Braking control methods, devices, computer equipment and storage media

Abstract

This application relates to a braking control method, device, computer equipment, storage medium, and computer program product. The method includes: real-time detection of vehicle speed and the on / off state of an emergency brake switch; when the detected vehicle speed is greater than a preset vehicle speed and the switch is in the engaged state, obtaining the engagement duration of the emergency brake switch; when the engagement duration is greater than the preset duration, performing a first opening / closing control on a pressure reducing valve and a pressure increasing valve to control the vehicle to decelerate according to a preset mode, and continuously detecting the vehicle speed; when the vehicle speed meets a first preset condition, performing a second opening / closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to exit the preset mode and coast at the current speed; continuously detecting the vehicle speed and the on / off state of the emergency brake switch; and when the vehicle speed and switch state meet a second preset condition, performing emergency braking control until the vehicle stops. This method can improve vehicle braking safety.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a braking control method, device, computer equipment, storage medium, and computer program product. Background Technology

[0002] An electronic parking brake is an electronic control switch that performs the functions of a traditional vehicle parking brake via a button. When an electronic parking brake is engaged while the vehicle is in motion, it often causes the vehicle to fishtail. To ensure driving safety, improve the smoothness of emergency braking, and prevent fishtailing, there is an urgent need for a braking control method that can improve vehicle braking safety. Summary of the Invention

[0003] Therefore, it is necessary to provide a braking control method, device, computer equipment, computer-readable storage medium, and computer program product that can improve vehicle braking safety in response to the above-mentioned technical problems.

[0004] In a first aspect, this application provides a braking control method. The method includes:

[0005] The vehicle speed and the on / off status of the emergency brake switch are detected in real time. When the detected vehicle speed is greater than the preset vehicle speed and the detected switch status is in the engaged state, the engagement duration of the emergency brake switch is obtained.

[0006] If the pull-up time exceeds the preset time, the pressure relief valve and the pressure boosting valve are controlled to open and close for the first time to control the vehicle to decelerate according to the preset mode and to detect the vehicle speed in real time; if the detected vehicle speed meets the first preset condition, the pressure relief valve and the pressure boosting valve are controlled to open and close for the second time to control the vehicle to exit the preset mode and coast at the current speed.

[0007] The vehicle speed and the status of the emergency brake switch are detected in real time. When the detected speed and switch status meet the second preset conditions, emergency braking control is performed until the vehicle stops.

[0008] In one embodiment, the first opening and closing control of the pressure reducing valve and the pressure increasing valve includes:

[0009] Obtain brake air pressure;

[0010] If the brake air pressure is less than the first preset air pressure, control the pressure reducing valve to close and control the pressure increasing valve to open until the brake air pressure is greater than or equal to the first preset air pressure.

[0011] When the brake air pressure is greater than the second preset air pressure, the pressurization valve is closed and the depressurization valve is opened until the brake air pressure is less than or equal to the second preset air pressure; the second preset air pressure is greater than the first preset air pressure.

[0012] In one embodiment, a second opening and closing control is performed on the pressure reducing valve and the pressure increasing valve, including:

[0013] Obtain brake air pressure;

[0014] Control the pressure reducing valve to close and control the pressure increasing valve to open until the brake air pressure is greater than the third preset air pressure, then close the pressure increasing valve; the third preset air pressure is the brake air pressure when there is no braking force.

[0015] In one embodiment, the first preset condition includes:

[0016] The detected vehicle speed is less than or equal to the preset exit speed, or the detected vehicle speed is greater than the preset exit speed and the detected switch state is released.

[0017] In one embodiment, if the detected vehicle speed and switch state meet a second preset condition, emergency braking control is performed until the vehicle stops, including:

[0018] Obtain brake air pressure;

[0019] If the detected vehicle speed is greater than the preset exit speed and the detected switch state is in the pulled-up state, the target pull-up time is obtained; if the target pull-up time is greater than the preset time, the pressure reducing valve and the pressure increasing valve are controlled to open and close for the first time until the target vehicle speed is less than or equal to the preset exit speed.

[0020] If the detected vehicle speed is less than or equal to the preset exit speed and the detected switch status is in the released and pulled-up state, the pressure relief valve is opened until the brake air pressure is less than or equal to the fourth preset air pressure, at which point the pressure relief valve is closed to control the vehicle to stop.

[0021] In one embodiment, the braking control method further includes:

[0022] If the detected vehicle speed is less than or equal to the preset vehicle speed, the detected switch status is in the pulled-up state, and the pulled-up duration is longer than the preset duration, emergency braking control will be applied until the vehicle stops.

[0023] Secondly, this application also provides a braking control device. The device includes:

[0024] The detection module is used to detect the vehicle speed and the on / off status of the emergency brake switch in real time. When the detected vehicle speed is greater than the preset vehicle speed and the detected switch status is in the engaged state, the module obtains the engagement duration of the emergency brake switch.

[0025] The first control module is used to perform a first opening and closing control on the pressure reducing valve and the pressure increasing valve when the pulling-up time exceeds the preset time, so as to control the vehicle to decelerate according to the preset mode and detect the vehicle speed in real time; when the detected vehicle speed meets the first preset condition, it performs a second opening and closing control on the pressure reducing valve and the pressure increasing valve, so as to control the vehicle to exit the preset mode and coast at the current speed.

[0026] The second control module is used to detect the vehicle speed and the on / off status of the emergency brake switch in real time. When the detected vehicle speed and switch status meet the second preset conditions, emergency braking control is performed until the vehicle stops.

[0027] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0028] The vehicle speed and the on / off status of the emergency brake switch are detected in real time. When the detected vehicle speed is greater than the preset vehicle speed and the detected switch status is in the engaged state, the engagement duration of the emergency brake switch is obtained.

