Vehicle emergency braking control method, device, vehicle and storage medium

Abstract

An embodiment of the present invention provides a vehicle emergency braking control method, device, vehicle, and storage medium. The method includes: upon receiving an emergency braking command, controlling the service brake system to perform a vehicle deceleration operation and controlling the motor in the parking brake system to positively push the brake piston from an initial release position to a pre-clamped position; obtaining the current braking deceleration of the vehicle after the service brake system performs the vehicle deceleration operation; and controlling the pushing direction of the motor based on the current braking deceleration to achieve emergency braking of the vehicle. Utilizing this method, while the service brake system is used for braking, the brake piston of the parking brake system is controlled to be in a pre-clamped position. If the vehicle deceleration is less than expected, the parking brake system is combined to generate more braking force for braking control. Since the brake piston is in the pre-clamped position, braking force can be generated more quickly, preventing collision accidents, thereby improving the driver's driving safety.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle emergency braking control method, device, vehicle and storage medium. Background Art

[0002] Automobile safety has always been regarded as the most important feature of automobiles and a key driving factor in the development of automobile technology. Autonomous Emergency Braking (AEB) is a preventive active safety technology for automobiles. The AEB system uses radar to measure the distance to the vehicle in front or obstacles, and then uses a data analysis module to compare the measured distance with the warning distance and the safety distance. If the distance is less than the warning distance, an alarm will be issued. If the distance is less than the safety distance, even if the driver does not have time to step on the brake pedal, the AEB system will be activated to automatically brake the car, thereby ensuring safe travel. When the existing AEB emergency braking function is triggered, it will send a deceleration command to the service brake system. However, if the service brake does not achieve the expected deceleration, an accident is likely to occur. Summary of the Invention

[0003] The embodiments of the present invention provide a vehicle emergency braking control method, device, vehicle and storage medium, which realize braking control in conjunction with the parking brake system when the vehicle deceleration is lower than expected, thereby preventing collision accidents and improving the driver's driving safety.

[0004] In a first aspect, an embodiment of the present invention provides a vehicle emergency braking control method, the method comprising:

[0005] When an emergency brake command is received, the service brake system is controlled to perform a vehicle deceleration operation and the motor in the parking brake system is controlled to positively push the brake piston from the initial release position to the pre-tensioning position;

[0006] Obtaining a current braking deceleration of the vehicle after the service braking system performs a vehicle deceleration operation;

[0007] According to the current braking deceleration, the driving direction of the motor is controlled to achieve emergency braking of the vehicle.

[0008] In a second aspect, an embodiment of the present invention provides a vehicle emergency brake control device, comprising:

[0009] A deceleration control module is used to control the service brake system to perform a vehicle deceleration operation and control the motor in the parking brake system to positively push the brake piston from an initial release position to a pre-tensioning position when an emergency brake command is received;

[0010] a deceleration acquisition module, configured to acquire the current braking deceleration of the vehicle after the service braking system performs a vehicle deceleration operation;

[0011] A control module is used to control the driving direction of the motor according to the current braking deceleration to achieve emergency braking of the vehicle.

[0012] In a third aspect, an embodiment of the present invention further provides a vehicle, comprising:

[0013] at least one controller; and

[0014] a memory in communication with the at least one controller; wherein,

[0015] The memory stores a computer program that can be executed by the at least one controller, and the computer program is executed by the at least one controller to enable the at least one controller to execute the vehicle emergency braking control method provided in the embodiment of the first aspect.

[0016] In a fourth aspect, an embodiment of the present invention further provides a storage medium comprising computer-executable instructions, which, when executed by a computer processor, are used to execute the vehicle emergency braking control method as described in the embodiment of the first aspect.

[0017] An embodiment of the present invention provides a vehicle emergency braking control method, device, vehicle, and storage medium. The method includes: upon receiving an emergency braking command, first controlling the service brake system to perform a vehicle deceleration operation and controlling the motor in the parking brake system to positively push the brake piston from an initial release position to a pre-clamping position; then obtaining the current braking deceleration of the vehicle after the service brake system performs the vehicle deceleration operation; and finally, controlling the pushing direction of the motor according to the current braking deceleration to achieve emergency braking of the vehicle. In the above technical solution, upon receiving an emergency braking command, while the service brake system is used for braking, the brake piston of the parking brake system is controlled to be in a pre-clamping position. If the vehicle deceleration is less than expected, the parking brake system is combined to generate more braking force for braking control. Since the brake piston is in the pre-clamping position, the braking force can be generated more quickly to prevent collision accidents, thereby improving the driving safety of the driver.

