Vehicle braking force compensation method, device, computer equipment, and storage medium

Abstract

The present disclosure relates to a method, device, computer equipment, storage medium and computer program product for compensating vehicle braking force. The method comprises: in response to a failure of a vehicle's brake controller, obtaining a braking distance on the vehicle's brake pedal; determining a compensatory braking force of the vehicle according to the braking distance, a predetermined compensation relationship and a second relationship between the braking distance and deceleration of the vehicle's brake pedal when the brake controller fails, wherein the compensation relationship is determined according to a first relationship and a second relationship between the braking distance and deceleration of the vehicle's brake pedal when the brake controller works normally; and performing compensatory braking on the vehicle according to the compensatory braking force. The use of this method can compensate for the braking force of the vehicle in a targeted manner.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle control technology, and in particular to a method, device, computer equipment, and storage medium for compensating vehicle braking force. Background Art

[0002] With the development of wire-controlled braking systems, more and more models on the market are using integrated brake controllers. When the integrated brake controller fails to boost power, the brake pedal becomes hard, and the driver needs to use more pedal force than usual to get the same braking effect of the entire vehicle. On the one hand, it will cause the driver to panic when braking, and on the other hand, when encountering emergency braking, the vehicle is at risk of collision due to insufficient pedal force applied by the driver.

[0003] For vehicles that are not equipped with a backup brake unit (i.e., vehicles that are only equipped with an integrated brake controller), it is currently not possible to identify driving conditions in different scenarios in order to compensate for the vehicle's braking force in a targeted manner. Summary of the invention

[0004] Based on this, it is necessary to provide a vehicle braking force compensation method, device, computer equipment, and storage medium that can specifically compensate for the vehicle's braking force in order to address the above technical problems.

[0005] In a first aspect, the present disclosure provides a method for compensating a vehicle braking force. The method comprises:

[0006] In response to a brake controller failure of the vehicle, obtaining a braking distance on a brake pedal of the vehicle;

[0007] The compensatory braking force of the vehicle is determined according to the braking distance, a predetermined compensation relationship and a second relationship; wherein the compensation relationship is determined according to a first relationship and a second relationship; the first relationship includes: a relationship between a braking distance and a deceleration of a brake pedal of the vehicle when the brake controller works normally, and the second relationship includes: a relationship between a braking distance and a deceleration of a brake pedal of the vehicle when the brake controller fails;

[0008] The vehicle is subjected to compensatory braking according to the compensatory braking force.

[0009] In one embodiment, the process of determining the compensation relationship further includes:

[0010] Acquire the first relationship and the second relationship;

[0011] The compensation relationship is determined based on the first relationship, a preset first threshold and the second relationship, wherein the compensation relationship is between the first relationship and the second relationship, and the deviation value between the first relationship and / or the second relationship is equal to the first threshold, and the compensation relationship includes: when the brake controller fails, the relationship between the braking distance and deceleration of the vehicle brake pedal after braking force compensation.

[0012] In one embodiment, determining the compensatory braking force of the vehicle according to the braking distance, the predetermined compensation relationship and the second relationship includes:

[0013] determining a target deceleration of the vehicle according to the braking distance and a predetermined compensation relationship;

[0014] determining, according to the braking distance and the second relationship, a failure deceleration of the vehicle when the brake controller fails;

[0015] determining a compensation deceleration of the vehicle according to the target deceleration and the failure deceleration;

[0016] A compensatory braking force of the vehicle is determined based on the compensatory deceleration.

[0017] In one embodiment, performing compensatory braking on the vehicle according to the compensatory braking force includes one of the following:

[0018] performing compensatory braking on the front axle of the vehicle according to the compensatory braking force;

[0019] Compensatory braking is performed on the front axle and the rear axle of the vehicle according to the compensatory braking force.

[0020] In one embodiment, performing compensatory braking on the front axle of the vehicle according to the compensatory braking force includes:

[0021] In response to the compensating braking force being less than or equal to the maximum braking force of the front axle of the vehicle, compensating braking is performed on the front axle of the vehicle according to the compensating braking force.

[0022] In one embodiment, after braking the vehicle according to the compensatory braking force, the method further comprises:

[0023] calculating a front axle slip ratio of the vehicle, and in response to the front axle slip ratio being greater than a preset slip ratio threshold, reducing the compensating braking force;

[0024] According to the reduced compensatory braking force, compensatory braking is performed on the front axle of the vehicle until the front axle slip rate is less than or equal to a preset slip rate threshold.

[0025] In one embodiment, braking the front axle and the rear axle of the vehicle according to the compensatory braking force includes:

[0026] In response to the compensatory braking force being greater than the maximum braking force of the front axle of the vehicle, performing compensatory braking on the front axle of the vehicle according to the maximum braking force;

[0027] determining a target braking force of a rear axle of the vehicle according to the compensation braking force and a maximum braking force of a front axle of the vehicle;

[0028] Compensatory braking is performed on the rear axle of the vehicle according to the target braking force.

