Brake control method, device, system and computer readable storage medium

Abstract

The embodiment of the application provides a brake control method, device, system and computer readable storage medium, the brake control method is applied to the electronic brake assist system of a vehicle, the electronic brake assist system includes a first brake mode, a second brake mode and a third brake mode, the brake control method includes the following steps: when the electronic brake assist system is in the first brake mode or the second brake mode, judging whether an emergency stop request is received; when the emergency stop request is received, the electronic brake assist system is switched to the third brake mode in response to the emergency stop request, and the third brake mode is used for controlling the vehicle to perform an emergency stop operation. The embodiment of the application can realize the emergency brake of the unmanned vehicle without adding ESP.

Description

Technical Field

[0001] This application belongs to the field of vehicle control technology, and in particular relates to a braking control method, device, system and computer-readable storage medium. Background Technology

[0002] The emergence of new autonomous vehicles (such as unmanned logistics vehicles) has created a demand for braking systems for these vehicles. However, currently, achieving emergency braking in autonomous vehicles requires the installation of an Electronic Stability Program (ESP). Autonomous vehicles without ESP cannot perform emergency braking. But installing ESP, however, presents the problem of high cost. Summary of the Invention

[0003] This application provides a braking control method, device, system, and computer-readable storage medium that enables emergency braking of unmanned vehicles without the need for ESP.

[0004] In a first aspect, embodiments of this application provide a braking control method. The braking control method is applied to an electronic brake assist system of a vehicle. The electronic brake assist system includes a first braking mode, a second braking mode, and a third braking mode. The braking control method includes determining whether an emergency stop request is received when the electronic brake assist system is in the first braking mode or the second braking mode. When an emergency stop request is received, the method controls the electronic brake assist system to switch to the third braking mode in response to the emergency stop request. The third braking mode is used to control the vehicle to perform an emergency stop operation.

[0005] According to an embodiment of the first aspect of this application, the emergency stop request includes a local emergency stop request and a remote emergency stop request. When an emergency stop request is received, the electronic brake assist system is switched to a third braking mode in response to the emergency stop request, including: when at least one of the local emergency stop request and the remote emergency stop request is received, the electronic brake assist system is switched to the third braking mode.

[0006] According to any of the foregoing embodiments of the first aspect of this application, when an emergency stop request is received, the electronic brake assist system is controlled to switch to a third braking mode in response to the emergency stop request. The third braking mode is used to control the vehicle to perform an emergency stop operation, including: determining whether the electronic brake assist system is in a first braking mode, where the first braking mode is the default braking mode of the electronic brake assist system; when the electronic brake assist system is in the first braking mode, if an emergency stop request is received, the electronic brake assist system is controlled to switch to the third braking mode; when the electronic brake assist system is not in the first braking mode, determining whether the electronic brake assist system is in a second braking mode; if the electronic brake assist system is in the second braking mode, determining whether an emergency stop request has been received, and if an emergency stop request has been received, controlling the electronic brake assist system to switch to the third braking mode.

[0007] According to any of the foregoing embodiments of the first aspect of this application, the second braking mode is a remote braking mode, and the braking control method further includes: when the electronic brake assist system is in the second braking mode, if a local braking request is received and the priority of the local braking request is greater than or equal to the priority of the remote braking request, then the electronic brake assist system is controlled to switch to the first braking mode, and braking is performed according to the local braking request.

[0008] According to any of the foregoing embodiments of the first aspect of this application, the braking control method further includes: when the electronic brake assist system is in the second braking mode, if the braking pressure indicated by the local braking request or the remote braking request is greater than or equal to a first preset threshold and the braking time exceeds a second preset threshold, then controlling the electronic brake assist system to perform braking downgrading processing.

[0009] According to any of the foregoing embodiments of the first aspect of this application, when an emergency stop request is received, after controlling the electronic brake assist system to switch to the third braking mode in response to the emergency stop request, the braking control method further includes: after the vehicle stops and waits for a preset time, controlling the electronic brake assist system to exit the emergency stop mode.