[0018] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 A schematic flow chart of a vehicle emergency braking control method provided in Example 1 of the present invention;

[0021] Figure 2 A schematic flow chart of another vehicle emergency braking control method provided in the second embodiment of the present invention;

[0022] Figure 3 This is an example flow chart of the execution of a vehicle emergency braking control method in a certain application scenario provided by the second embodiment of the present invention;

[0023] Figure 4 A schematic structural diagram of a vehicle emergency brake control device provided in a third embodiment of the present invention;

[0024] Figure 5 A schematic structural diagram of a vehicle provided in accordance with a fourth embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "original", "target", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or that are inherent to these processes, methods, products or devices.

[0027] Example 1

[0028] Figure 1 This is a flow chart of a vehicle emergency braking control method provided in the first embodiment of the present invention. This method is applicable to the case of emergency braking of a vehicle. This method can be executed by a vehicle emergency braking control device, which can be implemented in the form of hardware and / or software and can be configured in a vehicle. Figure 1 As shown, the vehicle emergency braking control method provided in this embodiment may specifically include the following steps:

[0029] S101. When an emergency braking command is received, the service braking system is controlled to perform a vehicle deceleration operation and the motor in the parking brake system is controlled to positively push the brake piston from an initial release position to a pre-tensioning position.

[0030] In this embodiment, when environmental perception sensors such as millimeter-wave radar or visual cameras detect a potential collision risk with a vehicle, pedestrian, or other traffic participant ahead, the AEB system's emergency braking function is triggered, generating an emergency braking command. This command may include not only a deceleration command but also a requested deceleration value for the vehicle. The requested deceleration value can be calculated based on the distance between the vehicle and the potential collision participant and the vehicle's current speed. It can be assumed that the emergency braking command received by this execution entity contains the determined requested deceleration value.

[0031] Considering that existing technologies rely on the service brake system for emergency braking, if the braking force generated by the service brake system is insufficient, the vehicle's service brakes may not achieve the expected deceleration, potentially leading to an accident. Alternatively, if the vehicle's service brakes fail to achieve the expected deceleration, the parking brake system is activated, using a motor to push the brake piston to clamp the brake pads against the vehicle's brake disc. However, due to the high speed of the vehicle's collision with other traffic participants, this approach may result in the brake pads not having time to clamp before the vehicle collides with other traffic participants.

[0032] To address the above issues, in this embodiment, if the vehicle deceleration after braking using the service brake system is less than expected, the electronic parking brake system can be used for braking control. When this execution subject receives an emergency braking command, it simultaneously sends control commands to the service brake system and the parking brake system to implement the relevant emergency braking operations on the service brake system and the parking brake system.

[0033] Specifically, upon receiving an emergency braking command, the service brake system is controlled to decelerate the vehicle. This deceleration can refer to the use of the brake pedal to control the brake cylinder, bringing the drive wheels from motion to a stop. While the service brake system is being controlled to decelerate the vehicle, the parking brake system is also controlled to perform a related operation, specifically controlling the motor in the parking brake system to move the brake piston from an initial release position to a pre-applied position.

[0034] Considering the working principle of the parking brake, the motor is activated when the parking brake is applied. The motor drives the screw through the belt pulley and the bevel gear. The screw rotates, causing the pressure nut on the thread to move forward. The pressure nut moves onto the brake piston and presses it against the brake friction pad. In this embodiment, after receiving the emergency brake command, the motor first pushes the brake piston forward in the positive direction, bringing the brake friction pad into contact with the brake disc, but no braking force is generated, that is, in the pre-tensioned state.

[0035] The initial release position can be specifically understood as the brake pads being released when the parking system is inactive, with the brake pads and brake disc at their initial spacing. The pre-applied position is the position of the brake disc in close proximity to the vehicle. The travel distance of the brake piston from the initial release position to the pre-applied position can be specifically understood as the initial spacing distance between the brake pads and brake disc. This distance can be a known parameter when the vehicle leaves the factory. Specifically, the motor in the parking brake system is controlled to move the brake piston from the initial release position to the initial spacing distance, to the pre-applied position.

[0036] S102: Acquire the current braking deceleration of the vehicle after the service braking system performs a vehicle deceleration operation.