[0029] If the pull-up time exceeds the preset time, the pressure relief valve and the pressure boosting valve are controlled to open and close for the first time to control the vehicle to decelerate according to the preset mode and to detect the vehicle speed in real time; if the detected vehicle speed meets the first preset condition, the pressure relief valve and the pressure boosting valve are controlled to open and close for the second time to control the vehicle to exit the preset mode and coast at the current speed.

[0030] The vehicle speed and the status of the emergency brake switch are detected in real time. When the detected speed and switch status meet the second preset conditions, emergency braking control is performed until the vehicle stops.

[0031] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0032] The vehicle speed and the on / off status of the emergency brake switch are detected in real time. When the detected vehicle speed is greater than the preset vehicle speed and the detected switch status is in the engaged state, the engagement duration of the emergency brake switch is obtained.

[0033] If the pull-up time exceeds the preset time, the pressure relief valve and the pressure boosting valve are controlled to open and close for the first time to control the vehicle to decelerate according to the preset mode and to detect the vehicle speed in real time; if the detected vehicle speed meets the first preset condition, the pressure relief valve and the pressure boosting valve are controlled to open and close for the second time to control the vehicle to exit the preset mode and coast at the current speed.

[0034] The vehicle speed and the status of the emergency brake switch are detected in real time. When the detected speed and switch status meet the second preset conditions, emergency braking control is performed until the vehicle stops.

[0035] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0036] The vehicle speed and the on / off status of the emergency brake switch are detected in real time. When the detected vehicle speed is greater than the preset vehicle speed and the detected switch status is in the engaged state, the engagement duration of the emergency brake switch is obtained.

[0037] If the pull-up time exceeds the preset time, the pressure relief valve and the pressure boosting valve are controlled to open and close for the first time to control the vehicle to decelerate according to the preset mode and to detect the vehicle speed in real time; if the detected vehicle speed meets the first preset condition, the pressure relief valve and the pressure boosting valve are controlled to open and close for the second time to control the vehicle to exit the preset mode and coast at the current speed.

[0038] The vehicle speed and the status of the emergency brake switch are detected in real time. When the detected speed and switch status meet the second preset conditions, emergency braking control is performed until the vehicle stops.

[0039] The aforementioned braking control method, device, computer equipment, storage medium, and computer program product, by real-time detection of vehicle speed and the on / off state of the emergency brake switch, obtains the activation duration of the emergency brake switch when the detected vehicle speed is greater than a preset speed and the detected switch state is engaged. If the activation duration exceeds the preset duration, a first opening / closing control is performed on the pressure relief valve and the pressure boosting valve to control the vehicle to decelerate according to a preset mode, while simultaneously detecting the vehicle speed in real time. This method, which controls the vehicle to decelerate according to a preset mode by controlling the opening and closing of the pressure relief valve and the pressure boosting valve when the vehicle speed is high and the emergency brake switch activation duration exceeds the preset duration, helps prevent the vehicle from fishtailing. If the detected vehicle speed meets the first preset condition, a second opening / closing control is performed on the pressure relief valve and the pressure boosting valve to control the vehicle to exit the preset mode and coast at the current speed. Real-time detection of vehicle speed and the on / off state of the emergency brake switch, and emergency braking control performed when the detected vehicle speed and switch state meet the second preset condition, continues until the vehicle stops. After exiting the preset mode, emergency braking is performed based on the vehicle speed and switch status until the vehicle stops, further preventing the vehicle from fishtailing and improving vehicle braking safety. Attached Figure Description

[0040] Figure 1This is a diagram illustrating the application environment of the braking control method in one embodiment;

[0041] Figure 2 This is a flowchart illustrating a braking control method in one embodiment;

[0042] Figure 3 This is a schematic diagram of the overall flow of the braking control method in one embodiment;

[0043] Figure 4 This is a structural block diagram of the braking control device in one embodiment;

[0044] Figure 5 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0046] The braking control method provided in this application embodiment can be applied to, for example, Figure 1 In the application environment shown, the controller 102 communicates with both the vehicle 104 and the emergency brake switch 106. The controller 102 monitors the speed of the vehicle 104 and the on / off state of the emergency brake switch 106 in real time. If the detected vehicle speed is greater than a preset speed and the detected switch state is engaged, the controller obtains the engagement duration of the emergency brake switch 106. If the engagement duration is greater than a preset duration, the controller performs a first opening / closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle 104 to decelerate according to a preset mode, and monitors the vehicle speed of the vehicle 104 in real time. If the detected vehicle speed meets a first preset condition, the controller performs a second opening / closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle 104 to exit the preset mode and coast at the current speed. The controller also monitors the vehicle speed of the vehicle 104 and the on / off state of the emergency brake switch 106 in real time. If the detected vehicle speed and switch state meet a second preset condition, the controller performs emergency braking control until the vehicle 104 stops. The controller 102 can be an electronic control unit (ECU) or a vehicle control unit (VCU) of the vehicle. The controller 102 can also be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart air conditioners, and smart in-vehicle devices. Portable wearable devices can include smartwatches, smart bracelets, and head-mounted devices. The emergency brake switch 106 is a control switch on the vehicle 104.

[0047] In one embodiment, such as Figure 2As shown, a braking control method is provided, which is applied to... Figure 1 Taking controller 102 as an example, the following steps are included:

[0048] Step 202: Real-time detection of vehicle speed and emergency brake switch status. If the detected vehicle speed is greater than the preset vehicle speed and the detected switch status is in the engaged state, obtain the engagement duration of the emergency brake switch.