[0029] In one embodiment, after braking the vehicle according to the compensatory braking force, the method further comprises:

[0030] calculating a front axle slip rate and a rear axle slip rate of the vehicle;

[0031] In response to the front axle slip ratio being greater than a preset slip ratio threshold, reducing the maximum braking force of the front axle;

[0032] performing compensatory braking on the front axle of the vehicle according to the reduced maximum braking force of the front axle until the slip rate of the front axle is less than or equal to a preset slip rate threshold;

[0033] In response to the rear axle slip ratio being greater than a preset slip ratio threshold, reducing the target braking force;

[0034] According to the reduced target braking force, compensatory braking is performed on the rear axle of the vehicle until the rear axle slip rate is less than or equal to a preset slip rate threshold.

[0035] In a second aspect, the present disclosure further provides a vehicle braking force compensation device. The device comprises:

[0036] a braking distance acquisition module, for acquiring a braking distance on a brake pedal of the vehicle in response to a failure of a brake controller of the vehicle;

[0037] A compensation braking force determination module, used to determine the compensation braking force of the vehicle according to the braking distance, a predetermined compensation relationship and a second relationship; wherein the compensation relationship is determined according to a first relationship and a second relationship; the first relationship includes: a relationship between a braking distance and a deceleration of a brake pedal of the vehicle when the brake controller works normally, and the second relationship includes: a relationship between a braking distance and a deceleration of a brake pedal of the vehicle when the brake controller fails;

[0038] A compensating braking module is used to perform compensating braking on the vehicle according to the compensating braking force.

[0039] In a third aspect, the present disclosure further provides a computer device, wherein the computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of any of the above method embodiments are implemented.

[0040] In a fourth aspect, the present disclosure further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of any of the above method embodiments when executed by a processor.

[0041] In a fifth aspect, the present disclosure further provides a computer program product, wherein the computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of any of the above method embodiments are implemented.

[0042] In the above-mentioned embodiments, when the brake controller of the vehicle fails, the braking distance of the current driver on the vehicle brake pedal can be obtained. Then, the compensatory braking force of the vehicle can be determined based on the braking distance, a predetermined compensation relationship, and a second relationship between the braking distance and deceleration of the vehicle brake pedal when the brake controller fails. The vehicle is braked according to the compensatory braking force. Using the second relationship and the predetermined compensation relationship to determine the final compensatory braking force can make the driver aware of the failure of the current vehicle brake controller, and can also produce a certain compensatory braking effect on the vehicle to ensure the safety of the vehicle during driving. The compensatory braking force can be dynamically adjusted according to the different braking distances on the vehicle brake pedal, and the braking force of the vehicle can be compensated in a targeted manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the specific embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the specific embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0044] Figure 1 A schematic flow chart of a method for compensating vehicle braking force in one embodiment;

[0045] Figure 2 is a flow chart of a process for determining a compensation relationship in one embodiment;

[0046] Figure 3 is a schematic diagram of a first relationship, a second relationship and a compensation relationship in one embodiment;

[0047] Figure 4 This is a schematic diagram of the process of step S104 in one embodiment;

[0048] Figure 5 It is a schematic diagram of a flow chart of compensatory braking in one embodiment;

[0049] Figure 6 It is a schematic diagram of a flow chart after compensating braking in one embodiment;

[0050] Figure 7 A schematic flow chart of a method for compensating vehicle braking force in another embodiment;

[0051] Figure 8 is a schematic block diagram of the structure of a vehicle braking force compensation device in one embodiment;

[0052] Fig. 9 Schematic diagram of the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the present disclosure more clear, the present disclosure 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 disclosure and are not used to limit the present disclosure.

[0054] It should be noted that the terms "first", "second", etc. in the specification and claims of this article 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 this article described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, device, product or equipment that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0055] In this article, the term "and / or" is only a description of the association relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the related objects before and after are in an "or" relationship.

[0056] In one embodiment, Figure 1As shown, a method for compensating vehicle braking force is provided. This embodiment uses the method applied to a terminal as an example for explanation. It is understandable that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. It is understandable that both the terminal and the server can be installed in the vehicle, and they can control the vehicle. In this embodiment, the method includes the following steps:

[0057] S102, in response to a brake controller failure of the vehicle, obtaining a braking distance on a brake pedal of the vehicle.

[0058] The brake controller may be a controller corresponding to the vehicle's brake pedal, which is a device used to assist the driver in braking through the brake pedal. The brake pedal may be a pedal that limits power, a pedal for the foot brake (service brake), and the brake pedal may be used to slow down and stop the vehicle. The braking distance may be the distance the brake pedal moves downward after the driver applies pressure to the brake pedal.

[0059] Specifically, when the brake controller in the vehicle fails due to damage to electronic components or other reasons, the control system in the vehicle can detect the failure of the brake controller. At this time, if the driver needs to slow down the vehicle, it is necessary to apply a greater force to the vehicle brake pedal to achieve the effect previously achieved with a smaller force, which can easily cause danger to the vehicle. Therefore, when the brake controller fails, it is necessary to compensate for the braking force of the vehicle. After the driver applies pressure to the vehicle brake pedal with a smaller force, the braking force is compensated to a certain extent to ensure driving safety. At this time, it is necessary to obtain the braking distance on the vehicle brake pedal when the driver needs to brake the vehicle when the current brake controller fails.

