Vehicle braking control method, device, equipment and medium

Abstract

The application provides a vehicle brake control method, device, equipment and medium, the method comprises the following steps: obtaining the driving intention, the environmental temperature and the running state of the anti-lock braking system of the vehicle; judging whether the vehicle is pre-braking according to the driving intention or / and the running state of the anti-lock braking system; if the vehicle is pre-braking and the environmental temperature is lower than the preset temperature value, heating the brake fluid of the vehicle; using the heated brake fluid to transfer brake fluid pressure to the wheels of the vehicle, so that the wheels form brake pressure and brake the vehicle. The application solves the problem of too large vehicle data acquisition, improves the quality of vehicle data acquisition according to the rule engine configured at the vehicle end, ensures the temperature of the brake fluid used for braking, and improves the poor braking effect of the vehicle in the low temperature state, thereby improving the braking effect of the vehicle.

Description

Technical Field

[0001] This application relates to the field of vehicle braking, specifically to a vehicle braking control method, device, equipment, and medium. Background Technology

[0002] Currently, in automotive hydraulic braking systems, the driver typically operates the brake pedal, which, when necessary, moves mechanically with the support of a brake force amplifier. Its output is connected to a piston in the master cylinder of a hydraulic unit. This process delivers brake fluid to the hydraulic unit (e.g., ESP (Electronic Stability Program) or ABS (Anti-lock Braking System)) and then to the wheel brake cylinders. There, the input volume increases the braking pressure, causing the brake pads to press against the brake discs, thus achieving braking.

[0003] However, in related technologies, brake fluid has poor fluidity in low-temperature environments, which causes the system to respond more slowly and the braking effect to be worse when the driver brakes, posing a safety hazard to driving or parking.

[0004] Application content

[0005] In view of the shortcomings of the prior art described above, this application provides a vehicle braking control method, device, equipment and medium product to solve the problem of how to improve the braking effect of vehicles in low temperature conditions.

[0006] In a first aspect, this application provides a vehicle braking control method, comprising: acquiring the vehicle's driving intention, ambient temperature, and the operating status of the anti-lock braking system; determining whether the vehicle should perform pre-braking based on the driving intention and / or the operating status of the anti-lock braking system; if the vehicle is performing pre-braking while driving and the ambient temperature is lower than a preset temperature value, heating the vehicle's brake fluid; and using the heated brake fluid to transmit brake pressure to the vehicle's wheels, thereby creating braking pressure on the wheels and braking the vehicle.

[0007] In one embodiment of this application, before obtaining the vehicle's driving intention, ambient temperature, and the operating status of the anti-lock braking system, the method further includes:

[0008] The system acquires radar data outside the vehicle, visual image data inside and outside the vehicle, voice data inside the vehicle, and the vehicle's habitual operation records, where the habitual operation records are associated operations performed by the driver before pre-braking. It then performs perception extraction on the radar data, voice data, and visual image data to obtain perceptual events in the visual image data and voice data, and perceptual targets in the radar data. The perceptual events include associated events that affect the vehicle's pre-braking. The perceptual events, perceptual targets, and habitual operation records are fused to obtain sample data. The sample data is then used to train a neural network for an attention mechanism to obtain a driving intention recognition model, whereby the driving intention of the vehicle is obtained through the driving intention recognition model.

[0009] In one embodiment of this application, determining whether the vehicle should perform pre-braking based on the driving intention and / or the operating state of the anti-lock braking system includes:

[0010] If the driving intention is to decelerate or stop, the vehicle performs pre-braking; if the driving intention is not to decelerate or stop, the vehicle does not perform pre-braking; or, if the anti-lock braking system (ABS) is activated, the vehicle performs pre-braking; if the ABS is deactivated, the vehicle does not perform pre-braking; or, if the ABS is activated and the driving intention is to decelerate or stop, the vehicle performs pre-braking; if the ABS is deactivated and the driving intention is not to decelerate or stop, the vehicle does not perform pre-braking.

[0011] In one embodiment of this application, heating the brake fluid of the vehicle if pre-braking is performed while the vehicle is in motion and the ambient temperature is lower than a preset temperature value includes:

[0012] The ambient temperature outside the vehicle is monitored in real time. If the vehicle is pre-braking while in motion and the ambient temperature is detected to be lower than a preset temperature value, the motor inside the vehicle is stalled to generate heat from the motor stator, which is then transferred to the brake fluid for heating. The brake fluid to be heated is heated by a return pump. If the temperature of the heated brake fluid reaches the preset temperature value, the heating is terminated. If the temperature of the heated brake fluid does not reach the preset temperature value, the heating is continued.