[0049] The emergency brake switch refers to an electronic switch used for emergency braking of the vehicle. For example, the emergency brake switch can be an electronic parking brake switch. The on / off states of the emergency brake switch include: engaged, pressed, and released. The controller monitors the vehicle speed and the on / off state of the emergency brake switch in real time. If the detected vehicle speed is greater than a preset speed and the detected switch state is engaged, the controller obtains the engagement duration of the emergency brake switch.

[0050] Step 204: If the pull-up time exceeds the preset time, the pressure relief valve and the pressure boosting valve are controlled to open and close for the first time to control the vehicle to decelerate according to the preset mode and to detect the vehicle speed in real time; if the detected vehicle speed meets the first preset condition, the pressure relief valve and the pressure boosting valve are controlled to open and close for the second time to control the vehicle to exit the preset mode and coast at the current speed.

[0051] The pressure valve is used to pressurize the brake cylinder, increasing the air pressure in the brake cylinder. The pressure valve is used to discharge air from the brake cylinder, reducing the air pressure in the brake cylinder. In some embodiments, when the pressure valve is open, the brake cylinder is pressurized, increasing the brake pressure and releasing braking force, thereby reducing braking capacity. When the pressure valve is open, the brake cylinder is discharged, decreasing the brake pressure and increasing braking force, thereby improving braking capacity.

[0052] Under normal circumstances, when the emergency brake switch is engaged and the engagement time exceeds a preset duration, the controller opens the pressure relief valve and closes the pressure boosting valve, causing the vehicle to brake and potentially leading to skidding. In this embodiment, when the engagement time exceeds the preset duration, the pressure relief valve and pressure boosting valve undergo a first opening and closing control to control the vehicle to decelerate according to a preset mode. Decelerating according to the preset mode avoids skidding and improves vehicle braking safety.

[0053] During the deceleration process according to the preset mode, the controller monitors the vehicle speed in real time. When the detected speed meets the first preset condition, the controller performs a second opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to exit the preset mode and coast at the current speed. After exiting the preset mode, the vehicle is no longer subject to the braking force of the pressure reducing valve and the pressure increasing valve, and thus coasts at the current speed.

[0054] Step 206: Real-time detection of vehicle speed and emergency brake switch status. If the detected vehicle speed and switch status meet the second preset condition, emergency braking control is performed until the vehicle stops.

[0055] During the vehicle's coasting at the current speed, the controller continuously monitors the vehicle's speed and the status of the emergency brake switch. If the detected speed and switch status meet a second preset condition, emergency braking is initiated until the vehicle stops. In some embodiments, emergency braking control may involve opening a pressure-reducing valve and closing a pressure-increasing valve to increase braking force and thus control the vehicle's deceleration until it stops. Because the vehicle has already decelerated in the preset mode, its speed has decreased. Applying emergency braking at this reduced speed helps prevent the vehicle from skidding and improves braking safety.

[0056] The aforementioned braking control method, by real-time detection of vehicle speed and the on / off state of the emergency brake switch, obtains the activation duration of the emergency brake switch when the detected vehicle speed is greater than a preset speed and the switch is in the engaged state. If the activation duration exceeds the preset duration, a first opening / closing control is applied to the pressure relief valve and the pressure boosting valve to control the vehicle to decelerate according to a preset mode, while continuously monitoring the vehicle speed. This method, which controls the vehicle to decelerate according to a preset mode by controlling the opening and closing of the pressure relief valve and the pressure boosting valve when the vehicle speed is high and the emergency brake switch activation duration exceeds the preset duration, helps prevent the vehicle from skidding. If the detected vehicle speed meets the first preset condition, a second opening / closing control is applied to the pressure relief valve and the pressure boosting valve to control the vehicle to exit the preset mode and coast at the current speed. Real-time detection of vehicle speed and the on / off state of the emergency brake switch, and emergency braking control performed when the detected speed and switch state meet the second preset condition, continues until the vehicle comes to a stop. After exiting the preset mode, emergency braking is performed based on the vehicle speed and switch status until the vehicle stops, further preventing the vehicle from fishtailing and improving vehicle braking safety.

[0057] In one embodiment, the first opening and closing control of the pressure reducing valve and the pressure increasing valve includes: acquiring the brake air pressure; when the brake air pressure is less than a first preset air pressure, controlling the pressure reducing valve to close and controlling the pressure increasing valve to open until the brake air pressure is greater than or equal to the first preset air pressure; when the brake air pressure is greater than a second preset air pressure, controlling the pressure increasing valve to close and controlling the pressure reducing valve to open until the brake air pressure is less than or equal to the second preset air pressure; the second preset air pressure is greater than the first preset air pressure.

[0058] Brake pressure refers to the air pressure in the brake cylinders. Brake pressure is used to provide braking force to the vehicle. Brake pressure is positively correlated with the magnitude of the braking force.

[0059] If the brake air pressure is lower than the first preset pressure, it indicates that the brake air pressure is too low and the braking force on the vehicle is too high. The controller closes the pressure reducing valve and opens the pressure increasing valve to increase the brake air pressure until the brake air pressure is greater than or equal to the first preset pressure.

[0060] If the brake air pressure is higher than the second preset pressure, it indicates that the brake air pressure is too high and the braking force on the vehicle is too low. The controller closes the pressurization valve and opens the depressurization valve to reduce the brake air pressure until it is less than or equal to the second preset pressure.

[0061] In this embodiment, the controller closes the pressure-reducing valve and opens the pressure-increasing valve when the brake air pressure is low, thereby increasing the brake air pressure. Conversely, it closes the pressure-increasing valve and opens the pressure-reducing valve when the brake air pressure is high, thereby decreasing the brake air pressure. This helps to control the brake air pressure within the range of a first preset air pressure and a second preset air pressure. During the control process of varying brake air pressure, the vehicle is controlled by changing braking force, achieving a continuous reduction in vehicle speed according to the corresponding preset mode. This avoids the vehicle skidding problem caused by directly applying large braking force to the vehicle, thus improving braking safety.