[0060] S104, determining the compensatory braking force of the vehicle according to the braking distance, a predetermined compensation relationship and a second relationship; wherein the compensation relationship is determined according to a first relationship and a second relationship; the first relationship includes: the relationship between the braking distance and the deceleration of the vehicle brake pedal when the brake controller works normally, and the second relationship includes: the relationship between the braking distance and the deceleration of the vehicle brake pedal when the brake controller fails. The first relationship, the second relationship and the compensation relationship may be in the form of a relationship curve, or in the form of a mapping relationship or a mapping table, and their specific forms are not limited in some embodiments of the present disclosure.

[0061] Specifically, when the brake controller is not invalid (normal operation), the relationship between the braking distance and deceleration of the vehicle brake pedal can be tested to obtain a first relationship. When the brake controller fails, the relationship between the braking distance and deceleration of the vehicle brake pedal can also be tested to obtain a second relationship. Then the compensation relationship can be determined according to the first relationship and the second relationship. Usually the compensation relationship can be between the first relationship and the second relationship. In this way, when the vehicle brake controller fails, the driver will not feel that he needs to step on the brake pedal with great force, and at the same time, the driver can be made aware that the boost of the brake controller has failed. According to the braking distance, the first deceleration corresponding to the braking distance can be found in the compensation relationship. In addition, in order to make the driver aware that the boost of the brake controller of the current vehicle has failed, it is necessary to find the second deceleration corresponding to the braking distance when the vehicle brake fails in the second relationship again according to the braking distance. If the first relationship and the second relationship are used to determine the final compensation braking force, the braking force after the compensation braking force is basically the same as the braking force when the brake controller is not invalid, and the driver will not be aware of the failure of the brake controller at this time. Therefore, the braking force to be compensated can be determined according to the first deceleration and the second deceleration.

[0062] S106: Perform compensatory braking on the vehicle according to the compensatory braking force.

[0063] Compensation braking may generally be a method of applying braking force to the vehicle again after the vehicle is braked.

[0064] Specifically, because there is pressure on the brake pedal of the current vehicle, a braking distance is generated. The braking distance can apply a certain braking force to the vehicle according to the second relationship, thereby generating the above-mentioned second deceleration. After determining the compensation braking force that needs to be compensated for the vehicle, the compensation braking force can be applied to the front axle and / or the rear axle of the vehicle to perform compensatory braking on the vehicle, so that the vehicle can generate the first deceleration, thereby achieving the purpose of compensatory braking on the vehicle.

[0065] In the above-mentioned method for compensating the braking force of a vehicle, when the brake controller of the vehicle fails, the braking distance of the current driver on the brake pedal of the vehicle can be obtained. Then, the compensatory braking force of the vehicle can be determined according to the braking distance, a predetermined compensation relationship, and a second relationship between the braking distance and deceleration of the brake pedal of the vehicle when the brake controller fails. The vehicle is braked according to the compensatory braking force. The final compensatory braking force is determined using the second relationship and the predetermined compensation relationship, which can make the driver aware of the failure of the current vehicle brake controller, and can also produce a certain compensatory braking effect on the vehicle to ensure the safety of the vehicle during driving. The compensatory braking force can be dynamically adjusted according to the different braking distances on the vehicle brake pedal, and the braking force of the vehicle can be compensated in a targeted manner.

[0066] In one embodiment, Figure 2 As shown, the compensation relationship determination process further includes:

[0067] S202: Acquire the first relationship and the second relationship.

[0068] S204, determining the compensation relationship based on the first relationship, a preset first threshold and the second relationship, wherein the compensation relationship is between the first relationship and the second relationship, and the deviation value between the first relationship and / or the second relationship is equal to the first threshold, and the compensation relationship includes: when the brake controller fails, the relationship between the braking distance and deceleration of the vehicle brake pedal after braking force compensation.

[0069] The first threshold may be smaller than the deviation between the first relationship and the second relationship. The first threshold may be specifically set according to actual conditions, and in some embodiments of the present disclosure, the specific value of the first threshold is not limited.

[0070] Specifically, in some exemplary embodiments, Figure 3 As shown, the first relationship, the second relationship and the compensation relationship are described in the form of relationship curves. The compensation relationship can be located below the first relationship, and the distance between the compensation relationship and the first relationship can be a preset first threshold value, and is higher than the second relationship. The compensation relationship can also be located above the second relationship, and the distance between the compensation relationship and the second relationship can be a preset first threshold value, and is lower than the first relationship. If the first threshold value is smaller, the compensation relationship can be located between the first relationship and the second relationship, and the distance between the first relationship and the second relationship is the first threshold value.

