A vehicle braking method, device, vehicle, and storage medium

Abstract

The present application provides a vehicle braking method, a vehicle, and a computer-readable storage medium. The method is applied to the vehicle's vehicle control unit. The method includes: detecting the state of the vehicle's parking brake system; when the vehicle's parking brake system is in a normal working state, obtaining the driving mode in which the vehicle is currently located; determining the working parameters of the vehicle's parking brake system according to the driving mode in which the vehicle is currently located, and controlling the parking brake system to brake with the working parameters, where the working parameters include one or more of the target value of the brake pedal opening, the braking deceleration, and the braking duration. The method can improve the accuracy of vehicle braking and ensure the safety and controllability of the vehicle during driving.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more specifically, to a vehicle braking method, device, vehicle, and storage medium in the field of vehicles. Background Art

[0002] With the development of automatic control technology and artificial intelligence technology, intelligent vehicles have gradually become a research hotspot in the automotive field. Intelligent vehicles centrally apply technologies such as automatic control, architecture, artificial intelligence, and visual computing to control intelligent vehicles, promoting the automation of intelligent vehicle control.

[0003] In related technologies, the by-wire technology for key parts in intelligent vehicles has become increasingly mature, enabling the automated driving control unit (ACU) to achieve braking control during vehicle driving. However, this method often cannot well match the braking requirements during vehicle driving. When the vehicle is in different braking scenarios, it cannot timely adjust the braking strategy, resulting in poor braking accuracy and unable to guarantee the safety and controllability of the vehicle during driving.

[0004] Therefore, how to improve braking accuracy has become an urgent problem to be solved. Summary of the Invention

[0005] The present application provides a vehicle braking method, device, vehicle, and storage medium. This method can improve the braking accuracy of the vehicle during driving and guarantee the safety and controllability of the vehicle during use.

[0006] In a first aspect, a vehicle braking method is provided. The method includes: detecting the state of the parking braking system of the vehicle; when the parking braking system of the vehicle is in a normal working state, obtaining the driving mode in which the vehicle is currently located; according to the driving mode in which the vehicle is currently located, determining the working parameters of the parking braking system of the vehicle, and controlling the parking braking system to perform braking with the working parameters, where the working parameters include one or more of a target value of the brake pedal opening, a target value of the braking speed, a target braking gear, and a braking duration.

[0007] Optionally, the vehicle can change the currently located driving mode according to different parameters and the operating state information of the vehicle. The driving mode of the vehicle can be any one of an emergency stop driving mode, an automated driving mode, an emergency driving mode, an intelligent remote control mode, and a ready-to-drive mode.

[0008] For example, when the on-board charger (OBC) of the vehicle is not connected and the parking brake system is in a normal working state, the vehicle jumps from the ready-to-drive mode to the autonomous driving mode or the emergency driving mode.

[0009] It should be understood that there is a control priority for the driving modes of the vehicle. During the process of the vehicle entering a driving mode, the VCU will control the vehicle to first execute the driving mode with a lower priority. Specifically, the emergency stop driving mode has the highest priority, which is the first priority; the intelligent remote control mode is the second priority; the emergency driving mode is the third priority; the autonomous driving mode is the fourth priority; and the ready-to-drive mode is the fifth priority.

[0010] In the above technical solution, according to the driving mode in which the vehicle is currently located, the working parameters of the parking brake system in the vehicle are determined, so that the parking brake system controls the vehicle to brake according to the obtained working parameters, thereby improving the accuracy of vehicle braking and more effectively ensuring the safety of the vehicle during driving.

[0011] Combined with the first aspect, in some possible implementation manners, according to the driving mode in which the vehicle is currently located, the working parameters of the parking brake system of the vehicle are determined, including: obtaining the target vehicle speed of the vehicle; and determining the working parameters of the parking brake system of the vehicle according to the driving mode in which the vehicle is currently located and the target vehicle speed.

[0012] Combined with the first aspect and the above implementation manners, in some implementation manners of the first aspect, the driving modes include the emergency stop driving mode, the autonomous driving mode, and the emergency driving mode. According to the driving mode in which the vehicle is currently located and the target vehicle speed, the working parameters of the parking brake system of the vehicle are determined, including: when the vehicle is in the emergency stop driving mode and the target vehicle speed is greater than or equal to the first preset threshold, determining the target value of the brake pedal opening as the maximum opening value of the brake pedal; when the vehicle is in the autonomous driving mode or the emergency driving mode, obtaining the target value of the brake pedal opening sent by the autonomous driving domain controller.

[0013] Combined with the first aspect and the above implementation manners, in some implementation manners of the first aspect, the driving mode further includes the intelligent remote control mode. Obtaining the vehicle speed of the vehicle includes: when the vehicle is in the autonomous driving mode or the emergency driving mode, the target vehicle speed of the vehicle is sent by the autonomous driving domain controller; when the vehicle is in the emergency stop driving mode, determining the target vehicle speed of the vehicle as the second preset threshold; when the vehicle is in the intelligent remote control mode, obtaining the target vehicle speed information sent by the remote controller.

[0014] It should be understood that an infrared sensor can be used to establish a signal transmission channel between the vehicle and the remote controller, so that the VCU can receive the target vehicle speed information sent by the remote controller. A signal transmission channel can also be established between the vehicle and the remote controller through Bluetooth or a data network, and the embodiments of the present application do not limit this.