[0037] After the service brake system is controlled to decelerate the vehicle and the motor is controlled to move the piston forward from the initial release position to the pre-applied position, the vehicle deceleration generated by the service brake is monitored. In this embodiment, this is referred to as the current braking deceleration. Specifically, the current braking deceleration of the vehicle after the service brake system has decelerated the vehicle is acquired to determine the appropriate parking brake system operation based on the current braking deceleration.

[0038] S103: Control the driving direction of the motor according to the current braking deceleration to achieve emergency braking of the vehicle.

[0039] In this embodiment, when an emergency braking instruction is received, the emergency braking instruction also includes a deceleration request value. It can be understood that the vehicle should decelerate at a deceleration request value greater than or equal to a set multiple to ensure that the vehicle does not collide with other traffic participants. Among them, the set multiple deceleration request value can be set to a minimum value. If the current braking deceleration is less than the minimum value, the vehicle collides with other traffic participants. For example, when the vehicle deceleration is less than or equal to 80% of the deceleration request value, the vehicle will not collide with other traffic participants. The current braking deceleration is compared with the set multiple deceleration request value. The comparison result may be that the current braking deceleration is less than the set multiple deceleration request value, or the current braking deceleration is greater than or equal to the set multiple deceleration request value.

[0040] Continuing with the above description, when the vehicle's current braking deceleration is greater than or equal to the set multiple of the requested deceleration value, it indicates that the vehicle can decelerate at this current braking deceleration without colliding with other traffic participants. At this point, the parking brake system is no longer required, and the motor can be controlled to reverse the brake piston, returning it from the pre-applied position to its initial released position.

[0041] When the vehicle's current braking deceleration is less than the set multiple of the requested deceleration value, the duration of this period is further determined. If this duration is greater than or equal to a set time threshold, it indicates that the vehicle is likely to collide with another vehicle if decelerating at the current braking deceleration rate. In this case, the parking brake system needs to be controlled to apply braking force. The motor can be controlled to push the piston forward, causing the brake pads to clamp against the brake disc. The braking force generated by the parking brake system is combined with the braking force generated by the service brake system, generating a greater braking force and achieving a greater deceleration. This allows the vehicle to decelerate more quickly and prevent a collision with other traffic participants. If this duration is less than the set time threshold, indicating that the vehicle has only been traveling at this deceleration rate for a short period of time, with the majority of the time spent at a higher braking deceleration, it is assumed that the vehicle is likely to avoid a collision with other traffic participants and that the parking brake system does not need to be used to generate braking force. The motor is then controlled to push the brake piston backward from the pre-applied position to its initial released position, releasing the brake pads.

[0042] An embodiment of the present invention provides a vehicle emergency braking control method, the method comprising: upon receiving an emergency braking command, first controlling the service brake system to perform a vehicle deceleration operation and controlling the motor in the parking brake system to positively push the brake piston from an initial release position to a pre-clamping position; then obtaining the current braking deceleration of the vehicle after the service brake system performs the vehicle deceleration operation; and finally, controlling the pushing direction of the motor according to the current braking deceleration to achieve emergency braking of the vehicle. In the above technical solution, upon receiving an emergency braking command, while the service brake system is used for braking, the brake piston of the parking brake system is controlled to be in a pre-clamping position. If the deceleration of the vehicle is less than expected, the parking brake system is combined to generate more braking force for braking control. Since the brake piston is in the pre-clamping position, the braking force can be generated more quickly to prevent collision accidents, thereby improving the driving safety of the driver.

[0043] As an optional embodiment of the present invention, based on the above embodiment, the method further includes: when an emergency brake release command is received, controlling the driving direction of the motor according to the current vehicle speed and a preset parking speed threshold.

[0044] Among them, when the emergency braking operation is performed on the vehicle and a collision with the participants is avoided, the emergency braking instruction can be released and an emergency braking release instruction can be generated. In this embodiment, the current speed of the vehicle is recorded as the current speed, and the parking speed threshold can specifically be a speed that indicates that the vehicle is parked. Specifically, when the emergency braking release instruction is received, the current speed can be compared with the preset parking speed threshold, and the driving direction of the motor is controlled according to the comparison result. Among them, the comparison result may include that the current speed is less than or equal to the parking speed threshold, or that the current speed is greater than the parking speed threshold. According to the comparison result, the driving direction of the motor is controlled.

[0045] The above technical solution specifically controls the motor propulsion direction according to the comparison result between the current vehicle speed and the parking speed threshold when an emergency brake release command is received, thereby realizing control of the vehicle when an emergency brake release command is received.