[0010] According to any of the foregoing embodiments of the first aspect of this application, the braking control method further includes: when the electronic brake assist system is in a third braking mode, if the value of the received vehicle mode signal is a first value and no emergency stop request is received, controlling the electronic brake assist system to switch to the first braking mode; and when the electronic brake assist system is in the third braking mode, if the value of the received vehicle mode signal is a second value and no emergency stop request is received, controlling the electronic brake assist system to switch to the second braking mode. The first preset condition includes the received vehicle mode signal value being the first value and no emergency stop request being received, and the second preset condition includes the received vehicle mode signal value being the second value and no emergency stop request being received.

[0011] Secondly, embodiments of this application provide a braking control device applied to a vehicle's electronic brake assist system. The electronic brake assist system includes a first braking mode, a second braking mode, and a third braking mode. The braking control device includes: a judgment module, used to determine whether an emergency stop request is received when the electronic brake assist system is in the first braking mode or the second braking mode; and a switching module, used to control the electronic brake assist system to switch to the third braking mode in response to the emergency stop request when an emergency stop request is received. The third braking mode is used to control the vehicle to perform an emergency stop operation.

[0012] Thirdly, embodiments of this application provide an electronic brake assist system, which includes: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the steps of the braking control method provided in the first aspect.

[0013] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the braking control method provided in the first aspect.

[0014] The braking control method, apparatus, system, and computer-readable storage medium of this application embodiment add a third braking mode to the electronic brake assist system. When the electronic brake assist system is in the first or second braking mode, it can flexibly switch to the third braking mode in response to an emergency stop request, thereby controlling the vehicle to perform an emergency stop. This enables emergency braking of the vehicle without the addition of ESP, reducing vehicle production costs. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A schematic flowchart of a braking control method provided in an embodiment of this application;

[0017] Figure 2 Another schematic flowchart of the braking control method provided in the embodiments of this application;

[0018] Figure 3 Another schematic flowchart of the braking control method provided in the embodiments of this application;

[0019] Figure 4Another schematic flowchart of the braking control method provided in the embodiments of this application;

[0020] Figure 5 Another schematic flowchart of the braking control method provided in the embodiments of this application;

[0021] Figure 6 The diagram illustrates the switching between the first braking mode, the second braking mode, and the third braking mode.

[0022] Figure 7 A schematic diagram of a braking control device provided in an embodiment of this application;

[0023] Figure 8 A schematic diagram of the hardware structure of the electronic braking assist system provided in an embodiment of this application is shown. Detailed Implementation

[0024] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0025] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0026] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0027] Various modifications and variations can be made to this application without departing from its spirit or scope, which will be apparent to those skilled in the art. Therefore, this application is intended to cover modifications and variations falling within the scope of the corresponding claims (the claimed technical solutions) and their equivalents. It should be noted that the embodiments provided in this application can be combined with each other without contradiction.

[0028] Before describing the technical solutions provided in the embodiments of this application, in order to facilitate understanding of the embodiments of this application, this application first specifically explains the problems existing in the related technologies:

[0029] The emergence of new autonomous vehicles (such as unmanned logistics vehicles) has created a demand for braking systems for these vehicles. The braking mode of autonomous vehicles differs from that of currently manned electronic brake boosters; autonomous vehicles require prolonged periods of remote braking with no human backup. Furthermore, due to the smaller overall size and cost constraints of autonomous vehicles, most only use electronic brake boosters and lack Electronic Stability Program (ESP), thus preventing emergency braking. While adding ESP to autonomous vehicles enables emergency braking, it comes at a higher cost.

