Brake control method, device, equipment, storage medium and vehicle

Abstract

This invention provides a braking control method, apparatus, device, storage medium, and vehicle, comprising: when the vehicle is detected to be in a steering state, the wheels in a braking state, and the driver's operation is in an acceleration state, acquiring the vehicle's target braking force and target braking torque; generating target braking current, target braking speed, and target brake pedal position based on the target braking force and target braking torque; determining a target control mode, including current control mode, speed control mode, position control mode, and hybrid power control mode, based on the target braking current, target braking speed, and target brake pedal position; and performing motor control according to the target control mode to achieve braking control. This invention avoids the problem of very difficult CBS control in EMB systems by using multiple control methods.

Description

Technical Field

[0001] This invention relates to the field of automobile manufacturing technology, and in particular to braking control methods, devices, equipment, storage media, and vehicles. Background Technology

[0002] With the rapid development of the automotive industry and the continuous improvement of vehicle performance, vehicle safety is receiving increasing attention. Braking performance is one of the most important performance characteristics of a vehicle. Currently, most vehicles, both domestically and internationally, still use hydraulic braking systems, such as the Ibooster system, the Electronic Stability Controller (ESC) system, and the 1-Box braking system. However, the hydraulic brakes in the Ibooster system suffer from issues such as delayed hydraulic response, environmental unfriendliness, inconvenient in-vehicle assembly, and lack of independent braking. Similarly, the hydraulic brakes in the ESC system also suffer from delayed response, environmental unfriendliness, inconvenient in-vehicle assembly, and delayed response despite individual braking for each wheel. The hydraulic brakes in the 1-Box braking system also suffer from delayed response, environmental unfriendliness, and inconvenient in-vehicle assembly.

[0003] Therefore, with the development of vehicle electrification and intelligence, a new type of braking system has been proposed—the Electronic Mechanical Brake (EMB) Combination Braking System (CBS) to achieve vehicle braking control. This EMB system has the advantage of rapid response during emergency braking, and it is more environmentally friendly because it does not use hydraulic oil for braking.

[0004] However, because the CBS system is used for both automatic rollback braking and non-automatic rollback braking, controlling the CBS system in the EMB system is very difficult. Summary of the Invention

[0005] In view of this, the present invention aims to provide a braking control method, device, equipment, storage medium, and vehicle to solve the problem in the prior art that the control of the CBS system in the EMB system is very difficult because the CBS system is used for both automatic rollback braking and non-automatic rollback braking.

[0006] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0007] A first aspect of this application provides a braking control method, the method comprising:

[0008] When the vehicle is detected to be in a steering state, the wheels are in a braking state, and the driver's operation is in an acceleration state, the target information of the vehicle is acquired, and the target information includes the target braking force and target braking torque of the vehicle.

[0009] The target braking current, target braking speed, and target brake pedal position are calculated and generated based on the target braking force and the target braking torque.

[0010] Based on the target braking current, target braking speed, and target brake pedal position, a target control mode is determined, which includes current control mode, speed control mode, position control mode, and hybrid control mode.

[0011] Motor control is performed according to the target control method to enable braking control of the vehicle.

[0012] Furthermore, before acquiring the vehicle's target information when the vehicle is detected to be in a steering state, the wheels in a braking state, and the driver's operation in an acceleration state, the process further includes:

[0013] Obtain the vehicle's pedal travel information;

[0014] The current information corresponding to the pedal travel information is determined according to the first mapping subroutine.

[0015] The position information corresponding to the pedal travel information is determined according to the second mapping subroutine.

[0016] Furthermore, after determining the position information corresponding to the pedal travel information according to the second mapping subroutine, the method further includes:

[0017] The target braking force is generated based on the current information and the position information.

[0018] Obtain vehicle wheel information;

[0019] The target braking torque is generated by calculating based on the wheel information and the target braking force.

[0020] Furthermore, before determining the current information corresponding to the pedal travel information according to the first mapping subroutine, the method further includes:

[0021] Collect multiple sets of vehicle data, including pedal travel information, current information, and position information;

[0022] Based on the pedal travel information, the current information, and the position information, a first mapping relationship between the pedal travel information and the current information and a second mapping relationship between the pedal travel information and the position information are calculated and generated;

[0023] Based on the first mapping relationship, design and generate the first mapping subroutine;

[0024] The second mapping subroutine is designed and generated based on the second mapping relationship.