[0013] In one embodiment of this application, the step of heating the brake fluid of the vehicle if pre-braking is performed while the vehicle is in motion and the ambient temperature is lower than a preset temperature value further includes:

[0014] The ambient temperature outside the vehicle is monitored in real time. If the vehicle is pre-braking while in motion and the ambient temperature is detected to be lower than a preset temperature value, the brake fluid is heated by a heating pump, and the number of heating cycles is calculated. If the temperature of the heated brake fluid reaches the preset temperature value, the heating is terminated. If the temperature of the heated brake fluid does not reach the preset temperature value, the heating is continued.

[0015] In one embodiment of this application, if the heating pump is detected to have reached a preset number of heating cycles, heating is determined to be complete, and the heating completion flag is set.

[0016] In one embodiment of this application, the step of using heated brake fluid to transmit brake pressure to the vehicle wheels, thereby creating braking pressure on the wheels and braking the vehicle, further includes:

[0017] The anti-lock braking system distributes brake fluid to the vehicle wheels and transmits it to the brake calipers via brake lines. When the brake calipers receive brake fluid, they push pistons to compress the brake pads, causing friction between the brake pads and the brake discs, thereby braking the vehicle.

[0018] In a second aspect, this application provides a vehicle braking control device, the device comprising: an acquisition module for acquiring the vehicle's driving intention, ambient temperature, and the operating status of the anti-lock braking system; a pre-braking module for determining whether the vehicle should perform pre-braking based on the driving intention and / or the operating status of the anti-lock braking system; a heating module for heating the vehicle's brake fluid if the vehicle is performing pre-braking while driving and the ambient temperature is lower than a preset temperature value; and a braking control module for using the heated brake fluid to transmit brake pressure to the vehicle's wheels, thereby creating braking pressure on the wheels and braking the vehicle.

[0019] In a third aspect, this application provides an electronic device comprising:

[0020] One or more processors;

[0021] A storage device for storing one or more programs that, when executed by one or more processors, cause the electronic device to implement the vehicle braking control method described above.

[0022] In a fourth aspect, this application provides a computer-readable storage medium storing computer-readable instructions that, when executed by a computer's processor, cause the computer to perform the aforementioned vehicle braking control method.

[0023] The beneficial effects of this application are as follows: This application determines whether the vehicle needs to perform pre-braking by obtaining the driver's driving intention and the operating status of the anti-lock braking system. If the vehicle needs to perform pre-braking and the ambient temperature is detected to be lower than the preset temperature value, the heat generated by the brake fluid pump being locked is used to transfer heat to the brake fluid, thereby heating the brake fluid and increasing its temperature. Once the brake fluid temperature reaches the preset temperature value, heating is stopped. In this way, the temperature of the brake fluid used for braking is ensured, thereby improving the problem of poor vehicle braking performance in low-temperature conditions and improving the vehicle's braking effect.

[0024] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0025] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0026] Figure 1 This is a schematic diagram illustrating the implementation environment of a vehicle braking control method according to an exemplary embodiment of this application;

[0027] Figure 2 This is a flowchart illustrating a vehicle braking control method in an exemplary embodiment of this application;

[0028] Figure 3 This is an exemplary embodiment of the vehicle braking control method shown in this application, which is an overall flowchart.

[0029] Figure 4 This is a typical ABS system block diagram illustrated in an exemplary embodiment of this application;

[0030] Figure 5 This is a flowchart illustrating a state determination process, as shown in an exemplary embodiment of this application.

[0031] Figure 6 This is a flowchart illustrating the brake fluid heating process in an exemplary embodiment of this application;

[0032] Figure 7 This is a flowchart illustrating the brake fluid heating state determination process, as shown in an exemplary embodiment of this application.

[0033] Figure 8 This is a structural block diagram of a vehicle braking control device illustrated in an exemplary embodiment of this application;

[0034] Figure 9 This is a schematic diagram of the structure of a computer system for an electronic device, as illustrated in an exemplary embodiment of this application. Detailed Implementation

[0035] The embodiments of this application will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be understood that the preferred embodiments are only for illustrating this application and are not intended to limit the scope of protection of this application.

[0036] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. Therefore, the drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0037] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the present application. However, it will be apparent to those skilled in the art that embodiments of the present application may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the present application.

[0038] In related technologies, brake fluid has poor fluidity in low-temperature environments, which causes the system response to slow down and the braking effect to deteriorate when the driver applies the brakes, posing a safety hazard to driving or parking.