[0015] Combined with the first aspect and the above implementation manners, in some implementation manners of the first aspect, when the vehicle is in the intelligent remote control mode, obtaining the target vehicle speed information sent by the remote controller includes: obtaining the infrared signal sent by the remote controller, parsing the infrared signal, and performing limit value processing and / or low-pass filtering processing on the parsed information to obtain the target vehicle speed information.

[0016] In the above technical solution, when the vehicle is in the intelligent remote control mode, by using limit value processing and low-pass filtering processing, the stability of the vehicle body during the vehicle speed change process can be maintained, and accidents caused by too rapid vehicle speed change can be prevented.

[0017] Combined with the first aspect and the above implementation manners, in some implementation manners of the first aspect, when the process of obtaining the target vehicle speed of the vehicle times out, and / or when the parking brake system braking times out, the method further includes: determining that the target vehicle speed of the vehicle is the second preset threshold; determining that the target value of the brake pedal opening is the maximum opening value of the brake pedal, and the braking duration is the first preset duration; activating the electronic parking structure of the parking brake system and maintaining the driving mode in which the vehicle is currently located.

[0018] In the above technical solution, when the process of obtaining the target vehicle speed of the vehicle times out, and / or when the parking brake system braking times out, the vehicle is controlled to complete braking, making the driving safety of the vehicle more controllable.

[0019] Combined with the first aspect and the above implementation manners, in some implementation manners of the first aspect, when the parking brake system braking times out includes any of the following situations: the target value of the brake pedal opening is greater than the maximum opening value of the brake pedal; or, the difference between the actual value of the brake pedal opening and the target value of the brake pedal opening is greater than or equal to the third preset threshold, and the duration for which the difference is greater than or equal to the third preset threshold is greater than or equal to the second preset duration.

[0020] Combined with the first aspect and the above implementation manners, in some implementation manners of the first aspect, the obtained target vehicle speed of the vehicle is less than or equal to the fourth preset threshold; or, the obtained target vehicle speed of the vehicle is greater than or equal to the fifth preset threshold; or, the difference between the actual vehicle speed of the vehicle and the target vehicle speed of the vehicle is greater than or equal to the sixth preset threshold, and the duration for which the difference is greater than or equal to the sixth preset threshold is greater than or equal to the third preset duration.

[0021] In summary, the solution provided in the embodiments of the present application can achieve more precise control of braking during the braking process of the vehicle, effectively ensuring the safety and controllability of the vehicle during driving. In addition, when the process of obtaining the target vehicle speed times out, and / or when the parking brake system braking times out, the braking control of the vehicle is completed, improving the controllability of the vehicle braking and further ensuring the driving safety of the vehicle.

[0022] In a second aspect, a vehicle braking device is provided. The device includes: a detection module for detecting the state of the parking brake system of the vehicle; an acquisition module for acquiring the driving mode in which the vehicle is currently located when the parking brake system of the vehicle is in a normal working state; a first determination module for determining the working parameters of the parking brake system of the vehicle according to the driving mode in which the vehicle is currently located, and controlling the parking brake system to brake with the working parameters, where the working parameters include one or more of a target value of the brake pedal opening, a target value of the braking speed, a target braking gear, and a braking duration.

[0023] In combination with the second aspect, in some implementation manners of the second aspect, the first determination module is specifically configured to: acquire the vehicle speed of the vehicle; determine the working parameters of the parking brake system of the vehicle according to the driving mode in which the vehicle is currently located and the vehicle speed.

[0024] In combination with the second aspect, in some implementation manners of the second aspect, the first determination module is further configured to: when the vehicle is in the emergency stop driving mode and the vehicle speed is greater than or equal to a first preset threshold, determine the target value of the brake pedal opening as the maximum opening value of the brake pedal; when the vehicle is in the autonomous driving mode or the emergency driving mode, the target value of the brake pedal opening is sent by the autonomous driving domain controller.

[0025] In combination with the second aspect, in some implementation manners of the second aspect, the first determination module is further configured to: when the vehicle is in the autonomous driving mode or the emergency driving mode, the target vehicle speed of the vehicle is sent by the autonomous driving domain controller; when the vehicle is in the emergency stop driving mode, determine the target vehicle speed of the vehicle as a second preset threshold; when the vehicle is in the intelligent remote control mode, acquire the target vehicle speed signal sent by the remote controller.

[0026] In combination with the second aspect, in some implementation manners of the second aspect, the first determination module is further configured to: parse the target vehicle speed signal according to a preset table to obtain the target vehicle speed of the vehicle; perform limit value processing and low-pass filtering processing on the vehicle speed of the vehicle according to the target vehicle speed of the vehicle.

[0027] In combination with the second aspect, in certain implementations of the second aspect, the apparatus further includes: a second determination module, configured to determine, when the process of obtaining the target vehicle speed times out and / or when the parking brake system braking times out, that: the target vehicle speed of the vehicle is a second preset threshold; the target value of the brake pedal opening is the maximum opening value of the brake pedal, and the braking duration is a first preset duration; activate the electronic parking structure of the parking brake system to maintain the driving mode in which the vehicle is currently located.

[0028] In combination with the second aspect, in certain implementations of the second aspect, when the parking brake system braking times out includes any of the following cases: the target value of the brake pedal opening is greater than the maximum opening value of the brake pedal; or, the difference between the actual value of the brake pedal opening and the target value of the brake pedal opening is greater than or equal to a third preset threshold, and the duration for which the difference is greater than or equal to the third preset threshold is greater than or equal to a second preset duration.

