Vehicle auxiliary steering brake method, system, electronic device and storage medium

Abstract

The application provides a vehicle auxiliary steering braking method, system, electronic device and storage medium, wherein the method comprises: when it is determined that the vehicle is in an auxiliary steering braking function activation mode, determining a target braking force corresponding to a target wheel based on a target angular velocity corresponding to the target wheel, an actual angular velocity, a wheel rotational inertia, at least one time period and a wheel rolling radius; and controlling the target wheel braking according to the target braking force, so that the wheel speed of the target wheel is within a preset speed range; wherein each time period corresponds to a target angular velocity and a target braking force, the target wheel is an inner front wheel when the vehicle is turning, or the target wheel comprises an inner front wheel and an inner rear wheel; when the target wheel comprises the inner front wheel and the inner rear wheel, the inner front wheel and the inner rear wheel brake alternately. The application can improve the ability to reduce the turning radius without increasing the cost.

Description

Technical Field

[0001] This application relates to the field of automotive technology, and in particular to a vehicle auxiliary steering and braking method, system, electronic device and storage medium. Background Technology

[0002] When encountering a sharp turn while driving, the vehicle typically reduces speed and turns the steering wheel fully to achieve the minimum turning radius. However, in some situations, it is still impossible to navigate a sharp turn, so the design must consider how to reduce the vehicle's minimum turning radius.

[0003] Currently, there are two ways to reduce the turning radius: rear-wheel steering and single-sided braking of the inner rear wheel during turning. For the rear-wheel steering method, a rear-wheel steering mechanism is required, which is costly; for the single-sided braking of the inner rear wheel, its ability to reduce the turning radius is insufficient.

[0004] Therefore, it is evident that existing methods for reducing turning radius suffer from either high costs or insufficient capability. Summary of the Invention

[0005] This application provides a vehicle assisted steering and braking method, system, electronic device, and storage medium to solve the problems of high cost or insufficient capability in existing methods for reducing turning radius.

[0006] In a first aspect, embodiments of this application provide a vehicle assisted steering braking method, comprising:

[0007] When the vehicle is in low-speed cruise mode and the corresponding status parameters of the vehicle meet the conditions for assisted steering activation, the vehicle is determined to enter the assisted steering braking function activation mode.

[0008] When the vehicle is in the assisted steering and braking function activation mode, the target braking force corresponding to the target wheel is determined based on the target angular velocity, actual angular velocity, wheel moment of inertia, at least one time period, and wheel rolling radius corresponding to the target wheel.

[0009] The target wheel is braked according to the target braking force so that the wheel speed of the target wheel is within a preset speed range;

[0010] Each time period corresponds to a target angular velocity and a target braking force. The target wheel is the inner front wheel when the vehicle is turning, or the target wheel includes the inner front wheel and the inner rear wheel. When the target wheel includes the inner front wheel and the inner rear wheel, the inner front wheel and the inner rear wheel brake alternately.

[0011] Secondly, embodiments of this application provide a vehicle assisted steering braking system, comprising:

[0012] Integrated brake control unit (IPB) controller;

[0013] The vehicle electronic stability control (ESP) system, IPB, vehicle controller, and target controller are connected to the IPB controller.

[0014] The IPB controller is used to: receive vehicle status signals sent by the ESP system, the IPB, the vehicle controller and the target controller respectively; and determine that the vehicle is in low-speed cruise mode and meets the assisted steering activation conditions based on the acquired vehicle status signals, and determine that the vehicle enters the assisted steering braking function activation mode.

[0015] The IPB controller is also used to: when the vehicle is in the assisted steering braking function activation mode, determine the target braking force corresponding to the target wheel based on the target angular velocity, actual angular velocity, wheel moment of inertia, at least one time period, and wheel rolling radius corresponding to the target wheel, and control the braking of the target wheel according to the target braking force so that the wheel speed of the target wheel is within a preset speed range.

[0016] Each time period corresponds to a target angular velocity and a target braking force. The target wheel is the inner front wheel when the vehicle is turning, or the target wheel includes the inner front wheel and the inner rear wheel. When the target wheel includes the inner front wheel and the inner rear wheel, the inner front wheel and the inner rear wheel brake alternately.

[0017] Thirdly, embodiments of this application provide an electronic device, including: a processor, a communication interface, a memory, and a communication bus; wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0018] Memory, used to store computer programs;

[0019] When the processor executes the program stored in the memory, it implements the steps in the vehicle assisted steering and braking method described in the first aspect above.

[0020] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the vehicle assisted steering and braking method described in the first aspect above.

[0021] Compared with prior art, this application has the following advantages:

[0022] In this embodiment, when it is determined that the vehicle has entered the assisted steering braking function activation mode, the target braking force corresponding to the target wheel in each time period is determined based on the target angular velocity, actual angular velocity, wheel moment of inertia, duration of at least one time period, and wheel rolling radius of the target wheel in at least one time period. When the target wheel is the inner front wheel, the inner front wheel is controlled to brake according to the corresponding target braking force. When the target wheel includes the inner front wheel and the inner rear wheel, the inner front wheel and the inner rear wheel are controlled to brake alternately according to the corresponding target braking force, so that the wheel speed of the target wheel is within the preset speed range and the turning radius is reduced. This can improve the ability to reduce the turning radius and reduce tire wear without increasing costs, while simplifying the operation of the whole vehicle and improving the driving comfort of the vehicle.

[0023] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0025] Figure 1 This is a schematic diagram of a vehicle assisted steering and braking method provided in an embodiment of this application;

[0026] Figure 2 A specific example of controlling the inner front wheel and inner rear wheel or only controlling the inner front wheel braking when the vehicle is turning, provided in an embodiment of this application;

[0027] Figure 3 A specific example of the speed variation of the inner front wheel and the inner rear wheel within a preset speed range provided in the embodiments of this application;

[0028] Figure 4 A schematic diagram of signal transmission provided for an embodiment of this application;

[0029] Figure 5 A flowchart illustrating a specific implementation of the vehicle assisted steering and braking method provided in this application embodiment;

[0030] Figure 6 Schematic diagram of the vehicle assisted steering and braking system provided in the embodiments of this application Figure 1 ;

[0031] Figure 7 Schematic diagram of the vehicle assisted steering and braking system provided in the embodiments of this application Figure 2 ;

[0032] Figure 8 This is a block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0033] 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.

