Vehicle braking control method, device and computer equipment

Abstract

The present application relates to a vehicle brake control method, device and computer equipment. The method comprises: obtaining the opening information of the vehicle brake pedal and the vehicle speed of the vehicle; determining the target electric braking force and the target mechanical braking force that match the opening information and the vehicle speed according to the preset correlation relationship between the opening information, the vehicle speed and the target electric braking force and the target mechanical braking force; sending the target electric braking force to the motor controller, and sending the target mechanical braking force to the chassis controller. The problem of inaccurate braking caused by asynchronous information acquisition can be solved.

Description

Technical Field

[0001] The present application relates to the technical field of new energy vehicles, and in particular to a vehicle braking control method, device, computer equipment, storage medium and computer program product. Background Art

[0002] There are two main braking methods for new energy vehicles: one is the electric braking force generated by the motor; the other is the mechanical braking force generated by the friction of the traditional brake disc. In the related technology, the chassis controller sends the analyzed electric braking force to the vehicle controller, and sends the analyzed mechanical braking force to the mechanical braking system. The vehicle controller combines the electric braking force analyzed by itself with the electric braking force analyzed by the chassis controller and sends them to the motor controller. Due to the differences in the physical properties of the motor actuator and the mechanical brake actuator, for example, there are great differences in response rate and response accuracy. This leads to inaccurate braking control during braking: specific manifestations include loss of deceleration caused by mutual compensation of different braking forces; for example, the chassis controller activates the control function to intervene in the vehicle during braking for safety reasons, but because the motor actuator responds to the electric braking force comprehensively calculated by the vehicle controller, the chassis function control performance is reduced. Summary of the invention

[0003] Based on this, it is necessary to provide a vehicle braking control method, device, computer equipment, storage medium and computer program product to address the above technical problems.

[0004] In a first aspect, the present application provides a vehicle braking control method, which is applied to a vehicle controller, comprising:

[0005] Obtaining the opening information of the vehicle brake pedal and the speed of the vehicle;

[0006] Determine the target electric braking force and the target mechanical braking force that match the opening information and the vehicle speed according to the preset correlation relationship between the opening information, the vehicle speed, the target electric braking force, and the target mechanical braking force;

[0007] The target electric braking force is sent to a motor controller, and the target mechanical braking force is sent to a chassis controller, so as to instruct the motor controller to brake the vehicle according to the target electric braking force and the chassis controller to brake the vehicle according to the mechanical braking force.

[0008] In a possible implementation, the opening information includes an opening angle, and the preset association relationship includes:

[0009] When the opening angle is lower than the first opening threshold and the vehicle speed is within the second vehicle speed range, the target electric braking force is positively correlated with the opening angle, and the target mechanical braking force is zero; wherein the first opening threshold corresponds to the maximum threshold of the electric braking force.

[0010] In a possible implementation, the preset association relationship further includes:

[0011] When the vehicle speed is within the first vehicle speed interval or the third vehicle speed interval and the opening angle is less than or equal to a second opening threshold matching the vehicle speed, the target electric braking force is positively correlated with the opening angle, and the target mechanical braking force is zero.

[0012] In a possible implementation, after determining the target electric braking force and the target mechanical braking force that match the opening information and the vehicle speed, the method further includes:

[0013] Obtaining the electric braking force corresponding to the current power of the vehicle motor;

[0014] When the electric braking force is less than the target electric braking force, obtaining a difference between the electric braking force and the target electric braking force;

[0015] The target electric braking force and the target mechanical braking force are adjusted according to the electric braking force and the difference.

[0016] In a possible implementation, adjusting the target electric braking force and the target mechanical braking force according to the electric braking force and the difference includes:

[0017] determining an adjusted target electric braking force as the target electric braking force minus the difference;

[0018] The adjusted mechanical braking force is determined to be the target mechanical braking force plus the difference.

[0019] In a possible implementation, after determining the target electric braking force and the target mechanical braking force that match the opening information and the vehicle speed, the method further includes:

[0020] Acquiring the current mechanical braking force of the vehicle;

[0021] The target electric braking force and the target mechanical braking force are adjusted according to the current mechanical braking force.