[0062] In one embodiment, the second opening and closing control of the pressure reducing valve and the pressure increasing valve includes: acquiring the brake air pressure; controlling the pressure reducing valve to close and controlling the pressure increasing valve to open until the brake air pressure is greater than a third preset air pressure, and then closing the pressure increasing valve; the third preset air pressure is the brake air pressure when there is no braking force.

[0063] Brake pressure refers to the air pressure in the brake cylinders. Brake pressure is used to provide braking force to the vehicle. Brake pressure is positively correlated with the magnitude of the braking force.

[0064] The controller closes the pressure reducing valve and opens the pressure increasing valve, thereby increasing the brake air pressure and reducing the braking force on the vehicle.

[0065] The brake air pressure is greater than the third preset air pressure, which is the brake air pressure when there is no braking force. When the brake air pressure is greater than the brake air pressure when there is no braking force, it indicates that the brake air pressure cannot provide braking force to the vehicle, and the vehicle will coast at the current speed without braking force control.

[0066] When the brake air pressure exceeds the third preset pressure, the controller closes the pressurization valve. No further air needs to be added to the brake cylinder.

[0067] In this embodiment, the brake air pressure is continuously increased by controlling the pressure reducing valve to close and the pressure increasing valve to open, until the brake air pressure exceeds a third preset pressure, at which point the pressure increasing valve is closed. The brake air pressure is the pressure corresponding to no braking force; that is, after exiting the preset mode, no braking force is provided to the vehicle, and the vehicle coasts at the current speed. This ensures the smoothness of vehicle operation and improves the safety of vehicle braking control.

[0068] In one embodiment, the first preset condition includes: the detected vehicle speed is less than or equal to the preset exit speed, or the detected vehicle speed is greater than the preset exit speed and the detected switch state is the released state.

[0069] The preset exit speed is the speed at which the vehicle can exit the preset mode.

[0070] If the detected vehicle speed is less than or equal to the preset exit speed, it indicates that the vehicle speed has been reduced to a relatively low speed under the first opening and closing control of the pressure reducing valve and the pressure increasing valve, and the vehicle can directly exit the preset mode without further first opening and closing control of the pressure reducing valve and the pressure increasing valve.

[0071] If the detected vehicle speed is greater than the preset exit speed, it indicates that the vehicle speed has decreased under the first opening and closing control of the pressure reducing valve and the pressure increasing valve, but is still relatively high. If the detected vehicle speed is greater than the preset exit speed and the detected switch state is in the released state, it indicates that the vehicle is decelerating according to the preset mode, but the vehicle speed is still relatively high. If the emergency brake switch is detected to be in the released state, it is considered that the first preset condition has been met, and the controller will control the vehicle to exit the preset mode.

[0072] In this embodiment, when the detected vehicle speed is less than or equal to the preset exit speed, or when the detected vehicle speed is greater than the preset exit speed and the detected switch state is released, the controller performs a second opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to exit the preset mode and coast at the current speed. Specifically, exiting the preset mode when the vehicle speed is less than or equal to the preset exit speed helps avoid vehicle skidding and improves vehicle braking control safety. Exiting the preset mode when the vehicle speed is greater than the preset exit speed, indicated by the switch state being released, further helps avoid vehicle skidding and improves vehicle braking control safety.

[0073] In one embodiment, if the detected vehicle speed and switch state meet a second preset condition, emergency braking control is performed until the vehicle stops, including: acquiring brake air pressure; if the detected vehicle speed is greater than a preset exit speed and the detected switch state is in the pulled-up state, acquiring a target pull-up duration; if the target pull-up duration is greater than a preset duration, performing a first opening and closing control on the pressure reducing valve and the pressure increasing valve until the target vehicle speed is less than or equal to the preset exit speed; if the detected vehicle speed is less than or equal to the preset exit speed and the detected switch state is in the released and pulled-up state, controlling the pressure reducing valve to open until the brake air pressure is less than or equal to a fourth preset air pressure, and then closing the pressure reducing valve to control the vehicle to stop.

[0074] Brake pressure refers to the air pressure in the brake cylinders. Brake pressure is used to provide braking force to the vehicle. Brake pressure is positively correlated with the magnitude of the braking force.

[0075] If the detected vehicle speed exceeds the preset exit speed and the detected switch status is activated, it indicates that the vehicle speed, after being reduced by the first opening and closing control, is still relatively high, and the emergency automatic switch has been activated for more than the preset duration. The controller continues to perform the first opening and closing control of the pressure reducing valve and the pressure increasing valve, thereby controlling the vehicle to continue decelerating according to the preset mode until the target vehicle speed is less than or equal to the preset exit speed. This helps ensure that the vehicle speed is reduced to the preset exit speed, avoids vehicle fishtailing, and improves vehicle braking control safety.

[0076] If the detected vehicle speed is less than or equal to the preset exit speed, and the detected switch status is "released and then pulled up," it indicates that the vehicle speed has been reduced to a relatively low speed under the initial opening and closing control of the pressure reducing valve and the pressure increasing valve. The controller then controls the pressure reducing valve to open, reducing the brake air pressure and increasing the braking force, causing the vehicle speed to continuously decrease under the braking force.

[0077] If the brake air pressure is less than or equal to the fourth preset air pressure, it indicates that the brake air pressure is low and the braking force is high. The pressure relief valve is closed once the brake air pressure is less than or equal to the fourth preset air pressure, and the vehicle speed gradually decreases until it comes to a stop.