[0034] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. The term "a plurality of" in the embodiments of this application refers to two or more, and other quantifiers are similarly used.

[0035] In the various embodiments of this application, it should be understood that the sequence number of each process described below does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0036] This application provides a vehicle auxiliary steering braking method, applied to an integrated brake control unit (IPB) controller. See also... Figure 1 As shown, the method includes the following steps:

[0037] Step 101: When the vehicle is in low-speed cruise mode and the corresponding status parameters of the vehicle meet the conditions for assisted steering activation, determine that the vehicle enters the assisted steering braking function activation mode.

[0038] In this embodiment, when the Integrated Power Brake (IPB) controller determines that the vehicle is in low-speed cruise mode, it controls the vehicle to enter the power steering activation mode when the vehicle's state parameters meet the power steering activation conditions. Specifically, the IPB controller first determines whether the vehicle is in low-speed cruise mode based on the acquired vehicle state signal. If it does, it determines that the vehicle is in power steering standby mode. Then, it further monitors whether the vehicle's state parameters meet the power steering activation conditions based on the vehicle state signal. If they do, it determines that the vehicle is in the power steering activation mode.

[0039] Step 102: When the vehicle is in the assisted steering braking function activation mode, the target braking force corresponding to the target wheel is determined based on the target angular velocity, actual angular velocity, wheel moment of inertia, at least one time period, and wheel rolling radius corresponding to the target wheel; wherein, each time period corresponds to a target angular velocity and a target braking force, and the target wheel is the inner front wheel when the vehicle is turning, or the target wheel includes the inner front wheel and the inner rear wheel.

[0040] When the vehicle is in the assisted steering braking function activation mode, in each time period within at least one time period, the IPB controller calculates the target braking force corresponding to the target wheel based on the target angular velocity corresponding to the target wheel in the current time period, the actual angular velocity of the target wheel, the wheel moment of inertia, the duration of the time period, and the wheel rolling radius.

[0041] The target wheel refers to the inner wheel of the vehicle when it turns; it can be the inner front wheel, the inner front wheel, or the inner rear wheel. For each time period, it corresponds to a target angular velocity and, correspondingly, a target braking force. The actual angular velocity of the target wheel is the true angular velocity at the beginning of the time period.

[0042] Step 103: Control the braking of the target wheel according to the target braking force so that the wheel speed of the target wheel is within a preset speed range; when the target wheel includes the inner front wheel and the inner rear wheel, the inner front wheel and the inner rear wheel brake alternately.

[0043] After determining the target braking force corresponding to the target wheel, the target wheel is braked based on the target braking force to keep its wheel speed within a preset speed range. Since each time period corresponds to a target braking force, the IPB controller controls the target wheel braking according to the target braking force corresponding to at least one time period. Within a given time period, the target braking force corresponding to the target wheel remains constant.

[0044] When the target wheel is the inner front wheel, by calculating the target braking force corresponding to the inner front wheel in at least one time period, and controlling the braking of the inner front wheel based on the calculated target braking force, the turning radius can be reduced. It should be noted that since the front wheels are better at reducing the turning radius (in most scenarios) than the rear wheels, braking only the front wheels can also reduce the turning radius relatively well.

[0045] When the target wheels include the inner front wheel and the inner rear wheel, the inner front wheel and the inner rear wheel brake alternately. That is, after controlling the inner front wheel to brake, the inner rear wheel can be braked, and then the process of braking the inner front wheel and the inner rear wheel in sequence can be repeated. It should be noted that the alternating braking in this embodiment is not a strictly seamless alternating braking. There is no clear boundary between the alternating braking of the front and rear wheels. The two can overlap or have intervals, and braking is generally performed according to the rule of alternating braking.

[0046] Because the outer wheels are normally driven, the alternating braking of the inner front and rear wheels causes slippage on the inner wheel. When the inner wheel slips, the vehicle's turning efficiency increases, as it becomes easier to slide towards the center of the turning radius, thus reducing the turning radius. See also Figure 2 As shown, the left side illustrates the alternating braking of the inner front wheel and the inner rear wheel (left front wheel and left rear wheel) when the vehicle turns left, while the right side illustrates the braking of the inner front wheel (right front wheel) when the vehicle turns right.

[0047] It should be noted that by reducing the turning radius, the problem of being unable to turn in some narrow working conditions or having to repeatedly move the vehicle when turning is avoided, which simplifies the operation of the whole vehicle and improves the driving comfort of the vehicle.

[0048] In the above-described implementation process of this application, when it is determined that the vehicle has entered the assisted steering braking function activation mode, the target braking force corresponding to the target wheel in each time period is determined based on the target angular velocity, actual angular velocity, wheel moment of inertia, duration of at least one time period, and wheel rolling radius of the target wheel in at least one time period. When the target wheel is the inner front wheel, the inner front wheel is controlled to brake according to the corresponding target braking force. When the target wheel includes the inner front wheel and the inner rear wheel, the inner front wheel and the inner rear wheel are controlled to brake alternately according to the corresponding target braking force, so that the wheel speed of the target wheel is within the preset speed range and the turning radius is reduced. This can improve the ability to reduce the turning radius without increasing costs. At the same time, since intermittent braking can reduce tire wear, it simplifies the operation of the whole vehicle and improves the driving comfort of the vehicle.

[0049] The process of determining the target braking force corresponding to the target wheel is described below. Based on the target angular velocity, actual angular velocity, wheel moment of inertia, at least one time period, and wheel rolling radius, the target braking force corresponding to the target wheel is determined, including:

[0050] For each time period, the target braking force corresponding to the time period is determined based on the target angular velocity and actual angular velocity corresponding to the time period, the wheel moment of inertia, the wheel rolling radius, and the period length of the time period.

[0051] When the target wheel includes the inner front wheel and the inner rear wheel, at least one time period corresponding to the inner front wheel may be the same as or different from at least one time period corresponding to the inner rear wheel.

