A control method and device for comfortable braking parking of a vehicle, a vehicle and a medium

Abstract

Embodiments of the present application provide a control method and device for comfortable braking parking of a vehicle, the vehicle and a medium. The method comprises: obtaining a rate at which a brake pedal of the vehicle is depressed and a speed of the vehicle; in a case where no emergency braking is detected and a comfortable braking function is allowed to be turned on, turning on the comfortable braking function when the rate at which the brake pedal is depressed is less than a first preset rate threshold; and after the comfortable braking function is turned on, controlling a brake fluid inlet valve and a brake fluid outlet valve of the vehicle according to the speed of the vehicle to perform comfortable braking parking, so that jerkiness of the vehicle during deceleration can be reduced or eliminated, and the riding experience can be improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a control method, device, vehicle, and medium for comfortable braking and stopping of a vehicle. Background Technology

[0002] When a vehicle needs to decelerate, drivers with poor driving skills or unfamiliarity with the vehicle may find it difficult to control the pressure applied to the brake pedal, causing a jerking sensation. This can lead to discomfort such as dizziness and nausea for the driver or passengers, negatively impacting the riding experience. This is especially true in areas with numerous traffic lights where vehicles need to decelerate frequently. Therefore, reducing or eliminating this jerking sensation during deceleration is crucial for improving the riding experience. Summary of the Invention

[0003] To address the aforementioned problems, embodiments of the present invention disclose a control method, apparatus, vehicle, and storage medium for comfortable braking and parking of a vehicle.

[0004] In a first aspect, embodiments of the present invention provide a control method for comfortable braking and stopping of a vehicle, the method comprising:

[0005] The rate at which the brake pedal of the vehicle is depressed and the speed of the vehicle are obtained.

[0006] If no emergency braking is detected and the comfort braking function is allowed to be activated, the comfort braking function is activated when the rate at which the brake pedal is depressed is less than a first preset rate threshold.

[0007] After the comfort braking function is activated, the brake fluid inlet and outlet valves of the vehicle are controlled according to the vehicle's speed to perform comfort braking to stop the vehicle.

[0008] Optionally, controlling the brake fluid inlet and outlet valves of the vehicle according to the vehicle's speed for comfortable braking includes:

[0009] When the speed of the vehicle exceeds a preset speed threshold, the rear wheel brake fluid inlet valve of the vehicle is opened to pressurize the brake fluid, and the front wheel brake fluid inlet valve of the vehicle is closed within a first preset time.

[0010] After the first preset time has elapsed, the front wheel brake fluid inlet valve of the vehicle is opened, and the front wheel brake fluid inlet valve of the vehicle is opened or closed alternately at preset intervals.

[0011] When the vehicle speed is less than the preset vehicle speed threshold, the front wheel brake fluid inlet valve of the vehicle is closed;

[0012] When the vehicle is stationary, the front wheel brake fluid inlet valve is restored to the open state.

[0013] Optionally, before opening the rear wheel brake fluid inlet valve of the vehicle to pressurize the brake fluid and closing the front wheel brake fluid inlet valve of the vehicle within a first preset time, the method further includes:

[0014] Obtain the longitudinal deceleration of the vehicle;

[0015] When the longitudinal deceleration of the vehicle is less than a preset deceleration threshold, the front wheel brake fluid outlet valve is opened;

[0016] When the longitudinal deceleration of the vehicle is within the preset deceleration threshold range, the front wheel brake fluid outlet valve is closed.

[0017] Optionally, the method further includes:

[0018] When the emergency braking function is enabled, if the rate at which the brake pedal is depressed is greater than a second preset rate threshold, the emergency braking function is activated to perform emergency braking to stop the vehicle; the second preset rate threshold is greater than the first preset rate threshold.

[0019] Optionally, activating the emergency braking function to perform emergency braking to stop the vehicle includes:

[0020] After the emergency braking function is activated, the front wheel brake fluid inlet valve is opened to perform emergency braking to stop the vehicle; the front wheel brake fluid inlet valve will not close during emergency braking.