[0078] In this embodiment, different emergency braking methods are employed at different vehicle speeds and under different switch states to control the vehicle to a stop. When the vehicle speed is high and the switch has been pulled for more than a preset time, the pressure relief valve and pressure relief valve continue to be controlled in their initial opening and closing phases. This helps reduce the vehicle speed to the preset exit speed, thus preventing the vehicle from skidding. When the vehicle speed is low and the switch has been released and then pulled back up, the pressure relief valve is directly controlled to open, thereby reducing the vehicle speed and stopping the vehicle. Braking at low speeds prevents skidding and improves vehicle braking safety.

[0079] In one embodiment, the braking control method further includes: performing emergency braking control until the vehicle stops when the detected vehicle speed is less than or equal to a preset vehicle speed, the detected switch state is in the pulled-up state, and the pulled-up duration is greater than a preset duration.

[0080] If the detected vehicle speed is less than or equal to the preset vehicle speed, the detected switch status is in the pulled-up state, and the pulled-up duration is greater than the preset duration, it indicates that when the vehicle speed is low, the emergency brake switch is pulled up for more than the preset duration, and the controller will directly perform emergency braking control until the vehicle stops. Specifically, this can be done by obtaining the brake air pressure, controlling the pressure reducing valve to open, and closing the pressure reducing valve until the brake air pressure is less than or equal to the fourth preset air pressure, thereby controlling the vehicle to stop.

[0081] In this embodiment, emergency braking control is performed when the detected vehicle speed is less than or equal to the preset vehicle speed, the detected switch state is in the pulled-up state, and the pulled-up duration is greater than the preset duration, until the vehicle stops. When the vehicle speed is low, emergency braking can be performed directly using the brake switch, which can avoid the vehicle from fishtailing and thus improve the safety of vehicle braking control.

[0082] To illustrate the braking control method and its effects in this solution in detail, a specific embodiment is described below:

[0083] Braking control methods are applied to the braking control system. The braking control system includes the vehicle control unit (VCU), the brake switch (EPB, Electronic Park Brake), a pressure valve, a pressure relief valve, a drive motor, pressure sensors, and a vehicle speed sensor. The pressure sensor is used to collect the air pressure in the brake cylinders. The vehicle speed sensor is used to collect the vehicle speed. The vehicle control unit executes the braking control methods.

[0084] The vehicle controller monitors the vehicle speed and the on / off status of the emergency brake switch in real time. For example... Figure 3 The diagram shown is a schematic representation of the overall process of the braking control method.

[0085] If the detected vehicle speed is greater than the preset vehicle speed and the detected switch status is in the pulled-up state, the vehicle controller obtains the pull-up duration of the emergency brake switch.

[0086] If the pull-up time exceeds a preset time, the vehicle controller performs a first opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to decelerate according to a preset mode. This first opening and closing control of the pressure reducing valve and the pressure increasing valve includes: if the brake air pressure is less than a first preset air pressure, controlling the pressure reducing valve to close and controlling the pressure increasing valve to open until the brake air pressure is greater than or equal to the first preset air pressure; if the brake air pressure is greater than a second preset air pressure, controlling the pressure increasing valve to close and controlling the pressure reducing valve to open until the brake air pressure is less than or equal to the second preset air pressure; where the second preset air pressure is greater than the first preset air pressure.

[0087] The vehicle controller monitors the vehicle speed in real time. If the detected speed is less than or equal to a preset exit speed, or if the detected speed is greater than the preset exit speed and the detected switch is in the released state, a second opening and closing control is applied to the pressure relief valve and the pressure relief valve to control the vehicle to exit the preset mode and coast at the current speed. This second opening and closing control of the pressure relief valve and the pressure relief valve includes: acquiring brake air pressure, controlling the pressure relief valve to close, and controlling the pressure relief valve to open until the brake air pressure exceeds a third preset air pressure, at which point the pressure relief valve is closed; the third preset air pressure is the brake air pressure when there is no braking force.

[0088] The vehicle controller monitors the vehicle speed and the on / off status of the emergency brake switch in real time, and obtains the brake air pressure. If the detected vehicle speed is greater than the preset exit speed and the detected switch status is "engaged," the target engagement time is obtained. If the target engagement time is greater than the preset time, the pressure relief valve and pressure relief valve are controlled to open and close for the first time until the target vehicle speed is less than or equal to the preset exit speed. If the detected vehicle speed is less than or equal to the preset exit speed and the detected switch status is "released and engaged," the pressure relief valve is opened until the brake air pressure is less than or equal to the fourth preset pressure, at which point the pressure relief valve is closed to bring the vehicle to a stop.

[0089] If the detected vehicle speed is less than or equal to the preset vehicle speed, the detected switch state is in the pulled-up state, and the pulled-up duration is greater than the preset duration, the vehicle controller will perform emergency braking control until the vehicle stops.

[0090] The aforementioned braking control method, by real-time detection of vehicle speed and the on / off state of the emergency brake switch, obtains the activation duration of the emergency brake switch when the detected vehicle speed is greater than a preset speed and the switch is in the engaged state. If the activation duration exceeds the preset duration, a first opening / closing control is applied to the pressure relief valve and the pressure boosting valve to control the vehicle to decelerate according to a preset mode, while continuously monitoring the vehicle speed. This method, which controls the vehicle to decelerate according to a preset mode by controlling the opening and closing of the pressure relief valve and the pressure boosting valve when the vehicle speed is high and the emergency brake switch activation duration exceeds the preset duration, helps prevent the vehicle from skidding. If the detected vehicle speed meets the first preset condition, a second opening / closing control is applied to the pressure relief valve and the pressure boosting valve to control the vehicle to exit the preset mode and coast at the current speed. Real-time detection of vehicle speed and the on / off state of the emergency brake switch, and emergency braking control performed when the detected speed and switch state meet the second preset condition, continues until the vehicle comes to a stop. After exiting the preset mode, emergency braking is initiated based on vehicle speed and switch status until the vehicle comes to a stop, further preventing fishtailing and improving vehicle braking safety. Additionally, during vehicle operation, the pressure relief valve and pressure relief valve are controlled to simulate ABS (Anti-lock Braking System) function, ensuring smooth emergency braking and preventing fishtailing caused by rear wheel lock-up. Furthermore, an emergency braking release mechanism is designed to ensure sufficient response time for the vehicle controller based on their control of the brake switch, preventing safety issues caused by delayed emergency braking disengagement.