[0030] ESP stands for Electronic Stability Program, a general term for systems or programs designed to improve vehicle handling while effectively preventing loss of control when the car reaches its dynamic limits. ESP includes functions such as Electronic Brakeforce Distribution (ESP), Anti-lock Braking System (ABS), Traction Control System, and Vehicle Dynamics Control System. ESP integrates functions such as Traction Control System (TCS), Anti-lock Braking System (ABS), and Electronic Brakeforce Distribution (EBD), with sensors continuously monitoring the vehicle's driving characteristics. ESP detects the amount of braking force through the brake switch and determines the vehicle's driving state (understeer or oversteer) through sensors. When the vehicle is making a sharp turn or driving on a slippery surface, ESP changes the motor torque or applies independent braking to each wheel to prevent skidding or fishtailing, thus ensuring vehicle stability.

[0031] In view of the inventors’ above-mentioned research findings, the embodiments of this application provide a braking control method, device, system and computer-readable storage medium, which can solve the technical problems in the related art where unmanned vehicles cannot achieve emergency braking or where the cost of installing ESP is high.

[0032] The technical concept of this application embodiment lies in adding a third braking mode to the electronic brake assist system. When the electronic brake assist system is in the first or second braking mode, it can flexibly switch to the third braking mode in response to an emergency stop request, thus controlling the vehicle to perform an emergency stop. In this way, emergency braking of the vehicle can be achieved without installing ESP, reducing vehicle production costs.

[0033] The Electronic Park Brake (EPB), also known as the vehicle's electronic parking brake or electronic handbrake system, is a technology that uses electronic control to achieve parking braking. The EPB controls the parking brake through electronic circuitry, functioning similarly to a mechanical lever handbrake. When starting, the electronic handbrake does not need to be manually disengaged; it automatically disengages when the accelerator is pressed.

[0034] The braking control method provided in the embodiments of this application will be described below.

[0035] This braking control method can be applied to the Electronic Brake Assist (EPB) system of a vehicle. The vehicle can include autonomous vehicles, such as autonomous logistics vehicles. The EPB system can include a first braking mode, a second braking mode, and a third braking mode.

[0036] The first braking mode, also known as the local braking mode, is the default mode of the electronic brake assist system. In the first braking mode, the system can recognize the brake pedal displacement sensor signal and apply braking force based on the pedal travel versus braking force curve. The first braking mode is primarily designed for use when the driver is present.

[0037] The second braking mode, also known as the remote braking mode, can be switched to based on the vehicle's mode signal. In the second braking mode, the electronic brake assist system is controlled by a remotely input signal, and the remote input signal and braking force can be achieved through a lookup table.

[0038] The third braking mode, also known as the emergency stop mode, allows the electronic brake assist system to automatically generate a deceleration braking force of 0.6g to control the vehicle's emergency braking (i.e., emergency stop).

[0039] Figure 1 This is a schematic flowchart of a braking control method provided in an embodiment of this application. Figure 1 As shown, the braking control method may include the following steps S101 and S102.

[0040] S101. When the electronic brake assist system is in the first braking mode or the second braking mode, determine whether an emergency stop request has been received.

[0041] It can obtain the current braking mode of the vehicle or electronic brake assist system. If the electronic brake assist system is in the first or second braking mode, it can determine in real time or periodically whether an emergency stop request has been received. An emergency stop request is used to instruct the electronic brake assist system to control the vehicle to perform emergency braking (i.e., emergency stop).

[0042] S102. When an emergency stop request is received, the electronic brake assist system is switched to the third braking mode in response to the emergency stop request. The third braking mode is used to control the vehicle to perform an emergency stop operation.

[0043] When an emergency stop request is received, the electronic brake assist system can be switched to the third braking mode. The third braking mode is the emergency stop mode. In the third braking mode, the electronic brake assist system can automatically generate a deceleration braking force of 0.6g to control the vehicle's emergency braking (i.e., emergency stop).

[0044] The specific implementation methods of the above steps will be described in detail below.

