Vehicle control method and device

Abstract

The application relates to the automobile technical field and discloses a vehicle control method and device, the method comprising the following steps: in response to a trigger braking signal, obtaining the rotating speed of a driving motor; in response to the rotating speed of the driving motor being not greater than a rotating speed threshold value, controlling the driving motor to brake in a rotating speed mode until the rotating speed of the driving motor is zero; in response to the rotating speed of the driving motor being greater than the rotating speed threshold value, controlling the driving motor to brake in a torque mode until the rotating speed of the driving motor is reduced to the rotating speed threshold value, and in response to the rotating speed of the driving motor being reduced to the rotating speed threshold value, controlling the driving motor to brake in the rotating speed mode until the rotating speed of the driving motor is zero. The vehicle control method and device provided by the application can realize relatively stable braking.

Description

Technical Field

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

[0002] In electrically powered vehicles, the drive motor typically brakes in torque mode, meaning it brakes by controlling the reverse torque. However, torque-mode braking results in poor braking smoothness, leading to a degraded user experience. Summary of the Invention

[0003] In view of this, this application provides a vehicle control method and device that can achieve relatively smooth braking. Specifically, it includes the following technical solutions:

[0004] This application provides a vehicle control method, the method comprising:

[0005] In response to a braking signal, the speed of the drive motor is obtained;

[0006] In response to the fact that the speed of the drive motor is not greater than the speed threshold, the drive motor is controlled to brake in speed mode until the speed of the drive motor is zero;

[0007] In response to the drive motor's rotational speed being greater than the rotational speed threshold, the drive motor is controlled to brake in torque mode until the rotational speed of the drive motor is reduced to the rotational speed threshold. In response to the drive motor's rotational speed being reduced to the rotational speed threshold, the drive motor is controlled to brake in speed mode until the rotational speed of the drive motor is zero.

[0008] In one implementation of this application, the method further includes:

[0009] In response to the drive motor's rotational speed exceeding the rotational speed threshold, the hydraulic braking system is controlled to reduce the vehicle speed.

[0010] In one implementation of this application, the braking signal is triggered by an automatic emergency braking system or by the user via the brake pedal.

[0011] In one implementation of this application, the method further includes:

[0012] Obtain the distance between the vehicle and the obstacle, as well as the vehicle's current first speed;

[0013] In response to the distance not being greater than a distance threshold and the first vehicle speed not being less than a speed threshold, the automatic emergency braking system is activated to brake, thereby triggering the braking signal;

[0014] In response to the distance not being greater than the distance threshold and the first vehicle speed being less than the speed threshold, a warning message is output, which is used to prompt the user to brake.

[0015] In one implementation of this application, after outputting the warning message, the method further includes:

[0016] After a set time, the second speed of the vehicle is obtained;

[0017] Determine the braking speed corresponding to the first vehicle speed by looking up the table.

[0018] In response to the difference between the second vehicle speed and the braking speed being greater than a difference threshold, the automatic emergency braking system is activated to apply the brakes, thereby triggering the braking signal.

[0019] This application embodiment also provides a vehicle control device, the device comprising:

[0020] The first acquisition module is configured to acquire the rotational speed of the drive motor in response to a braking signal.

[0021] A first braking module is configured to, in response to the speed of the drive motor not exceeding a speed threshold, control the drive motor to brake in speed mode until the speed of the drive motor is zero; in response to the speed of the drive motor exceeding the speed threshold, control the drive motor to brake in torque mode until the speed of the drive motor decreases to the speed threshold; and in response to the speed of the drive motor decreasing to the speed threshold, control the drive motor to brake in speed mode until the speed of the drive motor is zero.

[0022] In one implementation of this application, the apparatus further includes:

[0023] The second braking module is configured to control the hydraulic braking system to reduce the vehicle speed in response to the drive motor's rotational speed being greater than the rotational speed threshold.

[0024] In one implementation of this application, the braking signal is triggered by an automatic emergency braking system or by the user via the brake pedal.

[0025] In one implementation of this application, the apparatus further includes:

[0026] The second acquisition module is configured to acquire the distance between the vehicle and the obstacle and the vehicle's current first speed;

[0027] The warning module is configured to output a warning message in response to the distance not being greater than the distance threshold and the first vehicle speed being less than the speed threshold. The warning message is used to prompt the user to brake.