[0052] Since each time cycle corresponds to a target angular velocity and a target braking force, for each time cycle, the target braking force corresponding to the current time cycle can be determined based on the target angular velocity and actual angular velocity, wheel moment of inertia, wheel rolling radius, and the cycle length of the current time cycle. For multiple time cycles, they are continuous in the time dimension, and the durations of different time cycles can be distinguished. For example, when the target wheel is the inner front wheel, for multiple time cycles corresponding to the inner front wheel, after determining the target braking force for the first time cycle, the inner front wheel is braked based on the target braking force. After the first time cycle ends, the second time cycle begins (the duration of the second time cycle can be different from that of the first time cycle). After determining the target braking force for the second time cycle, the inner front wheel continues to be braked based on the target braking force. After the second time cycle ends, the third time cycle begins. When the target wheel includes the inner front wheel and the inner rear wheel, the inner front wheel can be braked first in one or more corresponding time cycles, and then the inner rear wheel can be braked in one or more corresponding time cycles to achieve alternating braking. The at least one time cycle corresponding to the inner front wheel and the at least one time cycle corresponding to the inner rear wheel can be the same or different.

[0053] The target braking force corresponding to the time period is determined based on the target angular velocity and actual angular velocity corresponding to the time period, the wheel moment of inertia, the wheel rolling radius, and the period length of the time period, including:

[0054] Calculate the product of the absolute value of the difference between the target angular velocity and the actual angular velocity corresponding to the time period and the moment of inertia of the wheel to obtain the first value;

[0055] The second value is determined based on the ratio of the first value to the period length of the time period;

[0056] Based on the ratio of the second value to the wheel rolling radius, the target braking force corresponding to the time period is determined.

[0057] When determining the target braking force corresponding to a time period based on the target angular velocity, actual angular velocity, wheel moment of inertia, wheel rolling radius, and the length of the time period, it is necessary to calculate the absolute value of the difference between the target angular velocity and the actual angular velocity. Based on the product of this value and the wheel moment of inertia, a first value is obtained. The ratio of this first value to the length of the time period is then calculated, and finally, the ratio of this ratio to the wheel rolling radius is calculated to determine the target braking force corresponding to the time period. See the following formula for details:

[0058] F={I*∣ω1-ω2∣ / Δt} / r

[0059] In the above formula, I represents the wheel's moment of inertia, ω1 represents the target angular velocity, ω2 represents the actual angular velocity, Δt represents the length of the time period, and r represents the wheel's rolling radius.

[0060] Where γ is angular acceleration, γ=dω / dt; M=I*γ=F*r, M is torque, F is force on the tangent of the wheel, therefore I*∣ω1-ω2∣ / Δt=F*r, then F={I*∣ω1-ω2∣ / Δt} / r.

[0061] In each time period, the target braking force is determined by the above calculation method based on the relevant parameters corresponding to the current time period. The target wheel braking can be controlled according to the target braking force corresponding to multiple consecutive time periods.

[0062] In the above implementation process of this application, for each time period, the target braking force corresponding to the current time period is determined by using a preset calculation rule based on the target angular velocity, actual angular velocity, wheel moment of inertia, wheel rolling radius and period length corresponding to the time period. The target wheel is braked according to the target braking force corresponding to at least one time period. The turning radius can be reduced by controlling the inner front wheel or controlling the inner front wheel and the inner rear wheel to brake.

[0063] The following describes the process of controlling the braking of a target wheel based on the target braking force. Controlling the braking of the target wheel according to the target braking force to keep the wheel speed of the target wheel within a preset speed range includes:

[0064] The target wheel is controlled to brake according to the target braking force corresponding to the at least one time period. The first and second extreme values ​​corresponding to the preset speed range change dynamically over time. When the wheel speed of the target wheel is the same as the first extreme value corresponding to the preset speed range at the first moment, the control of braking of the target wheel is stopped. When the wheel speed of the target wheel is the same as the second extreme value corresponding to the preset speed range at the second moment, the current braking cycle ends, so as to achieve intermittent braking.

[0065] When controlling the braking of the target wheel based on the target braking force, the target wheel braking can be controlled according to the target braking force corresponding to at least one time period. It should be noted that the first and second extreme values ​​corresponding to the preset speed range change with time, with an overall trend of slow increase. This increase may include a smooth transition phase and / or a slightly decreasing phase. In this embodiment, the starting point for timing can be when the vehicle enters the assisted steering braking function activation mode, and the changes of the first and second extreme values ​​over time can be pre-calibrated. See [link to documentation]. Figure 3 The diagram shows how the first and second extreme values ​​corresponding to the preset speed range change over time (increasing slowly), and how the speeds of the inner front wheel and the inner rear wheel change within the preset speed range.

[0066] During the braking process of the target wheel, the wheel speed of the target wheel is monitored. When the first moment is reached, and the current wheel speed of the target wheel is the same as the first extreme value corresponding to the current preset speed range, the braking control of the target wheel is stopped. Here, the first extreme value is the minimum value. Since the braking control of the target wheel is stopped and the vehicle is in low-speed cruise mode, the wheel speed of the target wheel will increase. During the increase of the wheel speed of the target wheel, the wheel speed of the target wheel is monitored. When the second moment is reached, and the current wheel speed of the target wheel is the same as the second extreme value corresponding to the current preset speed range, the current braking cycle ends. Here, the second extreme value is the maximum value.

[0067] For each braking cycle, there is at least one time period, and the time periods corresponding to different braking cycles may differ. When the target wheel is the inner front wheel, the next braking cycle begins when the inner front wheel is in its next braking cycle. When the target wheel includes both the inner front wheel and the inner rear wheel, the inner rear wheel begins braking when the front wheel stops braking during the first front wheel braking cycle, thus achieving alternation between front and rear wheel braking.

[0068] Wherein, when the target wheel is the inner front wheel, the inner front wheel is controlled to brake according to the target braking force corresponding to the first number of first time cycles, and enters the next front wheel braking cycle after the current front wheel braking cycle ends; wherein, the inner front wheel brakes intermittently in at least one front wheel braking cycle.