[0045] The braking control method of this application adds a third braking mode to the electronic brake assist system. When the electronic brake assist system is in the first or second braking mode, it can flexibly switch to the third braking mode in response to an emergency stop request, thus controlling the vehicle to perform an emergency stop. This enables emergency braking of the vehicle without the need for ESP (Electronic Stability Program), reducing vehicle production costs.

[0046] According to some embodiments of this application, optionally, the emergency stop request may include a local emergency stop request (Emgency_STOP) and a remote emergency stop request (Remote_STOP). The local emergency stop request (Emgency_STOP) may be, for example, an emergency stop request issued by the vehicle's local braking device, while the remote emergency stop request (Remote_STOP) may be, for example, an emergency stop request issued by a remote control device.

[0047] S102. When an emergency stop request is received, the electronic brake assist system is switched to the third braking mode in response to the emergency stop request. This may specifically include the following steps:

[0048] When at least one of a local emergency stop request and a remote emergency stop request is received, the electronic brake assist system is switched to the third braking mode.

[0049] That is, regardless of whether a local emergency stop request (Emgency_STOP), a remote emergency stop request (Remote_STOP), or both a local emergency stop request (Emgency_STOP) and a remote emergency stop request (Remote_STOP) are received, the electronic brake assist system is controlled to switch to the third braking mode.

[0050] In this way, by setting local emergency stop requests and remote emergency stop requests, during fault diagnosis, the cause of the vehicle's emergency stop can be quickly identified based on the emergency stop mode switching conditions, which facilitates fault diagnosis.

[0051] Figure 2 This is another schematic flowchart illustrating the braking control method provided in an embodiment of this application. Figure 2 As shown, according to some embodiments of this application, optionally, in step S102, when an emergency stop request is received, the electronic brake assist system is switched to a third braking mode in response to the emergency stop request. The third braking mode is used to control the vehicle to perform an emergency stop operation, which may specifically include the following steps S201 to S204.

[0052] S201. Determine whether the electronic brake assist system is in the first braking mode. As mentioned above, the first braking mode is the default braking mode of the electronic brake assist system, i.e., the local braking mode.

[0053] S202. When the electronic brake assist system is in the first braking mode, if an emergency stop request is received, the electronic brake assist system is controlled to switch to the third braking mode.

[0054] S203. When the electronic brake assist system is not in the first braking mode, determine whether the electronic brake assist system is in the second braking mode.

[0055] S204. If the electronic brake assist system is in the second braking mode, determine whether an emergency stop request has been received, and if an emergency stop request is received, control the electronic brake assist system to switch to the third braking mode.

[0056] See also Figure 2 According to some embodiments of this application, optionally, the braking control method of this application embodiment may further include the following steps S205 and S206.

[0057] S205. When the electronic brake assist system is in the first braking mode, if no emergency stop request is received, the electronic brake assist system shall be controlled to continue to maintain the first braking mode.

[0058] S206. When the electronic brake assist system is in the second braking mode, if no emergency stop request is received, the electronic brake assist system shall be controlled to continue to maintain the second braking mode.

[0059] Figure 3 This is another schematic flowchart illustrating the braking control method provided in an embodiment of this application. Figure 3 As shown, according to some embodiments of this application, the braking control method may optionally include the following:

[0060] S301. When the electronic brake assist system is in the second braking mode, if a local braking request is received and the priority of the local braking request is greater than or equal to the priority of the remote braking request, the electronic brake assist system is controlled to switch to the first braking mode and braking is performed according to the local braking request.

[0061] Specifically, the priorities of local braking requests and remote braking requests can be preset. For example, the priority of some local braking requests (such as braking requests issued by the pedal device) can be set to be higher than that of remote braking requests.

[0062] When the electronic brake assist system is in the second braking mode (i.e., remote braking mode), if a local braking request is received and the priority of the local braking request is greater than or equal to the priority of the remote braking request, the electronic brake assist system is controlled to switch to the first braking mode and braking is performed according to the local braking request.