[0028] The first braking module is further configured to activate an automatic emergency braking system to perform braking in response to the distance not being greater than a distance threshold and the first vehicle speed not being less than a speed threshold, thereby triggering the braking signal.

[0029] In one implementation of this application, the apparatus further includes:

[0030] The third acquisition module is configured to acquire the second speed of the vehicle after a set time.

[0031] The determination module is configured to determine the braking speed corresponding to the first vehicle speed by looking up a table.

[0032] The first braking module is further configured to activate the automatic emergency braking system to perform braking in response to a difference between the second vehicle speed and the braking speed being greater than a difference threshold, thereby triggering the braking signal.

[0033] The beneficial effects of the technical solutions provided in this application include at least the following:

[0034] The vehicle control method and apparatus provided in this application embodiment, when the speed of the drive motor is greater than a speed threshold, controls the drive motor to first brake in torque mode to reduce the speed of the drive motor as quickly as possible. And when the speed of the drive motor decreases to the speed threshold, controls the motor to brake in speed mode, so that the braking process is relatively smooth and the user experience is improved. Therefore, the vehicle control method provided in this application embodiment can achieve relatively smooth braking. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 A schematic flowchart of a vehicle control method provided in an embodiment of this application is shown;

[0037] Figure 2 A schematic diagram of the implementation environment of a vehicle control method provided in an embodiment of this application is shown;

[0038] Figure 3 A flowchart illustrating another vehicle control method provided in an embodiment of this application is shown;

[0039] Figure 4 A schematic diagram of the structure of a vehicle control device provided in an embodiment of this application is shown. Detailed Implementation

[0040] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. To make the technical solutions and advantages of this application clearer, the vehicle control method, device, and apparatus will be described in detail below with reference to the accompanying drawings.

[0041] Figure 1 This application illustrates a vehicle control method provided in an embodiment. This method can be executed by a vehicle, and specifically by the controller of an AEB (Autonomous Emergency Braking) system. Figure 1 As shown, the method includes the following steps:

[0042] Step S101: In response to the trigger braking signal, obtain the speed of the drive motor.

[0043] In some embodiments, the braking signal is triggered by the AEB controller when the AEB system is activated for braking. In other embodiments, the braking signal is triggered by the user via the brake pedal when the user applies the brakes manually.

[0044] The speed of the drive motor can be sent to the AEB controller by the vehicle controller.

[0045] Step S102: In response to the fact that the speed of the drive motor is not greater than the speed threshold, control the drive motor to brake in speed mode until the speed of the drive motor is zero.

[0046] Step S103: In response to the drive motor speed being greater than the speed threshold, control the drive motor to brake in torque mode until the drive motor speed is reduced to the speed threshold, and in response to the drive motor speed being reduced to the speed threshold, control the drive motor to brake in speed mode until the drive motor speed is zero.

[0047] In some embodiments, the rotation speed threshold may be preset by the developer based on empirical values.

[0048] The drive motor can dynamically switch between torque mode and speed mode. In torque mode, the target physical quantity controlled by the motor is the motor torque; in speed mode, the target physical quantity controlled by the motor is the motor speed. For example, in torque mode, the drive motor can adjust the torque in steps until the drive motor speed drops to a speed threshold, where the drive motor speed varies with the load for each torque value. In speed mode, the drive motor can adjust the speed in steps until the drive motor speed is zero, where the drive motor speed must be adjusted to maintain that speed for each speed value.

[0049] In terms of response speed, the torque mode has the least amount of computation and the fastest response speed to control signals, which can quickly reduce the speed of the drive motor and the vehicle speed; the speed mode directly adjusts the speed of the drive motor, and electric braking is performed in speed mode, which makes the braking process smoother and improves the user experience.

[0050] The vehicle control method provided in this application embodiment, when the speed of the drive motor exceeds a speed threshold, controls the drive motor to first brake in torque mode to reduce the speed of the drive motor as quickly as possible. Furthermore, when the speed of the drive motor decreases to the speed threshold, it controls the motor to brake in speed mode, resulting in a smoother braking process and improved user experience. Therefore, the vehicle control method provided in this application embodiment can achieve relatively smooth braking.