[0021] Optionally, the method further includes:

[0022] The distance between the vehicle and other vehicles or obstacles in front is detected by the vehicle-mounted radar;

[0023] When the relationship between the vehicle's speed and the distance meets the conditions for activating the emergency braking function, emergency braking is performed to bring the vehicle to a stop.

[0024] Optionally, the method further includes:

[0025] When the normal braking function is allowed to be activated, if the rate at which the brake pedal is depressed is less than the second preset rate threshold and greater than the first preset rate threshold, the normal braking function is activated to perform normal braking to stop the vehicle.

[0026] Secondly, embodiments of the present invention provide a vehicle comfort braking and parking control device, applied to a braking control system, the device comprising:

[0027] The acquisition module is used to acquire the rate at which the brake pedal of the vehicle is depressed and the speed of the vehicle.

[0028] The function activation module is used to activate the comfort braking function when the rate at which the brake pedal is depressed is less than a first preset rate threshold, provided that no emergency braking is detected and the comfort braking function is allowed to be activated.

[0029] The comfort parking module is used to control the brake fluid inlet and outlet valves of the vehicle according to the vehicle's speed after the comfort braking function is activated, so as to perform comfort braking parking.

[0030] Optionally, the comfort parking module includes:

[0031] The booster submodule is used to open the rear wheel brake fluid inlet valve of the vehicle to boost the brake fluid when the vehicle speed is greater than a preset vehicle speed threshold, and to close the front wheel brake fluid inlet valve of the vehicle within a first preset time.

[0032] The alternating submodule is used to open the front wheel brake fluid inlet valve of the vehicle after the first preset time ends, and alternately open or close the front wheel brake fluid inlet valve of the vehicle at preset intervals.

[0033] The shutdown submodule is used to shut down the front wheel brake fluid inlet valve of the vehicle when the vehicle speed is less than the preset vehicle speed threshold.

[0034] The recovery submodule is used to restore the front wheel brake fluid inlet valve to its open state when the vehicle is stationary.

[0035] Optionally, prior to the booster submodule, the device further includes:

[0036] The acquisition submodule is used to acquire the longitudinal deceleration of the vehicle;

[0037] The open submodule is used to open the front wheel brake fluid outlet valve when the longitudinal deceleration of the vehicle is less than a preset deceleration threshold.

[0038] The second shut-off submodule is used to close the front wheel brake fluid outlet valve when the longitudinal deceleration of the vehicle is within the preset deceleration threshold range.

[0039] Optionally, the device further includes:

[0040] An emergency stop module is used to activate the emergency braking function and perform emergency braking to stop the vehicle when the rate at which the brake pedal is depressed exceeds a second preset rate threshold, provided that the emergency braking function is permitted to be activated; the second preset rate threshold is greater than the first preset rate threshold.

[0041] Optionally, the emergency stop module includes:

[0042] The emergency stop submodule is used to open the front wheel brake fluid inlet valve after the emergency braking function is activated to perform emergency braking to stop the vehicle; the front wheel brake fluid inlet valve will not close during emergency braking.

[0043] Optionally, the device further includes:

[0044] The detection module is used to detect the distance between the vehicle and other vehicles or obstacles in front using vehicle-mounted radar;

[0045] The second emergency stop module is used to perform emergency braking to stop the vehicle when the relationship between the vehicle's speed and the distance meets the conditions for activating the emergency braking function.

[0046] Optionally, the device further includes:

[0047] The normal braking module is used to activate the normal braking function and perform normal braking to stop the vehicle when the rate at which the brake pedal is depressed is less than the second preset rate threshold and greater than the first preset rate threshold, provided that the normal braking function is allowed to be activated.

[0048] Thirdly, the present invention discloses a vehicle comprising:

[0049] One or more processors; and

[0050] One or more machine-readable media storing instructions thereon, when executed by the one or more processors, cause the device to perform the vehicle comfort braking and stopping control method as described in any of the preceding claims.

[0051] Fourthly, the present invention discloses a computer-readable storage medium having instructions stored thereon that, when executed by one or more processors, cause the processors to perform the vehicle comfort braking and stopping control method as described in any of the preceding claims.