[0071] In this embodiment, the compensation relationship is determined by the first relationship, the second relationship and the preset first threshold value. The compensation relationship is between the first relationship and the second relationship. When the vehicle brake controller fails, the driver will not feel the need to step on the brake pedal with great force. At the same time, the driver can be aware that the power assistance of the brake controller has failed and a certain deceleration effect can be guaranteed to ensure safety during driving.

[0072] In one embodiment, Figure 4 As shown, the determining the compensatory braking force of the vehicle according to the braking distance, the predetermined compensation relationship and the second relationship includes:

[0073] S302: Determine a target deceleration of the vehicle according to the braking distance and a predetermined compensation relationship.

[0074] The target deceleration may generally be the deceleration of the vehicle after the compensatory braking force is applied.

[0075] Specifically, because the compensation relationship can be the relationship between the braking distance and deceleration of the vehicle brake pedal after the braking force compensation when the brake controller fails, therefore, when the brake controller fails, the target deceleration of the vehicle after the braking compensation can be determined based on the obtained braking distance on the vehicle brake pedal and the compensation relationship.

[0076] S304: Determine a failure deceleration of the vehicle when the brake controller fails according to the braking distance and the second relationship.

[0077] Specifically, when the brake controller fails and the vehicle needs to brake, there will be a certain braking distance on the brake pedal of the vehicle. The braking distance will also produce a certain braking effect on the vehicle, thereby producing a certain deceleration on the vehicle. Therefore, the failure deceleration of the vehicle corresponding to the braking distance when the brake controller fails can be determined based on the braking distance and the second relationship.

[0078] S306: Determine a compensation deceleration of the vehicle according to the target deceleration and the failure deceleration.

[0079] S308: Determine a compensatory braking force of the vehicle according to the compensatory deceleration.

[0080] Specifically, because the failure deceleration exists objectively, that is, when the brake fails, as long as a braking distance is generated on the vehicle's brake pedal, the braking distance can correspond to the failure deceleration of the vehicle. The target deceleration is the deceleration generated by the vehicle after the braking force needs to be compensated. Therefore, the difference between the target deceleration and the failure deceleration can be determined, and then the deceleration that needs to be compensated can be determined. Then, according to the relationship between the deceleration that needs to be compensated and the corresponding braking force, the compensation braking force of the vehicle is determined. It can be understood that due to the different hardware structures of the vehicles, the relationship between the deceleration and the corresponding braking force of each vehicle is also different, so the corresponding compensation braking force can be flexibly determined according to different vehicles.

[0081] In some exemplary embodiments, for example, the target deceleration is 10 m / s 2 When the brake controller fails, the failure deceleration is only 5m / s 2 , then the vehicle needs to be compensated 5m / s 2 The deceleration rate can be set by making the vehicle produce 5m / s 2 The braking force corresponding to the deceleration is used to determine the compensation braking force.

[0082] In this embodiment, since the compensation relationship and the second relationship are the relationship between the braking distance and the deceleration, the target deceleration and the failure deceleration can be determined, and then the compensation deceleration can be determined. The braking force to be compensated is determined according to the compensation deceleration, and when the brake controller fails, the vehicle can be braked according to the compensation braking force, so that the vehicle reaches the target deceleration and ensures driving safety.

[0083] In one embodiment, performing compensatory braking on the vehicle according to the compensatory braking force includes one of the following:

[0084] A front axle of the vehicle is subjected to compensatory braking according to the compensatory braking force.

[0085] Compensatory braking is performed on the front axle and the rear axle of the vehicle according to the compensatory braking force.

[0086] Specifically, the vehicle can be subjected to compensatory braking according to the magnitude of the compensatory braking force. When the compensatory braking force is small, only the front axle of the vehicle can be subjected to compensatory braking. When the compensatory braking force is large, both the front and rear axles of the vehicle can be subjected to compensatory braking. Generally, based on the recovery capability of the front axle motor, the front axle of the vehicle can be subjected to compensatory braking first.

[0087] In some exemplary embodiments, the front axle motor of the vehicle may be used to perform compensatory braking on the front axle of the vehicle, and the electronic caliper of the vehicle may be used to perform compensatory braking on the rear axle of the vehicle.

[0088] In this embodiment, dynamic compensatory braking can be performed on the front and rear axles of the vehicle according to the magnitude of the compensatory braking force, which can adapt to various compensatory braking situations.

[0089] In one embodiment, Figure 5 As shown, the compensatory braking of the front axle of the vehicle according to the compensatory braking force includes:

[0090] S402, determining whether the compensation braking force is greater than the maximum braking force of the front axle of the vehicle.

[0091] S404: In response to the compensating braking force being less than or equal to the maximum braking force of the front axle of the vehicle, performing compensating braking on the front axle of the vehicle according to the compensating braking force.

[0092] The compensatory braking is performed on the front axle and the rear axle of the vehicle according to the compensatory braking force, comprising:

[0093] S406: In response to the compensatory braking force being greater than the maximum braking force of the front axle of the vehicle, performing compensatory braking on the front axle of the vehicle according to the maximum braking force.

[0094] S408: Determine a target braking force of a rear axle of the vehicle according to the compensation braking force and the maximum braking force of the front axle of the vehicle.