[0025] Further, the step of calculating and generating a first mapping relationship between the pedal travel information and the current information and a second mapping relationship between the pedal travel information and the position information based on the pedal travel information, the current information, and the position information includes:

[0026] The pedal travel information, the current information, and the position information are divided according to the acquisition time;

[0027] The pedal travel information, current information, and position information belonging to the same group are calculated to generate a third mapping relationship;

[0028] By aggregating multiple third mapping relationships, a first mapping relationship between the pedal travel information and the current information and a second mapping relationship between the pedal travel information and the position information are generated.

[0029] A second aspect of this application provides a braking control device, the device comprising:

[0030] The first acquisition module is used to acquire target information of the vehicle when it is detected that the vehicle is in a turning state, the wheels are in a braking state, and the driver's operation is in an acceleration state. The target information includes the target braking force and target braking torque of the vehicle.

[0031] The first generation module is used to calculate and generate target braking current, target braking speed, and target brake pedal position based on the target braking force and the target braking torque.

[0032] The first determining module is used to determine the target control mode based on the target braking current, target braking speed, and target brake pedal position. The target control mode includes current control mode, speed control mode, position control mode, and hybrid power control mode.

[0033] The first control module is used to control the motor according to the target control method so that the vehicle can achieve braking control.

[0034] A third aspect of this application provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0035] Memory, used to store computer programs;

[0036] The processor, when executing a program stored in memory, performs any of the vehicle control functions described above.

[0037] Preparation method.

[0038] A fourth aspect of this application provides a readable storage medium, the computer-readable storage medium

[0039] The system stores instructions that, when executed on a computer, cause the computer to perform any of the braking control methods described above.

[0040] A fifth aspect of this application provides a vehicle including the aforementioned braking control device.

[0041] Compared with existing technologies, the braking control method, device, equipment, storage medium, and vehicle described in this invention have the following advantages:

[0042] This invention provides a braking control method, device, equipment, storage medium, and vehicle, comprising: when the vehicle is detected to be in a steering state, the wheels are in a braking state, and the driver's operation is in an acceleration state, acquiring target information of the vehicle, the target information including the vehicle's target braking force and target braking torque; then generating target braking current, target braking speed, and target brake pedal position based on the target braking force and target braking torque; further determining a target control mode based on the target braking current, target braking speed, and target brake pedal position, the target control mode including current control mode, speed control mode, position control mode, and hybrid power control mode; and finally performing motor control according to the target control mode to achieve braking control. This invention, by using current control mode, speed control mode, and hybrid power control mode, can achieve rapid response of the linked braking system even without hydraulic pressure. In addition, position control mode and hybrid power control mode can achieve precise control of the linked braking system, avoiding the problem that the linked braking system in the EMB braking system is slow to respond due to the lack of hydraulic pressure, making the control of the linked braking system in the EMB system very difficult. Attached Figure Description

[0043] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0044] Figure 1 This is a flowchart illustrating the steps of a braking control method according to an exemplary embodiment;

[0045] Figure 2 This is a flowchart illustrating the steps of another braking control method according to an exemplary embodiment;

[0046] Figure 3 This is a flowchart illustrating the steps of another braking control method according to an exemplary embodiment;

[0047] Figure 4 This is a schematic diagram illustrating an application scenario of a braking control method according to an exemplary embodiment;

[0048] Figure 5 This is a schematic diagram illustrating an application scenario of another braking control method according to an exemplary embodiment;

[0049] Figure 6 This is a schematic diagram illustrating an application scenario of another braking control method according to an exemplary embodiment;

[0050] Figure 7 This is a schematic diagram illustrating an application scenario of another braking control method according to an exemplary embodiment;

[0051] Figure 8 This is a schematic diagram illustrating an application scenario of another braking control method according to an exemplary embodiment;

[0052] Figure 9 This is a schematic diagram illustrating an application scenario of another braking control method according to an exemplary embodiment;

[0053] Figure 10 This is a schematic diagram illustrating an application scenario of another braking control method according to an exemplary embodiment;