[0022] In a possible implementation, adjusting the target electric braking force and the target mechanical braking force according to the current mechanical braking force includes:

[0023] When the difference between the current mechanical braking force and the target mechanical braking force is greater than a preset value, the adjusted target mechanical braking force is determined to be the current mechanical braking force plus a preset change amount.

[0024] In a second aspect, the present application also provides a vehicle braking control device, which is applied to a vehicle controller, and the device comprises:

[0025] A first acquisition module, used to acquire the opening information of the vehicle brake pedal and the speed of the vehicle;

[0026] a determination module, for determining a target electric braking force and a target mechanical braking force that match the opening information and the vehicle speed according to a preset correlation relationship between the opening information, the vehicle speed, the target electric braking force, and the target mechanical braking force;

[0027] A sending module is used to send the target electric braking force to a motor controller and send the target mechanical braking force to a chassis controller, so as to instruct the motor controller to brake the vehicle according to the target electric braking force and the chassis controller to brake the vehicle according to the mechanical braking force.

[0028] In a possible implementation, the opening information includes an opening angle, and the preset association relationship includes:

[0029] When the opening angle is lower than the first opening threshold and the vehicle speed is within the second vehicle speed range, the target electric braking force is positively correlated with the opening angle, and the target mechanical braking force is zero; wherein the first opening threshold corresponds to the maximum threshold of the electric braking force.

[0030] In a possible implementation, the preset association relationship further includes:

[0031] When the vehicle speed is within the first vehicle speed interval or the third vehicle speed interval and the opening angle is less than or equal to a second opening threshold matching the vehicle speed, the target electric braking force is positively correlated with the opening angle, and the target mechanical braking force is zero.

[0032] In a possible implementation, the method further includes:

[0033] A second acquisition module is used to acquire the electric braking force corresponding to the current power of the vehicle motor;

[0034] a third acquisition module, configured to acquire a difference between the electric braking force and the target electric braking force when the electric braking force is less than the target electric braking force;

[0035] The first adjustment module is used to adjust the target electric braking force and the target mechanical braking force according to the electric braking force and the difference.

[0036] In a possible implementation, the first adjustment module includes:

[0037] A first determining submodule, configured to determine that the adjusted target electric braking force is the target electric braking force minus the difference;

[0038] The second determining submodule is configured to determine that the adjusted mechanical braking force is the target mechanical braking force plus the difference.

[0039] In a possible implementation, the method further includes:

[0040] A fourth acquisition module, used to acquire the current mechanical braking force of the vehicle;

[0041] The second adjustment module is used to adjust the target electric braking force and the target mechanical braking force according to the current mechanical braking force.

[0042] In a possible implementation, the second adjustment module includes:

[0043] The third determination submodule is configured to determine, when the difference between the current mechanical braking force and the target mechanical braking force is greater than a preset value, that the adjusted target mechanical braking force is a preset change amount added to the current mechanical braking force.

[0044] In a third aspect, the present application further provides a vehicle controller, wherein the vehicle controller comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the vehicle braking control method as described in any one of the embodiments of the present disclosure is implemented.

[0045] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the vehicle braking control method as described in any one of the embodiments of the present disclosure is implemented.

[0046] In a fifth aspect, the present application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the vehicle braking control method as described in any one of the embodiments of the present disclosure is implemented.

[0047] The above-mentioned vehicle braking control method, device, computer equipment, storage medium and computer program product uniformly analyze the electric braking force and mechanical braking force through the vehicle controller, and the traditional chassis controller no longer participates in the analysis of the electric braking force and mechanical braking force, and the distribution of the electric braking force and the mechanical braking force is also performed by the vehicle controller. It can solve the problem of inaccurate braking caused by asynchronous information acquisition, avoid the situation where the target braking force (target deceleration) is missing due to multiple electric braking force analysis methods, and can obtain the response status of the motor actuator and the mechanical brake actuator in the first time, and uniformly dispatch them, thereby improving the braking performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 A diagram showing an application environment of a vehicle braking control method in an embodiment;

[0049] Figure 2 A first flow chart of a vehicle braking control method in one embodiment;

[0050] Figure 3 It is a schematic diagram of the preset correlation between the opening information, the vehicle speed and the target electric braking force and the target mechanical braking force in one embodiment.