[0052] The embodiments of the present invention have the following advantages:

[0053] This invention provides a braking control system that acquires the rate at which the brake pedal is depressed and the vehicle's speed. When the rate at which the brake pedal is depressed is less than a first preset rate threshold, a comfort braking function is activated. Then, based on the vehicle's speed, the system controls the brake fluid inlet and outlet valves to achieve comfortable braking and stopping. The vehicle comfort braking and stopping control method provided by this invention can achieve comfortable braking and stopping, thereby reducing or eliminating the jerking sensation during vehicle deceleration and improving the passenger experience. Attached Figure Description

[0054] To more clearly illustrate the technical solutions in the embodiments of the present invention, 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 the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0055] Figure 1 This is a flowchart illustrating the steps of a vehicle comfort braking and parking control method according to an embodiment of the present invention;

[0056] Figure 2 This is a flowchart of another vehicle comfort braking and parking control method according to an embodiment of the present invention;

[0057] Figure 3 This is a flowchart illustrating the operation of a vehicle comfort braking and parking control method according to an embodiment of the present invention.

[0058] Figure 4 A structural block diagram of a vehicle comfort braking and parking control device according to an embodiment of the present invention. Detailed Implementation

[0059] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0060] Currently, vehicle intelligence is developing rapidly. Automatic braking functions such as Adaptive Cruise Control (ACC), Forward Collision Warning (FCW), and Automatic Emergency Braking (AEB) have become standard safety assistance functions in vehicles. In addition to pursuing vehicle safety functions, improving driver comfort and enhancing the vehicle riding experience are also becoming increasingly important.

[0061] This application adds a comfort brake switch to the existing system. After the driver turns on the comfort brake switch, the vehicle's inlet and outlet valves can be controlled through the integrated brake control system (IBC), which makes the vehicle's longitudinal deceleration more stable and less volatile, thereby improving the riding experience.

[0062] Reference Figure 1 The diagram illustrates a step flowchart of a vehicle comfort braking and parking control method according to an embodiment of the present invention. The method may specifically include the following steps:

[0063] Step 101: Obtain the rate at which the brake pedal of the vehicle is depressed and the speed of the vehicle;

[0064] In this embodiment of the invention, the braking control system can acquire the rate at which the brake pedal is depressed and the vehicle's speed. Various sensors can be installed on the vehicle to acquire the travel and speed of the brake pedal, as well as the travel and speed of the accelerator pedal. The braking control system can use the sensors to acquire the rate at which the brake pedal is depressed to understand the driver's intention, and can also use the sensors to acquire the vehicle's speed and determine the vehicle's driving state based on the vehicle's speed.

[0065] Step 102: If no emergency braking is detected and the comfort braking function is allowed to be activated, the comfort braking function is activated when the rate at which the brake pedal is depressed is less than a first preset rate threshold.

[0066] In this embodiment of the invention, when no emergency braking is detected, the driver can activate the comfort braking switch to enable the comfort braking function. When the comfort braking function is enabled, it can be activated when the brake pedal is depressed at a rate less than a first preset rate threshold. For example, the first preset rate threshold can be 40 mm / s. When the brake pedal is depressed at a rate less than 40 mm / s, it can be determined that the braking force does not need to be too large; only slow deceleration is required, thus enabling the comfort braking function to reduce vehicle sway during deceleration. Those skilled in the art can set the first preset rate threshold to other appropriate values ​​based on the concept of this application, and this application does not limit this.

[0067] Step 103: After the comfort braking function is activated, control the brake fluid inlet valve and outlet valve of the vehicle according to the vehicle speed to perform comfort braking to stop.

[0068] In this embodiment of the invention, after the comfort braking function is activated, the braking control system can control the brake fluid inlet and outlet valves of the vehicle according to the vehicle speed to perform comfort braking to a stop. For example, when the vehicle speed is high, the braking control system can control the brake fluid inlet valve to open, pressurizing the brake fluid and thus increasing the braking force to decelerate the vehicle; when the vehicle speed is low, the braking control system can control the brake fluid outlet valve to open, thus reducing the braking force and allowing the vehicle to decelerate slowly and smoothly, reducing the jerking sensation during deceleration.

