integrated braking control unit and the EPB controller; If the braking signals of the vehicle intelligent integrated braking control unit and the EPB controller are received, it is determined that the braking signals of both the vehicle intelligent integrated braking control unit and the EPB controller have failed; If any one of the braking signals of the vehicle intelligent integrated braking control unit or the EPB controller is received, it is determined that not all of the braking signals of the vehicle intelligent integrated braking control unit and the EPB controller have failed.

5. The method according to claim 4, wherein Also including: If it is determined that not all of the braking signals have failed, inhibiting the vehicle from entering the rear-wheel steering redundant braking mode; If it is determined that all of the braking signals have failed, activating the vehicle to enter the rear-wheel steering redundant braking mode.

6. The method according to claim 5, characterized in that, Also including: After the vehicle enters the rear-wheel steering redundant braking mode and no vehicle steering angle signal input is detected within a preset time, the rear-wheel steering system calculates the vehicle target steering angle based on the vehicle's current vehicle speed, longitudinal and lateral accelerations, and vehicle yaw rate and responds.

7. The method according to claim 6, wherein Also including: Judging that when the vehicle speed drops below the set safe vehicle speed and the vehicle yaw rate is within the set safe range, using the rear-wheel steering system to control the rear wheels to return to the middle position at the same angular velocity, and exiting the rear-wheel steering redundant braking mode after confirming that both rear wheels have returned to the middle.

8. A rear-wheel braking control device, characterized in that, Including: A first control module, which is used to preferentially control vehicle braking in accordance with the vehicle intelligent integrated braking control unit and the EPB controller when it is determined that not all of the braking signals of the vehicle intelligent integrated braking control unit and the EPB controller have failed; A second control module, which is used to control the rotation direction of the rear wheels by using the added rear-wheel steering system so that the rotation directions of the two rear wheels are opposite to control vehicle braking when it is determined that the braking signals of both the vehicle intelligent integrated braking control unit and the EPB controller have failed.

9. An electronic device, characterized in that, The electronic device includes: A processor; A memory, on which computer-readable instructions are stored, and when the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that, It stores computer program instructions, and when the computer program instructions are executed by a computer, the computer is made to execute the method according to any one of claims 1 to 7.

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