[0051] Figure 4 A third flow chart of a vehicle braking control method in another embodiment;

[0052] Figure 5 is a structural block diagram of a vehicle brake control device in one embodiment;

[0053] Figure 6 FIG. 4 is a diagram showing the internal structure of a vehicle controller in one embodiment. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0055] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0056] It should also be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for display, data for analysis, etc.) involved in this disclosure are all information and data authorized by the user or fully authorized by all parties. The acquisition, storage, use and processing of data in the technical solution of this application are in compliance with the relevant provisions of national laws and regulations.

[0057] The vehicle braking control method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. Specifically, the method can be applied to the vehicle controller 101. The vehicle controller obtains the travel (opening information) of the driver's brake pedal and the vehicle speed (for example, it can be determined based on the wheel speed sensor pulse data), calculates the total electric braking torque (target electric braking force) and the target mechanical braking force based on the opening information and the vehicle speed, sends the target mechanical braking force to the chassis braking system 103 (chassis controller), sends the total electric braking torque to the motor 105, and receives the actual mechanical braking force fed back by the chassis braking system 103.

[0058] In one embodiment, Figure 2 As shown, a vehicle braking control method is provided, which is applied to Figure 1 The vehicle controller in the example is used to illustrate, including the following steps:

[0059] Step S201, obtaining the opening information of the vehicle brake pedal and the vehicle speed.

[0060] Specifically, the brake pedal may include a brake pedal of the vehicle. The opening information may include the opening angle of the brake pedal and the rate of change of the angle. In an exemplary embodiment, the opening information may be obtained by obtaining the travel data of the brake pedal and obtaining the travel data. The speed of the vehicle may be obtained by a sensor, such as a radar sensor, a laser sensor, a visual sensor, etc. In an exemplary embodiment, the speed of the vehicle may also be determined by pulse data of a wheel speed sensor.

[0061] Step S203, determining the target electric braking force and the target mechanical braking force that match the opening information and the vehicle speed according to the preset correlation relationship between the opening information, the vehicle speed and the target electric braking force and the target mechanical braking force.

[0062] Specifically, the relationship between the opening information, the vehicle speed, the target electric braking force, and the target mechanical braking force may include that the opening information, the vehicle speed, and the target electric braking force have a relationship, and the opening information, the vehicle speed, and the target mechanical braking force have a relationship, and the target electric braking force and the target mechanical braking force can be uniquely determined by the specific value of the opening information and the specific value of the vehicle speed. The relationship may include a mapping relationship, a function relationship, etc.

[0063] Step S205 , sending the target electric braking force to a motor controller, and sending the target mechanical braking force to a chassis controller, so as to instruct the motor controller to brake the vehicle according to the target electric braking force, and the chassis controller to brake the vehicle according to the mechanical braking force.

[0064] Specifically, the target electric braking force may include the electric braking force corresponding to the driver stepping on the brake pedal and the electric braking force when the vehicle is coasting without stepping on the brake pedal or the accelerator. The latter can be turned on or off according to the vehicle mode. When turned on, the vehicle will generate electric braking force when the brake pedal and the accelerator are not stepped on. The target electric braking force is sent to the motor controller, and the motor controller determines the corresponding braking torque according to the target electric braking force to reduce the vehicle speed. The target mechanical braking force is sent to the chassis controller, and the chassis controller uses mechanical braking, such as brake pads, to slow down the vehicle.

[0065] In the above embodiment, the vehicle controller uniformly analyzes the electric braking force and the mechanical braking force, and the traditional chassis controller no longer participates in the analysis of the electric braking force and the mechanical braking force, and the distribution of the electric braking force and the mechanical braking force is also performed by the vehicle controller. It can solve the problem of inaccurate braking caused by asynchronous information acquisition, avoid the situation where the target braking force (target deceleration) is missing due to multiple electric braking force analysis methods, and can obtain the response status of the motor actuator and the mechanical brake actuator in the first time, and uniformly dispatch them, thereby improving the braking performance.