[0039] To address the aforementioned problems, this application provides a vehicle braking control method. Please refer to [link to relevant documentation]. Figure 1 , Figure 1 This is a schematic diagram illustrating the implementation environment of a vehicle braking control method according to an exemplary embodiment of this application. Figure 1As shown, the implementation environment includes a vehicle 101 and a control device 102. The control device 102 is embedded in the vehicle 101 and is used to realize the braking control of the vehicle 101. The control device 102 includes, but is not limited to, the vehicle infotainment system and the on-board computer. By acquiring the driver's driving intention and the operating status of the anti-lock braking system, it determines whether the vehicle should perform pre-braking. If the vehicle needs to perform pre-braking and the ambient temperature is detected to be lower than the preset temperature value, the heat generated by the brake fluid pump is blocked is used to transfer heat to the brake fluid to heat the brake fluid and increase its temperature. Once the brake fluid temperature reaches the preset temperature value, heating is stopped. In this way, the temperature of the brake fluid used for braking is ensured, thereby improving the problem of poor vehicle braking performance in low temperature conditions and improving the vehicle's braking effect.

[0040] Please see Figure 2 , Figure 2 This is a flowchart illustrating a navigation-assisted driving function control method in an exemplary embodiment of this application. This method can be applied to... Figure 1 The implementation environment is shown, and the method is specifically executed by the association resolution module within that implementation environment. It should be understood that this method can also be applied to other exemplary implementation environments and executed by devices in other implementation environments. This embodiment does not limit the implementation environment to which this method is applicable.

[0041] Please see Figure 2 , Figure 2 This is a flowchart illustrating a vehicle braking control method in an exemplary embodiment of this application, detailed below:

[0042] Step S201: Obtain the vehicle's driving intention, ambient temperature, and the operating status of the anti-lock braking system.

[0043] The anti-lock braking system (ABS) automatically controls the braking force of the brakes during vehicle braking to prevent the wheels from locking up and instead maintain a state of rolling and slipping (slip ratio of around 20%), thus ensuring maximum adhesion between the wheels and the road surface. It should be noted that the ABS can be either on or off.

[0044] Ambient temperature refers to the temperature of the external environment of the vehicle. The ambient temperature is used as the basis for whether to heat the brake fluid. For example, the ambient temperature is between -40 and -10 degrees Celsius in northern regions. This will not be elaborated further here.

[0045] In one embodiment of this application, before acquiring the vehicle's driving intention, ambient temperature, and the operating status of the anti-lock braking system, the method further includes: acquiring radar data outside the vehicle, visual image data inside and outside the vehicle, voice data inside the vehicle, and the vehicle's habitual operation records, wherein the habitual operation records are associated operations performed by the driver before pre-braking; performing perception extraction on the radar data, the voice data, and the visual image data respectively to obtain perception events in the visual image data and the voice data, and obtaining perception targets in the radar data, wherein the perception events include associated events affecting the vehicle's pre-braking; fusing the perception events, the perception targets, and the habitual operation records to obtain sample data; and using the sample data to train a neural network for an attention mechanism to obtain a driving intention recognition model, wherein the driving intention of the vehicle is acquired through the driving intention recognition model.

[0046] It should be noted that when visual image data is collected via a camera, the camera refers to a device with image acquisition capabilities, typically an input device capable of acquiring specific images, such as in-vehicle cameras, mobile phone cameras, and wearable devices. Correspondingly, visual perception events refer to visual perception events generated by cameras inside and outside the vehicle, which process the real-time acquired image data into pixels and frame rates, and then use image recognition algorithms to further process these pixels and frame rates. Examples of visual perception events include whether the driver is fatigued, whether there is someone in the passenger seat, whether the driver is smoking, and whether the driver is drinking water.

[0047] Radar is a device capable of identifying surrounding objects, such as vehicle-mounted radar. Correspondingly, radar data is input into radar perception algorithms to identify targets, such as other vehicles or pedestrians in the vicinity. Voice data refers to passenger interaction data within the vehicle. Voice interactions between passengers and the driver, or between passenger A and passenger B, are collected via microphones. Speech recognition is performed on this data to generate text information. Natural language processing is then applied to the text information to identify thematic events closely related to parking and deceleration, such as refueling, using the restroom, and server activity. Habitual operation records include brake-related actions such as turn signals, turning, and speeding.

[0048] The perceived events, the perceived targets, and the habitual operation records are fused together, for example, by weighted fusion or fusion by time, to obtain sample data.

[0049] The system trains a pre-defined neural network, automatically learns, and continuously updates and iterates to obtain a driver intent recognition model. This model introduces an attention mechanism to automatically learn and calculate the contribution of input data to output data, automatically identifying the input data that has a significant impact on each scenario. The attention mechanism is calculated as follows:

[0050]

[0051]

[0052] Where h represents the input sample data, i and j represent the number of groups, n represents the total number of sample data, q represents the task-related query vector, s represents the attention scoring function, softmax represents the normalization exponential function, and a represents the attention distribution. i Let h represent the attention distribution of the i-th data set. i Let h represent the sample data of the i-th input group. j Let j represent the sample data of the j-th input group, and context represent the content that the model should focus on at the moment.