[0069] In this embodiment of the invention, the braking control system can acquire the rate at which the brake pedal is depressed and the vehicle's speed. When the rate at which the brake pedal is depressed is less than a first preset rate threshold, the comfort braking function is activated. Then, the brake fluid inlet and outlet valves are controlled according to the vehicle's speed to achieve comfortable braking and stopping. The vehicle comfort braking and stopping control method provided by this invention can achieve comfortable braking and stopping, thereby reducing or eliminating the jerking sensation during vehicle deceleration and improving the riding experience.

[0070] Reference Figure 2 The diagram illustrates a flowchart of another vehicle comfort braking and parking control method according to an embodiment of the present invention. The method may specifically include the following steps:

[0071] Step 201: Obtain the rate at which the brake pedal of the vehicle is depressed and the speed of the vehicle;

[0072] In this embodiment of the invention, the braking control system can acquire the rate at which the brake pedal is depressed and the vehicle's speed. Various sensors can be installed on the vehicle to acquire the travel and speed of the brake pedal, as well as the travel and speed of the accelerator pedal. The braking control system can use the sensors to acquire the rate at which the brake pedal is depressed to understand the driver's intention, and can also use the sensors to acquire the vehicle's speed and determine the vehicle's driving state based on the vehicle's speed.

[0073] Step 202: If no emergency braking is detected and the comfort braking function is allowed to be activated, the comfort braking function is activated when the rate at which the brake pedal is depressed is less than a first preset rate threshold.

[0074] In this embodiment of the invention, when no emergency braking is detected, the driver can activate the comfort braking switch to enable the comfort braking function. When the comfort braking function is enabled, it can be activated when the brake pedal is depressed at a rate less than a first preset rate threshold. For example, the first preset rate threshold can be 40 mm / s. When the brake pedal is depressed at a rate less than 40 mm / s, it can be determined that the braking force does not need to be too great; only slow deceleration is required, thus enabling the comfort braking function to reduce vehicle sway during deceleration.

[0075] Step 203: When the speed of the vehicle is greater than a preset vehicle speed threshold, open the rear wheel brake fluid inlet valve of the vehicle to pressurize the brake fluid, and close the front wheel brake fluid inlet valve of the vehicle within a first preset time.

[0076] In this embodiment of the invention, when the vehicle speed exceeds a preset speed threshold, the braking control system can open the rear wheel brake fluid inlet valve to pressurize the brake fluid, and close the front wheel brake fluid inlet valve within a first preset time. The rear wheel brake fluid is used to brake the rear wheels of the vehicle. Opening the rear wheel brake fluid inlet valve increases the pressure of the brake fluid in the rear wheels, thereby increasing the braking force on the rear wheels. The front wheel brake fluid is used to brake the front wheels of the vehicle. Closing the front wheel brake fluid inlet valve indicates that the front wheels are not being braked.

[0077] For example, the first preset time can be 300ms. Within the first 300ms before the driver depresses the brake pedal, the brake control system can control the rear wheel brake fluid inlet valve to open and the front wheel brake fluid inlet valve to close, thereby braking the rear wheels without braking the front wheels, thus smoothly decelerating the vehicle and reducing or eliminating the jerkiness felt by passengers. Those skilled in the art can set the first preset time to other appropriate values ​​based on the concept of this application, and this application does not limit this.

[0078] In an optional embodiment of the present invention, before opening the rear wheel brake fluid inlet valve of the vehicle to pressurize the brake fluid and closing the front wheel brake fluid inlet valve of the vehicle within a first preset time, the method further includes: obtaining the longitudinal deceleration of the vehicle; opening the front wheel brake fluid outlet valve when the longitudinal deceleration of the vehicle is less than a preset deceleration threshold; and closing the front wheel brake fluid outlet valve when the longitudinal deceleration of the vehicle is within the preset deceleration threshold range.