[0091] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0092] Based on the same inventive concept, this application also provides a braking control device for implementing the braking control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more braking control device embodiments provided below can be found in the limitations of the braking control method described above, and will not be repeated here.

[0093] In one embodiment, such as Figure 4 As shown, a braking control device 100 is provided, including: a detection module 120, a first control module 140, and a second control module 160, wherein:

[0094] The detection module 120 is used to detect the vehicle speed and the on / off state of the emergency brake switch in real time. When the detected vehicle speed is greater than the preset vehicle speed and the detected switch state is the engaged state, the module obtains the engaged duration of the emergency brake switch.

[0095] The first control module 140 is used to perform a first opening and closing control on the pressure reducing valve and the pressure increasing valve when the pulling-up time exceeds the preset time, so as to control the vehicle to decelerate according to the preset mode and detect the vehicle speed in real time; when the detected vehicle speed meets the first preset condition, it performs a second opening and closing control on the pressure reducing valve and the pressure increasing valve, so as to control the vehicle to exit the preset mode and coast at the current speed.

[0096] The second control module 160 is used to detect the vehicle speed and the on / off status of the emergency brake switch in real time. When the detected vehicle speed and switch status meet the second preset conditions, emergency braking control is performed until the vehicle stops.

[0097] The aforementioned braking control device, by real-time detection of vehicle speed and the on / off state of the emergency brake switch, obtains the activation duration of the emergency brake switch when the detected vehicle speed is greater than a preset speed and the switch is in the engaged state. If the activation duration exceeds the preset duration, a first opening / closing control is applied to the pressure relief valve and the pressure relief valve to control the vehicle to decelerate according to a preset mode, while continuously monitoring the vehicle speed. This method, which controls the vehicle to decelerate according to a preset mode by controlling the opening and closing of the pressure relief valve and the pressure relief valve when the vehicle speed is high and the emergency brake switch activation duration exceeds the preset duration, helps prevent the vehicle from skidding. If the detected vehicle speed meets the first preset condition, a second opening / closing control is applied to the pressure relief valve and the pressure relief valve to control the vehicle to exit the preset mode and coast at the current speed. Real-time detection of vehicle speed and the on / off state of the emergency brake switch, and emergency braking control when the detected speed and switch state meet the second preset condition, continues until the vehicle comes to a stop. After exiting the preset mode, emergency braking is performed based on the vehicle speed and switch status until the vehicle stops, further preventing the vehicle from fishtailing and improving vehicle braking safety.

[0098] In one embodiment, the first control module 140 is further configured to: acquire the brake air pressure; control the pressure reducing valve to close and control the pressure increasing valve to open when the brake air pressure is less than a first preset air pressure, until the brake air pressure is greater than or equal to the first preset air pressure; control the pressure increasing valve to close and control the pressure reducing valve to open when the brake air pressure is greater than a second preset air pressure, until the brake air pressure is less than or equal to the second preset air pressure; and control the second preset air pressure to open when the brake air pressure is greater than a second preset air pressure.

[0099] In one embodiment, the first control module 140 is further configured to: acquire the brake air pressure; control the pressure reducing valve to close and control the pressure increasing valve to open until the brake air pressure is greater than a third preset air pressure, and then close the pressure increasing valve; the third preset air pressure is the brake air pressure when there is no braking force.

[0100] In one embodiment, the first preset condition includes: the detected vehicle speed is less than or equal to the preset exit speed, or the detected vehicle speed is greater than the preset exit speed and the detected switch state is the released state.

[0101] In one embodiment, if the detected vehicle speed and switch state meet the second preset condition, emergency braking control is performed until the vehicle stops. The second control module 160 is further configured to: acquire brake air pressure; acquire a target pull-up duration if the detected vehicle speed is greater than a preset exit speed and the detected switch state is in the pulled-up state; control the pressure relief valve and the pressure relief valve to open if the target pull-up duration is greater than the preset duration, until the target vehicle speed is less than or equal to the preset exit speed; and control the pressure relief valve to open if the detected vehicle speed is less than or equal to the preset exit speed and the detected switch state is in the released and pulled-up state, until the brake air pressure is less than or equal to the fourth preset air pressure, and then close the pressure relief valve to control the vehicle to stop.

[0102] In one embodiment, the braking control device 100 further includes a third control module, which is further configured to perform emergency braking control until the vehicle stops when the detected vehicle speed is less than or equal to a preset vehicle speed, the detected switch state is in the pulled-up state, and the pulled-up duration is greater than a preset duration.

[0103] Each module in the aforementioned braking control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0104] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 5As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a braking control method.

[0105] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0106] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0107] The system continuously monitors the vehicle speed and the status of the emergency brake switch. If the detected speed exceeds a preset speed and the switch is engaged, the system calculates the engagement duration of the emergency brake switch. If the engagement duration exceeds the preset duration, the system performs a first opening / closing control on the pressure relief valve and the pressure boosting valve to control the vehicle to decelerate according to a preset mode, while continuously monitoring the vehicle speed. If the detected speed meets the first preset condition, the system performs a second opening / closing control on the pressure relief valve and the pressure boosting valve to control the vehicle to exit the preset mode and coast at the current speed. Finally, the system continuously monitors the vehicle speed and the status of the emergency brake switch. If the detected speed and switch status meet the second preset condition, the system performs emergency braking control until the vehicle stops.