[0046] Furthermore, when an emergency brake release command is received, the steps of controlling the propulsion direction of the motor can be optimized as follows based on the current vehicle speed and the preset parking speed threshold:

[0047] a1) When an emergency brake release command is received, the current speed of the vehicle is obtained.

[0048] Specifically, when the emergency brake release instruction is received, the current speed of the vehicle is obtained.

[0049] b1) If the current vehicle speed is greater than or equal to the parking speed threshold, the control motor pushes the brake piston in the reverse direction to return to the initial release position.

[0050] When an emergency brake release command is received, indicating that a collision with another vehicle has been avoided, the system then compares the current vehicle speed with the parking speed threshold to determine whether the vehicle should stop. Specifically, the system compares the current vehicle speed with the parking speed threshold. If the current speed is greater than or equal to the parking speed threshold, indicating that the vehicle has no intention of stopping and will continue driving, the parking brake control needs to be released, and the control motor reverses to push the brake piston back to its initial release position, releasing the brake pads.

[0051] c1) If the current vehicle speed is less than the parking speed threshold, the brake pads are kept in a state of tightening the brake disc of the vehicle.

[0052] Specifically, if the current vehicle speed is less than the parking speed threshold, it means that the vehicle intends to stop, and the brake friction pads are kept tightening the brake disc of the vehicle to facilitate parking of the vehicle.

[0053] The above technical solution specifies how, when an emergency brake release command is received, the motor's direction of movement is controlled based on the current vehicle speed and a preset parking speed threshold. By comparing the current vehicle speed with the parking speed threshold, the motor's direction of movement is controlled to tighten or loosen the brake pads, adapting to the vehicle's state. Even when the emergency brake command is released, the brake pads remain in place, preventing a secondary collision.

[0054] Example 2

[0055] Figure 2 A flow chart of another vehicle emergency braking control method provided in Example 2 of the present invention is provided. This embodiment is a further optimization of the above embodiment. In this embodiment, the limitation of "controlling the driving direction of the motor according to the current braking deceleration to achieve emergency braking of the vehicle" is further optimized.

[0056] like Figure 2 As shown, this embodiment 2 provides a vehicle emergency braking control method, which specifically includes the following steps:

[0057] S201 . When an emergency braking command is received, the service braking system is controlled to perform a vehicle deceleration operation and the motor in the parking brake system is controlled to positively push the brake piston from an initial release position to a pre-tensioning position.

[0058] Specifically, when an emergency braking command is received, the service brake system is controlled to decelerate the vehicle. This deceleration can refer to the operation of controlling the brake cylinder via the brake pedal to bring the drive wheels from motion to a stop. While the service brake system is being controlled to decelerate the vehicle, the parking brake system is also controlled to perform a related operation, specifically controlling the motor in the parking brake system to positively push the brake piston from its initial release position to its pre-applied position.

[0059] S202: Acquire the current braking deceleration of the vehicle after the service braking system performs a vehicle deceleration operation.

[0060] Specifically, the current braking deceleration of the vehicle after the service braking system performs the vehicle deceleration operation is monitored to determine what operation needs to be performed on the parking brake system based on the current braking deceleration.

[0061] S203: Obtain a deceleration request value in the emergency braking instruction.

[0062] Specifically, the emergency braking command includes a deceleration request value, which can be understood as the standard deceleration value for the vehicle during emergency braking. The deceleration request value can be calculated based on the distance between the vehicle and the potential collision partner and the vehicle's current speed. The emergency braking command received by the execution entity can be considered to include a pre-determined deceleration request value.

[0063] S204: Compare the current braking deceleration with the deceleration request value.

[0064] Specifically, the current braking deceleration is compared with the deceleration request value, and the comparison result may be that the current braking deceleration is less than the set multiple deceleration request value, or the current braking deceleration is greater than or equal to the set multiple deceleration request value.

[0065] S205 : If the current braking deceleration is less than the set multiple deceleration request value, control the driving direction of the motor according to the duration that the current braking deceleration is less than the set multiple deceleration request value to achieve emergency braking of the vehicle.

[0066] The set multiple can be set to a number less than 100%, for example, 80%. In this embodiment, there is no specific limitation on the set multiple, and it can be determined based on historical experience. If the current braking deceleration is less than the set multiple deceleration request value, the motor's propulsion direction is further controlled based on the duration of the current braking deceleration being less than the set multiple deceleration request value to achieve emergency braking of the vehicle.