[0029] In combination with the second aspect, in certain implementations of the second aspect, the second determination module is further configured to perform any of the following: the obtained target vehicle speed of the vehicle is less than or equal to a fourth preset threshold; or, the obtained target vehicle speed of the vehicle is greater than or equal to a fifth preset threshold; or, the difference between the actual vehicle speed of the vehicle and the target vehicle speed of the vehicle is greater than or equal to a sixth preset threshold, and the duration for which the difference is greater than or equal to the sixth preset threshold is greater than or equal to a third preset duration.

[0030] In a third aspect, a vehicle is provided, including a memory and a processor. The memory is used to store executable program code; the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any possible implementation manner of the first aspect.

[0031] In a fourth aspect, a computer program product is provided, including: computer program code, which, when running on a computer, causes the computer to execute the method in the first aspect or any possible implementation manner of the first aspect.

[0032] In a fifth aspect, a computer-readable storage medium is provided, storing computer program code, which, when running on a computer, causes the computer to execute the method in the first aspect or any possible implementation manner of the first aspect. Description of the Drawings

[0033] Figure 1 is a schematic diagram of a vehicle interaction scenario provided by an embodiment of the present application;

[0034] Figure 2It is a schematic flow diagram of a vehicle braking method provided by an embodiment of the present application;

[0035] Figure 3 It is a schematic structural diagram of a vehicle braking device provided by an embodiment of the present application;

[0036] Figure 4 It is a schematic structural diagram of a vehicle provided by an embodiment of the present application. Detailed implementation manners

[0037] Next, the technical solutions in the present application will be clearly and elaborately described with reference to the accompanying drawings. Among them, in the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B. The "and / or" in the text is only a description of the association relationship between associated objects, indicating that there can be three relationships. For example, A and / or B may mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality of" means two or more than two.

[0038] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as implying or indicating relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0039] Figure 1 It is a schematic diagram of a vehicle interaction scenario provided by an embodiment of the present application.

[0040] Exemplarily, as Figure 1 shown, the key components in vehicle 100 include a vehicle control unit (VCU) 101, a parking brake system 102, and an autonomous driving domain controller 103. The parking brake system 102 includes an electrical park brake (EPB), an intelligent brake system (IBooster), and a motor control unit (MCU). VCU, EPB, IBooster, MCU, and ACU are communicatively connected to each other and communicate in corresponding communication manners.

[0041] Optionally, the communication connection methods include Controller Area Network (CAN) bus connection, Local Interconnect Network (LIN) bus connection, FlexRay bus connection, and Media Oriented Systems Transport (MOST) bus connection. Each connection method corresponds to a communication method, namely CAN bus communication, LIN bus communication, FlexRay bus communication, and MOST bus communication. The embodiments of the present application do not limit this.

[0042] During the driving of the vehicle 100, different Electronic Control Units (ECUs) can obtain various state information or parameter information during the driving of the vehicle. For example, the MCU can obtain the vehicle speed of the vehicle 100 during driving. The ECU can also combine the On Board Diagnostics (OBD) to obtain the fault information of the vehicle 100, such as fault codes, for maintenance personnel to view and analyze.

[0043] Exemplarily, as Figure 1 shown, during the operation of the vehicle 100, the VCU can detect the working state of any one of the EPB, IBooster, and MCU. After receiving the detection instruction, the EPB, IBooster, and MCU will feedback their own enabling information to the VCU; then, the VCU will feedback the obtained enabling information to the ACU; after obtaining the enabling information, the ACU can send a control instruction to the VCU, and then the VCU will send the obtained control instruction to the corresponding ECU. Alternatively, the VCU can also directly send a control instruction to the EPB, IBooster, and MCU, and the EPB, IBooster, and MCU will perform braking control on the vehicle according to the received control instruction.

[0044] Using the ACU to control braking during vehicle driving cannot meet the braking requirements in different scenarios, and cannot achieve the purpose of accurately controlling the vehicle to brake, resulting in poor safety of the vehicle during driving.

[0045] The present application will provide a vehicle braking method, which can improve the accuracy of vehicle braking and ensure the safety and controllability of the vehicle during driving.

[0046] Figure 2 is a schematic flowchart of a vehicle braking method provided by an embodiment of the present application.

[0047] Exemplarily, as Figure 2 shown, the method 200 can be applied to such asFigure 1 The VCU shown, the method 200 includes the following implementation processes:

[0048] S201, detect the state of the parking brake system of the vehicle.

[0049] Optionally, the VCU can detect the state of the vehicle's parking brake system. Specifically, by detecting whether there is a fault in the IBooster, whether the brake pedal opening control function is in an active state, and whether the braking deceleration control function is in an active state, the enabling state of the IBooster is judged. When it is detected that there is no fault in the IBooster, the brake pedal opening control function is in an active state, and the braking deceleration control function is in an active state, it can be determined that the IBooster enters the enabling state, in other words, it is determined that the IBooster is in a normal working state.

[0050] The VCU can also detect whether there is a fault in the EPB. When it is detected that there is no fault in the EPB, it can be determined that the EPB enters the enabling state, in other words, it is determined that the EPB is in a normal working state.

[0051] The VCU can also detect whether there is a third-level fault in the MCU. When it is determined that there is no third-level fault in the MCU, it can be determined that the MCU enters the enabling state, in other words, it is determined that the MCU is in a normal working state.