[0063] For example, if the braking request issued by the pedal device has a higher priority than the remote braking request, when the electronic brake assist system receives the braking request issued by the pedal device, it can control the electronic brake assist system to switch to the first braking mode and perform braking according to the braking request issued by the pedal device.

[0064] It should be noted that when no local braking request is received or the priority of the local braking request is lower than that of the remote braking request, the electronic brake assist system can maintain the second braking mode.

[0065] In this way, by setting the priority of local braking requests and the priority of remote braking requests, flexible switching from the second braking mode to the first braking mode can be achieved, ensuring the safe operation of the vehicle.

[0066] Figure 4 This is another schematic flowchart illustrating the braking control method provided in an embodiment of this application. Figure 4 As shown, according to some embodiments of this application, the braking control method may optionally include the following steps:

[0067] S401. When the electronic brake assist system is in the second braking mode, if the braking pressure indicated by the local braking request or the remote braking request is greater than or equal to the first preset threshold and the braking time exceeds the second preset threshold, the electronic brake assist system is controlled to perform braking downgrade processing.

[0068] Specifically, both local and remote braking requests can indicate the corresponding braking pressure, such as 4 MPa, 6 MPa, or 8 MPa. If the electronic brake assist system is subjected to high braking pressure for an extended period, i.e., under high current conditions, it may cause damage to the controller or motor.

[0069] Therefore, when the electronic brake assist system is in the second braking mode, if the braking pressure indicated by the local braking request or remote braking request is greater than or equal to a first preset threshold (e.g., 6 MPa), and the braking time exceeds a second preset threshold (e.g., 3 minutes), i.e., it is operating under high current conditions for an extended period, the electronic brake assist system is controlled to perform brake degradation processing. For example, brake degradation processing includes, but is not limited to, reducing braking pressure, i.e., reducing braking force.

[0070] It should be noted that the first preset threshold and the second preset threshold can be flexibly adjusted according to the actual situation, and the embodiments of this application do not limit this.

[0071] In this way, by adding high-current protection measures, the risk of the controller or motor burning out due to high current is effectively reduced, and the safety of vehicle operation is improved.

[0072] Figure 5 This is another schematic flowchart illustrating the braking control method provided in an embodiment of this application. Figure 5 As shown, according to some embodiments of this application, optionally, in S102, after receiving an emergency stop request and controlling the electronic brake assist system to switch to the third braking mode in response to the emergency stop request, the braking control method may further include the following steps:

[0073] S501. After the vehicle stops and waits for a preset time, control the electronic brake assist system to exit the emergency stop mode.

[0074] That is, after the vehicle stops, it can request the EPB to be engaged within a certain period of time, and then exit the emergency stop mode. It should be noted that the preset duration can be flexibly adjusted according to the actual situation, and this application embodiment does not limit it in this way.

[0075] In this way, after the vehicle stops, the EPB can take over, avoiding the electronic brake booster from being in a high-pressure braking state for a long time, thus effectively preventing damage to the electronic brake booster.

[0076] According to some embodiments of this application, optionally, the first braking mode, the second braking mode and the third braking mode can be flexibly switched.

[0077] For example, in some embodiments, the braking control method may further include the following steps:

[0078] When the electronic brake assist system is in the third braking mode, if the received vehicle mode signal (VehicleMode) is at the first value (e.g., 0) and no emergency stop request is received (i.e., the T3 condition described below is met), the electronic brake assist system is switched to the first braking mode. The emergency stop request may include a local emergency stop request (Emgency_STOP) and / or a remote emergency stop request (Remote_STOP).

[0079] When the electronic brake assist system is in the third braking mode, if the received vehicle mode signal (VehicleMode) has the second value (e.g., 1) and no emergency stop request is received (i.e., the T1 condition below is met), the electronic brake assist system is switched to the second braking mode. The emergency stop request may include a local emergency stop request (Emgency_STOP) and / or a remote emergency stop request (Remote_STOP).

[0080] To facilitate understanding, the following explanation is provided in conjunction with Table 1.