[0069] When the target wheel is the inner front wheel, the IPB controller can control the braking of the inner front wheel based on the target braking force corresponding to a first number of first time periods. Braking stops when the current wheel speed of the inner front wheel is the same as the first extreme value corresponding to the preset speed range at a first moment. That is, braking of the inner front wheel stops when the detected current wheel speed is the same as the corresponding first extreme value. The first number is determined based on the speed change of the inner front wheel. When controlling the braking of the inner front wheel, the speed of the inner front wheel can be monitored, and braking stops when the speed of the inner front wheel meets the braking conditions, without needing to determine the corresponding target braking force for the next first time period. Furthermore, the first number of first time periods can include at least a portion of all first time periods corresponding to the inner front wheel. It should be noted that if the target braking force is calculated for all first time periods corresponding to the inner front wheel, and the inner front wheel is controlled to brake according to the target braking force, if the speed of the inner front wheel does not meet the braking conditions, the target braking force corresponding to the first time period can be calculated again to control the inner front wheel to brake. When continuing to calculate, the calculation can start from the first first time period in the previous order, or the first time period can be selected arbitrarily, or the calculation can be performed in the reverse order of the previous order.

[0070] At the first moment, when the current wheel speed of the inner front wheel is the same as the first extreme value corresponding to the preset speed range, braking stops. After stopping braking of the inner front wheel, the wheel speed of the inner front wheel increases. At the second moment, when the current wheel speed of the inner front wheel is the same as the second extreme value corresponding to the preset speed range, the current braking cycle ends. That is, the current front wheel braking cycle ends when the detected current wheel speed is the same as the corresponding second extreme value. After the current front wheel braking cycle of the inner front wheel ends, the next front wheel braking cycle of the inner front wheel begins. The inner front wheel brakes intermittently within at least one braking cycle. Specifically: when the inner front wheel corresponds to one braking cycle, it brakes first and then stops braking within the braking cycle to achieve intermittent braking; when the inner front wheel corresponds to at least two braking cycles, it brakes first and then stops braking in the first braking cycle, and then brakes first and then stops braking in the next braking cycle, and so on, to achieve intermittent braking.

[0071] When the target wheel includes the inner front wheel and the inner rear wheel, the inner front wheel is controlled to brake according to the target braking force corresponding to a second number of first time cycles, and enters the next front wheel braking cycle after the current front wheel braking cycle ends. In the rear wheel braking cycle, the inner rear wheel is controlled to brake according to the target braking force corresponding to a third number of second time cycles, and enters the next rear wheel braking cycle after the current rear wheel braking cycle ends. When the front wheel stops braking in the first front wheel braking cycle, the inner rear wheel begins braking to enter the first rear wheel braking cycle. The inner front wheel brakes intermittently in at least one front wheel braking cycle, and the inner rear wheel brakes intermittently in at least one rear wheel braking cycle. It can be understood that multiple first time cycles are performed sequentially, and multiple second time cycles are performed sequentially; that is, the front wheels brake intermittently according to multiple first time cycles, and the rear wheels brake intermittently according to multiple second time cycles. The rear wheels brake during the intervals between front wheel braking.

[0072] For cases where the target wheels include the inner front wheel and the inner rear wheel, the braking of the inner front wheel can be controlled according to the target braking force corresponding to the second number of first time periods. Braking stops when the current wheel speed of the inner front wheel is the same as the first extreme value corresponding to the preset speed range at the first moment. That is, braking of the inner front wheel stops when the detected current wheel speed is the same as the current corresponding first extreme value. The second number can be the same as the first number. After braking of the inner front wheel stops, the wheel speed of the inner front wheel increases. The current braking cycle ends when the current wheel speed of the inner front wheel is the same as the second extreme value corresponding to the preset speed range at the second moment. That is, the current braking cycle ends when the detected current wheel speed is the same as the current corresponding second extreme value.

[0073] During the braking cycle of the inner rear wheel, the inner rear wheel is controlled to brake according to the target braking force corresponding to the third number of second time cycles. Braking stops when the current wheel speed of the inner rear wheel is the same as the first extreme value corresponding to the preset speed range at the first moment. That is, braking control of the inner rear wheel stops when the detected current wheel speed is the same as the current corresponding first extreme value. After braking of the inner rear wheel stops, the wheel speed of the inner rear wheel increases. The braking cycle corresponding to the inner rear wheel ends when the current wheel speed of the inner rear wheel is the same as the second extreme value corresponding to the preset speed range at the second moment. That is, the current rear wheel braking cycle ends when the detected current wheel speed is the same as the current corresponding second extreme value. The third number can be distinct from, or equal to, the first or second number.

[0074] When only the inner front wheel is braked, after completing one front wheel braking cycle, the next front wheel braking cycle begins, and the first number corresponding to the two front wheel braking cycles can be the same or different. When both the inner front and inner rear wheels are braked, the second number corresponding to the front wheel braking cycle can be the same as or different from the third number corresponding to the rear wheel braking cycle.

[0075] In this embodiment, for the case of alternating braking between the front and rear wheels, when the front wheel stops braking during the first front wheel braking cycle, the inner rear wheel begins braking, entering the first rear wheel braking cycle. During the braking process of the inner rear wheel, the inner front wheel increases its wheel speed due to stopping braking. When the current wheel speed of the inner front wheel is the same as the second extreme value corresponding to the current preset speed range, the first front wheel braking cycle of the inner front wheel ends, and the next front wheel braking cycle begins. If the current wheel speed of the inner rear wheel is the same as the first extreme value corresponding to the current preset speed range, the inner rear wheel stops braking, achieving seamless transition of alternating braking. If the inner rear wheel continues braking, there will be a short period of overlapping braking between the inner front wheel and the inner rear wheel; if the inner rear wheel has stopped braking, there can be a short interval between the inner rear wheel stopping braking and the inner front wheel starting braking. That is, the alternating braking in this embodiment does not need to be strictly seamless braking, as long as the principle of alternating braking is followed.