[0051] Optionally, the method further includes: controlling the hydraulic braking system to reduce the vehicle speed in response to the drive motor speed being greater than a speed threshold.

[0052] Optionally, the method further includes: obtaining the distance between the vehicle and the obstacle and the vehicle's current first speed;

[0053] In response to a distance not exceeding a distance threshold and a first vehicle speed not less than a speed threshold, the automatic emergency braking system is activated to apply the brakes, thereby triggering a braking signal.

[0054] In response to a distance not exceeding a distance threshold and a first vehicle speed less than a speed threshold, a warning message is output to prompt the user to brake.

[0055] Optionally, after issuing the warning message, the method further includes:

[0056] After a set time, obtain the vehicle's second speed;

[0057] Determine the braking speed corresponding to the first vehicle speed by consulting the table.

[0058] In response to the difference between the second vehicle speed and the braking speed being greater than the difference threshold, the automatic emergency braking system is activated to apply the brakes, thereby triggering a braking signal.

[0059] Figure 2 This diagram illustrates an implementation environment for a vehicle control method provided in an embodiment of this application. For example... Figure 2 As shown, the implementation environment may include AEB controller 01, sensor assembly 02, ESP (Electronic Stability Program) controller 03, vehicle controller 04, motor controller 05, drive motor 06, and display 07.

[0060] The sensor assembly 02 may include a radar and a camera, wherein the radar may be mounted on the front bumper of the vehicle to detect obstacles in front of the vehicle; and the camera may be mounted around the vehicle to capture images of the vehicle's surrounding environment.

[0061] Electronic stability control is actually a comprehensive strategy for controlling vehicle stability. It includes anti-lock braking system (ABS) and traction control system (ASR). It can monitor the vehicle's driving status in real time and take measures to "pull" the vehicle back to a safe driving path as soon as it detects abnormal vehicle posture.

[0062] Display 07 can be a display device on the center console of the vehicle, such as a large instrument panel or audio system.

[0063] Figure 3 This application illustrates another vehicle control method provided by an embodiment of the present application. This method can be executed by a vehicle, and specifically by the AEB controller 01 within the vehicle. Figure 3 As shown, the method may include the following steps:

[0064] Step S301: Obtain the distance between the vehicle and the obstacle, as well as the vehicle's current first speed.

[0065] In this embodiment, the execution order of obtaining the distance between the vehicle and the obstacle and obtaining the current vehicle speed is not limited. In some embodiments, the distance between the vehicle and the obstacle can be obtained first, and the current vehicle speed can only be obtained if the distance is determined to be greater than a distance threshold; if the distance is not greater than the distance threshold, it indicates that the collision risk between the vehicle and the obstacle is low, so the current vehicle speed can be temporarily withheld, and the distance between the vehicle and the obstacle can continue to be obtained until it is determined to be greater than the distance threshold before obtaining the current vehicle speed. In other embodiments, the distance between the vehicle and the obstacle and the vehicle's current first speed can be obtained simultaneously, or the current first speed can be obtained first and then the distance between the vehicle and the obstacle can be obtained.

[0066] In some embodiments, the distance between the vehicle and the obstacle can be obtained by the sensor component 02. For example, the type and location of the obstacle can be obtained by the camera in the sensor component 02, and the distance between the vehicle and the obstacle can be determined by combining the information fed back by the radar. The current speed of the vehicle can be sent by the ESP controller 03 to the AEB controller 01, and then the AEB controller 01 can jointly determine whether to send a braking signal based on the distance information and the speed information.

[0067] Step S302: Determine whether the distance between the vehicle and the obstacle is not greater than the distance threshold.

[0068] If yes, then proceed to step S303 below; if no, then it is assumed that there is basically no risk of collision between the vehicle and the obstacle, and braking is not required. Then, repeat step S031 above to obtain the distance between the vehicle and the obstacle and the vehicle's current first speed.

[0069] Step S303: Determine whether the first vehicle speed is not less than the speed threshold.