[0066] In a possible implementation, the opening information includes an opening angle, and the preset association relationship includes:

[0067] When the opening angle is lower than the first opening threshold and the vehicle speed is within the second vehicle speed range, the target electric braking force is positively correlated with the opening angle, and the target mechanical braking force is zero; wherein the first opening threshold corresponds to the maximum threshold of the electric braking force.

[0068] Specifically, refer to Figure 3 As shown, Figure 3 The middle vertical coordinate indicates both the size of the opening angle and the size of the braking force. The braking force can represent the electric braking force, corresponding to the target electric braking force area in the figure, or it can represent the mechanical braking force, corresponding to the target mechanical braking force area in the figure. The first opening threshold M2 corresponds to the maximum threshold of the electric braking force, that is, if the opening of the brake pedal continues to increase on the basis of the first opening threshold, the size of the target electric braking force will not change. Similarly, M1 corresponds to the maximum threshold of the mechanical braking force, that is, if the opening of the brake pedal continues to increase on the basis of M1, the size of the target mechanical braking force will not change.

[0069] In an exemplary embodiment, when the opening angle is lower than M2 and the vehicle speed is in the second vehicle speed range, the second vehicle speed range includes Figure 3 The speed range from V2 to V3. The target electric braking force is positively correlated with the opening angle, that is, the larger the opening angle, the larger the target electric braking force, and the target mechanical braking force is set to zero. That is, in the rectangular area formed by vertices V2, V3, F, and E, the vehicle controller only calculates the target electric braking force. The target electric braking force is used alone to brake the vehicle.

[0070] It should be noted that the first opening threshold and the second vehicle speed range can be set according to the performance of specific vehicle components. If the performance of each component allows, the range of the second vehicle speed range and the first opening threshold can be expanded as much as possible to use the electric braking force as much as possible. The present disclosure does not limit this.

[0071] In the above embodiment, by setting the first opening threshold and the correlation between the target electric braking force and the opening angle in the second vehicle speed range, the target mechanical braking force is zero, and the electric braking force can be used as much as possible. Without affecting the driving performance of the vehicle, more kinetic energy can be converted into electric energy through motor braking to supplement the energy consumption of the battery. At the same time, the use of electric braking force alone avoids the mutual supplementation of electric braking and mechanical braking force to a large extent, and reduces the problem of deceleration loss caused by lack of compensation.

[0072] In a possible implementation, the preset association relationship further includes:

[0073] When the vehicle speed is within the first vehicle speed interval or the third vehicle speed interval and the opening angle is less than or equal to a second opening threshold matching the vehicle speed, the target electric braking force is positively correlated with the opening angle, and the target mechanical braking force is zero.

[0074] Specifically, refer to Figure 3 As shown, the first vehicle speed interval corresponds to Figure 3 The third vehicle speed interval corresponds to the V1 to V2 interval in Figure 3The interval from V3 to V4 in the figure takes the first vehicle speed interval as an example. In the first vehicle speed interval, each speed corresponds to a second opening threshold, for example, the opening angle corresponding to the ordinate of point C in the figure is the second opening threshold of the speed corresponding to the abscissa of point C. The second opening threshold may include that when the opening is greater than the second opening threshold, it is necessary to start the mechanical brake and calculate the target mechanical braking force. It can be understood that the second opening threshold that matches the speed in the first vehicle speed interval is located on the line segment V1-E. In an exemplary embodiment, when the speed is in the first vehicle speed interval and the opening angle is lower than or equal to the second opening threshold that matches the speed, the target electric braking force is positively correlated with the opening angle, and the target mechanical braking force is zero. In another exemplary embodiment, when the speed is in the first vehicle speed interval and the opening angle is higher than the second opening threshold that matches the speed, the target mechanical braking force is positively correlated with the opening angle. Similarly, in an exemplary embodiment, when the speed is in the third vehicle speed interval and the opening angle is lower than or equal to the second opening threshold value matching the speed, the target electric braking force is positively correlated with the opening angle, and the target mechanical braking force is zero. In another exemplary embodiment, when the speed is in the third vehicle speed interval and the opening angle is higher than the second opening threshold value matching the speed, the target mechanical braking force is positively correlated with the opening angle.