[0054] Figure 11 This is a structural block diagram of a braking control device provided in an embodiment of the present invention;

[0055] Figure 12 This is a structural block diagram of an electronic device provided in an embodiment of the present invention. Specific Implementation

[0057] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0058] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the invention. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0059] In various embodiments of the present invention, it should be understood that the sequence number of each process described below does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0060] The braking control method of this invention is applied to an electromechanical braking system (EMB). This system's hardware brake includes two modes: an automatic release mode (release without power) and a non-automatic release mode (release with power). In addition, the EMB system has two execution methods during braking control: one is non-automatic rollback open-loop control, such as... Figure 1 As shown, when the driver presses the brake pedal, the Electronic Control Unit (ECU) receives the signal from the brake pedal and then sends it to the motor and sensors. Based on the received signals, the motor and sensors control the calipers and brake pads, thereby controlling the vehicle's brake discs to output appropriate torque and wheel speed. The calipers and brake pads interact with the signals from the motor and sensors. Another type is closed-loop control with automatic rollback, such as... Figure 2 As shown, when the driver presses the brake pedal, the Electronic Control Unit (ECU) receives the signal from the brake pedal and sends the braking signal to the motor and sensors. Based on the received signal, the motor and sensors control the calipers and brake pads. By controlling the calipers and brake pads, the ECU controls the vehicle's brake disc to output appropriate torque and wheel speed. Because it is a closed-loop control, after the brake disc outputs appropriate torque and wheel speed, it also sends the actual output results to the calipers and brake pads. At the same time, the calipers and brake pads also feed back the received information to the motor and sensors, which then transmit the signals to the ECU. This allows the ECU to compare the actual output results with the expected output results and make adjustments accordingly.

[0061] Reference Figure 3 , Figure 3 This is a flowchart illustrating the steps of another braking control method according to an exemplary embodiment.

[0062] Step 101: When the vehicle is detected to be in a steering state, the wheels are in a braking state, and the driver's operation is in an acceleration state, the target information of the vehicle is obtained. The target information includes the target braking force and target braking torque of the vehicle.

[0063] In this embodiment of the invention, the target braking force is the braking force that the brake containing the motor in the EMB system needs to output based on the braking signal. The target braking torque is calculated using the target braking force and wheel information. The wheel information includes, but is not limited to, the radius and circumference of the wheel. Furthermore, since vehicles typically have four wheels, it is necessary to obtain information about all four wheels. The target braking force is also obtained by acquiring the braking force output by the motor corresponding to each of the four wheels. Of course, the EMB system in this embodiment of the invention is not limited to four-wheeled vehicles and can also be applied to any multi-wheeled vehicle. When applied to multi-wheeled vehicles, a corresponding number of brakes containing motors can be configured according to actual needs, and a corresponding number of wheel information can be obtained. Moreover, it is generally considered to be located in...

[0064] It should be noted that this embodiment of the invention is for implementing braking control of CBS in an EMB system. The function of the CBS system is to distribute braking force between the front and rear wheels when the car brakes, thereby shortening the braking distance. Therefore, to ensure that the car is in a braking state, it is necessary to determine various state information of the vehicle, including but not limited to the vehicle state, wheel state, and driver state. The vehicle state, wheel state, and driver state can be collected by speed sensors installed on each wheel. The specific type of wheel speed sensor is not limited in this invention.

[0065] In addition, the target information (target braking force and target braking torque of the vehicle) obtained in this embodiment of the invention is calculated through the vehicle's braking current information and position information. The current information and position information are determined by different mapping subroutines in the CBS system algorithm after obtaining the pedal travel information. The steps include:

[0066] Obtain the vehicle's pedal travel information;

[0067] The current information corresponding to the pedal travel information is determined according to the first mapping subroutine.

[0068] The position information corresponding to the pedal travel information is determined according to the second mapping subroutine;

[0069] The target braking force is generated based on the current information and the position information.

[0070] Obtain vehicle wheel information;

[0071] The target braking torque is generated by calculating based on the wheel information and the target braking force.