[0067] In this embodiment, the situation where the current braking deceleration is less than the set multiple deceleration request value may include the situation where the current braking deceleration is less than the set multiple deceleration request value and the duration is greater than or equal to the set time, or the situation where the current braking deceleration is less than the set multiple deceleration request value and the duration is less than the set time. If the duration is greater than or equal to the set time, the braking demand cannot be met solely by the service brake system, and the parking brake system is required to generate braking force. This combines the braking forces generated by the two brake systems to achieve a greater braking force and a greater deceleration. If the duration is less than the set time, the braking demand can be met solely by the service brake system, and the parking brake system is not required to generate braking force.

[0068] When the parking brake system is required to generate braking force, the motor should be controlled to push the brake piston in the forward direction so that the brake friction pads tighten the vehicle's brake disc. When the parking brake system is not required to generate braking force, the motor should be controlled to push the brake piston in the reverse direction from the pre-tensioned position to the initial release position.

[0069] Furthermore, according to the duration that the current braking deceleration is less than the set multiple deceleration request value, the driving direction of the motor is controlled to achieve emergency braking of the vehicle, including:

[0070] a2) Obtain the duration during which the current braking deceleration is less than the set multiple deceleration request value.

[0071] Specifically, the duration during which the current braking deceleration is less than the set multiple deceleration request value is obtained.

[0072] b2) If the duration is greater than or equal to the set time threshold, the motor is controlled to push the brake piston forward so that the brake friction pad tightens the brake disc of the vehicle to achieve emergency braking of the vehicle.

[0073] The set time threshold can be determined based on historical experience. For example, the set time threshold can be 100ms. Specifically, if the current braking deceleration is less than the set multiple deceleration request value and the duration is greater than or equal to the set time threshold, and the vehicle cannot avoid a collision with other traffic participants at this deceleration rate, the parking brake system must be operated in conjunction with the braking force generated by the service brake system to generate a greater deceleration, thereby achieving emergency braking of the vehicle. For example, if the current braking deceleration is less than 80% of the deceleration request value and lasts for 100ms, the motor is controlled to push the brake piston forward so that the brake pads tighten against the vehicle's brake disc, achieving emergency braking of the vehicle.

[0074] Furthermore, the motor is controlled to push the brake piston in a positive direction so that the brake friction pad tightens the brake disc of the vehicle to achieve emergency braking of the vehicle, including:

[0075] b21) Determine the difference between the deceleration request value and the current braking deceleration.

[0076] Specifically, the deceleration request value is subtracted from the current braking deceleration to determine the difference.

[0077] b22) Determine the target clamping force of the brake pad on the brake disc based on the difference.

[0078] Based on the corresponding relationship between the difference and the clamping force, the clamping force of the brake friction pad on the vehicle's brake disc required for the difference is calculated and recorded as the target clamping force. The relationship between the difference and the clamping force is not described in detail in this embodiment.

[0079] b23) Control the motor to push the brake piston in the forward direction so that the brake friction pad tightens the brake disc with the target clamping force to achieve emergency braking of the vehicle.

[0080] Specifically, the motor is controlled to push the brake piston in a positive direction so that the brake friction pad tightens the brake disc of the vehicle with a target clamping force, thereby generating more braking force and a greater braking deceleration to achieve emergency braking of the vehicle.

[0081] The above technical solution specifies how to determine the target clamping force of the brake friction pad on the vehicle brake disc, determines the required target clamping force by the deceleration request value and the current braking deceleration, and realizes the tightening of the brake disc based on the target clamping force.

[0082] c2) If the duration is less than the set time threshold, the control motor pushes the brake piston in the reverse direction from the pre-tensioning position to the initial release position.

[0083] Specifically, if the current braking deceleration is less than the set multiple deceleration request value but the duration is less than the set time threshold, and the vehicle has only traveled at this deceleration for a short period of time and has traveled at a large braking deceleration for most of the time, it is considered that the vehicle can avoid collision with other traffic participants and there is no need to operate the parking brake system in conjunction with the braking force. The motor is then controlled to push the brake piston in reverse from the pre-tensioning position to the initial release position, and the brake friction pad is released.

[0084] S206: If the current braking deceleration is greater than or equal to the set multiple deceleration request value, the motor is controlled to push the brake piston in the reverse direction from the pre-tightening position to the initial release position.

[0085] Specifically, if the current braking deceleration is greater than or equal to the set multiple deceleration request value, it indicates that the current braking deceleration meets the requirements of the emergency braking instruction and there is no need to use the parking brake system to generate braking force. Therefore, the control motor pushes the brake piston in the opposite direction from the pre-tensioning position to the initial release position, and the brake friction pad is released.