[0081] Table 1

[0082]

[0083]

[0084] Figure 6 The diagram illustrates the switching between the first, second, and third braking modes. (Refer to Table 1 and...) Figure 6 As shown, when all signals received after power-on are at their default values, the electronic brake assist system is in the first braking mode.

[0085] When condition T1 is met, the system switches from the first braking mode to the second braking mode.

[0086] When condition T2 is met, the system switches from the second braking mode to the third braking mode.

[0087] When condition T3 is met, the system switches from the third braking mode to the first braking mode.

[0088] When condition T4 is met, the system switches from the first braking mode to the third braking mode.

[0089] When condition T5 is met, the system switches from the third braking mode to the second braking mode.

[0090] When condition T6 is met, the system switches from the second braking mode to the first braking mode.

[0091] The conditions are not in any particular order; if any condition is met, a jump can be achieved. Specifically, referring to Table 1, the conditions T1 to T6 are as follows:

[0092] T1: VehicleMode=1&Emergency_STOP=0&Remote_STOP=0,

[0093] T2: VehicleMode=1&Emergency_STOP=1or Remote_STOP=1,

[0094] T3: VehicleMode=0&Emergency_STOP=0&Remote_STOP=0,

[0095] T4: VehicleMode=0&Emergency_STOP=1or Remote_STOP=1,

[0096] T5: VehicleMode=1&Emergency_STOP=0&Remote_STOP=0,

[0097] T6: VehicleMode=0&Emergency_STOP=0&Remote_STOP=0.

[0098] For example, condition T1 means that the value of the VehicleMode signal is the second value (e.g., 1), indicating that neither a local emergency stop request (Emgency_STOP) nor a remote emergency stop request (Remote_STOP) has been received. Condition T3 means that the value of the VehicleMode signal is the first value (e.g., 0), indicating that neither a local emergency stop request (Emgency_STOP) nor a remote emergency stop request (Remote_STOP) has been received.

[0099] Based on the braking control method provided in the above embodiments, this application also provides a specific implementation of a braking control device. Please refer to the following embodiments.

[0100] The braking control device is applied to the vehicle's electronic brake assist system, which includes a first braking mode, a second braking mode, and a third braking mode.

[0101] Figure 7 This is a schematic diagram of a braking control device provided in an embodiment of this application. Figure 7 As shown, the braking control device 700 may include the following modules:

[0102] The judgment module 701 is used to determine whether an emergency stop request has been received when the electronic brake assist system is in the first braking mode or the second braking mode.

[0103] The switching module 702 is used to control the electronic brake assist system to switch to the third braking mode in response to an emergency stop request when an emergency stop request is received. The third braking mode is used to control the vehicle to perform an emergency stop operation.

[0104] The braking control device of this application embodiment adds a third braking mode to the electronic brake assist system. When the electronic brake assist system is in the first or second braking mode, it can flexibly switch to the third braking mode in response to an emergency stop request, thereby controlling the vehicle to perform an emergency stop. This allows for emergency braking of the vehicle without the need for ESP, reducing vehicle production costs.

[0105] According to some embodiments of this application, optionally, the emergency stop request includes a local emergency stop request and a remote emergency stop request, and the switching module 702 is specifically used to: when receiving at least one of the local emergency stop request and the remote emergency stop request, control the electronic brake assist system to switch to the third braking mode.

[0106] According to some embodiments of this application, optionally, the switching module 702 is specifically used to: determine whether the electronic brake assist system is in a first braking mode, the first braking mode being the default braking mode of the electronic brake assist system; when the electronic brake assist system is in the first braking mode, if an emergency stop request is received, control the electronic brake assist system to switch to a third braking mode; when the electronic brake assist system is not in the first braking mode, determine whether the electronic brake assist system is in a second braking mode; if the electronic brake assist system is in the second braking mode, determine whether an emergency stop request is received, and if an emergency stop request is received, control the electronic brake assist system to switch to the third braking mode.