[0072] The pedal travel information is calculated using the pedal information from the brake disc brake switch (BSW) after initialization and the activation of the CBS control algorithm. The first and second mapping subroutines are designed and generated by pre-collecting multiple data points and then calculating the mapping relationship. The steps include:

[0073] Collect multiple sets of vehicle data, including pedal travel information, current information, and position information;

[0074] Based on the pedal travel information, the current information, and the position information, a first mapping relationship between the pedal travel information and the current information and a second mapping relationship between the pedal travel information and the position information are calculated and generated;

[0075] Based on the first mapping relationship, design and generate the first mapping subroutine;

[0076] The second mapping subroutine is designed and generated based on the second mapping relationship.

[0077] In addition, when calculating the mapping relationship, the collected data is first grouped, with pedal travel information, current information, and position information belonging to the same braking event grouped together. Then, the mapping relationship of pedal travel information, current information, and position information in the same group of data is calculated. Multiple groups of mapping relationships are aggregated to make the obtained mapping relationship more accurate. The specific steps include:

[0078] The pedal travel information, the current information, and the position information are divided according to the acquisition time;

[0079] The pedal travel information, current information, and position information belonging to the same group are calculated to generate a third mapping relationship;

[0080] By aggregating multiple third mapping relationships, a first mapping relationship between the pedal travel information and the current information and a second mapping relationship between the pedal travel information and the position information are generated.

[0081] For example, the first mapping subroutine obtains the corresponding current from the pedal travel information (e.g., pedal travel information: 0%~100%, initial braking current: minimum -55A~maximum 55A), and the second mapping subroutine obtains the corresponding position from the pedal travel information (e.g., pedal travel information: 0%~100%, initial brake pedal position: minimum 0mm~maximum 10mm).

[0082] Step 102: Generate target braking current, target braking speed, and target brake pedal position based on target braking force and target braking torque.

[0083] In this embodiment of the invention, each wheel of the EMB system is also equipped with a brake containing a motor. After obtaining the target braking force and target braking torque, the target braking current of the motor in the brake is calculated based on the correspondence between the target braking torque and the motor current set in the motor in the brake. Alternatively, the target braking speed can be calculated based on the currently calculated target braking force and target braking torque to control the wheel speed. Furthermore, the target braking force and target braking torque can be achieved by controlling the pedal.

[0084] Step 103: Determine the target control mode based on the target braking current, target braking speed, and target brake pedal position.

[0085] In this embodiment of the invention, the target control methods include current control, speed control, position control, and hybrid power control. Hybrid power control integrates the three control methods mentioned above. The three control methods can be integrated according to a preset weight integration scheme. The weight integration scheme can be obtained by simulating a large amount of data and selecting the weight allocation method with the best integration effect as the final preset weight integration scheme.

[0086] It should be noted that rapid pressureless braking control can be achieved through current control, which is typically applicable to the non-automatic release mode of the hardware brake in an EMB system. Rapid pressureless braking control can also be achieved through speed control, and precise pressureless braking control can be achieved through brake pedal position control, which is also typically applicable to the non-automatic release mode of the hardware brake in an EMB system. Furthermore, rapid and precise pressureless braking control can be achieved through hybrid control, which is applicable not only to the non-automatic release mode of the hardware brake in an EMB system but also to the automatic release mode.

[0087] Step 104: Perform motor control according to the target control method to enable vehicle braking control.

[0088] In this embodiment of the invention, after confirming the target control method, a suitable target control method is selected for braking control based on the two modes of the hardware brake of the EMB system. The two modes are: automatic release mode without power release and non-automatic release mode with power release. The current control method and position control method are applicable to the non-automatic release mode, while the hybrid power control method is applicable to both modes.

[0089] This invention provides a braking control method, device, equipment, storage medium, and vehicle, comprising: when the vehicle is detected to be in a steering state, the wheels are in a braking state, and the driver's operation is in an acceleration state, acquiring target information of the vehicle, the target information including the vehicle's target braking force and target braking torque; then generating target braking current, target braking speed, and target brake pedal position based on the target braking force and target braking torque; further determining a target control mode based on the target braking current, target braking speed, and target brake pedal position, the target control mode including current control mode, speed control mode, position control mode, and hybrid power control mode; and finally performing motor control according to the target control mode to achieve braking control. This invention, by using current control mode, speed control mode, and hybrid power control mode, can achieve rapid response of the linked braking system even without hydraulic pressure. In addition, position control mode and hybrid power control mode can achieve precise control of the linked braking system, avoiding the problem that the linked braking system in the EMB braking system is slow to respond due to the lack of hydraulic pressure, making the control of the linked braking system in the EMB system very difficult.