[0076] The following example illustrates how different braking cycles can correspond to different time periods. For instance, when starting to control wheel braking, the inner front wheel is braked first. The inner front wheel is braked according to the target braking force corresponding to three consecutive first time periods. When the current wheel speed is the same as the corresponding first extreme value, braking of the inner front wheel is stopped. When the current wheel speed is the same as the corresponding second extreme value, the current front wheel braking cycle is considered complete. Similarly, the inner rear wheel is braked according to the target braking force corresponding to two consecutive second time periods. When the current wheel speed is the same as the corresponding first extreme value, braking of the inner rear wheel is stopped. When the current wheel speed is the same as the corresponding second extreme value, the current rear wheel braking cycle is considered complete.

[0077] The above-described implementation process of this application controls the braking of the target wheel according to the target braking force corresponding to at least one time cycle. When the wheel speed of the target wheel meets the first condition, braking stops. When the wheel speed of the target wheel meets the second condition, the current braking cycle is determined to end and the next braking cycle begins. This can control the wheel speed of the target wheel to remain within a preset speed range.

[0078] In this embodiment of the application, each wheel of the vehicle corresponds to a hydraulic actuator, and the IPB controller is connected to each hydraulic actuator. The controller controls the braking of the target wheel according to the target braking force, including: generating a braking signal according to the target braking force and sending the braking signal to the hydraulic actuator corresponding to the target wheel; wherein the hydraulic actuator corresponding to the target wheel controls the braking of the target wheel based on the braking signal.

[0079] When the IPB controller controls the braking of the target wheel based on the target braking force, it needs to generate a braking signal based on the calculated target braking force and send the braking signal to the hydraulic actuator corresponding to the target wheel that needs to be braked. The hydraulic actuator then controls the braking of the target wheel based on the braking signal. For example, when the vehicle is turning right, the IPB controller sends a braking signal to the hydraulic actuator corresponding to the right front wheel, and the hydraulic actuator controls the braking of the right front wheel based on the received braking signal.

[0080] The above-described implementation process of this application converts the calculated target braking force into a braking signal and sends the braking signal to the hydraulic actuator, thereby enabling wheel braking control based on the operation of the hydraulic actuator.

[0081] The following describes the process of determining whether a vehicle enters the assisted steering and braking function activation mode. When the vehicle is in low-speed cruise mode and the corresponding vehicle status parameters meet the assisted steering activation conditions, the process of determining whether the vehicle enters the assisted steering and braking function activation mode includes:

[0082] Acquire vehicle status signals sent by the Electronic Stability Program (ESP), Integrated Brake Control Unit (IPB), Vehicle Controller, and Target Controller, respectively.

[0083] When it is determined that the vehicle is in the low-speed cruise mode and the assisted steering activation condition is met based on the acquired vehicle status signal, the vehicle is determined to enter the assisted steering braking function activation mode.

[0084] The vehicle status signals sent by the ESP system include: steering wheel angle signal; the vehicle status signals sent by the IPB include: vehicle speed signal, wheel speed signal, low-speed cruise signal, and brake pedal travel signal; the vehicle status signals sent by the vehicle controller include: accelerator pedal travel signal and differential lock signal; and the vehicle status signals sent by the target controller include: gear position signal, ignition status signal, and seat belt door signal.

[0085] In this embodiment, the IPB controller is connected to the Electronic Stability Program (ESP) system, the IPB, the vehicle controller, and the target controller. The IPB controller receives steering wheel angle signals from the ESP system, vehicle speed signals, wheel speed signals, low-speed cruise signals, and brake pedal travel signals from the IPB, accelerator pedal travel signals and differential lock signals from the vehicle controller, and gear position signals, ignition status signals, and seatbelt door signals from the target controller.

[0086] The IPB controller monitors the received signals to ensure the driver's seatbelt is fastened and the driver's door is closed. If these are confirmed, it checks if the vehicle is in drive. If so, it checks for a low-speed cruise control signal. If received, the vehicle is in low-speed cruise control mode, and the assisted steering brake function is in standby mode. It then checks the brake pedal travel, accelerator pedal travel, steering wheel angle, vehicle speed range, and differential lock signal to ensure they meet corresponding conditions. For example, if the brake pedal travel is ≤5%, the accelerator pedal travel is ≤5%, the steering wheel angle is ≥95%, the vehicle speed is between 5 and 10 km / h, and the differential lock signal indicates that wheel speed difference is permissible, these conditions are met. If the IPB controller is functioning correctly, the vehicle is confirmed to have entered the assisted steering brake function activation mode, and the instrument cluster will display a notification indicating this mode is active.

[0087] The following diagram illustrates the operation of the IPB controller using a signal interaction diagram. (See attached diagram.) Figure 4 As shown, the IPB controller connects to the ESP system, IPB, vehicle controller, and target controller, and also connects to the hydraulic actuators corresponding to each wheel. The IPB controller receives vehicle status signals from the ESP system, IPB, vehicle controller, and target controller. After determining that the vehicle has entered the assisted steering braking function activation mode based on the acquired vehicle status signals, it calculates the target braking force, converts the target braking force into a braking signal, and sends it to the corresponding hydraulic actuator. The hydraulic actuator controls the braking of the target wheel based on the received braking signal.

[0088] When the vehicle is in the assisted steering braking function activation mode, the method further includes:

[0089] If the vehicle's corresponding status parameters do not meet the assisted steering activation conditions, the vehicle is switched to a low-speed cruise mode, which indicates that the vehicle is in a standby state for assisted steering braking function.

[0090] If the vehicle's status parameters are found to meet the conditions for disengaging the assisted steering braking function, the vehicle is determined to exit the assisted steering braking mode.

[0091] When the vehicle is in assisted steering braking mode, if the corresponding vehicle status parameters do not meet the assisted steering activation conditions, the vehicle is determined to switch to low-speed cruise mode. For example, the vehicle is determined to switch to low-speed cruise mode when at least one of the following conditions is met: brake pedal travel > 5%, accelerator pedal travel > 5%, steering wheel angle < 90%, and vehicle speed is between 0 and 5 km / h or between 10 and 30 km / h. When the vehicle is in assisted steering braking mode, if the corresponding vehicle status parameters meet the assisted steering braking function deactivation conditions, the vehicle is determined to deactivate assisted steering braking mode. For example, the vehicle is determined to deactivate assisted steering braking mode when at least one of the following conditions is met: low-speed cruise mode is off, the vehicle is in a non-drive gear, the vehicle is off, the driver's side door is open, the driver's side seatbelt is on, and the vehicle speed is > 30 km / h.