[0095] S410: Perform compensatory braking on the rear axle of the vehicle according to the target braking force.

[0096] The maximum braking force of the front axle of the vehicle may generally be the maximum braking force that can be applied by the front axle motor or the front axle brake device.

[0097] Specifically, it is determined whether the compensatory braking force is greater than the maximum braking force of the front axle. If it is not greater than the maximum braking force of the front axle, the front axle can be directly compensated for by the compensatory braking force. If it is greater than the maximum braking force of the front axle, the remaining braking force can be allocated to the rear axle. That is, the maximum braking force of the front axle is subtracted from the compensatory braking force to obtain the target braking force of the rear axle. Normally, the target braking force of the rear axle will not exceed the maximum braking force of the rear axle. Then, the target braking force of the rear axle is used to perform compensatory braking on the rear axle of the vehicle.

[0098] In some exemplary embodiments, if the determined compensation braking force is 10 Dan and the maximum braking force of the front axle is 5 Dan, the remaining 5 Dan of compensation braking force can be allocated to the rear axle. That is, the front axle performs 5 Dan of compensation braking force. The rear axle performs 5 Dan of compensation braking force. It is understood that the above is only for illustration.

[0099] In this embodiment, by using the relationship between the compensatory braking force and the maximum braking force of the front axle, the compensatory braking force can be dynamically distributed to the front axle and the rear axle, so as to perform compensatory braking on the front axle and the rear axle respectively, which can improve the braking effect and ensure driving safety.

[0100] In one embodiment, Figure 6 As shown, after the vehicle is braked according to the compensating braking force, the method further includes: adjusting the compensating braking force according to the slip rate of the vehicle, and braking the vehicle according to the adjusted compensating braking force, specifically including:

[0101] S502: Calculate the front axle slip rate and the rear axle slip rate of the vehicle.

[0102] S504: In response to the front axle slip rate being greater than a preset slip rate threshold, reducing the compensation braking force.

[0103] S506: Perform compensatory braking on the front axle of the vehicle according to the reduced compensatory braking force until the front axle slip rate is less than or equal to a preset slip rate threshold.

[0104] The front axle slip ratio may generally be the slip ratio corresponding to the front axle of the vehicle.

[0105] U W is the wheel speed, when is the front axle slip rate U W can be the speed of the front axle wheel, and when it is the rear axle slip rate, U W It can be the speed of the rear axle wheel. Generally, the greater the slip rate, the greater the proportion of the sliding component of the wheel in motion, so the slip rate threshold can be between 10% and 30%, so as to ensure the stability of the vehicle.

[0106] Specifically, when only the compensatory braking force is used to perform compensatory braking on the front axle, in order to prevent the front axle from locking, the front axle slip rate needs to be calculated. When the front axle slip rate is greater than the slip rate threshold, it can be determined that the braking force of the current vehicle front axle is large, and the vehicle front axle may lock, making it impossible to steer. There is a driving risk. Therefore, it is necessary to reduce the compensatory braking force on the front axle. According to the reduced compensatory braking force, the front axle is subjected to compensatory braking. At this time, the front axle slip rate can continue to be calculated. If the front axle slip rate is still greater than the slip rate threshold, the compensatory braking force can continue to be reduced until the front axle slip rate is less than or equal to the preset slip rate threshold after the front axle is braked and compensated according to the reduced compensatory braking force.

[0107] or,

[0108] S508: In response to the front axle slip rate being greater than a preset slip rate threshold, reducing the maximum braking force of the front axle.

[0109] S510: Perform compensatory braking on the front axle of the vehicle according to the reduced maximum braking force of the front axle until the slip rate of the front axle is less than or equal to a preset slip rate threshold.

[0110] S512: In response to the rear axle slip rate being greater than a preset slip rate threshold, reducing the target braking force.

[0111] S514: Perform compensatory braking on the rear axle of the vehicle according to the reduced target braking force until the rear axle slip rate is less than or equal to a preset slip rate threshold.

[0112] Specifically, when the maximum braking force of the front axle is used to compensate the braking of the front axle, and the target braking force of the rear axle is used to compensate the braking of the rear axle. The front axle slip rate and the rear axle slip rate can be calculated respectively. When the slip rate of the front axle is greater than the preset slip rate threshold, it can be determined that the braking force of the front axle of the current vehicle is large, and the front axle of the vehicle may be locked, and thus it is impossible to steer. There is a driving danger. Therefore, it is necessary to reduce the braking force on the front axle. The front axle is usually compensated by the maximum braking force, so the maximum braking force on the front axle can be reduced, and the front axle is compensated according to the reduced maximum braking force of the front axle. Repeat the above steps until the front axle slip rate is less than or equal to the preset slip rate threshold. When the slip rate of the rear axle is greater than the preset slip rate threshold, it can be determined that the braking force of the rear axle of the current vehicle is large, and the rear axle of the vehicle may be locked, thereby generating the risk of tail swing. Therefore, it is necessary to reduce the target braking force on the rear axle. The rear axle is subjected to compensatory braking according to the reduced target braking force, and the above steps are repeated until the rear axle slip rate is less than or equal to a preset slip rate threshold.