[0053] The above methods can accurately obtain the driver's driving intentions, making it easier to determine whether pre-braking is necessary.

[0054] Step S202: Determine whether the vehicle should perform pre-braking based on the driving intention and / or the operating status of the anti-lock braking system;

[0055] Specifically, if the driving intention is to decelerate or stop, the vehicle will perform pre-braking; if the driving intention is not to decelerate or stop, the vehicle will not perform pre-braking; or, if the anti-lock braking system (ABS) is activated, the vehicle will perform pre-braking; if the ABS is deactivated, the vehicle will not perform pre-braking; or, if the ABS is activated and the driving intention is to decelerate or stop, the vehicle will perform pre-braking; if the ABS is deactivated and the driving intention is not to decelerate or stop, the vehicle will not perform pre-braking.

[0056] By using the above method, it is possible to accurately determine whether to perform a pre-braking operation, and thus determine whether to heat the brake fluid.

[0057] Step S203: If the vehicle is pre-braking while in motion and the ambient temperature is lower than the preset temperature value, the vehicle's brake fluid is heated.

[0058] In one embodiment of this application, the ambient temperature outside the vehicle is monitored in real time. If the vehicle is pre-braking while in motion and the ambient temperature is detected to be lower than a preset temperature value, the motor inside the vehicle is stalled to generate heat from the motor stator, which is then transferred to the brake fluid for heating. The brake fluid to be heated is heated by sealing it with a return pump (in the sealed brake fluid, the motor stator generates heat, which is then transferred to the brake fluid for heating). If the temperature of the heated brake fluid reaches the preset temperature value, the heating is terminated; if the temperature of the heated brake fluid does not reach the preset temperature value, the heating is continued.

[0059] In another embodiment of this application, the ambient temperature outside the vehicle is monitored in real time; if the vehicle is pre-braking while driving and the ambient temperature is detected to be lower than a preset temperature value, the brake fluid is heated by a heating pump, and the number of heating cycles of the heating pump is calculated; if the temperature of the heated brake fluid reaches the preset temperature value, the heating is terminated; if the temperature of the heated brake fluid does not reach the preset temperature value, the heating is continued.

[0060] The brake fluid is heated using the methods described above. It should be noted that a combination of methods can also be used to heat the fluid to improve heating efficiency.

[0061] Step S204: The heated brake fluid is used to transmit brake pressure to the vehicle wheels, thereby creating braking pressure on the wheels and braking the vehicle.

[0062] Specifically, the anti-lock braking system distributes brake fluid to the vehicle wheels and transmits it to the brake calipers through brake lines. When the brake calipers receive brake fluid, they push pistons to squeeze the brake pads, causing the brake pads to rub against the brake discs, thereby braking the vehicle.

[0063] In this embodiment, without increasing hardware costs, brake fluid heating at low ambient temperatures is achieved through software algorithms, ensuring that the brake fluid has better flow performance, improving sensitivity and responsiveness during driving or parking, thereby ensuring the safety of people and property.

[0064] By receiving information such as the driver's driving intentions, ambient temperature, and the operating status of the ABS system, the system determines whether the brake fluid needs heating. Heating is achieved by generating heat through the brake fluid pump's stall operation. The brake fluid fully absorbs the heat generated by the brake fluid return pump to raise its own temperature. When the brake fluid return pump transitions from stall to normal operation, the solenoid valve opens, and the flow path circulates. Through repeated stalling and running of the brake fluid return pump, the brake fluid is heated to its ideal state.

[0065] In one embodiment of this application, please refer to Figure 3 The following is a detailed flowchart illustrating an exemplary embodiment of the vehicle braking control method of this application:

[0066] S31 is the start, and S36 is the end.

[0067] S32, obtains driving intention (brake pedal pressed signal), ambient temperature, ABS working status, etc.;

[0068] S33 obtains relevant signals to determine whether to activate the brake fluid heating function. This function is only effective when the driver requests it, the ambient temperature is lower than the set value, and the ABS system does not engage in pressure boosting, depressurization, or pressure holding activities.

[0069] S34 is the specific execution of the heating mode. During heating, the reflux pump is blocked to increase the temperature. After heating for a certain period of time, the reflux pump rotates normally. At the same time, the inlet valve and outlet valve need to be kept open to ensure that the entire flow channel is open.

[0070] S35 determines whether the entire operation is complete, i.e., the estimated temperature of the brake fluid has reached the target value. If the target value has been reached, the heating activity ends.