[0075] In the above embodiment, the second opening threshold is established in the first speed range and the third speed range, and the electric brake force is used alone for braking within the second opening threshold. When the opening is greater than the second opening threshold, the mechanical brake force auxiliary braking is started. That is, when the opening suddenly increases, the use of mechanical braking force is increased, thereby ensuring the effectiveness of braking and meeting the expected needs of users.

[0076] In a possible implementation, after determining the target electric braking force and the target mechanical braking force that match the opening information and the vehicle speed, the method further includes:

[0077] Obtaining the electric braking force corresponding to the current power of the vehicle motor;

[0078] When the electric braking force is less than the target electric braking force, obtaining a difference between the electric braking force and the target electric braking force;

[0079] The target electric braking force and the target mechanical braking force are adjusted according to the electric braking force and the difference.

[0080] The current power of the specific vehicle motor can be obtained from the battery monitoring system, or the battery can be monitored in real time. When the battery power is high, the limit value of the electric braking force provided is larger, and when the battery power is low, the limit value of the electric braking force provided is smaller. In an exemplary embodiment, the electric braking force corresponding to the current power of the vehicle motor is obtained, that is, the limit electric braking force corresponding to the current power, or the maximum electric braking force that can be provided by the current power. The difference between the electric braking force and the target electric braking force is obtained, and the target electric braking force and the target mechanical braking force are adjusted according to the electric braking force and the difference. In an exemplary embodiment, the adjusted target electric braking force is determined to be the target electric braking force minus the difference; the adjusted mechanical braking force is determined to be the target mechanical braking force plus the difference. In another exemplary embodiment, the adjusted target electric braking force is determined to be the target electric braking force decelerated by the difference and a preset value, and the adjusted target mechanical braking force is determined to be the target mechanical braking force plus a preset proportion of the difference.

[0081] In the above embodiment, when the battery power is not saturated, the target electric braking force may not be provided. In this case, the electric braking force corresponding to the power can be obtained, and the difference between the electric braking force and the target electric braking force can be calculated. The target electric braking force and the target mechanical braking force can be adjusted according to the difference to meet actual needs.

[0082] In a possible implementation, after determining the target electric braking force and the target mechanical braking force that match the opening information and the vehicle speed, the method further includes:

[0083] Acquiring the current mechanical braking force of the vehicle;

[0084] The target electric braking force and the target mechanical braking force are adjusted according to the current mechanical braking force.

[0085] Specifically, the current mechanical braking force may include the actual mechanical braking force of the mechanical braking system at the current moment. According to the current mechanical braking force, the target electric braking force and the target mechanical braking force are adjusted to form a closed-loop braking force adjustment space, and the mechanical braking force is smoothly adjusted to avoid a sense of frustration and improve the user's comfort.

[0086] In an exemplary embodiment, the target electric braking force and the target mechanical braking force are adjusted according to the current mechanical braking force, including: when the difference between the current mechanical braking force and the target mechanical braking force is greater than a preset value, the adjusted target mechanical braking force is determined to be an increase in a preset conversion amount on the current mechanical braking force. For example, if the target mechanical braking force is 500N and the current mechanical braking force is 300N, and the difference between the two is large, you can choose to increase the preset conversion amount on the target mechanical braking force, such as increasing -100N, and adjusting the target mechanical braking force to 400N. For another example, if the target mechanical braking force is 300N and the current mechanical braking force is 500N, and the difference between the two is large, you can choose to increase the preset conversion amount on the target mechanical braking force, such as increasing 100N, and the adjusted target mechanical braking force is 400N. In an exemplary embodiment, the braking force that cannot be shared by the target mechanical braking force can also be selectively added to the electric braking force. For example, in the above embodiment, after the target mechanical braking force is adjusted from 500N to 400N, the remaining 100N can be added to the target electric braking force.

[0087] In the embodiment of the present disclosure, when the difference between the current mechanical braking force and the target mechanical braking force is greater than a preset value, the adjusted target mechanical braking force is determined to be the current mechanical braking force plus a preset transformation amount, which helps to smoothly adjust the mechanical braking force and meet the user's comfort requirements.