[0079] In this embodiment of the invention, the braking control system can acquire the longitudinal deceleration of the vehicle; when the longitudinal deceleration of the vehicle is less than a preset deceleration threshold, the front wheel brake fluid outlet valve is opened; when the longitudinal deceleration of the vehicle is within the preset deceleration threshold range, the front wheel brake fluid outlet valve is closed. The longitudinal deceleration of the vehicle can be an acceleration opposite to the vehicle's forward direction; the smaller the deceleration, the more rapid the vehicle deceleration. Opening the front wheel brake fluid outlet valve reduces the pressure of the front wheel brake fluid, thereby reducing the braking force on the front wheels and slowing down the vehicle, thus increasing the vehicle's longitudinal deceleration. Closing the front wheel brake fluid outlet valve prevents the pressure of the front wheel brake fluid from decreasing further, keeping the vehicle's longitudinal deceleration value within a certain range.

[0080] For example, the preset deceleration threshold can be -0.1 m / s². 2 Up to -1.1m / s 2 Between, when the vehicle's longitudinal deceleration is less than -1.1 m / s² 2 At this time, the braking control system can control the front wheel brake fluid outlet valve to open, thus slowing the vehicle down. When the vehicle's longitudinal deceleration increases to -0.1 m / s²,2 Up to -1.1m / s 2 During this period, the braking control system can close the front wheel brake fluid outlet valves, ensuring that the vehicle's longitudinal deceleration remains at -0.1 m / s². 2 up to -1m / s 2 The speed fluctuates between these values ​​to ensure smooth vehicle deceleration and passenger comfort. Those skilled in the art can set other appropriate values ​​for the preset deceleration threshold based on the principles of this application; however, this application does not limit such settings.

[0081] Step 204: After the first preset time has elapsed, open the front wheel brake fluid inlet valve of the vehicle, and alternately open or close the front wheel brake fluid inlet valve of the vehicle at preset intervals.

[0082] In this embodiment of the invention, the braking control system can control the front wheel brake fluid inlet valves to open 300ms after the driver depresses the brake pedal, and alternately open or close the front wheel brake fluid inlet valves at preset intervals. For example, the preset interval can be 100ms, and the braking control system can control the front wheel brake fluid inlet valves to alternately open or close every 100ms. During the alternating opening and closing of the front wheel brake fluid inlet valves, the rear wheel brake fluid inlet valves are always open, ensuring that the braking force of the rear wheels is greater than that of the front wheels, thus keeping the speed of the rear wheels lower than that of the front wheels, thereby reducing or eliminating the feeling of vehicle jerking. Those skilled in the art can set other appropriate values ​​for the preset interval based on the concept of this application, and this application does not limit this.

[0083] Step 205: When the speed of the vehicle is less than the preset vehicle speed threshold, close the front wheel brake fluid inlet valve of the vehicle.

[0084] In this embodiment of the invention, when the vehicle speed is less than a preset speed threshold, the braking control system can control the front wheel brake fluid inlet valves to close. For example, the preset speed threshold can be 3 km / h. When the vehicle speed is less than 3 km / h, the braking control system can control the front wheel brake fluid inlet valves to close, thus stopping the front wheels from braking. Those skilled in the art can set the preset speed threshold to other appropriate values ​​based on the concept of this application, and this application does not limit this.

[0085] Step 206: When the vehicle is stationary, restore the front wheel brake fluid inlet valve to the open state.

[0086] In this embodiment of the invention, when the vehicle is stationary, the braking control system can control the front wheel brake fluid inlet valves to return to the open state. The braking control system can control the front wheel brake fluid inlet valves to return to the open state only after the vehicle has come to a stop, ensuring that the front wheels do not participate in braking before the braking is about to end. This ensures that the rear wheel speed is less than the front wheel speed during the vehicle's braking and stopping process, thereby reducing or eliminating the feeling of jerkiness in the vehicle.