[0071] In this embodiment, hard-wired signal acquisition, for example, a driver requesting brake fluid heating signal may be input to the controller via a hard wire. In this application, an ambient temperature sensor may also be input to the controller via a hard wire. For example, a brake pedal signal may also be input to the controller via a hard-wired structure.

[0072] Network signal acquisition (including but not limited to CAN bus, LIN bus, Ethernet, SPI bus, 4G signal, 5G signal, etc.), for example, a driver requesting brake fluid heating signal may be input to the controller via network transmission. In this application, an ambient temperature sensor may also be input to the controller via network transmission. In this application, a brake pedal signal may also be input to the controller via network transmission.

[0073] Signal transmission within the controller, such as ABS status signals, global variables in the algorithm process, local variables in the process algorithm, etc.

[0074] Signal processing includes, but is not limited to, first-order hysteresis filtering and median filtering.

[0075] In other embodiments of this application, see details. Figure 4 This is a typical ABS system block diagram illustrating an exemplary embodiment of this application, detailed below:

[0076] When the driver presses the brake pedal 1, it drives the booster 2 to input thrust to the brake master cylinder 3 containing brake fluid through the inlet valve 4. The input thrust causes the inlet valve in the brake fluid line to open, and the brake fluid return pump 8 causes the closed brake fluid to flow unidirectionally to the brake and wheel cylinder 6 through the balance check valve 5. The brake fluid is then returned to the reservoir 10 by the outlet valve 9. The damper 7 achieves deceleration or braking through the friction between the friction pad and the friction disc.

[0077] In other embodiments of this application, please refer to Figure 5 This is a flowchart illustrating a state determination process in an exemplary embodiment of this application, including:

[0078] 3.0 is the algorithm data flow entry point, and 3.9 is the algorithm data flow exit point.

[0079] 3.1 To determine whether the finish flag (i.e., the end flag) for the brake fluid heating action is cleared. If it is set, the current cycle ends. If it is cleared, proceed to the next step. The finish flag is cleared each time the vehicle transitions from ignition or Ready state to Off state. When the vehicle is Off, the OnTimer (timer started) is cleared within a certain time interval after the finish flag is set. The interval is proportional to the ambient temperature: OnTimer = Parameter 1 + Parameter 2 * Ambient Temperature. The value of OnTimer must be greater than or equal to 0, and Parameter 1 and Parameter 2 are constants.

[0080] 3.2 checks the ambient temperature calibration value. If the condition is met, proceed to the next step; otherwise, end the current cycle. Brake fluid flow is affected when the ambient temperature is below a certain value; therefore, the ambient temperature is checked here.

[0081] 3.3 is the judgment of the driver's request. If the conditions are met, proceed to the next step; if the conditions are not met, end the current loop.

[0082] 3.4 determines the vehicle's status, specifically whether the vehicle is successfully ignited or ready, or whether it is in a non-drivable state. If the vehicle is in a non-drivable state, the "Stop_HeatPer" condition (i.e., stopping heating) is obtained in 3.5. If the vehicle is successfully ignited or ready, as in 3.6, the driver's brake pedal is depressed, and 3.7, the ABS system is idle, resulting in the "running_HeatPer" condition (i.e., executing heating). If the driver's brake pedal is depressed (3.6) is "yes," the current cycle ends. If the ABS system is idle (3.7) is "no," the current cycle ends. The "idle" state of the ABS system indicates that the ABS has no need for pressure reduction, pressure holding, or pressure increase.

[0083] Please see Figure 6 This is an exemplary embodiment of the present application illustrating a brake fluid heating execution flowchart; including:

[0084] 4.0 is the algorithm data flow entry point, and 4.20 is the algorithm data flow exit point.

[0085] 4.1 The Stop_HeatPer function is used to determine if the brake fluid heating for low-temperature parking is permitted. If the result is "yes," the relevant actions for parking heating are performed. If the result is "no," the running_HeatPer function is used to determine if the brake fluid heating for low-temperature driving is permitted, i.e., step 4.14 is executed. Steps 4.2, 4.7, and 4.12 involve determining the ambient temperature, i.e., processing the brake fluid heating logic in segments based on the ambient temperature. Step 4.12 is represented by an ellipsis, indicating that the ambient temperature range can be divided to infinitesimal. Since the logical principles of steps 4.2, 4.7, and 4.12 are similar, the process involved in step 4.2 will be described in detail here. If the result of step 4.2 is "yes," the inlet and outlet valves of the ABS system are opened, i.e., steps 4.3 and 4.4 are executed to ensure that the brake fluid can circulate through the return pump. Step 4.5: By stalling the motor, the motor stator heats up, and the heat is transferred to the brake fluid, thereby increasing the brake fluid temperature. To heat more brake fluid, after a certain period of stall heating, the motor needs to start running normally, i.e., the action in step 4.6 is executed. Step 4.5: To protect the motor, the stall time must be within the motor's tolerance range. Step 4.5: To fully heat the brake fluid, the motor's structural design needs to be fully considered, taking into account both flow resistance and heat exchange efficiency. For vehicle heating, this application no longer considers segmented processing based on ambient temperature, but it needs to consider the ABS system's unauthorized control of the return pump, i.e., the ABS system's command to the return pump is to stop, only then can the method of this application effectively control the stall and operation of the return pump. If the judgment results of steps 4.14 and 4.15 are "no", then return to... Figure 3 Step S32.