[0090] In addition, the braking control in the EMB system of this embodiment can also be achieved through hybrid braking control using the Anti-lock Braking System (ABS) and the CBS system, including the following control methods: CBS system performs current control, ABS system performs current control; CBS system performs current control, ABS system performs speed control; CBS system performs current control, ABS system performs position control; CBS system performs current control, ABS system performs hybrid control; CBS system performs speed control, ABS system performs current control; CBS system performs speed control, ABS system performs speed control; CBS system performs speed control, ABS system performs position control; CBS system performs speed control, ABS system performs hybrid control; CBS system performs position control, ABS system performs current control; CBS system performs position control, ABS system performs speed control; CBS system performs position control, ABS system performs position control; CBS system performs position control, ABS system performs hybrid control.

[0091] One application scenario of this invention is an ECU EMB system, which includes a CBS controller, four motors, and brakes. Upon receiving a signal from the brake pedal, the CBS controller controls the motors and brakes on the four wheels, such as... Figure 4As shown; another application scenario is a two-ECU EMB system, which includes two CBS controllers, four motors, and brakes. Upon receiving a signal from the brake pedal, one CBS controller controls two motors and brakes on one side of the wheels. The two CBS controllers communicate via a CAN bus. Figure 5 As shown; another application scenario is a four-ECU EMB system, which includes four CBS controllers, four motors, and brakes. Upon receiving a signal from the brake pedal, one CBS controller controls the motor and brake on one wheel. Signals between the four CBS controllers are exchanged pairwise via a CAN bus, as shown... Figure 6 As shown; another application scenario is a five-ECU EMB system, which includes five CBS controllers, four motors, and brakes. Upon receiving a signal from the brake pedal, one CBS controller controls the motor and brake on one wheel. The CBS controllers controlling the motors and brakes on one side of the wheels interact via a CAN bus. The remaining CBS controller controls the other four CBS controllers. Figure 7 As shown.

[0092] In addition, the EMB system in this embodiment of the invention may also include various structures, such as Figure 8 As shown, upon receiving a signal from the brake pedal, a CBS system controls the motor of one wheel, such as... Figure 9 As shown, upon receiving a signal from the brake pedal, a CBS system controls the motors of both wheels, such as... Figure 10 As shown, when a signal from the brake pedal is received, a CBS system controls the motors of four wheels. With the development of technology, there can be various structures, but this invention does not limit them in any specific way.

[0093] Based on the above embodiments, this invention also provides a braking control device.

[0094] Reference Figure 11 , Figure 11 This is a block diagram illustrating a braking control device according to an exemplary embodiment.

[0095] Specifically, it can include the following modules:

[0096] The first acquisition module 201 is used to acquire target information of the vehicle when it is detected that the vehicle is in a steering state, the wheels are in a braking state, and the driver's operation is in an acceleration state. The target information includes the target braking force and target braking torque of the vehicle.

[0097] The first generation module 202 is used to generate target braking current, target braking speed, and target brake pedal position based on the target braking force and the target braking torque.

[0098] The first determining module 203 is used to determine the target control mode based on the target braking current, target braking speed, and target brake pedal position. The target control mode includes current control mode, speed control mode, position control mode, and hybrid power control mode.

[0099] The first control module 204 is used to control the motor according to the target control method so that the vehicle can achieve braking control.

[0100] Furthermore, the braking control device also includes:

[0101] The second acquisition module is used to acquire the vehicle's pedal travel information.

[0102] The second determining module is used to determine the current information corresponding to the pedal travel information based on the first mapping subroutine.

[0103] The third determining module is used to determine the position information corresponding to the pedal travel information based on the second mapping subroutine.

[0104] The second generation module is used to calculate and generate the target braking force based on the current information and the position information;

[0105] The third acquisition module is used to acquire the vehicle's wheel information.

[0106] The third generation module is used to calculate and generate the target braking torque based on the wheel information and the target braking force.