[0052] It should be understood that in the embodiments of the present application, for each ECU in the vehicle, its own fault state can be judged and the fault state can be sent to the VCU in the vehicle. After the VCU receives the fault states sent by each ECU, the fault states of each ECU can be summarized to obtain a final system fault level of the entire vehicle. The fault levels of the vehicle can be divided into first-level faults, second-level faults, and third-level faults. Among them, the third-level fault is the highest-level fault of the vehicle. When the vehicle is in this third-level fault state, the driving user should immediately control the vehicle to stop to avoid dangerous accidents and ensure their own safety.

[0053] S202, when the parking brake system of the vehicle is in a normal working state, obtain the driving mode in which the vehicle is currently located.

[0054] Specifically, the VCU can obtain the working state of the vehicle's parking brake system according to the process of S201. When the parking brake system is in a normal working state, obtain the driving mode in which the vehicle is located. Among them, the driving mode can be any one of the emergency stop driving mode, the automatic driving mode, the emergency driving mode, the intelligent remote control mode, and the ready driving mode.

[0055] Exemplarily, the driving mode in which the vehicle is currently located needs to be determined based on different parameters and the operating state information of the vehicle. Optionally, when the VCU is in an active state, it can be determined that the vehicle enters the ready-to-drive mode.

[0056] Optionally, when the vehicle OBC is not connected and the parking brake system is in a normal operating state, control the vehicle to jump from the ready-to-drive mode to the autonomous driving mode or the emergency driving mode.

[0057] Optionally, when the anti-collision touch switch or the parking release switch of the vehicle is in the off state, or the vehicle has a level 3 fault, or the remote control fails, the VCU controls the vehicle to jump from the ready-to-drive mode to the emergency stop driving mode.

[0058] Optionally, when the remote control is in an active state and successfully connected to the vehicle, and the control signal of the remote control is valid and the parking brake system is in a normal operating state, the VCU controls the vehicle to jump from the ready-to-drive mode to the intelligent remote control mode. In another jump method, when the remote control is in an active state and successfully connected to the vehicle, and at the same time the OBC is not connected, the VCU can also control the vehicle to jump from the autonomous driving mode or the emergency driving mode to the intelligent remote control mode.

[0059] Optionally, when the anti-collision touch switch or the parking release switch of the vehicle is in the on state, and the vehicle does not have a level 3 fault, the VCU can control the vehicle to jump from the emergency stop driving mode to the ready-to-drive mode.

[0060] Optionally, when the OBC is connected or the parking brake system is not activated, or the remote control switch signal fails, the VCU can control the vehicle to jump from any one of the emergency stop driving mode, the autonomous driving mode, the emergency driving mode, and the intelligent remote control mode to the ready-to-drive mode.

[0061] It should be understood that there is a control priority for the driving mode of the vehicle. During the process of the vehicle entering the driving mode, the VCU will control the vehicle to first execute the driving mode with a lower priority. Specifically, the emergency stop driving mode has the highest priority, which is the first priority, the intelligent remote control mode is the second priority, the emergency driving mode is the third priority, the autonomous driving mode is the fourth priority, and the ready-to-drive mode is the fifth priority.

[0062] S203, according to the driving mode in which the vehicle is currently located, determine the working parameters of the vehicle's parking brake system, and control the parking brake system to brake with the working parameters, where the working parameters include one or more of the target value of the brake pedal opening, the braking deceleration, and the braking duration.

[0063] It should be understood that the brake pedal opening can affect the power of the vehicle. When the target value of the brake pedal opening is larger, the time required for the vehicle to complete parking is shorter, and the deceleration performance of the vehicle is more excellent. For example, when the target value of the brake pedal opening is the largest, the vehicle can complete parking in the shortest time. Among them, the maximum brake pedal opening value refers to the brake pedal opening of 100%.

[0064] It should also be understood that the braking deceleration refers to the ability of the vehicle to rapidly reduce the driving speed until it stops during driving. Specifically, it can be understood that first, calculate the difference between the current vehicle speed and the vehicle speed after braking is completed, and then calculate the quotient of this difference and the braking duration, and determine the obtained quotient as the braking deceleration.

[0065] Specifically, obtain the driving mode of the vehicle through S202, and determine the working parameters of the parking brake system according to the obtained driving mode.

[0066] In the above technical solution, determine the working parameters of the parking brake system according to the driving mode in which the vehicle is currently located, and enable the parking brake system to control the vehicle to brake according to the obtained working parameters, which can improve the accuracy of vehicle braking and more effectively guarantee the safety of the vehicle during driving.

[0067] In a possible implementation manner, the VCU obtains the target vehicle speed of the vehicle, and determines the working parameters of the parking brake system in the vehicle according to the driving mode in which the vehicle is currently located and the obtained target vehicle speed.

[0068] Specifically, when the vehicle is in the autonomous driving mode or the emergency driving mode, the VCU can also obtain the target vehicle speed information sent by the ACU.

[0069] When the vehicle is in the emergency stop driving mode, the VCU determines that the target vehicle speed of the vehicle is the second preset threshold. Among them, the second preset threshold can be set to 0 m / s, or can be adjusted according to the actual situation, and the embodiments of the present application do not limit this.