[0092] The above-described implementation process of this application can determine whether the vehicle has entered the assisted steering and braking function activation mode, switched to low-speed cruise mode, and exited the assisted steering and braking mode based on vehicle status parameters. After determining the corresponding mode of the vehicle, a prompt can be output to facilitate user understanding.

[0093] The vehicle assisted steering braking method of this application is described below through a specific example. (See attached image.) Figure 5 As shown, it includes:

[0094] Step 501: When the driver's seatbelt is fastened, the driver's door is closed, the vehicle is in drive, and a low-speed cruise signal is received, confirm that the vehicle is in low-speed cruise mode.

[0095] Step 502: When the brake pedal travel is less than or equal to 5%, the accelerator pedal travel is less than or equal to 5%, the steering wheel angle is greater than or equal to 95%, the vehicle speed is between 5 and 10 km / h, the differential lock signal indicates that wheel speed differences are allowed, and the IPB controller is fault-free, determine that the vehicle has entered the assisted steering brake function activation mode.

[0096] Step 503: Based on the target angular velocity, actual angular velocity, wheel moment of inertia, at least one time period, and wheel rolling radius corresponding to the target wheel, determine the target braking force corresponding to the target wheel, and control the braking of the target wheel according to the target braking force so that the wheel speed of the target wheel is within the preset speed range. After step 503, execute step 504 or step 505.

[0097] Step 504: When the vehicle status meets at least one of the following conditions: brake pedal travel greater than 5%, accelerator pedal travel greater than 5%, steering wheel angle less than 90%, and vehicle speed between 0 and 5 km / h or between 10 and 30 km / h, determine that the vehicle is switched to low-speed cruise mode.

[0098] Step 505: When the vehicle status meets at least one of the following conditions: low-speed cruise mode is off, the vehicle is in a non-forward gear, the vehicle is turned off, the driver's side door is open, the driver's side seat belt is on, and the vehicle speed is greater than 30 km / h, determine that the vehicle has exited the assisted steering and braking mode.

[0099] The above process can determine whether the vehicle has entered the assisted steering and braking function activation mode based on vehicle status parameters. When it is determined that the vehicle has entered the assisted steering and braking function activation mode, the target wheel is controlled to brake. It can also determine whether the vehicle switches to low-speed cruise mode or exits the assisted steering and braking mode based on vehicle status parameters.

[0100] The above is the overall implementation flow of the vehicle assisted steering braking method provided in the embodiments of this application. When it is determined that the vehicle has entered the assisted steering braking function activation mode, the target braking force corresponding to the target wheel in each time period is determined based on the target angular velocity, actual angular velocity, wheel moment of inertia, duration of at least one time period, and wheel rolling radius of the target wheel in at least one time period. When the target wheel is the inner front wheel, the inner front wheel is controlled to brake according to the corresponding target braking force. When the target wheel includes the inner front wheel and the inner rear wheel, the inner front wheel and the inner rear wheel are controlled to brake alternately according to the corresponding target braking force, so that the wheel speed of the target wheel is within the preset speed range and the turning radius is reduced. This can improve the ability to reduce the turning radius and reduce tire wear without increasing costs, while simplifying the operation of the whole vehicle and improving the vehicle's operating comfort.

[0101] This application also provides a vehicle auxiliary steering braking system, see [link]. Figure 6 As shown, it includes:

[0102] Integrated Brake Control Unit (IPB) Controller 601;

[0103] The vehicle electronic stability control (ESP) system 602, IPB (integrated brake control unit) 603, vehicle controller 604, and target controller 605 are connected to the IPB controller 601.

[0104] The IPB controller 601 is used to: receive vehicle status signals sent by the ESP system 602, the integrated brake control unit 603, the vehicle controller 604 and the target controller 605 respectively; and determine that the vehicle is in low-speed cruise mode and meets the assisted steering activation conditions based on the acquired vehicle status signals, and determine that the vehicle enters the assisted steering braking function activation mode.

[0105] The IPB controller 601 is further configured to: when the vehicle is in the assisted steering braking function activation mode, determine the target braking force corresponding to the target wheel based on the target angular velocity, actual angular velocity, wheel moment of inertia, at least one time period, and wheel rolling radius corresponding to the target wheel, and control the braking of the target wheel according to the target braking force so that the wheel speed of the target wheel is within a preset speed range.

[0106] Each time period corresponds to a target angular velocity and a target braking force. The target wheel is the inner front wheel when the vehicle is turning, or the target wheel includes the inner front wheel and the inner rear wheel. When the target wheel includes the inner front wheel and the inner rear wheel, the inner front wheel and the inner rear wheel brake alternately.

[0107] Optionally, see Figure 7 As shown, the vehicle's assisted steering and braking system also includes:

[0108] Multiple hydraulic actuators 606 are connected to the IPB controller 601;

[0109] The IPB controller 601 is further configured to: generate a braking signal based on the target braking force, and send the braking signal to the hydraulic actuator 606 corresponding to the target wheel;

[0110] The hydraulic actuator 606 corresponding to the target wheel controls the braking of the target wheel based on the braking signal.

[0111] Optionally, when determining the target braking force corresponding to the target wheel based on the target angular velocity, actual angular velocity, wheel moment of inertia, at least one time period, and wheel rolling radius, the IPB controller 601 is further configured to:

[0112] For each time period, the target braking force corresponding to the time period is determined based on the target angular velocity and actual angular velocity corresponding to the time period, the wheel moment of inertia, the wheel rolling radius, and the period length of the time period.