[0088] Figure 4 FIG. 1 is a third flow chart of a vehicle braking control method in another embodiment, referring to FIG. Figure 4 As shown, the method includes:

[0089] Step S201, obtaining the opening information of the vehicle brake pedal and the vehicle speed.

[0090] In the disclosed embodiment, the brake pedal may include a brake pedal of the vehicle. The opening information may include the opening size, the rate of change of the opening, etc. In an exemplary embodiment, the opening information may be obtained by obtaining the travel data of the brake pedal and obtaining the travel data. The speed of the vehicle may be obtained by a sensor, such as a radar sensor, a laser sensor, a visual sensor, etc. In an exemplary embodiment, the speed of the vehicle may also be determined by the pulse data of a wheel speed sensor.

[0091] Step S203, determining the target electric braking force and the target mechanical braking force that match the opening information and the vehicle speed according to the preset correlation relationship between the opening information, the vehicle speed and the target electric braking force and the target mechanical braking force.

[0092] Specifically, the relationship between the opening information, the vehicle speed, the target electric braking force, and the target mechanical braking force may include that the opening information, the vehicle speed, and the target electric braking force have a relationship, and the opening information, the vehicle speed, and the target mechanical braking force have a relationship, and the target electric braking force and the target mechanical braking force can be uniquely determined by the specific value of the opening information and the specific value of the vehicle speed. The relationship may include a mapping relationship, a function relationship, etc.

[0093] Step S401, obtaining the electric braking force corresponding to the current power of the vehicle motor.

[0094] Step S403 : when the electric braking force is less than the target electric braking force, obtaining a difference between the electric braking force and the target electric braking force.

[0095] Step S405 , adjusting the target electric braking force and the target mechanical braking force according to the electric braking force and the difference, to obtain an adjusted target electric braking force and an adjusted target mechanical braking force.

[0096] The current power of the specific vehicle motor can be obtained from the battery monitoring system, or the battery can be monitored in real time. When the battery power is high, the limit value of the electric braking force provided is larger, and when the battery power is low, the limit value of the electric braking force provided is smaller. In an exemplary embodiment, the electric braking force corresponding to the current power of the vehicle motor is obtained, that is, the limit electric braking force corresponding to the current power, or the maximum electric braking force that can be provided by the current power. The difference between the electric braking force and the target electric braking force is obtained, and the target electric braking force and the target mechanical braking force are adjusted according to the electric braking force and the difference to obtain the adjusted target electric braking force and the adjusted target mechanical braking force.

[0097] Step S407, obtaining the current mechanical braking force of the vehicle.

[0098] Step S409: secondary adjusting the adjusted target electric braking force and the adjusted target mechanical braking force according to the current mechanical braking force.

[0099] Specifically, the current mechanical braking force may include the actual mechanical braking force of the mechanical braking system at the current moment. According to the current mechanical braking force, the target electric braking force and the target mechanical braking force are adjusted to form a closed-loop braking force adjustment space, and the mechanical braking force is smoothly adjusted to avoid a sense of frustration and improve the user's comfort.

[0100] Step S205, sending the second adjusted target electric braking force to the motor controller, and sending the target mechanical braking force to the chassis controller, to instruct the motor controller to brake the vehicle according to the target electric braking force, and the chassis controller to brake the vehicle according to the mechanical braking force.

[0101] Specifically, the target electric braking force may include the electric braking force corresponding to the driver stepping on the brake pedal and the electric braking force when the vehicle is coasting without stepping on the brake pedal or the accelerator. The latter can be turned on or off according to the vehicle mode. When turned on, the vehicle will generate electric braking force when the brake pedal and the accelerator are not stepped on. The target electric braking force after the secondary adjustment is sent to the motor controller, and the motor controller determines the corresponding braking torque according to the target electric braking force to reduce the vehicle speed. The target mechanical braking force after the secondary adjustment is sent to the chassis controller, and the chassis controller uses mechanical braking, such as brake pads, to slow down the vehicle.