[0070] If it is determined that the distance between the vehicle and the obstacle is small and the vehicle speed is high, requiring emergency braking, then step S308 is executed. This involves activating the automatic emergency braking system to brake in response to the distance between the vehicle and the obstacle not exceeding a distance threshold and the first vehicle speed not being less than a speed threshold, thereby triggering a braking signal. In this case, the AEB controller 01 can send the braking signal to the vehicle controller 04. The vehicle controller 04, based on the rotational speed of the drive motor, controls the drive motor 06 to brake in torque mode or speed mode via the motor controller 05.

[0071] If not, it is assumed that although the distance between the vehicle and the obstacle is small, the risk of collision is low due to the slow speed. In this case, step S304 is executed to prompt the user to brake first, so as to avoid the AEB system directly intervening to brake in non-emergency situations, which would reduce the user experience.

[0072] Automatic Emergency Braking (AEB) is an active safety technology for automobiles that detects the distance between the vehicle and the vehicle in front or an obstacle. It issues a warning when the distance is less than a warning distance and automatically brakes when the distance is less than a safe distance. However, the braking function of AEB relies primarily on the distance between the vehicle and the obstacle. This criterion is relatively simplistic and cannot handle complex driving situations. For example, the AEB system may still activate even when the vehicle is approaching an obstacle at low speed or when the driver has already applied the brakes, leading to a degraded user experience.

[0073] In contrast, the vehicle control method provided in this application, when determining that the distance between the vehicle and the obstacle is less than a distance threshold, also judges the current speed of the vehicle, so that the AEB system braking is only activated when the distance between the vehicle and the obstacle is close (less than the distance threshold) and the speed is fast (greater than the speed threshold), so as to avoid the problem of the AEB system braking being activated when the vehicle is approaching the obstacle at a low speed, resulting in a degraded user experience.

[0074] In other words, the vehicle control method provided in this application determines whether to activate the AEB system for braking based on both the distance between the vehicle and the obstacle and the vehicle speed, in order to prevent the AEB braking from being falsely triggered.

[0075] Step S304: In response to the distance between the vehicle and the obstacle not being greater than the distance threshold and the first vehicle speed being less than the speed threshold, output a warning message.

[0076] In some embodiments, the AEB controller 01 is signal-connected to a display 07 (e.g., an instrument panel screen) in the vehicle. After determining that the distance between the vehicle and the obstacle is no greater than a distance threshold and the first vehicle speed is less than a speed threshold, the AEB controller 01 can send a control signal to the display 07 to output a warning message, which prompts the user to brake. In some embodiments, the warning message may be, for example, the text message "Please apply the brakes, there is an obstacle ahead." In other embodiments, to better prompt the user to brake, after displaying the text message on the display 07, the text message can also be broadcast via an audio device.

[0077] In some embodiments, after being prompted by a warning message, the user can trigger a braking signal by pressing the brake pedal. The vehicle controller 04 can receive the braking signal and, based on the braking signal and the speed of the drive motor, control the drive motor 06 to brake in torque mode or speed mode via the motor controller 05.

[0078] For example, in response to the drive motor's speed not exceeding a speed threshold, the drive motor is controlled to brake in speed mode until its speed reaches zero; in response to the drive motor's speed exceeding the speed threshold, the drive motor is controlled to brake in torque mode until its speed decreases to the speed threshold, and in response to the drive motor's speed decreasing to the speed threshold, the drive motor is controlled to brake in speed mode until its speed reaches zero. Furthermore, in response to the drive motor's speed exceeding the speed threshold, the hydraulic braking system is also controlled to reduce the vehicle speed.

[0079] Step S305: After a set time, obtain the vehicle's second speed.

[0080] To confirm whether the user has taken active braking measures (e.g., pressing the brake pedal) in response to the warning message, the AEB controller 01 acquires the vehicle's current speed after a set time. By comparing this actual current speed with the set braking speed, it determines whether the user has taken active braking measures. In some embodiments, the vehicle's second speed can be sent to the AEB controller 01 by the ESP controller 03. This set time can be preset by the developers based on empirical values.

[0081] Step S306: Determine the braking speed corresponding to the first vehicle speed by looking up the table.