[0108] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0109] Obtain the brake air pressure; if the brake air pressure is less than the first preset air pressure, control the pressure reducing valve to close and control the pressure increasing valve to open until the brake air pressure is greater than or equal to the first preset air pressure; if the brake air pressure is greater than the second preset air pressure, control the pressure increasing valve to close and control the pressure reducing valve to open until the brake air pressure is less than or equal to the second preset air pressure; the second preset air pressure is greater than the first preset air pressure.

[0110] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0111] Obtain the brake air pressure; control the pressure reducing valve to close and control the pressure increasing valve to open until the brake air pressure is greater than the third preset air pressure, then close the pressure increasing valve; the third preset air pressure is the brake air pressure when there is no braking force.

[0112] In one embodiment, the first preset condition includes: the detected vehicle speed is less than or equal to the preset exit speed, or the detected vehicle speed is greater than the preset exit speed and the detected switch state is the released state.

[0113] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0114] Obtain the brake air pressure; if the detected vehicle speed is greater than the preset exit speed and the detected switch status is in the pulled-up state, obtain the target pull-up duration; if the target pull-up duration is greater than the preset duration, perform the first opening and closing control of the pressure reducing valve and the pressure increasing valve until the target vehicle speed is less than or equal to the preset exit speed; if the detected vehicle speed is less than or equal to the preset exit speed and the detected switch status is in the released and pulled-up state, control the pressure reducing valve to open until the brake air pressure is less than or equal to the fourth preset air pressure, then close the pressure reducing valve to control the vehicle to stop.

[0115] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0116] If the detected vehicle speed is less than or equal to the preset vehicle speed, the detected switch status is in the pulled-up state, and the pulled-up duration is longer than the preset duration, emergency braking control will be applied until the vehicle stops.

[0117] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0118] The system continuously monitors the vehicle speed and the status of the emergency brake switch. If the detected speed exceeds a preset speed and the switch is engaged, the system calculates the engagement duration of the emergency brake switch. If the engagement duration exceeds the preset duration, the system performs a first opening / closing control on the pressure relief valve and the pressure boosting valve to control the vehicle to decelerate according to a preset mode, while continuously monitoring the vehicle speed. If the detected speed meets the first preset condition, the system performs a second opening / closing control on the pressure relief valve and the pressure boosting valve to control the vehicle to exit the preset mode and coast at the current speed. Finally, the system continuously monitors the vehicle speed and the status of the emergency brake switch. If the detected speed and switch status meet the second preset condition, the system performs emergency braking control until the vehicle stops.

[0119] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0120] Obtain the brake air pressure; if the brake air pressure is less than the first preset air pressure, control the pressure reducing valve to close and control the pressure increasing valve to open until the brake air pressure is greater than or equal to the first preset air pressure; if the brake air pressure is greater than the second preset air pressure, control the pressure increasing valve to close and control the pressure reducing valve to open until the brake air pressure is less than or equal to the second preset air pressure; the second preset air pressure is greater than the first preset air pressure.

[0121] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0122] Obtain the brake air pressure; control the pressure reducing valve to close and control the pressure increasing valve to open until the brake air pressure is greater than the third preset air pressure, then close the pressure increasing valve; the third preset air pressure is the brake air pressure when there is no braking force.

[0123] In one embodiment, the first preset condition includes:

[0124] The detected vehicle speed is less than or equal to the preset exit speed, or the detected vehicle speed is greater than the preset exit speed and the detected switch state is released.

[0125] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0126] Obtain the brake air pressure; if the detected vehicle speed is greater than the preset exit speed and the detected switch status is in the pulled-up state, obtain the target pull-up duration; if the target pull-up duration is greater than the preset duration, perform the first opening and closing control of the pressure reducing valve and the pressure increasing valve until the target vehicle speed is less than or equal to the preset exit speed; if the detected vehicle speed is less than or equal to the preset exit speed and the detected switch status is in the released and pulled-up state, control the pressure reducing valve to open until the brake air pressure is less than or equal to the fourth preset air pressure, then close the pressure reducing valve to control the vehicle to stop.

[0127] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0128] If the detected vehicle speed is less than or equal to the preset vehicle speed, the detected switch status is in the pulled-up state, and the pulled-up duration is longer than the preset duration, emergency braking control will be applied until the vehicle stops.

[0129] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0130] The system continuously monitors the vehicle speed and the status of the emergency brake switch. If the detected speed exceeds a preset speed and the switch is engaged, the system calculates the engagement duration of the emergency brake switch. If the engagement duration exceeds the preset duration, the system performs a first opening / closing control on the pressure relief valve and the pressure boosting valve to control the vehicle to decelerate according to a preset mode, while continuously monitoring the vehicle speed. If the detected speed meets the first preset condition, the system performs a second opening / closing control on the pressure relief valve and the pressure boosting valve to control the vehicle to exit the preset mode and coast at the current speed. Finally, the system continuously monitors the vehicle speed and the status of the emergency brake switch. If the detected speed and switch status meet the second preset condition, the system performs emergency braking control until the vehicle stops.

[0131] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0132] Obtain the brake air pressure; if the brake air pressure is less than the first preset air pressure, control the pressure reducing valve to close and control the pressure increasing valve to open until the brake air pressure is greater than or equal to the first preset air pressure; if the brake air pressure is greater than the second preset air pressure, control the pressure increasing valve to close and control the pressure reducing valve to open until the brake air pressure is less than or equal to the second preset air pressure; the second preset air pressure is greater than the first preset air pressure.