[0087] In this embodiment of the invention, the braking control system can acquire the rate at which the brake pedal is depressed and the vehicle speed. When the rate at which the brake pedal is depressed is less than a first preset rate threshold, the comfort braking function is activated. When the vehicle speed is greater than a preset speed threshold, the rear wheel brake fluid inlet valve is opened to pressurize the brake fluid, and the front wheel brake fluid inlet valve is closed within a first preset time. After the first preset time ends, the front wheel brake fluid inlet valve is opened again, and the front wheel brake fluid inlet valve is alternately opened and closed at preset intervals. When the vehicle speed is less than the preset speed threshold, the front wheel brake fluid inlet valve is closed until the vehicle comes to a stop, at which point the front wheel brake fluid inlet valve is opened again to perform comfort braking to a stop. The vehicle comfort braking and stopping control method provided by this invention can control the brake fluid inlet and outlet valves of the front and rear wheels through the braking control system, so that the speed of the rear wheels is less than that of the front wheels during deceleration, thereby making the vehicle decelerate smoothly and reducing or eliminating the jerking sensation for passengers inside the vehicle.

[0088] In an optional embodiment of the present invention, the method further includes: when the emergency braking function is allowed to be activated, when the rate at which the brake pedal is depressed is greater than a second preset rate threshold, activating the emergency braking function, opening the front wheel brake fluid inlet valve, and performing emergency braking to stop; the second preset rate threshold is greater than the first preset rate threshold; the front wheel brake fluid inlet valve will not close during emergency braking;

[0089] In this embodiment of the invention, when the brake pedal is depressed at a rate greater than a second preset rate threshold, the emergency braking function can be activated. During emergency braking, the front wheel brake fluid inlet valve will not close to ensure the shortest possible stopping distance. The second preset rate threshold is greater than the first preset rate threshold, and the second preset rate threshold can be 80 mm / s. Those skilled in the art can set the second preset rate threshold to other appropriate values ​​based on the concept of this application; this application does not limit this, but it should be noted that the second preset rate threshold is greater than the first preset rate threshold.

[0090] In an optional embodiment of the present invention, the method further includes: detecting the distance between the vehicle and other vehicles or obstacles ahead using vehicle-mounted radar; and performing emergency braking to stop the vehicle when the correspondence between the vehicle's speed and the distance satisfies the conditions for activating the emergency braking function.

[0091] In this embodiment of the invention, emergency braking can also be performed when the vehicle speed is too high and / or the distance between the vehicle and the vehicle in front or other obstacles is too close. Obstacles can include moving obstacles and stationary obstacles. Moving obstacles can include obstacles moving in the same direction as the vehicle and obstacles moving towards the vehicle. The distance between the vehicle and the vehicle in front or other obstacles can be detected in real time by onboard radar, and the vehicle speed can be detected in real time by the vehicle's built-in sensors. By analyzing the correlation between speed, acceleration, and distance, the deceleration required for the vehicle to avoid colliding with the vehicle in front or other obstacles can be determined. When the required deceleration can only be achieved by simultaneously opening the brake fluid inlet valves of the front and rear wheels, emergency braking is performed to stop the vehicle, thereby ensuring driving safety when the driver's reaction is not timely.

[0092] In an optional embodiment of the present invention, the method further includes: when the normal braking function is allowed to be activated, and when it is detected that the rate at which the brake pedal is depressed is less than the second preset rate threshold and greater than the first preset rate threshold, activating the normal braking function to perform normal braking to stop.

[0093] In this embodiment of the invention, when the rate at which the brake pedal is pressed is less than a second preset rate threshold and greater than a first preset rate threshold, for example, when the rate at which the brake pedal is pressed is between 40 mm / s and 80 mm / s, the normal braking function is activated to perform normal braking to stop the vehicle.

[0094] Reference Figure 3 To enable those skilled in the art to better understand the embodiments of the present invention, a flowchart of a vehicle comfort braking and parking control method provided by an embodiment of the present invention is shown:

[0095] 1) The vehicle radar determines whether emergency braking is not required; if so, the comfort brake switch is activated.

[0096] 2) When the brake pedal is depressed at a rate of less than 40 mm / s, activate the comfort braking and parking function;

[0097] 3) Control the vehicle's deceleration to remain stable at -0.1 m / s². 2 Up to -1.1m / s 2 between;

[0098] 4) The brake control system controls the brake fluid inlet and outlet valves of the front and rear wheels to ensure that the speed of the rear wheels is less than that of the front wheels during deceleration;

[0099] 5) Once the vehicle is stationary, turn off the comfort brake switch.