[0102] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0103] Based on the same inventive concept, the embodiment of the present application also provides a vehicle brake control device for implementing the vehicle brake control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more vehicle brake control device embodiments provided below can refer to the limitations of the vehicle brake control method above, and will not be repeated here.

[0104] In one embodiment, Figure 5 As shown, a vehicle braking control device is provided, comprising:

[0105] The first acquisition module 501 is used to acquire the opening information of the vehicle brake pedal and the speed of the vehicle;

[0106] A determination module 503 is used to determine the target electric braking force and the target mechanical braking force that match the opening information and the vehicle speed according to the preset correlation relationship between the opening information, the vehicle speed and the target electric braking force and the target mechanical braking force;

[0107] The sending module 505 is used to send the target electric braking force to the motor controller and send the target mechanical braking force to the chassis controller, so as to instruct the motor controller to brake the vehicle according to the target electric braking force and the chassis controller to brake the vehicle according to the mechanical braking force.

[0108] In a possible implementation, the opening information includes an opening angle, and the preset association relationship includes:

[0109] When the opening angle is lower than the first opening threshold and the vehicle speed is within the second vehicle speed range, the target electric braking force is positively correlated with the opening angle, and the target mechanical braking force is zero; wherein the first opening threshold corresponds to the maximum threshold of the electric braking force.

[0110] In a possible implementation, the preset association relationship further includes:

[0111] When the vehicle speed is within the first vehicle speed interval or the third vehicle speed interval and the opening angle is less than or equal to a second opening threshold matching the vehicle speed, the target electric braking force is positively correlated with the opening angle, and the target mechanical braking force is zero.

[0112] In a possible implementation, the method further includes:

[0113] A second acquisition module is used to acquire the electric braking force corresponding to the current power of the vehicle motor;

[0114] a third acquisition module, configured to acquire a difference between the electric braking force and the target electric braking force when the electric braking force is less than the target electric braking force;

[0115] The first adjustment module is used to adjust the target electric braking force and the target mechanical braking force according to the electric braking force and the difference.

[0116] In a possible implementation, the first adjustment module includes:

[0117] A first determining submodule, configured to determine that the adjusted target electric braking force is the target electric braking force minus the difference;

[0118] The second determining submodule is configured to determine that the adjusted mechanical braking force is the target mechanical braking force plus the difference.

[0119] In a possible implementation, the method further includes:

[0120] A fourth acquisition module, used to acquire the current mechanical braking force of the vehicle;

[0121] The second adjustment module is used to adjust the target electric braking force and the target mechanical braking force according to the current mechanical braking force.

[0122] In a possible implementation, the second adjustment module includes:

[0123] The third determination submodule is configured to determine, when the difference between the current mechanical braking force and the target mechanical braking force is greater than a preset value, that the adjusted target mechanical braking force is a preset change amount added to the current mechanical braking force.

[0124] Each module in the above-mentioned vehicle brake control device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0125] In one embodiment, a vehicle controller is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 6 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store processing data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a vehicle braking control method is implemented.

[0126] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0127] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0128] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A vehicle braking control method, characterized in that: Applied to vehicle controllers, including: Obtaining the opening information of the vehicle brake pedal and the speed of the vehicle; According to the preset correlation relationship between the opening information, the vehicle speed, the target electric braking force, and the target mechanical braking force, the target electric braking force and the target mechanical braking force matching the opening information and the vehicle speed are determined; wherein the opening information includes an opening angle, and the preset correlation relationship includes: when the vehicle speed is within the first vehicle speed interval or the third vehicle speed interval, and the opening angle is less than or equal to a second opening threshold matching the vehicle speed, the target electric braking force and the opening angle are positively correlated, and the target mechanical braking force is zero; The target electric braking force is sent to a motor controller, and the target mechanical braking force is sent to a chassis controller, so as to instruct the motor controller to brake the vehicle according to the target electric braking force and the chassis controller to brake the vehicle according to the mechanical braking force.

2. The method according to claim 1, characterized in that The preset association relationship includes: When the opening angle is lower than the first opening threshold and the vehicle speed is within the second vehicle speed range, the target electric braking force is positively correlated with the opening angle, and the target mechanical braking force is zero; wherein the first opening threshold corresponds to the maximum threshold of the electric braking force.