[0107] Optionally, according to some embodiments of this application, the braking control device 700 may further include a second switching module, which is used to control the electronic braking assist system to switch to the first braking mode and perform braking according to the local braking request if a local braking request is received when the electronic braking assist system is in the second braking mode and the priority of the local braking request is greater than or equal to the priority of the remote braking request.

[0108] According to some embodiments of this application, optionally, the braking control device 700 may further include a degradation module, which is used to control the electronic braking assist system to perform braking degradation processing when the electronic braking assist system is in the second braking mode, if the braking pressure indicated by the local braking request or the remote braking request is greater than or equal to a first preset threshold and the braking time exceeds a second preset threshold.

[0109] According to some embodiments of this application, the brake control device 700 may optionally include a restore module for controlling the electronic brake assist system to exit the emergency stop mode after the vehicle has stopped and waited for a preset time.

[0110] According to some embodiments of this application, optionally, the braking control device 700 may further include a third switching module, used to control the electronic brake assist system to switch to the first braking mode when the received vehicle mode signal value is a first value and no emergency stop request is received when the electronic brake assist system is in the third braking mode, and to control the electronic brake assist system to switch to the second braking mode when the received vehicle mode signal value is a second value and no emergency stop request is received when the electronic brake assist system is in the third braking mode.

[0111] Figure 7 Each module / unit in the device shown has the function of implementing each step in the braking control method provided in the above method embodiments, and can achieve its corresponding technical effect. For the sake of brevity, it will not be described in detail here.

[0112] Based on the braking control method provided in the above embodiments, this application also provides specific implementation methods of an electronic brake assist system. Please refer to the following embodiments.

[0113] Figure 8 A schematic diagram of the hardware structure of the electronic braking assist system provided in an embodiment of this application is shown.

[0114] The electronic brake assist system may include a processor 801 and a memory 802 storing computer program instructions.

[0115] Specifically, the processor 801 may include a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0116] Memory 802 may include mass storage for data or instructions. For example, and not limitingly, memory 802 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. In one example, memory 802 may include removable or non-removable (or fixed) media, or memory 802 may be a non-volatile solid-state memory. Memory 802 may be internal or external to the electronic brake assist system.

[0117] In one example, memory 802 may be read-only memory (ROM). In one example, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0118] Memory 802 may include read-only memory (ROM), random access memory (RAM), disk storage media device, optical storage media device, flash memory device, electrical, optical, or other physical / tangible memory storage device. Therefore, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to one aspect of this application.

[0119] The processor 801 reads and executes the computer program instructions stored in the memory 802 to implement the methods / steps in the above method embodiments and achieve the corresponding technical effects achieved by the method embodiments in executing their methods / steps. For the sake of brevity, these details will not be repeated here.

[0120] In one example, the electronic brake assist system may also include a communication interface 803 and a bus 810. For example, Figure 8 As shown, the processor 801, memory 802, and communication interface 803 are connected through bus 810 and complete communication with each other.

[0121] The communication interface 803 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0122] Bus 810 includes hardware, software, or both, that couples components of the electronic brake assist system together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 810 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, this application contemplates any suitable bus or interconnect.

[0123] Furthermore, in conjunction with the braking control methods in the above embodiments, this application embodiment can provide a computer-readable storage medium for implementation. This computer-readable storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the braking control methods in the above embodiments. Examples of computer-readable storage media include non-transitory computer-readable storage media, such as electronic circuits, semiconductor memory devices, ROM, random access memory, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, and hard disks.