[0100] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0101] Reference Figure 4 The diagram shows a structural block diagram of a vehicle comfort braking and parking control device provided by an embodiment of the present invention, which may specifically include the following modules:

[0102] The acquisition module 301 is used to acquire the rate at which the brake pedal of the vehicle is depressed and the speed of the vehicle.

[0103] The function activation module 302 is used to activate the comfort braking function when the rate at which the brake pedal is depressed is less than a first preset rate threshold, provided that no emergency braking is detected and the comfort braking function is allowed to be activated.

[0104] The comfort parking module 303 is used to control the brake fluid inlet valve and outlet valve of the vehicle according to the vehicle speed after the comfort braking function is activated, so as to perform comfort braking parking.

[0105] In this embodiment of the invention, the comfort parking module 303 includes:

[0106] The booster submodule is used to open the rear wheel brake fluid inlet valve of the vehicle to boost the brake fluid when the vehicle speed is greater than a preset vehicle speed threshold, and to close the front wheel brake fluid inlet valve of the vehicle within a first preset time.

[0107] The alternating submodule is used to open the front wheel brake fluid inlet valve of the vehicle after the first preset time ends, and alternately open or close the front wheel brake fluid inlet valve of the vehicle at preset intervals.

[0108] The shutdown submodule is used to shut down the front wheel brake fluid inlet valve of the vehicle when the vehicle speed is less than the preset vehicle speed threshold.

[0109] The recovery submodule is used to restore the front wheel brake fluid inlet valve to its open state when the vehicle is stationary.

[0110] In this embodiment of the invention, before the booster submodule, the device further includes:

[0111] The acquisition submodule is used to acquire the longitudinal deceleration of the vehicle;

[0112] The open submodule is used to open the front wheel brake fluid outlet valve when the longitudinal deceleration of the vehicle is less than a preset deceleration threshold.

[0113] The second shut-off submodule is used to close the front wheel brake fluid outlet valve when the longitudinal deceleration of the vehicle is within the preset deceleration threshold range.

[0114] In this embodiment of the invention, the device further includes:

[0115] An emergency stop module is used to activate the emergency braking function and perform emergency braking to stop the vehicle when the rate at which the brake pedal is depressed exceeds a second preset rate threshold, provided that the emergency braking function is permitted to be activated; the second preset rate threshold is greater than the first preset rate threshold.

[0116] In this embodiment of the invention, the emergency stop module includes:

[0117] The emergency stop submodule is used to open the front wheel brake fluid inlet valve after the emergency braking function is activated to perform emergency braking to stop the vehicle; the front wheel brake fluid inlet valve will not close during emergency braking.

[0118] In this embodiment of the invention, the device further includes:

[0119] The detection module is used to detect the distance between the vehicle and other vehicles or obstacles in front using vehicle-mounted radar;

[0120] The second emergency stop module is used to perform emergency braking to stop the vehicle when the relationship between the vehicle's speed and the distance meets the conditions for activating the emergency braking function.

[0121] In this embodiment of the invention, the device further includes:

[0122] The normal braking module is used to activate the normal braking function and perform normal braking to stop the vehicle when the rate at which the brake pedal is depressed is less than the second preset rate threshold and greater than the first preset rate threshold, provided that the normal braking function is allowed to be activated.

[0123] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0124] This invention also provides a vehicle, comprising:

[0125] One or more processors; and

[0126] One or more machine-readable media storing instructions thereon, when executed by the one or more processors, cause the device to perform a vehicle comfort braking and parking control method as described in any of the preceding claims.

[0127] This invention also provides a computer-readable storage medium storing instructions that, when executed by one or more processors, cause the processors to perform a vehicle comfort braking and parking control method as described in any of the preceding embodiments.

[0128] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products embodied on one or more machine-readable media containing computer-usable program code.