3. The method according to claim 1, characterized in that After determining the target electric braking force and the target mechanical braking force that match the opening information and the vehicle speed, the method further includes: Obtaining the electric braking force corresponding to the current power of the vehicle motor; When the electric braking force is less than the target electric braking force, obtaining a difference between the electric braking force and the target electric braking force; The target electric braking force and the target mechanical braking force are adjusted according to the electric braking force and the difference.

4. The method according to claim 3, characterized in that According to the electric braking force and the difference, adjusting the target electric braking force and the target mechanical braking force comprises: determining an adjusted target electric braking force as the target electric braking force minus the difference; The adjusted mechanical braking force is determined to be the target mechanical braking force plus the difference.

5. The method according to claim 1, characterized in that After determining the target electric braking force and the target mechanical braking force that match the opening information and the vehicle speed, the method further includes: Acquiring the current mechanical braking force of the vehicle; The target electric braking force and the target mechanical braking force are adjusted according to the current mechanical braking force.

6. The method according to claim 5, characterized in that According to the current mechanical braking force, adjusting the target electric braking force and the target mechanical braking force includes: When the difference between the current mechanical braking force and the target mechanical braking force is greater than a preset value, the adjusted target mechanical braking force is determined to be the current mechanical braking force plus a preset change amount.

7. A vehicle brake control device, characterized in that: Applied to a vehicle controller, the device comprises: A first acquisition module, used to acquire the opening information of the vehicle brake pedal and the speed of the vehicle; a determination module, configured to determine a target electric braking force and a target mechanical braking force that match the opening information and the vehicle speed according to a preset association relationship between the opening information, the vehicle speed, the target electric braking force, and the target mechanical braking force; wherein the opening information includes an opening angle, and the preset association relationship includes: when the vehicle speed is within a first vehicle speed interval or a third vehicle speed interval, and the opening angle is less than or equal to a second opening threshold that matches the vehicle speed, the target electric braking force and the opening angle are positively correlated, and the target mechanical braking force is zero; The sending module is used to send the target electric braking force to the motor controller and send the target mechanical braking force to the chassis controller, so as to instruct the motor controller to brake the vehicle according to the target electric braking force and the chassis controller to brake the vehicle according to the mechanical braking force.

8. The device according to claim 7, characterized in that The preset association relationship includes: When the opening angle is lower than the first opening threshold and the vehicle speed is within the second vehicle speed range, the target electric braking force is positively correlated with the opening angle, and the target mechanical braking force is zero; wherein the first opening threshold corresponds to the maximum threshold of the electric braking force.

9. The device according to claim 7, characterized in that Also includes: A second acquisition module is used to acquire the electric braking force corresponding to the current power of the vehicle motor; a third acquisition module, configured to acquire a difference between the electric braking force and the target electric braking force when the electric braking force is less than the target electric braking force; The first adjustment module is used to adjust the target electric braking force and the target mechanical braking force according to the electric braking force and the difference.

10. The device according to claim 9, characterized in that The first adjustment module includes: A first determining submodule, configured to determine that the adjusted target electric braking force is the target electric braking force minus the difference; The second determining submodule is configured to determine that the adjusted mechanical braking force is the target mechanical braking force plus the difference.

11. The device according to claim 7, characterized in that Also includes: A fourth acquisition module, used to acquire the current mechanical braking force of the vehicle; The second adjustment module is used to adjust the target electric braking force and the target mechanical braking force according to the current mechanical braking force.

12. The device according to claim 11, characterized in that The second adjustment module includes: The third determination submodule is configured to determine, when the difference between the current mechanical braking force and the target mechanical braking force is greater than a preset value, that the adjusted target mechanical braking force is a preset change amount added to the current mechanical braking force.

13. A vehicle controller, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the vehicle braking control method according to any one of claims 1 to 6 are implemented.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the vehicle brake control method according to any one of claims 1 to 6 are implemented.

15. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the vehicle braking control method according to any one of claims 1 to 6 are implemented.

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