[0082] In some embodiments, the braking speed table can be developed by developers based on experience. For example, developers can determine the range of brake pedal depressor pressure during emergency braking based on big data statistics, and determine the relationship between the degree of speed reduction and braking time based on this depressor pressure range, recording this relationship in the form of a table. In some embodiments, when generating the table, the relationship between the degree of speed reduction and braking time can also be recorded for different speed ranges. In some embodiments, only the degree of speed reduction corresponding to different speed ranges when the braking time is the aforementioned preset time can be recorded.

[0083] Based on the vehicle's initial speed and the relationship between the speed reduction and braking time corresponding to that speed range obtained from a lookup table, the braking speed corresponding to the initial speed is determined. For example, the braking speed can be the difference between the initial speed and the speed reduction corresponding to a braking time of a set time.

[0084] Step S307: Determine whether the difference between the second vehicle speed and the braking speed is greater than the difference threshold.

[0085] This difference threshold can be used to indicate the maximum error range between the second vehicle speed and the braking speed. In some embodiments, this difference threshold can be preset by the developers based on empirical values.

[0086] When the second vehicle speed is basically consistent with the braking speed, that is, the difference between the two is less than the differential threshold, it can be considered that the user has taken active braking measures. In response to the difference between the second vehicle speed and the braking speed not being greater than the differential threshold, the above step S301 is repeated to continuously obtain the distance between the vehicle and the obstacle and the vehicle's current first vehicle speed. In this case, the AEB system does not need to perform braking.

[0087] When the difference between the second vehicle speed and the braking speed is greater than the difference threshold, it indicates that the user has not taken active braking measures. In this case, the following step S308 is executed, so that the AEB system can intervene in vehicle control and actively perform braking.

[0088] Step S308: Activate the automatic emergency braking system to apply the brakes and trigger the braking signal.

[0089] The vehicle control method provided in this application, when determining that the distance between the vehicle and an obstacle is less than a distance threshold, also judges the vehicle's current speed. Therefore, when the distance between the vehicle and the obstacle is close (less than the distance threshold) but the speed is slow (not greater than the speed threshold), the user is given priority to be prompted to actively brake, thereby improving the user experience. Furthermore, the method determines whether the user has taken active braking measures based on the vehicle speed after a set time. The AEB system is only activated if the user has not taken active braking measures, thus avoiding the problem of the AEB system activating even when the user has already taken active braking measures, leading to a degraded user experience. In some embodiments, when the AEB system brakes, the AEB controller 01 can send a braking signal to the vehicle controller 04, and the vehicle controller 04, in response to the braking signal, controls the drive motor 06 to brake through the motor controller 05.

[0090] In some embodiments, the electrical energy generated by the AEB system's electric braking is stored in the vehicle's battery, thereby converting kinetic energy into electrical energy, saving energy while increasing the vehicle's driving range.

[0091] Step S309: In response to the trigger braking signal, obtain the speed of the drive motor.

[0092] After the AEB controller 01 sends a braking signal to the vehicle controller 04, the vehicle controller 04 can obtain the speed of the drive motor in response to the braking signal. The vehicle controller 04 can send the speed of the drive motor to the AEB controller 01, so that the AEB controller 01 can determine the braking mode of the drive motor; or, the vehicle controller 04 can determine the braking mode of the drive motor itself without sending the speed of the drive motor to the AEB controller 01.

[0093] Step S310: Determine whether the speed of the drive motor is not greater than the speed threshold.

[0094] In some embodiments, the speed threshold may be preset by the developers based on empirical values. The AEB controller 01 or the vehicle controller 04 may determine the braking mode of the drive motor based on the relationship between the speed of the drive motor and the speed threshold.

[0095] Step S311: In response to the fact that the speed of the drive motor is not greater than the speed threshold, control the drive motor to brake in speed mode until the speed of the drive motor is zero.

[0096] When the drive motor speed is relatively low (not exceeding the speed threshold), the drive motor can be controlled to brake in speed mode to ensure the smoothness of the braking process and improve the user experience.

[0097] In some embodiments, the drive motor can be stepped to adjust its speed until the drive motor speed reaches zero. This step value can be preset by the developers based on experience.