[0086] In one embodiment of this application, see details. Figure 7 This is an exemplary embodiment of the present application illustrating a flowchart for determining the brake fluid heating status, which is described in detail below: If the heating pump is detected to have reached a preset number of heating cycles, then heating is determined to be complete, and the heating completion flag is set.

[0087] Step 5.0 is the algorithm data flow inlet, and step 5.5 is the algorithm data flow outlet.

[0088] Step 5.1: Determine whether the low-temperature brake fluid heating has stopped (while driving or parked), i.e., enable Stop_HeatPer (stop heating). If "yes", then in step 5.2, increment the number of times the heating pump has run. If "no", return to the previous step. Figure 3 In step S32, if the accumulated value Counter from step 5.2 exceeds the number of times the heating pump has run (i.e., the pre-counter), i.e., step 5.3, if it is "Yes", then the brake fluid heating action completion flag is set to finish Flag (i.e., the end flag); if it is "No", then return to step S32. Figure 3 In step S32, driving intention, ambient temperature and ABS operating status are obtained.

[0089] like Figure 8 As shown, the exemplary vehicle braking control device 800 includes:

[0090] The acquisition module 801 is used to acquire the vehicle's driving intention, ambient temperature, and the operating status of the anti-lock braking system.

[0091] The pre-braking module 802 is used to determine whether the vehicle should perform pre-braking based on the driving intention and / or the operating status of the anti-lock braking system.

[0092] The heating module 803 is used to heat the vehicle's brake fluid if the vehicle is pre-braking while driving and the ambient temperature is lower than a preset temperature value.

[0093] The brake control module 804 uses heated brake fluid to transmit brake pressure to the vehicle wheels, thereby creating braking pressure on the wheels and braking the vehicle.

[0094] The beneficial effects of this exemplary vehicle braking control device are that by acquiring the driver's driving intention and the operating status of the anti-lock braking system, it is determined whether the vehicle should perform pre-braking. If the vehicle needs to perform pre-braking and the ambient temperature is detected to be lower than the preset temperature value, the heat generated by the brake fluid pump being locked is used to transfer heat to the brake fluid, thereby heating the brake fluid and increasing its temperature. Once the brake fluid temperature reaches the preset temperature value, heating is stopped. In this way, the temperature of the brake fluid used for braking is ensured, thereby improving the problem of poor vehicle braking performance in low-temperature conditions and improving the vehicle's braking effect.

[0095] It should be noted that the vehicle braking control device provided in the above embodiments and the vehicle braking control method provided in the above embodiments belong to the same concept. The specific operation methods of each module and unit have been described in detail in the method embodiments and will not be repeated here. In practical applications, the vehicle braking control device provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. This is not a limitation here.

[0096] Embodiments of this application also provide an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by one or more processors, cause the electronic device to implement the vehicle braking control method provided in the above embodiments.

[0097] Please see Figure 9 , Figure 9 This is a schematic diagram illustrating the structure of a computer system for an electronic device, as shown in an exemplary embodiment of this application. It should be noted that... Figure 9 The computer system 900 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0098] like Figure 9 As shown, the computer system 900 includes a Central Processing Unit (CPU) 901, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, based on programs stored in Read-Only Memory (ROM) 902 or programs loaded from storage portion 908 into Random Access Memory (RAM) 903. The RAM 903 also stores various programs and data required for system operation. The CPU 901, ROM 902, and RAM 903 are interconnected via a bus 904. An Input / Output (I / O) interface 905 is also connected to the bus 904.

[0099] The following components are connected to I / O interface 905: an input section 906 including a keyboard, mouse, etc.; an output section 907 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 908 including a hard disk, etc.; and a communication section 909 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 909 performs communication processing via a network such as the Internet. A drive 910 is also connected to I / O interface 905 as needed. Removable media 911, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 910 as needed so that computer programs read from them can be installed into storage section 908 as needed.

[0100] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 909, and / or installed from removable medium 911. When the computer program is executed by central processing unit (CPU) 901, it performs various functions defined in the system of this application.