[0113] In some exemplary embodiments, the stability function module in the vehicle controller can be used to control the front axle motor brake to adjust the maximum braking force of the front axle until the front axle slip rate is less than or equal to the preset slip rate threshold. The stability function module in the caliper controller can be used to control the dynamic brake clamping force of the electronic caliper (the target braking force of the rear axle) until the rear axle slip rate is less than or equal to the preset slip rate threshold. For example, the adjustment of the front axle brake is illustrated. The maximum braking force of the front axle is 5Dan. At this time, the maximum braking force of the front axle is used to compensate for the braking of the front axle, and then the corresponding front axle slip rate of 15% is calculated. If the slip rate threshold is 10%, the front axle slip rate and the rear axle slip rate are both greater than the slip rate threshold. At this time, it is necessary to reduce the braking force on the front axle from 5 Dan to 4 Dan, and continue to calculate the front axle slip rate after reducing the front axle braking force. The front axle slip rate is 11%, which is still greater than the slip rate threshold. Then continue to reduce the braking force on the front axle from 4 Dan to 3 Dan, and continue to calculate the front axle slip rate after reducing the front axle braking force. The front axle slip rate is 8%, which is less than the slip rate threshold, and you can stop adjusting the front axle braking force.

[0114] In this embodiment, the front axle slip rate and the rear axle slip rate of the vehicle are compared with the preset slip rate threshold value, and after compensatory braking of the vehicle, it can be determined that the compensatory braking force is adjusted to ensure the stability of the vehicle and driving safety.

[0115] In one embodiment, Figure 7 As shown, the embodiment of the present disclosure also provides another method for compensating vehicle braking force, the method comprising:

[0116] S602: In response to a brake controller failure of the vehicle, obtaining a braking distance on a brake pedal of the vehicle.

[0117] S604, obtaining a first relationship and a second relationship, wherein the first relationship includes: a relationship between a braking distance and a deceleration of the vehicle brake pedal when the brake controller is operating normally, and the second relationship includes: a relationship between a braking distance and a deceleration of the vehicle brake pedal when the brake controller fails.

[0118] S606, determining the compensation relationship based on the first relationship, a preset first threshold and the second relationship, wherein the compensation relationship is between the first relationship and the second relationship, and the deviation value between the first relationship and / or the second relationship is equal to the first threshold, and the compensation relationship includes: when the brake controller fails, the relationship between the braking distance and deceleration of the vehicle brake pedal after braking force compensation.

[0119] S608: Determine a target deceleration of the vehicle according to the braking distance and a predetermined compensation relationship.

[0120] S610: Determine a failure deceleration of the vehicle when the brake controller fails based on the braking distance and the second relationship.

[0121] S612: Determine a compensation deceleration of the vehicle according to the target deceleration and the failure deceleration, and determine a compensation braking force of the vehicle according to the compensation deceleration.

[0122] S614: In response to the compensating braking force being less than or equal to the maximum braking force of the front axle of the vehicle, performing compensating braking on the front axle of the vehicle according to the compensating braking force.

[0123] S616: Calculate the front axle slip rate of the vehicle, and in response to the front axle slip rate being greater than a preset slip rate threshold, reduce the compensating braking force.

[0124] S618: Perform compensatory braking on the front axle of the vehicle according to the reduced compensatory braking force until the front axle slip rate is less than or equal to a preset slip rate threshold.

[0125] Alternatively, in S620, in response to the compensatory braking force being greater than the maximum braking force of the front axle of the vehicle, compensatory braking is performed on the front axle of the vehicle according to the maximum braking force.

[0126] S622: Determine a target braking force of a rear axle of the vehicle according to the compensation braking force and the maximum braking force of the front axle of the vehicle.

[0127] S624: Perform compensatory braking on the rear axle of the vehicle according to the target braking force.

[0128] S626: Calculate the front axle slip rate and the rear axle slip rate of the vehicle.

[0129] S628: In response to the front axle slip rate being greater than a preset slip rate threshold, reducing the maximum braking force of the front axle.

[0130] S630: Perform compensatory braking on the front axle of the vehicle according to the reduced maximum braking force of the front axle until the front axle slip rate is less than or equal to a preset slip rate threshold.

[0131] S632: In response to the rear axle slip rate being greater than a preset slip rate threshold, reducing the target braking force.

[0132] S634: Perform compensatory braking on the rear axle of the vehicle according to the reduced target braking force until the rear axle slip rate is less than or equal to a preset slip rate threshold.

[0133] For the specific implementation and limitation of this embodiment, please refer to the above embodiment, which will not be repeated here.

[0134] 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.

[0135] Based on the same inventive concept, the disclosed embodiment also provides a vehicle braking force compensation device for implementing the vehicle braking force compensation 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 definition of one or more vehicle braking force compensation device embodiments provided below can refer to the definition of the vehicle braking force compensation method above, and will not be repeated here.