[0098] Step S312: In response to the drive motor speed being greater than the speed threshold, control the hydraulic braking system to reduce the vehicle speed until the vehicle speed is zero or the drive motor speed is reduced to the speed threshold.

[0099] When the drive motor speed is high (greater than the speed threshold), hydraulic braking can be used in addition to electric braking to improve braking efficiency and reduce the drive motor speed as quickly as possible.

[0100] It is understandable that the speed of the drive motor is directly related to the vehicle speed, and the speed of the drive motor is usually proportional to the vehicle speed. The hydraulic braking system can affect the speed of the drive motor by reducing the vehicle speed. In some embodiments, the hydraulic braking system can disengage the braking process when the speed of the drive motor decreases to a speed threshold, so that when the speed of the drive motor decreases to a lower level (not greater than the speed threshold), the drive motor performs electric braking entirely in speed mode, ensuring the smoothness of braking.

[0101] Step S313: In response to the drive motor speed being greater than the speed threshold, control the drive motor to brake in torque mode until the drive motor speed is reduced to the speed threshold, and in response to the drive motor speed being reduced to the speed threshold, control the drive motor to brake in speed mode until the drive motor speed is zero.

[0102] In some embodiments, the drive motor can adjust its torque in steps until the drive motor's speed drops to a speed threshold. This step value can be preset by the developers based on empirical values.

[0103] This application does not limit the execution order between braking the drive motor in torque mode and controlling the hydraulic braking system to brake. In some embodiments, the vehicle controller 04 may first send a control signal to the motor controller 05 to control the drive motor 06 to brake in torque mode, and then send a control signal to the hydraulic braking system; alternatively, it may send control signals to both the motor controller 05 and the hydraulic braking system simultaneously to make the drive motor 06 and the hydraulic braking system brake at the same time; or it may send a control signal to the hydraulic braking system first, and then send a control signal to the motor controller 05.

[0104] The vehicle control method provided in this application embodiment controls the drive motor to brake in torque mode first when the speed of the drive motor is high (greater than the speed threshold), and uses a combination of electric braking and hydraulic braking to achieve braking, which has higher braking efficiency and reduces the speed of the drive motor as quickly as possible; and when the speed of the drive motor is low (not greater than the speed threshold), only the drive motor performs electric braking in speed mode, which ensures the smoothness of braking.

[0105] This application also provides a vehicle control device, such as... Figure 4 As shown, the vehicle control device 400 may include:

[0106] The acquisition module 401 is configured to acquire the speed of the drive motor in response to a trigger braking signal;

[0107] The generation module 402 is configured to, in response to the speed of the drive motor not being greater than a speed threshold, control the drive motor to brake in speed mode until the speed of the drive motor is zero; in response to the speed of the drive motor being greater than the speed threshold, control the drive motor to brake in torque mode until the speed of the drive motor is reduced to the speed threshold; and in response to the speed of the drive motor being reduced to the speed threshold, control the drive motor to brake in speed mode until the speed of the drive motor is zero.

[0108] Optionally, the device further includes:

[0109] The second braking module is configured to control the hydraulic braking system to reduce the vehicle speed in response to the drive motor's rotational speed exceeding a speed threshold.

[0110] Optionally, the braking signal is triggered by the automatic emergency braking system or by the user via the brake pedal.

[0111] Optionally, the device further includes:

[0112] The second acquisition module is configured to acquire the distance between the vehicle and the obstacle and the vehicle's current first speed;

[0113] The warning module is configured to output a warning message in response to a distance not exceeding a distance threshold and a first vehicle speed less than a speed threshold. The warning message is used to prompt the user to brake.

[0114] The first braking module is also configured to activate the automatic emergency braking system to perform braking in response to a distance not greater than a distance threshold and a first vehicle speed not less than a speed threshold, thereby triggering a braking signal.

[0115] Optionally, the device further includes:

[0116] The third acquisition module is configured to acquire the vehicle's second speed after a set time.

[0117] The determination module is configured to determine the braking speed corresponding to the first vehicle speed by looking up a table.

[0118] The first braking module is also configured to activate the automatic emergency braking system to perform braking in response to a difference between the second vehicle speed and the braking speed exceeding a difference threshold, thereby triggering a braking signal.