[0107] The first acquisition module is used to acquire multiple sets of vehicle data, including pedal travel information, current information, and position information.

[0108] The fourth generation module is used to calculate and generate a first mapping relationship between the pedal travel information and the current information and a second mapping relationship between the pedal travel information and the position information based on the pedal travel information, the current information and the position information.

[0109] The fifth generation module is used to design and generate the first mapping subroutine based on the first mapping relationship.

[0110] The sixth generation module is used to design and generate the second mapping subroutine based on the second mapping relationship.

[0111] Furthermore, the fourth generation module also includes:

[0112] The segmentation submodule is used to segment the pedal travel information, the current information, and the position information according to the acquisition time.

[0113] The first generation submodule is used to calculate the pedal travel information, current information and position information belonging to the same group to generate a third mapping relationship.

[0114] The second generation submodule is used to aggregate multiple third mapping relationships to generate a first mapping relationship between the pedal travel information and the current information, and a second mapping relationship between the pedal travel information and the position information.

[0115] This invention provides a braking control method, device, equipment, storage medium, and vehicle, comprising: when the vehicle is detected to be in a steering state, the wheels are in a braking state, and the driver's operation is in an acceleration state, acquiring target information of the vehicle, the target information including the vehicle's target braking force and target braking torque; then generating target braking current, target braking speed, and target brake pedal position based on the target braking force and target braking torque; further determining a target control mode based on the target braking current, target braking speed, and target brake pedal position, the target control mode including current control mode, speed control mode, position control mode, and hybrid power control mode; and finally performing motor control according to the target control mode to achieve braking control. This invention, by using current control mode, speed control mode, and hybrid power control mode, can achieve rapid response of the linked braking system even without hydraulic pressure. In addition, position control mode and hybrid power control mode can achieve precise control of the linked braking system, avoiding the problem that the linked braking system in the EMB braking system is slow to respond due to the lack of hydraulic pressure, making the control of the linked braking system in the EMB system very difficult.

[0116] Based on the same inventive concept, another embodiment of the present invention provides an electronic device, referring to... Figure 12 , Figure 12 This is a structural block diagram of an electronic device provided in an embodiment of the present invention, such as... Figure 12 As shown, it includes a processor 301, a communication interface 302, a memory 303, and a communication bus 304, wherein the processor 301, the communication interface 302, and the memory 303 communicate with each other through the communication bus 304.

[0117] Memory 303 is used to store computer programs;

[0118] When processor 301 executes the program stored in memory 403, it performs the following steps:

[0119] When the vehicle is detected to be in a steering state, the wheels are in a braking state, and the driver's operation is in an acceleration state, the target information of the vehicle is acquired, and the target information includes the target braking force and target braking torque of the vehicle.

[0120] The target braking current, target braking speed, and target brake pedal position are calculated and generated based on the target braking force and the target braking torque.

[0121] Based on the target braking current, target braking speed, and target brake pedal position, a target control mode is determined, which includes current control mode, speed control mode, position control mode, and hybrid control mode.

[0122] Motor control is performed according to the target control method to enable braking control of the vehicle.

[0123] The communication bus mentioned in the above terminal can be a Peripheral Component Interconnect (PCI) standard.

[0124] The communication bus can be categorized as an Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. It can be further divided into address bus, data bus, and control bus. For clarity, only one thick line is used in the diagram, but this does not imply that there is only one bus or one type of bus.

[0125] The communication interface is used for communication between the aforementioned terminal and other devices.

[0126] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0127] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0128] Based on the same inventive concept, another embodiment of this application provides a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the braking control method as described in any of the above embodiments of this application.

[0129] Based on the same inventive concept, another embodiment of this application provides a vehicle that may specifically include the above-mentioned braking control device.

[0130] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0131] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. Those skilled in the art will understand that the embodiments of this application can be provided as methods, apparatus, or computer program products. Therefore, the embodiments of this application can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, the embodiments of this application can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0132] The embodiments of this application are based on the methods, apparatus, and computer program products according to the embodiments of this application.

[0133] The flowcharts and / or block diagrams are used to describe the process. It should be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0134] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0135] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0136] Although preferred embodiments of the present application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present application.