[0101] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0102] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0103] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the unit itself.

[0104] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the vehicle braking control method as described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not incorporated into the electronic device.

[0105] This application also provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the vehicle braking control method provided in the various embodiments described above.

[0106] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A vehicle braking control method, characterized in that, include: Determine if the finish flag, indicating the completion of the brake fluid heating action, is cleared. If it is set, end the current cycle; otherwise, proceed to the next step. The finish flag is cleared each time the vehicle transitions from ignition or Ready state to Off state. When the vehicle is Off state, the finish flag is cleared by OnTimer after being set for a certain period of time. The interval is proportional to the ambient temperature. OnTimer = parameter 1 + parameter 2 * ambient temperature. The value of OnTimer must be greater than or equal to 0. Parameter 1 and parameter 2 are constants. The vehicle status is determined as either successfully ignited or ready, or the vehicle is in a state where it cannot be driven. If the vehicle is in an inoperable state, the Stop_HeatPer function for parking low-temperature brake fluid heating is obtained. The Stop_HeatPer function for parking low-temperature brake fluid heating is checked. If it is true, the relevant actions for parking heating are performed. If not, then the following checks are performed on the vehicle's low-temperature brake fluid heating allowance running_HeatPer: whether the vehicle is successfully ignited or ready, whether the driver's brake pedal is depressed and whether the ABS system is idle. If both conditions are met, then the vehicle's low-temperature brake fluid heating allowance running_HeatPer is obtained. If the vehicle's low-temperature brake fluid heating allowance running_HeatPer is determined to be yes, then the relevant actions for vehicle heating are performed. The following actions are involved in parking heater operation: The logic of segmented brake fluid heating is based on ambient temperature. The inlet and outlet valves of the ABS system are opened to ensure that the brake fluid can circulate through the return pump. By locking the motor, the motor stator heats up, and the corresponding heat is transferred to the brake fluid, thereby increasing the temperature of the brake fluid. In order to heat more brake fluid, the motor needs to be turned on normally after a certain period of locked heating. In order to protect the motor, the locked heating time must be within the range that the motor can withstand. Related actions for vehicle heating: It acquires the vehicle's driving intentions, ambient temperature, and the operating status of the anti-lock braking system; Determine whether the vehicle should perform pre-braking based on the driving intention and / or the operating status of the anti-lock braking system; The step of determining whether the vehicle should pre-brake based on the driving intention and / or the operating status of the anti-lock braking system includes: if the driving intention is to decelerate or stop, the vehicle pre-brakes; if the driving intention is not to decelerate or stop, the vehicle does not pre-brake; or, if the anti-lock braking system is in the activated state, the vehicle pre-brakes; if the anti-lock braking system is in the deactivated state, the vehicle does not pre-brake; or, if the anti-lock braking system is in the activated state and the driving intention is to decelerate or stop, the vehicle pre-brakes; if the anti-lock braking system is in the deactivated state and the driving intention is not to decelerate or stop, the vehicle does not pre-brake. If the vehicle is pre-braking while in motion and the ambient temperature is lower than a preset temperature value, and the ABS system commands the return pump to stop, then the brake fluid of the vehicle is heated by locking the motor. Heated brake fluid is used to transmit brake pressure to the vehicle wheels, thereby applying braking pressure to the wheels and braking the vehicle.

2. The method according to claim 1, characterized in that, Before acquiring the vehicle's driving intention, ambient temperature, and the operating status of the anti-lock braking system, the process also includes: The system acquires radar data outside the vehicle, visual image data inside and outside the vehicle, voice data inside the vehicle, and the vehicle's habitual operation records, which are the associated operations performed by the driver before pre-braking. Perception extraction is performed on the radar data, the voice data, and the visual image data respectively to obtain the perception events in the visual image data and the voice data, and to obtain the perception targets in the radar data. The perception events include related events that affect the vehicle's pre-braking. The perceived events, the perceived targets, and the habitual operation records are fused together to obtain sample data; The neural network for the attention mechanism is trained using the sample data to obtain a driving intention recognition model, wherein the driving intention of the vehicle is obtained through the driving intention recognition model.

3. The method according to claim 2, characterized in that, If the vehicle is pre-braking while in motion and the ambient temperature is lower than a preset temperature value, heating the vehicle's brake fluid includes: Real-time monitoring of the ambient temperature outside the vehicle; If the vehicle is pre-braking while in motion and the ambient temperature is detected to be lower than a preset temperature value, the motor inside the vehicle is stalled to generate heat from the motor stator, which is then transferred to the brake fluid for heating. The brake fluid to be heated is heated by a return pump. If the temperature of the heated brake fluid reaches the preset temperature value, heating will stop; if the temperature of the heated brake fluid does not reach the preset temperature value, heating will continue.