[0086] This embodiment specifically controls the direction of the motor's propulsion based on the current braking deceleration to achieve emergency braking of the vehicle. By monitoring the current braking deceleration and comparing it with a deceleration threshold, it is determined whether the parking brake system needs to generate braking force. By controlling the movement of the brake piston to propel the vehicle, the motor is controlled to determine whether the vehicle is parked or not. The above technical solution, when receiving an emergency braking command, controls the parking brake system's brake piston to be in a pre-clamping position while applying braking using the service brake system. If the vehicle's deceleration is less than expected, the parking brake system is combined to generate more braking force for braking control. Since the brake piston is in the pre-clamping position, braking force can be generated more quickly, preventing collision accidents, thereby improving the driver's driving safety.

[0087] In order to more clearly illustrate the vehicle emergency braking control method provided by the embodiment of the present invention, an example of an actual application scenario in which a vehicle performs emergency braking is used for explanation. Figure 3 This is an example flow chart of the vehicle emergency braking control method executed in a certain application scenario provided by the second embodiment of the present invention, such as Figure 3 As shown, the execution steps of the vehicle emergency braking control method specifically include:

[0088] S1. When an emergency braking command is received, the service braking system is controlled to perform a vehicle deceleration operation and the motor in the parking brake system is controlled to positively push the brake piston from an initial release position to a pre-tensioning position.

[0089] S2. Obtain the current braking deceleration of the vehicle after the service braking system performs a vehicle deceleration operation.

[0090] S3. Obtain the deceleration request value in the emergency braking command.

[0091] S4. Compare the current braking deceleration with the deceleration request value. If the current braking deceleration is less than the set multiple deceleration request value, execute step S5. If the current braking deceleration is greater than or equal to the set multiple deceleration request value, execute step S12.

[0092] S5. If the current braking deceleration is less than the set multiple deceleration request value, obtain the duration during which the current braking deceleration is less than the set multiple deceleration request value.

[0093] S6. Compare the duration with the set time threshold. If the duration is greater than or equal to the set time threshold, execute step S7; if the duration is less than the set time threshold, execute step S12.

[0094] S7. If the duration is greater than the set time threshold, determine the difference between the deceleration request value and the current braking deceleration.

[0095] S8. Determine the target clamping force of the brake pad on the brake disc of the vehicle based on the difference.

[0096] S9. Control the motor to push the brake piston in a positive direction so that the brake friction pad tightens the brake disc with a target clamping force, thereby achieving emergency braking of the vehicle.

[0097] S10. When an emergency brake release command is received, the current speed of the vehicle is obtained. If the current speed is less than the parking speed threshold, step S11 is executed. If the current speed is greater than or equal to the parking speed threshold, step S12 is executed.

[0098] S11. If the current vehicle speed is less than the parking speed threshold, the brake friction pads are kept in a state of tightening the brake disc of the vehicle.

[0099] S12, controlling the motor to push the brake piston in the reverse direction from the pre-tensioning position to the initial release position.

[0100] Example 3

[0101] Figure 4 This is a schematic diagram of the structure of a vehicle emergency brake control device provided by the third embodiment of the present invention. The device can be used for emergency braking of a vehicle. The vehicle emergency brake control device can be configured in a vehicle, such as Figure 4 As shown, the device includes: a deceleration control module 31, a deceleration acquisition module 32, and a control module 33; wherein,

[0102] The deceleration control module 31 is configured to control the service brake system to perform a vehicle deceleration operation and control the motor in the parking brake system to positively push the brake piston from the initial release position to the pre-tensioning position when an emergency brake command is received;

[0103] The deceleration acquisition module 32 is used to obtain the current braking deceleration of the vehicle after the service braking system performs the vehicle deceleration operation;

[0104] The control module 33 is used to control the driving direction of the motor according to the current braking deceleration to achieve emergency braking of the vehicle.

[0105] An embodiment of the present invention provides a vehicle emergency brake control device. When receiving an emergency brake command, the device first controls the service brake system to perform a vehicle deceleration operation and controls the motor in the parking brake system to push the brake piston from the initial release position to the pre-clamping position; then obtains the current braking deceleration of the vehicle after the service brake system performs the vehicle deceleration operation; and finally controls the pushing direction of the motor according to the current braking deceleration to achieve emergency braking of the vehicle. The above technical solution, when receiving an emergency brake command, controls the brake piston of the parking brake system to be in the pre-clamping position while using the service brake system for braking. If the deceleration of the vehicle is less than expected, the parking brake system is combined to generate more braking force for braking control. Since the brake piston is in the pre-clamping position, the braking force can be generated more quickly to prevent collision accidents, thereby improving the driving safety of the driver.