[0137] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0138] The above provides a detailed description of a braking control method, device, equipment, storage medium, and vehicle provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A brake control method characterized by, The method includes: When the vehicle is detected to be in a steering state, the wheels are in a braking state, and the driver's operation is in an acceleration state, the target information of the vehicle is acquired, and the target information includes the target braking force and target braking torque of the vehicle. The target braking current, target braking speed, and target brake pedal position are calculated and generated based on the target braking force and the target braking torque. Based on the target braking current, target braking speed, and target brake pedal position, a target control mode is determined, which includes current control mode, speed control mode, position control mode, and hybrid control mode. Motor control is performed according to the target control method to enable braking control of the vehicle; Before acquiring the vehicle's target information when the vehicle is detected to be in a steering state, the wheels in a braking state, and the driver's operation in an acceleration state, the method further includes: Obtain the vehicle's pedal travel information; The current information corresponding to the pedal travel information is determined according to the first mapping subroutine. The position information corresponding to the pedal travel information is determined according to the second mapping subroutine; Before determining the current information corresponding to the pedal travel information according to the first mapping subroutine, the method further includes: Collect multiple sets of vehicle data, including pedal travel information, current information, and position information; Based on the pedal travel information, the current information, and the position information, a first mapping relationship between the pedal travel information and the current information and a second mapping relationship between the pedal travel information and the position information are calculated and generated; Based on the first mapping relationship, design and generate the first mapping subroutine; Based on the second mapping relationship, design and generate the second mapping subroutine; The step of calculating and generating a first mapping relationship between the pedal travel information and the current information and a second mapping relationship between the pedal travel information and the position information based on the pedal travel information, the current information, and the position information includes: The pedal travel information, the current information, and the position information are divided according to the acquisition time; The pedal travel information, current information, and position information belonging to the same group are calculated to generate a third mapping relationship; By aggregating multiple third mapping relationships, a first mapping relationship between the pedal travel information and the current information and a second mapping relationship between the pedal travel information and the position information are generated.

2. The method of claim 1, wherein, After determining the position information corresponding to the pedal travel information according to the second mapping subroutine, the method further includes: The target braking force is generated based on the current information and the position information. Obtain vehicle wheel information; The target braking torque is generated by calculating based on the wheel information and the target braking force.

3. A brake control device characterized by comprising: The device includes: The first acquisition module is used to acquire target information of the vehicle when it is detected that the vehicle is in a turning state, the wheels are in a braking state, and the driver's operation is in an acceleration state. The target information includes the target braking force and target braking torque of the vehicle. The first generation module is used to calculate and generate target braking current, target braking speed, and target brake pedal position based on the target braking force and the target braking torque. The first determining module is used to determine the target control mode based on the target braking current, target braking speed, and target brake pedal position. The target control mode includes current control mode, speed control mode, position control mode, and hybrid power control mode. The first control module is used to control the motor according to the target control method so that the vehicle can achieve braking control. The device further includes: The second acquisition module is used to acquire the vehicle's pedal travel information; The second determining module is used to determine the current information corresponding to the pedal travel information according to the first mapping subroutine. The third determining module is used to determine the position information corresponding to the pedal travel information according to the second mapping subroutine. The first acquisition module is used to acquire multiple sets of vehicle data, including pedal travel information, current information, and position information. The fourth generation module is used to calculate and generate a first mapping relationship between the pedal travel information and the current information and a second mapping relationship between the pedal travel information and the position information based on the pedal travel information, the current information and the position information; The fifth generation module is used to design and generate the first mapping subroutine based on the first mapping relationship; The sixth generation module is used to design and generate the second mapping subroutine based on the second mapping relationship; The fourth generation module further includes: A segmentation submodule is used to segment the pedal travel information, the current information, and the position information according to the acquisition time; The first generation submodule is used to calculate the pedal travel information, current information and position information belonging to the same group to generate a third mapping relationship; The second generation submodule is used to aggregate multiple third mapping relationships to generate a first mapping relationship between the pedal travel information and the current information, and a second mapping relationship between the pedal travel information and the position information.

4. An electronic device, comprising: It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the steps of the method described in any one of claims 1-2.

5. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the braking control method according to any one of claims 1 to 2.

6. A vehicle, characterized in that, include: The braking control device according to claim 3.

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