4. The method according to claim 2, characterized in that, The method of heating the brake fluid of the vehicle if pre-braking is performed while the vehicle is in motion and the ambient temperature is lower than a preset temperature value also includes: Real-time monitoring of the ambient temperature outside the vehicle; If the vehicle is pre-braking while in motion and the ambient temperature is detected to be lower than a preset temperature value, the brake fluid is heated by a heating pump, and the number of heating cycles of the heating pump is calculated. If the temperature of the heated brake fluid reaches the preset temperature value, heating will stop; if the temperature of the heated brake fluid does not reach the preset temperature value, heating will continue.

5. The method according to claim 4, characterized in that, If the heating pump is detected to have reached a preset number of heating cycles, heating is determined to be complete, and the heating completion flag is set.

6. The method according to claim 1 or 2, characterized in that, The method of using heated brake fluid to transmit brake pressure to the vehicle wheels, thereby creating braking pressure on the wheels and braking the vehicle, further includes: The anti-lock braking system distributes brake fluid to the vehicle wheels and transfers it to the brake calipers via brake lines. When the brake caliper receives brake fluid, it pushes the piston to squeeze the brake pads, causing the brake pads to rub against the brake disc, thereby braking the vehicle.

7. A vehicle braking control device, characterized in that, The device includes: The acquisition module is used to determine whether the finish flag, indicating the completion of the brake fluid heating action, is cleared. If it is set, the current loop ends; if it is cleared, the next step is initiated. The finish flag is cleared each time the vehicle transitions from ignition or Ready state to Off state. When the vehicle is Off state, the finish flag is cleared by OnTimer after being set for a certain period of time. The interval is proportional to the ambient temperature. OnTimer = parameter 1 + parameter 2 * ambient temperature. The value of OnTimer must be greater than or equal to 0. Parameter 1 and parameter 2 are constants. The vehicle status is determined as either successfully ignited or ready, or the vehicle is in a state where it cannot be driven. If the vehicle is in an inoperable state, the Stop_HeatPer function for parking low-temperature brake fluid heating is obtained. The Stop_HeatPer function for parking low-temperature brake fluid heating is checked. If it is true, the relevant actions for parking heating are performed. If not, then the following checks are performed on the vehicle's low-temperature brake fluid heating allowance running_HeatPer: whether the vehicle is successfully ignited or ready, whether the driver's brake pedal is depressed and whether the ABS system is idle. If both conditions are met, then the vehicle's low-temperature brake fluid heating allowance running_HeatPer is obtained. If the vehicle's low-temperature brake fluid heating allowance running_HeatPer is determined to be yes, then the relevant actions for vehicle heating are performed. The following actions are involved in parking heater operation: The logic of segmented brake fluid heating is based on ambient temperature. The inlet and outlet valves of the ABS system are opened to ensure that the brake fluid can circulate through the return pump. By locking the motor, the motor stator heats up, and the corresponding heat is transferred to the brake fluid, thereby increasing the temperature of the brake fluid. In order to heat more brake fluid, the motor needs to be turned on normally after a certain period of locked heating. In order to protect the motor, the locked heating time must be within the range that the motor can withstand. Related actions for vehicle heating: It acquires the vehicle's driving intentions, ambient temperature, and the operating status of the anti-lock braking system; A pre-braking module is used to determine whether the vehicle should perform pre-braking based on the driving intention and / or the operating status of the anti-lock braking system (ABS). The determination of whether the vehicle should perform pre-braking based on the driving intention and / or the operating status of the ABS includes: if the driving intention is to decelerate or stop, the vehicle performs pre-braking; if the driving intention is not to decelerate or stop, the vehicle does not perform pre-braking; or, if the ABS is in an activated state, the vehicle performs pre-braking; if the ABS is in a deactivated state, the vehicle does not perform pre-braking; or, if the ABS is in an activated state and the driving intention is to decelerate or stop, the vehicle performs pre-braking; if the ABS is in a deactivated state and the driving intention is not to decelerate or stop, the vehicle does not perform pre-braking. A heating module is used to heat the brake fluid of the vehicle if the vehicle is pre-braking while driving and the ambient temperature is lower than a preset temperature value, and the ABS system commands the return pump to stop. The braking control module uses heated brake fluid to transmit braking pressure to the vehicle wheels, thereby applying braking pressure to the wheels and braking the vehicle.

8. An electronic device, characterized in that, include: One or more processors; A storage device for storing one or more programs, which, when executed by one or more processors, cause the electronic device to perform the method of any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, It stores computer-readable instructions that, when executed by the computer's processor, cause the computer to perform the method of any one of claims 1 to 6.

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