[0070] When the vehicle is in the intelligent remote control mode, the VCU obtains the target vehicle speed information sent by the remote control. Optionally, use an infrared sensor to establish a signal transmission channel between the vehicle and the remote control, so that the VCU can receive the target vehicle speed information sent by the remote control. In addition, a signal transmission channel can also be established between the vehicle and the remote control through Bluetooth or a data network, and the embodiments of the present application do not limit this.

[0071] In a possible implementation manner, when the vehicle is in the emergency stop driving mode and the target vehicle speed is greater than or equal to the first preset threshold, the VCU can determine that the target value of the brake pedal opening is the maximum brake pedal opening value according to the emergency stop driving mode and the target vehicle speed, that is, determine that the target value of the brake pedal opening is 100%.

[0072] Optionally, the first preset threshold can be set to 0.5 m / s, or can be adjusted according to actual situations, and the embodiments of the present application do not limit this.

[0073] In another possible implementation, when the vehicle is in the autonomous driving mode or the emergency driving mode, the VCU obtains the target value of the brake pedal opening sent by the ACU. Specifically, after the VCU obtains the target value of the brake pedal opening sent by the ACU, the obtained target value of the brake pedal opening is sent to the IBooster, so that the IBooster brakes the vehicle according to the target value of the brake pedal opening.

[0074] In still another possible implementation, the VCU can obtain the infrared signal sent by the remote controller, parse the obtained infrared signal, and perform limit processing and / or low-pass filtering processing on the parsed information, so as to obtain the target vehicle speed information.

[0075] Exemplarily, Table 1 is a schematic table for obtaining the target vehicle speed after parsing the infrared signal provided by the embodiments of the present application.

[0076] Table 1

[0077] Serial number Infrared signal value Target vehicle speed (m / s) 1 100 -4 2 110 -3 3 120 -2 4 130 -1 5 145 0 6 150 0 7 155 1 8 170 2 9 180 4 10 190 6 11 200 8

[0078] It can be understood that the infrared signals in Table 1 are only several typical signal values listed, and can also be set according to actual situations, and the embodiments of the present application do not limit this.

[0079] Optionally, limit processing and / or filtering processing is performed on the parsed information. Specifically, the limit processing may include deceleration limit processing and acceleration limit processing. The deceleration limit processing refers to the process in which the vehicle speed changes step by step from large to small, and the acceleration limit processing refers to the process in which the vehicle speed changes step by step from small to large.

[0080] Optionally, the process of performing the limit processing mainly includes the following steps:

[0081] (1) Determine whether the limit processing is deceleration limit processing or acceleration limit processing according to the actual vehicle speed of the vehicle and the obtained target vehicle speed;

[0082] (2) Obtain a correction amount according to the correction coefficient and the scheduling time; use the actual vehicle speed of the vehicle as the intermediate value of the vehicle speed;

[0083] (3) Perform a subtraction operation on the intermediate value and the correction amount to obtain the output value of the vehicle speed;

[0084] (4) Judge the magnitude relationship between the output value and the target vehicle speed;

[0085] (5) In the case of deceleration limit value processing, determine whether the output value is greater than the target vehicle speed. If the output value is greater than the target vehicle speed, then determine the output value as the intermediate value of the vehicle speed, where the intermediate value is used to perform the above subtraction processing step; if the output value is less than or equal to the target vehicle speed, then end the deceleration limit value processing;

[0086] (6) In the case of acceleration limit value processing, determine whether the output value is less than the target vehicle speed. If the output value is less than the target vehicle speed, then determine the output value as the intermediate value of the vehicle speed; where the intermediate value is used to perform the above subtraction processing step; if the output value is greater than or equal to the target vehicle speed, then end the acceleration limit value processing.

[0087] Exemplarily, the above deceleration limit value processing process can be expressed as:

[0088] OUT = out - (neg * step)

[0089] OUT = max(x, OUT)

[0090] Exemplarily, the above acceleration limit value processing process can be expressed as:

[0091] OUT = out - (neg * step)

[0092] OUT = min(x, OUT)

[0093] Wherein, neg represents the correction coefficient, step represents the scheduling time, OUT represents the output value of the limit value processing, out represents the intermediate value, x represents the target vehicle speed, max represents the maximum value output, and min represents the minimum value output. Optionally, neg can be set to 0.1, step can be set to 10 ms, and can also be set according to the actual situation, and the embodiments of the present application do not limit this.

[0094] Further, in order to make the process of vehicle speed change smoother, low-pass filtering processing can also be used to control the vehicle speed, maintaining the stability of the vehicle body during the vehicle speed change process.

[0095] Specifically, perform low-pass filtering processing on the output value obtained in the above step (3) to determine the filtered value of the output value, and control the actual vehicle speed of the vehicle to change from the intermediate value to the filtered value, and then control the actual vehicle speed of the vehicle to change from the filtered value to the output value of the vehicle speed.

[0096] Optionally, the process of performing low-pass filtering processing on the output value of the vehicle speed mainly includes the following steps:

[0097] (1) After calculating the difference between the output value and the filtered value, calculate the quotient of the difference and the smoothing coefficient. After obtaining the quotient, perform a multiplication calculation with the scheduling time to obtain a product value.

[0098] (2) Add the obtained product value to the output value, and finally obtain the filtered value corresponding to the output value in the limit value processing. Use this filtered value as the intermediate value for the next limit value processing and perform loop processing until the limit value processing is completed.

[0099] Among them, when performing low-pass filtering for the first time, first calculate the quotient of the output value of the vehicle speed and the smoothing coefficient, and then perform a multiplication calculation on the quotient and the scheduling time to obtain the first filtered value.