[0136] In one embodiment, Figure 8 As shown, a vehicle braking force compensation device 800 is provided, comprising: a braking distance acquisition module 802, a compensation braking force determination module 804 and a compensation braking module 806, wherein:

[0137] The braking distance acquisition module 802 is used to acquire the braking distance on the brake pedal of the vehicle in response to a failure of the brake controller of the vehicle.

[0138] The compensation braking force determination module 804 is used to determine the compensation braking force of the vehicle based on the braking distance, a predetermined compensation relationship and a second relationship; wherein the compensation relationship is determined based on a first relationship and a second relationship; the first relationship includes: the relationship between the braking distance and deceleration of the vehicle's brake pedal when the brake controller works normally, and the second relationship includes: the relationship between the braking distance and deceleration of the vehicle's brake pedal when the brake controller fails.

[0139] The compensatory braking module 806 is configured to perform compensatory braking on the vehicle according to the compensatory braking force.

[0140] In one embodiment of the device, the device further comprises:

[0141] A relationship acquisition module is used to acquire the first relationship and the second relationship.

[0142] A compensation relationship determination module is used to determine the compensation relationship based on the first relationship, a preset first threshold and the second relationship, wherein the compensation relationship is between the first relationship and the second relationship, and the deviation value between the first relationship and / or the second relationship is equal to the first threshold, and the compensation relationship includes: when the brake controller fails, the relationship between the braking distance and deceleration of the vehicle brake pedal after braking force compensation.

[0143] In one embodiment of the device, the compensation braking force determination module 804 includes: a target deceleration determination module, which is used to determine the target deceleration of the vehicle according to the braking distance and a predetermined compensation relationship.

[0144] A failure deceleration determination module is used to determine the failure deceleration of the vehicle when the brake controller fails according to the braking distance and the second relationship.

[0145] The compensation deceleration determination module is used to determine the compensation deceleration of the vehicle according to the target deceleration and the failure deceleration.

[0146] The braking force determination submodule is used to determine the compensatory braking force of the vehicle according to the compensatory deceleration.

[0147] In one embodiment of the device, the compensation braking module 806 includes:

[0148] A front axle braking module is used to perform compensatory braking on the front axle of the vehicle according to the compensatory braking force.

[0149] The compensating braking submodule is used to perform compensating braking on the front axle and the rear axle of the vehicle according to the compensating braking force.

[0150] In one embodiment of the device, the front axle braking module is used to perform compensatory braking on the front axle of the vehicle according to the compensatory braking force in response to the compensatory braking force being less than or equal to the maximum braking force of the front axle of the vehicle.

[0151] In one embodiment of the device, the device further comprises:

[0152] The slip ratio calculation module is used to calculate the front axle slip ratio of the vehicle.

[0153] The braking force adjustment module is configured to reduce the compensating braking force in response to the front axle slip rate being greater than a preset slip rate threshold.

[0154] The front axle braking module is further used to perform compensatory braking on the front axle of the vehicle according to the reduced compensatory braking force until the front axle slip rate is less than or equal to a preset slip rate threshold.

[0155] In one embodiment of the device, the compensatory braking submodule is used to, in response to the compensatory braking force being greater than the maximum braking force of the front axle of the vehicle, perform compensatory braking on the front axle of the vehicle according to the maximum braking force; determine the target braking force of the rear axle of the vehicle according to the compensatory braking force and the maximum braking force of the front axle of the vehicle; and perform compensatory braking on the rear axle of the vehicle according to the target braking force.

[0156] In one embodiment of the device, the slip ratio calculation module is further used to calculate the front axle slip ratio and the rear axle slip ratio of the vehicle.

[0157] The device further includes: a front axle braking force adjustment module, configured to reduce the maximum braking force of the front axle in response to the front axle slip ratio being greater than a preset slip ratio threshold.

[0158] The target braking force adjustment module is configured to reduce the target braking force in response to the rear axle slip rate being greater than a preset slip rate threshold.

[0159] The compensatory braking submodule is further used to perform compensatory braking on the front axle of the vehicle according to the reduced maximum braking force of the front axle until the front axle slip rate is less than or equal to a preset slip rate threshold, and to perform compensatory braking on the rear axle of the vehicle according to the reduced target braking force until the rear axle slip rate is less than or equal to a preset slip rate threshold.

[0160] Each module in the above-mentioned vehicle braking force compensation device can be implemented in whole or in part by software, hardware or a combination thereof. Each of the above-mentioned modules 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 operations corresponding to each of the above modules.

[0161] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Fig. 9 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 a first relationship, a second relationship and a compensation relationship. 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 method for compensating vehicle braking force is implemented.

[0162] Those skilled in the art will understand that Fig. 9 The structure shown in the figure is only a block diagram of a part of the structure related to the scheme of the present disclosure, and does not constitute a limitation on the computer device to which the scheme of the present disclosure is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0163] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in any of the above method embodiments when executing the computer program.

[0164] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.

[0165] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in any of the above method embodiments when executed by a processor.