[0124] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0125] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0126] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0127] The aspects of this application have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by dedicated hardware performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0128] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A braking control method, characterized in that, The braking control method is applied to the vehicle's electronic brake assist system, which includes a first braking mode, a second braking mode, and a third braking mode. The vehicle is not equipped with a vehicle stability control system. The braking control method includes: When the electronic brake assist system is in either the first braking mode or the second braking mode, determine whether an emergency stop request has been received. When the emergency stop request is received, the electronic brake assist system is controlled to switch to the third braking mode in response to the emergency stop request. The third braking mode is used to control the vehicle to perform an emergency stop operation. Upon receiving the emergency stop request, in response to the emergency stop request, the electronic brake assist system is controlled to switch to the third braking mode. The third braking mode is used to control the vehicle to perform an emergency stop operation, including: determining whether the electronic brake assist system is in the first braking mode, where the first braking mode is the default braking mode of the electronic brake assist system; when the electronic brake assist system is in the first braking mode, if the emergency stop request is received, controlling the electronic brake assist system to switch to the third braking mode; when the electronic brake assist system is not in the first braking mode, determining whether the electronic brake assist system is in the second braking mode; if the electronic brake assist system is in the second braking mode, determining whether the emergency stop request has been received, and if the emergency stop request is received, controlling the electronic brake assist system to switch to the third braking mode.

2. The method according to claim 1, characterized in that, The emergency stop request includes local emergency stop requests and remote emergency stop requests. When the emergency stop request is received, controlling the electronic brake assist system to switch to the third braking mode in response to the emergency stop request includes: When at least one of the local emergency stop request and the remote emergency stop request is received, the electronic brake assist system is controlled to switch to the third braking mode.

3. The method according to claim 1, characterized in that, The second braking mode is a remote braking mode, and the braking control method further includes: When the electronic brake assist system is in the second braking mode, if a local braking request is received, and the priority of the local braking request is greater than or equal to the priority of the remote braking request, the electronic brake assist system is controlled to switch to the first braking mode and braking is performed according to the local braking request.

4. The method according to claim 3, characterized in that, The braking control method further includes: when the electronic braking assist system is in the second braking mode, if the braking pressure indicated by the local braking request or the remote braking request is greater than or equal to a first preset threshold and the braking time exceeds a second preset threshold, then the electronic braking assist system is controlled to perform braking downgrading processing.

5. The method according to claim 1, characterized in that, Upon receiving the emergency stop request, after controlling the electronic brake assist system to switch to the third braking mode in response to the emergency stop request, the braking control method further includes: After the vehicle stops and waits for a preset time, the electronic brake assist system is controlled to exit the emergency stop mode.

6. The method according to claim 5, characterized in that, The braking control method further includes: When the electronic brake assist system is in the third braking mode, if the received vehicle mode signal value is the first value and no emergency stop request is received, the electronic brake assist system is controlled to switch to the first braking mode. When the electronic brake assist system is in the third braking mode, if the received vehicle mode signal value is the second value and no emergency stop request is received, the electronic brake assist system is controlled to switch to the second braking mode.

7. A braking control device, characterized in that, The braking control device is applied to the vehicle's electronic brake assist system, which includes a first braking mode, a second braking mode, and a third braking mode. The vehicle is not equipped with a vehicle stability control system. The braking control device includes: The determination module is used to determine whether an emergency stop request has been received when the electronic brake assist system is in the first braking mode or the second braking mode. A switching module is used to control the electronic brake assist system to switch to the third braking mode in response to the emergency stop request when the emergency stop request is received. The third braking mode is used to control the vehicle to perform an emergency stop operation. The switching module is used to determine whether the electronic brake assist system is in the first braking mode, which is the default braking mode of the electronic brake assist system. When the electronic brake assist system is in the first braking mode, if the emergency stop request is received, the module controls the electronic brake assist system to switch to the third braking mode. When the electronic brake assist system is not in the first braking mode, the module determines whether the electronic brake assist system is in the second braking mode. If the electronic brake assist system is in the second braking mode, the module determines whether the emergency stop request has been received, and if the emergency stop request is received, the module controls the electronic brake assist system to switch to the third braking mode.

8. An electronic brake assist system, characterized in that, The electronic brake assist system includes: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the braking control method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the steps of the braking control method as described in any one of claims 1 to 6.

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