[0113] Optionally, when determining the target braking force corresponding to the time period based on the target angular velocity and actual angular velocity corresponding to the time period, the wheel moment of inertia, the wheel rolling radius, and the period length of the time period, the IPB controller 601 is further configured to:

[0114] Calculate the product of the absolute value of the difference between the target angular velocity and the actual angular velocity corresponding to the time period and the moment of inertia of the wheel to obtain a first value; determine a second value based on the ratio of the first value to the period length of the time period; determine the target braking force corresponding to the time period based on the ratio of the second value to the rolling radius of the wheel.

[0115] Optionally, when the IPB controller 601 controls the braking of the target wheel according to the target braking force so that the wheel speed of the target wheel is within a preset speed range, it is further configured to: control the braking of the target wheel according to the target braking force corresponding to the at least one time period respectively; wherein, the first extreme value and the second extreme value corresponding to the preset speed range change dynamically based on time, and when the wheel speed of the target wheel is the same as the first extreme value corresponding to the preset speed range at a first moment, the control of braking of the target wheel is stopped, and when the wheel speed of the target wheel is the same as the second extreme value corresponding to the preset speed range at a second moment, the current braking cycle is ended.

[0116] Optionally, when the target wheel is the inner front wheel, the IPB controller 601 is further configured to: control the inner front wheel to brake according to the target braking force corresponding to the first number of first time cycles, and enter the next front wheel braking cycle after the current front wheel braking cycle ends; wherein the inner front wheel brakes intermittently during at least one front wheel braking cycle.

[0117] Optionally, when the target wheel includes the inner front wheel and the inner rear wheel, the IPB controller 601 is further configured to: control the inner front wheel to brake according to the target braking force corresponding to the second number of first time cycles, and enter the next front wheel braking cycle after the current front wheel braking cycle ends; control the inner rear wheel to brake according to the target braking force corresponding to the third number of second time cycles during the rear wheel braking cycle, and enter the next rear wheel braking cycle after the current rear wheel braking cycle ends; and when the front wheel stops braking during the first front wheel braking cycle, the inner rear wheel begins braking and enters the first rear wheel braking cycle.

[0118] Optionally, when the vehicle is in the assisted steering and braking function activation mode, the IPB controller 601 is further configured to: determine that the vehicle switches to a low-speed cruise mode, which indicates that the vehicle is in the assisted steering and braking function standby state, if the vehicle's corresponding state parameters do not meet the assisted steering activation conditions; and determine that the vehicle exits the assisted steering and braking mode if the vehicle's corresponding state parameters meet the assisted steering and braking function exit conditions.

[0119] Optionally, the vehicle status signals sent by the ESP system 602 include: steering wheel angle signal; the vehicle status signals sent by the IPB (Integrated Brake Control Unit) 603 include: vehicle speed signal, wheel speed signal, low-speed cruise signal, and brake pedal travel signal; the vehicle status signals sent by the vehicle controller 604 include: accelerator pedal travel signal and differential lock signal; and the vehicle status signals sent by the target controller 605 include: gear position signal, ignition status signal, and seat belt door signal.

[0120] For the above-described vehicle steering braking system embodiment, since it is basically similar to the vehicle steering braking method embodiment, the relevant parts can be referred to in the description of the method embodiment.

[0121] This application also provides an electronic device, such as... Figure 8As shown, the device includes a processor 801, a communication interface 802, a memory 803, and a communication bus 804. The processor 801, communication interface 802, and memory 803 communicate with each other via the communication bus 804. The electronic device is a cooperative controller or a steer-by-wire drive / brake controller. The cooperative controller communicates with the steer-by-wire controller and the steer-by-wire drive / brake controller. The memory 803 stores the computer program. When processor 801 executes the program stored in memory 803, it performs the following steps: When the vehicle is in low-speed cruise mode and the corresponding state parameters of the vehicle meet the assisted steering activation conditions, it determines that the vehicle has entered the assisted steering braking function activation mode; when the vehicle is in the assisted steering braking function activation mode, it determines the target braking force corresponding to the target wheel based on the target angular velocity, actual angular velocity, wheel moment of inertia, at least one time period, and wheel rolling radius; it controls the braking of the target wheel according to the target braking force, so that the wheel speed of the target wheel is within a preset speed range; wherein each time period corresponds to a target angular velocity and a target braking force, the target wheel is the inner front wheel when the vehicle is turning, or the target wheel includes the inner front wheel and the inner rear wheel; when the target wheel includes the inner front wheel and the inner rear wheel, the inner front wheel and the inner rear wheel brake alternately. Processor 801 can also implement other steps in the above-described vehicle assisted steering braking method, which will not be elaborated here.

[0122] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not indicate that there is only one bus or one type of bus.

[0123] The communication interface is used for communication between the aforementioned terminal and other devices.

[0124] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0125] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0126] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores instructions that, when executed on a computer, cause the computer to perform the vehicle assisted steering and braking method described in the above embodiments.

[0127] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to perform the vehicle assisted steering and braking method described in the above embodiments.

[0128] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (SSD)).

[0129] 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 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 one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0130] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0131] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A vehicle assisted steering braking method, characterized in that, include: When the vehicle is in low-speed cruise mode and the corresponding status parameters of the vehicle meet the conditions for assisted steering activation, the vehicle is determined to enter the assisted steering braking function activation mode. When the vehicle is in the assisted steering and braking function activation mode, the target braking force corresponding to the target wheel is determined based on the target angular velocity, actual angular velocity, wheel moment of inertia, at least one time period, and wheel rolling radius corresponding to the target wheel. Controlling the braking of the target wheel according to the target braking force to keep the wheel speed of the target wheel within a preset speed range includes: controlling the braking of the target wheel according to the target braking force corresponding to at least one time period; the first extreme value and the second extreme value corresponding to the preset speed range change dynamically over time; when the wheel speed of the target wheel is the same as the first extreme value corresponding to the preset speed range at a first moment, the braking of the target wheel is stopped; when the wheel speed of the target wheel is the same as the second extreme value corresponding to the preset speed range at a second moment, the current braking cycle ends. Each time period corresponds to a target angular velocity and a target braking force. The target wheel is the inner front wheel when the vehicle is turning, or the target wheel includes the inner front wheel and the inner rear wheel. When the target wheel includes the inner front wheel and the inner rear wheel, the inner front wheel and the inner rear wheel brake alternately.