[0166] 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 by the present disclosure 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 by the present disclosure 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 thereto. The processor involved in each embodiment provided by the present disclosure 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 thereto.

[0167] 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.

[0168] The above-described embodiments only express several implementation methods of the present disclosure, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present disclosure, and these all belong to the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the attached claims.

Claims

1. A method for compensating vehicle braking force, characterized in that: The method comprises: In response to a brake controller failure of the vehicle, obtaining a braking distance on a brake pedal of the vehicle; The compensatory braking force of the vehicle is determined according to the braking distance, a predetermined compensation relationship and a second relationship; wherein the compensation relationship is determined according to a first relationship and a second relationship, the compensation relationship is between the first relationship and the second relationship, and the deviation value between the compensation relationship and the first relationship and / or the second relationship is equal to a preset first threshold value, the compensation relationship includes: when the brake controller fails, the relationship between the braking distance and the deceleration of the brake pedal of the vehicle after the braking force compensation; the first relationship includes: the relationship between the braking distance and the deceleration of the brake pedal of the vehicle when the brake controller works normally, and the second relationship includes: the relationship between the braking distance and the deceleration of the brake pedal of the vehicle obtained in advance when the brake controller fails; The vehicle is subjected to compensatory braking according to the compensatory braking force.

2. The method according to claim 1, characterized in that The step of determining the compensatory braking force of the vehicle according to the braking distance, the predetermined compensation relationship and the second relationship comprises: determining a target deceleration of the vehicle according to the braking distance and a predetermined compensation relationship; determining, according to the braking distance and the second relationship, a failure deceleration of the vehicle when the brake controller fails; determining a compensation deceleration of the vehicle according to the target deceleration and the failure deceleration; A compensatory braking force of the vehicle is determined based on the compensatory deceleration.

3. The method according to claim 1, characterized in that The compensatory braking of the vehicle according to the compensatory braking force comprises one of the following: performing compensatory braking on the front axle of the vehicle according to the compensatory braking force; Compensatory braking is performed on the front axle and the rear axle of the vehicle according to the compensatory braking force.

4. The method according to claim 3, characterized in that The compensatory braking of the front axle of the vehicle according to the compensatory braking force comprises: In response to the compensating braking force being less than or equal to the maximum braking force of the front axle of the vehicle, compensating braking is performed on the front axle of the vehicle according to the compensating braking force.

5. The method according to claim 4, characterized in that After braking the vehicle according to the compensatory braking force, the method further includes: calculating a front axle slip ratio of the vehicle, and in response to the front axle slip ratio being greater than a preset slip ratio threshold, reducing the compensating braking force; According to the reduced compensatory braking force, compensatory braking is performed on the front axle of the vehicle until the front axle slip rate is less than or equal to a preset slip rate threshold.

6. The method according to claim 3, characterized in that: The step of braking the front axle and the rear axle of the vehicle according to the compensatory braking force comprises: In response to the compensatory braking force being greater than the maximum braking force of the front axle of the vehicle, performing compensatory braking on the front axle of the vehicle according to the maximum braking force; determining a target braking force of a rear axle of the vehicle according to the compensation braking force and a maximum braking force of a front axle of the vehicle; Compensatory braking is performed on the rear axle of the vehicle according to the target braking force.

7. The method according to claim 6, characterized in that After braking the vehicle according to the compensatory braking force, the method further includes: calculating a front axle slip rate and a rear axle slip rate of the vehicle; In response to the front axle slip ratio being greater than a preset slip ratio threshold, reducing the maximum braking force of the front axle; performing compensatory braking on the front axle of the vehicle according to the reduced maximum braking force of the front axle until the slip rate of the front axle is less than or equal to a preset slip rate threshold; In response to the rear axle slip ratio being greater than a preset slip ratio threshold, reducing the target braking force; According to the reduced target braking force, compensatory braking is performed on the rear axle of the vehicle until the rear axle slip rate is less than or equal to a preset slip rate threshold.

8. A vehicle braking force compensation device, characterized in that: The device comprises: a braking distance acquisition module, for acquiring a braking distance on a brake pedal of the vehicle in response to a failure of a brake controller of the vehicle; A compensation braking force determination module, used to determine the compensation braking force of the vehicle according to the braking distance, a predetermined compensation relationship and a second relationship; wherein the compensation relationship is determined according to a first relationship and a second relationship, the compensation relationship is between the first relationship and the second relationship, and the deviation value between the first relationship and / or the second relationship is equal to a preset first threshold value, the compensation relationship includes: when the brake controller fails, the relationship between the braking distance and the deceleration of the brake pedal of the vehicle after the braking force compensation; the first relationship includes: the relationship between the braking distance and the deceleration of the brake pedal of the vehicle when the brake controller works normally, and the second relationship includes: the relationship between the braking distance and the deceleration of the brake pedal of the vehicle obtained in advance when the brake controller fails; A compensating braking module is used to perform compensating braking on the vehicle according to the compensating braking force.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. 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 method according to any one of claims 1 to 7 are implemented.

11. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

Images