[0106] Optionally, the control module 33 may include:

[0107] A deceleration acquisition unit, used to acquire a deceleration request value in an emergency braking instruction;

[0108] a comparison unit, configured to compare the current braking deceleration with the deceleration request value;

[0109] a first braking unit configured to control the propulsion direction of the motor according to a duration during which the current braking deceleration is less than the set multiple deceleration request value, so as to achieve emergency braking of the vehicle if the current braking deceleration is less than the set multiple deceleration request value;

[0110] The second brake unit is used to control the motor to push the brake piston in the opposite direction from the pre-tensioning position to the initial release position.

[0111] Optionally, the first braking unit is specifically configured to:

[0112] Get the duration of the current braking deceleration being less than the set multiple deceleration request value;

[0113] If the duration is greater than a set time threshold, the motor is controlled to push the brake piston forward so that the brake friction pad tightens the brake disc of the vehicle to achieve emergency braking of the vehicle;

[0114] If the duration is less than or equal to the set time threshold, the control motor pushes the brake piston in the opposite direction from the pre-tensioning position to the initial release position.

[0115] Optionally, the second braking unit is specifically used to:

[0116] Determine the difference between the deceleration request value and the current braking deceleration;

[0117] According to the difference, the target clamping force of the brake pad on the brake disc is determined;

[0118] The control motor pushes the brake piston in the positive direction so that the brake friction pad tightens the brake disc with the target clamping force to achieve emergency braking of the vehicle.

[0119] Optionally, the pre-tensioning position is a position close to a brake disc of the vehicle.

[0120] Optionally, the device further includes a release control module, configured to:

[0121] When an emergency brake release command is received, the driving direction of the motor is controlled according to the current vehicle speed and the preset parking speed threshold.

[0122] Optionally, the control module is released, specifically for:

[0123] When receiving an emergency brake release command, obtaining the current speed of the vehicle;

[0124] If the current vehicle speed is greater than or equal to the parking speed threshold, the control motor pushes the brake piston in the reverse direction to return to the initial release position;

[0125] If the current vehicle speed is less than the parking speed threshold, the brake pads are kept in a state of tightening the vehicle's brake disc.

[0126] The vehicle emergency braking control device provided in the embodiment of the present invention can execute the vehicle emergency braking control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0127] Example 4

[0128] Figure 5 This is a schematic diagram of the structure of a vehicle provided by the fourth embodiment of the present invention. Figure 5 As shown, the vehicle 40 includes at least one controller 41 and a memory, such as a read-only memory (ROM) 42, a random access memory (RAM) 43, etc., which is communicatively connected to the at least one controller 41. The memory stores a computer program that can be executed by the at least one controller. The controller 41 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 42 or the computer program loaded from the storage unit 48 into the random access memory (RAM) 43. Various programs and data required for the operation of the vehicle 40 can also be stored in the RAM 43. The controller 41, ROM 42, and RAM 43 are connected to each other via a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.

[0129] Various components in the vehicle 40 are connected to the I / O interface 45, including an input unit 46, such as a keyboard, a mouse, etc.; an output unit 47, such as various types of displays, speakers, etc.; a storage unit 48, such as a magnetic disk, an optical disk, etc.; and a communication unit 49, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 49 allows the vehicle 40 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0130] The controller 41 can be a variety of general-purpose and / or specialized processing components with processing and computing capabilities. Some examples of the controller 41 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various controllers running machine learning model algorithms, digital signal controllers (DSPs), and any suitable controller, controller, microcontroller, etc. The controller 41 performs the various methods and processes described above, such as the vehicle emergency braking control method.

[0131] In some embodiments, the vehicle emergency braking control method can be implemented as a computer program that is tangibly contained in a computer-readable storage medium, such as the storage unit 48. In some embodiments, part or all of the computer program can be loaded and / or installed on the vehicle 40 via the ROM 42 and / or the communication unit 49. When the computer program is loaded into the RAM 43 and executed by the controller 41, one or more steps of the vehicle emergency braking control method described above can be performed. Alternatively, in other embodiments, the controller 41 can be configured to perform the vehicle emergency braking control method in any other suitable manner (e.g., by means of firmware).