[0100] Exemplarily, the process of performing low-pass filtering on the output value can be expressed as:

[0101] Out = OUT + step * (OUT - Out) / K

[0102] Among them, the smoothing coefficient is expressed as K, the above output value is expressed as out, and the output value of the low-pass filtering is expressed as Out. Optionally, K can be set to 11, or it can be set according to the actual situation, and the embodiments of the present application do not limit this.

[0103] Through the above method, when the vehicle is in the intelligent remote control mode, perform limit value processing and / or low-pass filtering on the parsed information to obtain the target vehicle speed information. And maintain the stability of the vehicle body during the vehicle speed change process to prevent accidents caused by too fast vehicle speed change.

[0104] In the implementation process of the embodiments of the present application, when the VCU detects that the EPB is in the normal working state, it can send a control command to the EPB to control the activation or deactivation of the EPB.

[0105] Exemplarily, when the vehicle is in any of the following situations, the VCU controls the EPB to be in the activated state. Specifically, when the vehicle is in the ready-to-drive mode or the emergency stop driving mode, the VCU controls the EPB to be in the activated state; or, when the vehicle is in the autonomous driving mode or the emergency driving mode and the vehicle speed is the second preset threshold, and the duration when the actual value of the braking opening is greater than or equal to the target value of the braking opening is the preset duration, the VCU controls the EPB to be in the activated state; or, when the vehicle is in the intelligent remote control mode and the key for controlling the EPB on the remote controller is in the triggered state, the VCU controls the EPB to be in the activated state; or, when the physical emergency stop switch is triggered or the electronic emergency stop switch is activated, the VCU controls the EPB to be in the activated state. The VCU can adjust the parking force of the vehicle by controlling the EPB, maintaining the stability of the vehicle parking and further improving the safety of vehicle braking.

[0106] In a possible scenario, the vehicle may need to start at a half-slope position or stay at a half-slope position for a long time. At this time, when the EPB meets any of the following conditions, it can actively control itself to be in the on state without waiting for the control instruction sent by the VCU. Specifically, when the deceleration state feedback of the EPB braking redundancy function is set, or the braking opening state feedback of the EPB is set, or the slope slip opening function state feedback of the EPB is set, or the starting function state feedback of the EPB is set, the EPB can be actively in the activated state.

[0107] It should be understood that the position of the vehicle can be judged by an image acquisition device or a radar sensing system, or the position of the vehicle can be judged by other means. The embodiments of the present application do not limit this.

[0108] Exemplarily, when the vehicle is in any of the following situations, the VCU controls the EPB to be in the failure state. Specifically, when the physical emergency stop switch is not triggered and the electronic emergency stop switch is not activated, the VCU controls the EPB to be in the failure state. Or, when the vehicle is in the intelligent remote control mode and the button for controlling the EPB on the remote control is not triggered, the VCU controls the EPB to be in the off failure state.

[0109] In a possible scenario, the VCU receives a control instruction from the ACU to shield the emergency stop switch, and the VCU controls the physical emergency stop switch and the electronic emergency stop switch to be in the set state according to this control instruction. Optionally, when the vehicle is in the emergency stop driving mode, the VCU automatically cancels the emergency stop driving mode state of the vehicle according to the received control instruction from the ACU to shield the emergency stop switch, without the need for the user to manually cancel it, reducing the complexity of the operation process and improving the user experience.

[0110] In addition to the above-described solutions, in the embodiments of the present application, when the target value of the brake pedal opening is greater than the maximum opening value of the brake pedal; or, the difference between the actual value of the brake pedal opening and the target value of the brake pedal is greater than or equal to a third preset threshold, and the duration for which the difference is greater than or equal to the third preset threshold is greater than or equal to a second preset duration, it indicates that the parking brake system has a braking timeout.

[0111] Optionally, the third preset threshold can be set to 6.25%, and the second preset duration can be set to 1000 ms. Both can also be adjusted according to the actual situation. The embodiments of the present application do not limit this.

[0112] In a possible scenario, the target vehicle speed obtained by the VCU is less than or equal to the fourth preset threshold; or, the obtained target vehicle speed of the vehicle is greater than or equal to the fifth preset threshold; or, the difference between the actual vehicle speed and the target vehicle speed of the vehicle is greater than or equal to the sixth preset threshold, and the duration for which this difference is greater than or equal to the sixth preset threshold is greater than or equal to the third preset duration, then it can be stated that the process of the VCU obtaining the vehicle speed times out.

[0113] Optionally, the fourth preset threshold can be set to -5 m / s, the fifth preset threshold can be set to 10 m / s, and the sixth preset threshold can be set to 1 m / s. These three preset thresholds can also be adjusted according to the actual situation, and the embodiments of the present application do not limit this. The third preset duration can be set to 1500 ms and can also be adjusted according to the actual situation.

[0114] In a possible scenario, when the parking brake system brakes and times out, and / or when the process of obtaining the vehicle speed times out, the VCU simultaneously performs the following actions: determining that the target vehicle speed of the vehicle is the second preset threshold, determining that the target value of the brake pedal opening is the maximum brake pedal opening value, and the braking duration is the first preset duration, and activating the electronic parking structure of the parking brake system to maintain the driving mode in which the vehicle is currently located. By performing these three actions, it is ensured that the vehicle braking is completed, making the driving safety of the vehicle more controllable.