2. The method according to claim 1, characterized in that, The determination of the target braking force corresponding to the target wheel based on the target angular velocity, actual angular velocity, wheel moment of inertia, at least one time period, and wheel rolling radius includes: For each time period, the target braking force corresponding to the time period is determined based on the target angular velocity and actual angular velocity corresponding to the time period, the wheel moment of inertia, the wheel rolling radius, and the period length of the time period.

3. The method according to claim 2, characterized in that, The step of determining the target braking force corresponding to the time period based on the target angular velocity and actual angular velocity corresponding to the time period, the wheel moment of inertia, the wheel rolling radius, and the period length of the time period includes: Calculate the product of the absolute value of the difference between the target angular velocity and the actual angular velocity corresponding to the time period and the moment of inertia of the wheel to obtain the first value; The second value is determined based on the ratio of the first value to the period length of the time period; Based on the ratio of the second value to the wheel rolling radius, the target braking force corresponding to the time period is determined.

4. The method according to claim 1, characterized in that, When the target wheel is the inner front wheel, the inner front wheel is controlled to brake according to the target braking force corresponding to the first number of first time cycles, and the next front wheel braking cycle is entered after the current front wheel braking cycle ends.

5. The method according to claim 1, characterized in that, When the target wheel includes the inner front wheel and the inner rear wheel, the inner front wheel is controlled to brake according to the target braking force corresponding to the second number of first time cycles, and the next front wheel braking cycle is entered after the current front wheel braking cycle ends. During the rear wheel braking cycle, the inner rear wheel is controlled to brake according to the target braking force corresponding to the third number of second time cycles, and the next rear wheel braking cycle is entered after the current rear wheel braking cycle ends. When the front wheels stop braking during the first front wheel braking cycle, the inner rear wheel begins braking to enter the first rear wheel braking cycle.

6. The method according to claim 1, characterized in that, The step of controlling the braking of the target wheel based on the target braking force includes: A braking signal is generated based on the target braking force, and the braking signal is sent to the hydraulic actuator corresponding to the target wheel; The hydraulic actuator corresponding to the target wheel controls the braking of the target wheel based on the braking signal.

7. The method according to claim 1, characterized in that, When the vehicle is in the assisted steering braking function activation mode, the method further includes: If the vehicle's corresponding status parameters do not meet the assisted steering activation conditions, the vehicle is switched to a low-speed cruise mode, which indicates that the vehicle is in a standby state for assisted steering braking function. If the vehicle's status parameters are found to meet the conditions for disengaging the assisted steering braking function, the vehicle is determined to exit the assisted steering braking mode.

8. The method according to claim 1, characterized in that, The step of determining that the vehicle enters the assisted steering braking function activation mode when the vehicle is in low-speed cruise mode and the corresponding state parameters of the vehicle meet the assisted steering activation conditions includes: Acquire vehicle status signals sent by the Electronic Stability Program (ESP), Internet Protocol (IPB), vehicle controller, and target controller, respectively; When it is determined that the vehicle is in the low-speed cruise mode and the assisted steering activation condition is met based on the acquired vehicle status signal, the vehicle is determined to enter the assisted steering braking function activation mode. The vehicle status signals sent by the ESP system include: steering wheel angle signal; the vehicle status signals sent by the IPB include: vehicle speed signal, wheel speed signal, low-speed cruise signal, and brake pedal travel signal; the vehicle status signals sent by the vehicle controller include: accelerator pedal travel signal and differential lock signal; and the vehicle status signals sent by the target controller include: gear position signal, ignition status signal, and seat belt door signal.

9. The method according to any one of claims 1 to 8, characterized in that, The method is applied to the integrated brake control unit (IPB) controller.

10. A vehicle auxiliary steering braking system, characterized in that, include: Integrated brake control unit (IPB) controller; The vehicle electronic stability control (ESP) system, IPB, vehicle controller, and target controller are connected to the IPB controller. The IPB controller is used to: receive vehicle status signals sent by the ESP system, the IPB, the vehicle controller and the target controller respectively; and determine that the vehicle is in low-speed cruise mode and meets the assisted steering activation conditions based on the acquired vehicle status signals, and determine that the vehicle enters the assisted steering braking function activation mode. The IPB controller is further configured to: when the vehicle is in the assisted steering braking function activation mode, determine the target braking force corresponding to the target wheel based on the target angular velocity, actual angular velocity, wheel moment of inertia, at least one time period, and wheel rolling radius corresponding to the target wheel, and control the braking of the target wheel according to the target braking force so that the wheel speed of the target wheel is within a preset speed range, including: controlling the braking of the target wheel according to the target braking force corresponding to the at least one time period respectively; the first extreme value and the second extreme value corresponding to the preset speed range change dynamically based on time; when the wheel speed of the target wheel is the same as the first extreme value corresponding to the preset speed range at a first moment, stop controlling the braking of the target wheel; when the wheel speed of the target wheel is the same as the second extreme value corresponding to the preset speed range at a second moment, end the current braking cycle; Each time period corresponds to a target angular velocity and a target braking force. The target wheel is the inner front wheel when the vehicle is turning, or the target wheel includes the inner front wheel and the inner rear wheel. When the target wheel includes the inner front wheel and the inner rear wheel, the inner front wheel and the inner rear wheel brake alternately.

11. The vehicle auxiliary steering braking system according to claim 10, characterized in that, Also includes: Multiple hydraulic actuators connected to the IPB controller; The IPB controller is also configured to: generate a braking signal based on the target braking force, and send the braking signal to the hydraulic actuator corresponding to the target wheel; The hydraulic actuator corresponding to the target wheel controls the braking of the target wheel based on the braking signal.

12. An electronic device, characterized in that, include: The system includes a processor, a communication interface, a memory, and a communication bus; the processor, communication interface, and memory communicate with each other via the communication bus. Memory, used to store computer programs; When executing a program stored in memory, the processor implements the steps of the vehicle assisted steering and braking method as described in any one of claims 1 to 9.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps in the vehicle assisted steering and braking method as described in any one of claims 1 to 9.

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