[0132] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable controller, which can be a special purpose or general purpose programmable controller that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0133] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the controller, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0134] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0135] To provide interaction with a user, the systems and techniques described herein can be implemented in a vehicle having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0136] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0137] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0138] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0139] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A vehicle emergency braking control method, characterized in that: include: When an emergency brake command is received, the service brake system is controlled to perform a vehicle deceleration operation and the motor in the parking brake system is controlled to positively push the brake piston from the initial release position to the pre-tensioning position; Obtaining a current braking deceleration of the vehicle after the service braking system performs a vehicle deceleration operation; Controlling the driving direction of the motor according to the current braking deceleration to achieve emergency braking of the vehicle; The controlling of the driving direction of the motor according to the current braking deceleration to achieve emergency braking of the vehicle includes: Obtaining a deceleration request value in the emergency braking instruction; comparing the current braking deceleration with the deceleration request value; If the current braking deceleration is less than the set multiple of the deceleration request value, controlling the propulsion direction of the motor according to the duration of the current braking deceleration being less than the set multiple of the deceleration request value to achieve emergency braking of the vehicle; Otherwise, the motor is controlled to reversely push the brake piston from the pre-tensioning position to the initial release position.

2. The method according to claim 1, characterized in that The controlling the driving direction of the motor to achieve emergency braking of the vehicle according to the duration during which the current braking deceleration is less than the set multiple of the deceleration request value includes: Obtaining the duration during which the current braking deceleration is less than the set multiple of the deceleration request value; If the duration is greater than or equal to a set time threshold, controlling the motor to push the brake piston forward so that the brake friction pad tightens the brake disc of the vehicle to achieve emergency braking of the vehicle; If the duration is less than a set time threshold, the motor is controlled to reversely push the brake piston from the pre-tensioning position to the initial release position.

3. The method according to claim 2, characterized in that The controlling the motor to push the brake piston in a positive direction so that the brake friction pad tightens the brake disc of the vehicle to achieve emergency braking of the vehicle includes: determining a difference between the deceleration request value and the current braking deceleration; determining a target clamping force of the brake friction pad on the brake disc according to the difference; The motor is controlled to push the brake piston in a positive direction so that the brake friction pad tightens the brake disc with the target clamping force, thereby achieving emergency braking of the vehicle.

4. The method according to claim 1, wherein The pre-tensioning position is a position close to the brake disc of the vehicle.

5. The method according to claim 1, wherein Also includes: When an emergency brake release command is received, the driving direction of the motor is controlled according to the current vehicle speed and a preset parking speed threshold.

6. The method according to claim 5, characterized in that When the emergency brake release command is received, controlling the driving direction of the motor according to the current vehicle speed and a preset parking speed threshold includes: When an emergency brake release instruction is received, obtaining the current speed of the vehicle; If the current vehicle speed is greater than or equal to the parking speed threshold, controlling the motor to push the brake piston in the reverse direction to return to the initial release position; If the current vehicle speed is less than the parking speed threshold, the brake friction pad is kept in a state of tightening the brake disc of the vehicle.

7. A vehicle emergency brake control device, characterized in that: include: A deceleration control module is used to control the service brake system to perform a vehicle deceleration operation and control the motor in the parking brake system to positively push the brake piston from an initial release position to a pre-tensioning position when an emergency brake command is received; a deceleration acquisition module, configured to acquire the current braking deceleration of the vehicle after the service braking system performs a vehicle deceleration operation; a control module, configured to control a propulsion direction of the motor according to the current braking deceleration, so as to achieve emergency braking of the vehicle; The control module includes: a deceleration acquisition unit, configured to acquire a deceleration request value in the emergency braking instruction; a comparing unit, configured to compare the current braking deceleration with the deceleration request value; a first braking unit, configured to control a propulsion direction of the motor according to a duration for which the current braking deceleration is less than the set multiple of the deceleration request value, so as to achieve emergency braking of the vehicle, if the current braking deceleration is less than the set multiple of the deceleration request value; The second brake unit is configured to control the motor to reversely push the brake piston from the pre-tensioning position to the initial release position otherwise.

8. A vehicle, characterized in that: include: at least one controller; as well as a memory in communication with the at least one controller; wherein, The memory stores a computer program that can be executed by the at least one controller, and the computer program is executed by the at least one controller to enable the at least one controller to execute the vehicle emergency braking control method according to any one of claims 1 to 6.

9. A storage medium containing computer-executable instructions, characterized in that: When the computer executable instructions are executed by a computer processor, they are used to execute the vehicle emergency braking control method according to any one of claims 1 to 6.

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