[0129] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of 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, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0130] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0131] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0132] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0133] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0134] The foregoing has provided a detailed description of a vehicle comfort braking and parking control method and a vehicle comfort braking and parking control device provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A control method for comfortable braking and stopping of a vehicle, characterized in that, Applied to a braking control system, the method includes: The rate at which the brake pedal of the vehicle is depressed and the speed of the vehicle are obtained. If no emergency braking is detected and the comfort braking function is allowed to be activated, the comfort braking function is activated when the rate at which the brake pedal is depressed is less than a first preset rate threshold. After the comfort braking function is activated, when the vehicle speed is greater than a preset speed threshold, the rear wheel brake fluid inlet valve is opened to pressurize the brake fluid, and the front wheel brake fluid inlet valve is closed within a first preset time. After the first preset time ends, the front wheel brake fluid inlet valve is opened, and the front wheel brake fluid inlet valve is alternately opened and closed at preset intervals. When the vehicle speed is less than the preset speed threshold, the front wheel brake fluid inlet valve is closed. When the vehicle is stationary, the front wheel brake fluid inlet valve is restored to the open state.

2. The method according to claim 1, characterized in that, Before opening the rear wheel brake fluid inlet valve of the vehicle to pressurize the brake fluid and closing the front wheel brake fluid inlet valve of the vehicle within a first preset time, the method further includes: Obtain the longitudinal deceleration of the vehicle; When the longitudinal deceleration of the vehicle is less than a preset deceleration threshold, the front wheel brake fluid outlet valve is opened; When the longitudinal deceleration of the vehicle is within the preset deceleration threshold range, the front wheel brake fluid outlet valve is closed.

3. The method according to claim 1, characterized in that, The method further includes: When the emergency braking function is enabled, if the rate at which the brake pedal is depressed is greater than a second preset rate threshold, the emergency braking function is activated to perform emergency braking to stop the vehicle; the second preset rate threshold is greater than the first preset rate threshold.

4. The method according to claim 3, characterized in that, Activating the emergency braking function to perform emergency braking and stop the vehicle includes: After the emergency braking function is activated, the front wheel brake fluid inlet valve is opened to perform emergency braking to stop the vehicle; the front wheel brake fluid inlet valve will not close during emergency braking.

5. The method according to claim 3, characterized in that, The method further includes: The distance between the vehicle and other vehicles or obstacles in front is detected by the vehicle-mounted radar; When the relationship between the vehicle's speed and the distance meets the conditions for activating the emergency braking function, emergency braking is performed to bring the vehicle to a stop.

6. The method according to claim 3, characterized in that, The method further includes: When the normal braking function is allowed to be activated, if the rate at which the brake pedal is depressed is less than the second preset rate threshold and greater than the first preset rate threshold, the normal braking function is activated to perform normal braking to stop the vehicle.

7. A control device for comfortable braking and parking of a vehicle, characterized in that, The device, applied to a braking control system, includes: The acquisition module is used to acquire the rate at which the brake pedal of the vehicle is depressed and the speed of the vehicle. The function activation module is used to activate the comfort braking function when the rate at which the brake pedal is depressed is less than a first preset rate threshold, provided that no emergency braking is detected and the comfort braking function is allowed to be activated. The braking and parking module is configured to, after the comfort braking function is activated, open the rear wheel brake fluid inlet valve to pressurize the brake fluid when the vehicle speed is greater than a preset speed threshold, and close the front wheel brake fluid inlet valve within a first preset time; after the first preset time ends, open the front wheel brake fluid inlet valve and alternately open and close the front wheel brake fluid inlet valve at preset intervals; close the front wheel brake fluid inlet valve when the vehicle speed is less than the preset speed threshold; and restore the front wheel brake fluid inlet valve to the open state when the vehicle is stationary.

8. A vehicle, characterized in that, include: One or more processors; and One or more machine-readable media having instructions stored thereon, which, when executed by the one or more processors, cause the processors to perform a vehicle comfort braking and parking control method as described in any one of claims 1-6.

9. One or more machine-readable media having instructions stored thereon that, when executed by one or more processors, cause the processors to perform the vehicle comfort braking and stopping control method as described in any one of claims 1-6.

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