[0115] Optionally, the first preset duration can be set to 3 s and can also be adjusted according to the actual situation, and the embodiments of the present application do not limit this.

[0116] In summary, the solution provided by the embodiments of the present application can achieve more precise control of vehicle braking, making the safety of the vehicle during driving more effectively guaranteed. In addition, when the process of obtaining the target vehicle speed of the vehicle times out, and / or when the parking brake system brakes and times out, the vehicle braking control is completed, improving the controllability of vehicle braking and further ensuring the driving safety of the vehicle.

[0117] Figure 3 A schematic structural diagram of a vehicle braking device provided by an embodiment of the present application.

[0118] Exemplarily, as Figure 3 shown, the device 300 includes:

[0119] A detection module 310, configured to detect the state of the parking brake system of the vehicle;

[0120] An acquisition module 320, when the parking brake system of the vehicle is in a normal working state, is configured to acquire the driving mode in which the vehicle is currently located;

[0121] The first determination module 330 is configured to determine the operating parameters of the vehicle's parking brake system according to the driving mode in which the vehicle is currently located, and control the parking brake system to brake with the operating parameters, where the operating parameters include one or more of a target value of the brake pedal opening, a target value of the braking speed, a target braking gear, and a braking duration.

[0122] In a possible implementation manner, the first determination module 330 is specifically configured to: obtain the target vehicle speed of the vehicle; determine the operating parameters of the vehicle's parking brake system according to the driving mode in which the vehicle is currently located and the target vehicle speed.

[0123] In a possible implementation manner, the first determination module 330 is further configured to: when the vehicle is in the emergency stop driving mode and the target vehicle speed is greater than or equal to a first preset threshold, determine the target value of the brake pedal opening as the maximum opening value of the brake pedal; when the vehicle is in the autonomous driving mode or the emergency driving mode, obtain the target value of the brake pedal opening sent by the autonomous driving domain controller.

[0124] In a possible implementation manner, the first determination module 330 is further configured to: when the vehicle is in the autonomous driving mode or the emergency driving mode, obtain the target vehicle speed information sent by the autonomous driving domain controller; when the vehicle is in the emergency stop driving mode, determine the target vehicle speed of the vehicle as a second preset threshold; when the vehicle is in the intelligent remote control mode, obtain the target vehicle speed information sent by the remote controller.

[0125] In a possible implementation manner, the first determination module 330 is further configured to: obtain the infrared signal sent by the remote controller, parse the infrared signal, and perform limit processing and / or low-pass filtering processing on the parsed information to obtain the target vehicle speed information.

[0126] Optionally, the device further includes: a second determination module, which determines that the target vehicle speed of the vehicle is a second preset threshold when the process of obtaining the target vehicle speed of the vehicle times out and / or when the parking brake system brakes timeout; determines that the target value of the brake pedal opening is the maximum opening value of the brake pedal, and the braking duration is a first preset duration; activates the electronic parking structure of the parking brake system and maintains the driving mode in which the vehicle is currently located.

[0127] Optionally, when the parking brake system brakes timeout, the second determination module is further used for any one of the following situations: the target value of the brake pedal opening is greater than the maximum opening value of the brake pedal; or, the difference between the actual value of the brake pedal opening and the target value of the brake pedal opening is greater than or equal to a third preset threshold, and the duration for which the difference is greater than or equal to the third preset threshold is greater than or equal to a second preset duration.

[0128] Optionally, if the process of obtaining the target vehicle speed times out, the second determination module is further configured to perform any one of the following: the obtained target vehicle speed of the vehicle is less than or equal to a fourth preset threshold; or, the obtained target vehicle speed of the vehicle is greater than or equal to a fifth preset threshold; or, the difference between the actual vehicle speed and the target vehicle speed of the vehicle is greater than or equal to a sixth preset threshold, and the duration for which the difference is greater than or equal to the sixth preset threshold is greater than or equal to a third preset duration.

[0129] Figure 4 It is a schematic structural diagram of a vehicle provided by an embodiment of the present application.

[0130] Exemplarily, as Figure 4 shown, the vehicle 100 includes: a memory 410 and a processor 420. Among them, an executable program code 440 is stored in the memory 410, and the processor 420 is configured to call and execute the executable program code 440 to execute a vehicle braking method.

[0131] In this embodiment, the vehicle can be divided into functional modules according to the above method examples. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is illustrative, only a logical function division, and there can be other division methods in actual implementation.

[0132] In the case of dividing each functional module corresponding to each function, the vehicle may include: a detection module, an acquisition module, a first determination module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be cited in the function description of the corresponding functional module, and will not be repeated here.

[0133] The vehicle provided in this embodiment is used to execute the above vehicle braking method, and thus can achieve the same effect as the above implementation method.

[0134] In the case of adopting an integrated unit, the vehicle may include a processing module and a storage module. Among them, the processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute mutual program codes and data, etc.

[0135] Among them, the processing module can be a processor or a controller, which can implement or execute various exemplary logical blocks, modules and circuits described in connection with the disclosure of the present application. The processor can also be a combination that realizes computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module can be a memory.

[0136] This embodiment also provides a computer-readable storage medium, in which computer program code is stored. When the computer program code runs on a computer, the computer is caused to execute the above-mentioned related method steps to implement a vehicle braking method in the above embodiment.

[0137] This embodiment also provides a computer program product. When the computer program product runs on a computer, the computer is caused to execute the above-mentioned related steps to implement a vehicle braking method in the above embodiment.