[0133] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0134] Obtain the brake air pressure; control the pressure reducing valve to close and control the pressure increasing valve to open until the brake air pressure is greater than the third preset air pressure, then close the pressure increasing valve; the third preset air pressure is the brake air pressure when there is no braking force.

[0135] In one embodiment, the first preset condition includes: the detected vehicle speed is less than or equal to the preset exit speed, or the detected vehicle speed is greater than the preset exit speed and the detected switch state is the released state.

[0136] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0137] Obtain the brake air pressure; if the detected vehicle speed is greater than the preset exit speed and the detected switch status is in the pulled-up state, obtain the target pull-up duration; if the target pull-up duration is greater than the preset duration, perform the first opening and closing control of the pressure reducing valve and the pressure increasing valve until the target vehicle speed is less than or equal to the preset exit speed; if the detected vehicle speed is less than or equal to the preset exit speed and the detected switch status is in the released and pulled-up state, control the pressure reducing valve to open until the brake air pressure is less than or equal to the fourth preset air pressure, then close the pressure reducing valve to control the vehicle to stop.

[0138] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0139] If the detected vehicle speed is less than or equal to the preset vehicle speed, the detected switch status is in the pulled-up state, and the pulled-up duration is longer than the preset duration, emergency braking control will be applied until the vehicle stops.

[0140] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0141] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic 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. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0142] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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.

[0143] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A braking control method, characterized in that, The method includes: The vehicle speed and the on / off status of the emergency brake switch are detected in real time. When the detected vehicle speed is greater than the preset vehicle speed and the detected switch status is in the engaged state, the engagement duration of the emergency brake switch is obtained. If the pull-up time exceeds the preset time, the pressure relief valve and the pressure relief valve are controlled to open and close in the first way to control the vehicle to decelerate according to the preset mode and to detect the vehicle speed in real time; if the detected vehicle speed meets the first preset condition, the pressure relief valve and the pressure relief valve are controlled to open and close in the second way to control the vehicle to exit the preset mode and coast at the current speed. The vehicle speed and the on / off status of the emergency brake switch are detected in real time. When the detected vehicle speed and switch status meet the second preset conditions, emergency braking control is performed until the vehicle stops. The step of performing emergency braking control until the vehicle stops when the detected vehicle speed and switch status meet the second preset condition includes: Obtain brake air pressure; If the detected vehicle speed is greater than the preset exit speed and the detected switch state is in the pulled-up state, the target pull-up time is obtained; if the target pull-up time is greater than the preset time, the pressure reducing valve and the pressure increasing valve are controlled to open and close for the first time until the target vehicle speed is less than or equal to the preset exit speed. If the detected vehicle speed is less than or equal to the preset exit speed and the detected switch state is the released and then pulled up state, the pressure relief valve is controlled to open until the brake air pressure is less than or equal to the fourth preset air pressure, at which point the pressure relief valve is closed to control the vehicle to stop.

2. The method according to claim 1, characterized in that, The first opening and closing control of the pressure reducing valve and the pressure increasing valve includes: Obtain brake air pressure; If the brake air pressure is less than the first preset air pressure, the pressure reducing valve is controlled to close and the pressure increasing valve is controlled to open until the brake air pressure is greater than or equal to the first preset air pressure. When the brake air pressure is greater than the second preset air pressure, the pressurization valve is controlled to close and the pressure reducing valve is controlled to open until the brake air pressure is less than or equal to the second preset air pressure; the second preset air pressure is greater than the first preset air pressure.

3. The method according to claim 1, characterized in that, The second opening and closing control of the pressure reducing valve and the pressure increasing valve includes: Obtain brake air pressure; The pressure reducing valve is closed, and the pressure increasing valve is opened until the brake air pressure is greater than the third preset air pressure, at which point the pressure increasing valve is closed; the third preset air pressure is the brake air pressure when there is no braking force.

4. The method according to claim 1, characterized in that, The first precondition includes: The detected vehicle speed is less than or equal to the preset exit speed, or the detected vehicle speed is greater than the preset exit speed and the detected switch state is released.

5. The method according to claim 1, characterized in that, The method further includes: If the detected vehicle speed is less than or equal to the preset vehicle speed, the detected switch state is in the pulled-up state, and the pulled-up duration is greater than the preset duration, emergency braking control will be performed until the vehicle stops.

6. A braking control device, characterized in that, The device includes: The detection module is used to detect the vehicle speed and the on / off status of the emergency brake switch in real time. When the detected vehicle speed is greater than the preset vehicle speed and the detected switch status is the engaged state, the module obtains the engaged duration of the emergency brake switch. The first control module is used to perform a first opening and closing control on the pressure reducing valve and the pressure increasing valve when the pulling-up time exceeds the preset time, so as to control the vehicle to decelerate according to the preset mode and detect the vehicle speed in real time; when the detected vehicle speed meets the first preset condition, it performs a second opening and closing control on the pressure reducing valve and the pressure increasing valve, so as to control the vehicle to exit the preset mode and coast at the current speed. The second control module is used to detect the vehicle speed and the on / off status of the emergency brake switch in real time. When the detected vehicle speed and switch status meet the second preset conditions, emergency braking control is performed until the vehicle stops. The second control module is further configured to acquire brake air pressure; acquire a target pull-up duration when the detected vehicle speed is greater than a preset exit speed and the detected switch state is in the pulled-up state; control the pressure relief valve and the pressure relief valve to open when the target pull-up duration is greater than the preset duration, until the target vehicle speed is less than or equal to the preset exit speed; and control the pressure relief valve to open when the detected vehicle speed is less than or equal to the preset exit speed and the detected switch state is in the released and pulled-up state, until the brake air pressure is less than or equal to a fourth preset air pressure, and then close the pressure relief valve to control the vehicle to stop.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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