[0119] Regarding the apparatus in the above embodiments, the specific manner in which each apparatus performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0120] It should be noted that the vehicle control device and vehicle control method provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here.

[0121] In this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "multiple" refers to two or more unless otherwise expressly defined.

[0122] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only.

[0123] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A vehicle control method, characterized in that, The method includes: Obtain the distance between the vehicle and the obstacle, as well as the vehicle's current initial speed; In response to the distance not being greater than a distance threshold and the first vehicle speed being less than a speed threshold, a warning message is output, which is used to prompt the user to brake. After a set time, the second speed of the vehicle is obtained; Determine the braking speed corresponding to the first vehicle speed by looking up the table. In response to the difference between the second vehicle speed and the braking speed being greater than a difference threshold, the automatic emergency braking system is activated to brake, thereby triggering a braking signal. The difference threshold is used to indicate the maximum error range between the second vehicle speed and the braking speed. In response to the braking trigger signal, the rotational speed of the drive motor is obtained; In response to the fact that the speed of the drive motor is not greater than the speed threshold, the drive motor is controlled to brake in speed mode until the speed of the drive motor is zero; In response to the drive motor's rotational speed being greater than the rotational speed threshold, the drive motor is controlled to brake in torque mode, and the hydraulic braking system is controlled to reduce the vehicle speed until the drive motor's rotational speed is reduced to the rotational speed threshold. In response to the drive motor's rotational speed being reduced to the rotational speed threshold, the hydraulic braking system is controlled to disengage from the hydraulic braking process, and the drive motor is controlled to perform electric braking in rotational speed mode until the drive motor's rotational speed is zero.

2. The vehicle control method according to claim 1, characterized in that, The braking signal is triggered by the automatic emergency braking system or by the user via the brake pedal.

3. The vehicle control method according to any one of claims 1-2, characterized in that, After obtaining the distance between the vehicle and the obstacle and the vehicle's current first speed, the method further includes: In response to the distance not being greater than the distance threshold and the first vehicle speed not being less than the speed threshold, the automatic emergency braking system is activated to brake, thereby triggering the braking signal.

4. A vehicle control device, characterized in that, The device includes: The first acquisition module is configured to acquire the rotational speed of the drive motor in response to a braking signal. A first braking module is configured to, in response to the drive motor's rotational speed not exceeding a rotational speed threshold, control the drive motor to brake in rotational speed mode until the rotational speed of the drive motor is zero; in response to the drive motor's rotational speed exceeding the rotational speed threshold, control the drive motor to brake in torque mode until the rotational speed of the drive motor decreases to the rotational speed threshold; and in response to the drive motor's rotational speed decreasing to the rotational speed threshold, control the drive motor to brake in rotational speed mode until the rotational speed of the drive motor is zero. The second acquisition module is configured to acquire the distance between the vehicle and the obstacle and the vehicle's current first speed; The warning module is configured to output a warning message in response to the distance not being greater than a distance threshold and the first vehicle speed being less than a speed threshold. The warning message is used to prompt the user to brake. The third acquisition module is configured to acquire the second speed of the vehicle after a set time. The determination module is configured to determine the braking speed corresponding to the first vehicle speed by looking up a table. The first braking module is further configured to activate an automatic emergency braking system to brake in response to a difference between the second vehicle speed and the braking speed being greater than a difference threshold, thereby triggering the braking signal, wherein the difference threshold is used to indicate the maximum error range between the second vehicle speed and the braking speed; The second braking module is configured to control the hydraulic braking system to reduce the vehicle speed in response to the drive motor speed being greater than the speed threshold, until the drive motor speed is reduced to the speed threshold, and to control the hydraulic braking system to disengage from the hydraulic braking process in response to the drive motor speed being reduced to the speed threshold.

5. The vehicle control device according to claim 4, characterized in that, The braking signal is triggered by the automatic emergency braking system or by the user via the brake pedal.

6. The apparatus according to any one of claims 4-5, characterized in that, The device further includes: The first braking module is further configured to activate the automatic emergency braking system to perform braking in response to the distance not being greater than the distance threshold and the first vehicle speed not being less than the speed threshold, thereby triggering the braking signal.

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