[0138] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be elaborated here.

[0139] Through the description of the above embodiments, those skilled in the art can understand that for the convenience and simplicity of description, only the above-mentioned division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0140] In the embodiments provided in this application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in electrical, mechanical or other forms.

[0141] The above content is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in this application, and all should be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A vehicle braking method, characterized in that, the method includes: detecting the state of the parking brake system of the vehicle; when the parking brake system of the vehicle is in a normal working state, obtaining the driving mode in which the vehicle is currently located; and, obtaining the target vehicle speed of the vehicle; wherein, the driving mode in which the vehicle is currently located is one of an emergency stop driving mode, an emergency driving mode, an autonomous driving mode, and an intelligent remote control mode; determining the working parameters of the parking brake system of the vehicle according to the driving mode in which the vehicle is currently located and the target vehicle speed, and controlling the parking brake system to brake with the working parameters, where the working parameters include one or more of a target value of the brake pedal opening, a braking deceleration, and a braking duration; the obtaining the target vehicle speed of the vehicle includes: when the vehicle is in the autonomous driving mode or the emergency driving mode, obtaining the target vehicle speed information sent by the autonomous driving domain controller; when the vehicle is in the emergency stop driving mode, determining the target vehicle speed of the vehicle to be a second preset threshold; when the vehicle is in the intelligent remote control mode, obtaining the target vehicle speed information sent by the remote controller; the determining the working parameters of the parking brake system of the vehicle according to the driving mode in which the vehicle is currently located and the target vehicle speed includes: when the vehicle is in the emergency stop driving mode and the target vehicle speed is greater than or equal to a first preset threshold, determining the target value of the brake pedal opening to be the maximum opening value of the brake pedal; when the vehicle is in the autonomous driving mode or the emergency driving mode, obtaining the target value of the brake pedal opening sent by the autonomous driving domain controller.

2. The method according to claim 1, characterized in that, the obtaining the target vehicle speed information sent by the remote controller includes: obtaining the infrared signal sent by the remote controller, parsing the infrared signal, and performing limit processing and / or low-pass filtering processing on the parsed information to obtain the target vehicle speed information sent by the remote controller.

3. The method according to claim 1 or 2, characterized in that, when the process of obtaining the target vehicle speed of the vehicle times out, and / or when the parking brake system brakes and times out, the method further includes: determining the target vehicle speed of the vehicle to be the second preset threshold; determining the target value of the brake pedal opening to be the maximum opening value of the brake pedal, and the braking duration to be a first preset duration; activating the electronic parking structure of the parking brake system and maintaining the driving mode in which the vehicle is currently located.

4. The method according to claim 3, characterized in that, the when the parking brake system brakes and times out includes any one of the following situations: the target value of the brake pedal opening is greater than the maximum opening value of the brake pedal; or, the difference between the actual value of the brake pedal opening and the target value of the brake pedal opening is greater than or equal to a third preset threshold, and the duration for which the difference is greater than or equal to the third preset threshold is greater than or equal to a second preset duration.

5. The method according to claim 3, characterized in that, The timeout in the process of obtaining the target vehicle speed includes any of the following situations: The obtained target vehicle speed of the vehicle is less than or equal to the fourth preset threshold; or, The obtained target vehicle speed of the vehicle is greater than or equal to the fifth preset threshold; or, The difference between the actual vehicle speed and the target vehicle speed of the vehicle is greater than or equal to the sixth preset threshold, and the duration for which the difference is greater than or equal to the sixth preset threshold is greater than or equal to the third preset duration.

6. A vehicle braking device Characterized in that The device includes: A detection module for detecting the state of the vehicle's parking brake system; An acquisition module for obtaining the driving mode in which the vehicle is currently located when the vehicle's parking brake system is in a normal working state; wherein, the driving mode in which the vehicle is currently located is one of an emergency stop driving mode, an emergency driving mode, an automatic driving mode, and an intelligent remote control mode; A first determination module for obtaining the target vehicle speed of the vehicle; determining the working parameters of the vehicle's parking brake system according to the driving mode in which the vehicle is currently located and the target vehicle speed, and controlling the parking brake system to brake with the working parameters, where the working parameters include one or more of a target value of the brake pedal opening, a braking deceleration, and a braking duration; the obtaining of the target vehicle speed of the vehicle includes: when the vehicle is in the automatic driving mode or the emergency driving mode, obtaining the target vehicle speed information sent by the automatic driving domain controller; when the vehicle is in the emergency stop driving mode, determining the target vehicle speed of the vehicle as the second preset threshold; when the vehicle is in the intelligent remote control mode, obtaining the target vehicle speed information sent by the remote controller; the determining of the working parameters of the vehicle's parking brake system according to the driving mode in which the vehicle is currently located and the target vehicle speed includes: when the vehicle is in the emergency stop driving mode and the target vehicle speed is greater than or equal to the first preset threshold, determining the target value of the brake pedal opening as the maximum brake pedal opening value; when the vehicle is in the automatic driving mode or the emergency driving mode, obtaining the target value of the brake pedal opening sent by the automatic driving domain controller.

7. A vehicle Characterized in that The vehicle includes: A memory for storing executable program code; A processor for calling and running the executable program code from the memory, so that the vehicle executes the braking method according to any one of claims 1 to 5.

8. A computer-readable storage medium Characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed, the braking method according to any one of claims 1 to 5 is implemented.

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