Vehicle braking methods, devices, equipment and storage media

Abstract

This disclosure provides a vehicle braking method, apparatus, device, and storage medium. It can be applied to the field of intelligent driving technology. The method includes: obtaining a first calibrated brake opening value associated with the target acceleration from a calibration file, based on the target acceleration that the vehicle needs to achieve during deceleration; determining the initial acceleration of the vehicle during deceleration based on the first calibrated brake opening value; generating a compensation curve associated with the first calibrated brake opening value based on the initial acceleration; processing the compensation acceleration associated with the first calibrated brake opening value to obtain a first compensated brake opening value associated with the first calibrated brake opening value, wherein the compensation acceleration is determined based on the compensation curve; and generating a first target brake opening value based on the first calibrated brake opening value and the first compensated brake opening value, such that the acceleration obtained by the vehicle when executing the first target brake opening value is equal to the target acceleration.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent driving technology, and more specifically, to a vehicle braking method, device, equipment, and storage medium. Background Technology

[0002] With the development of technology, autonomous driving technology for vehicles is becoming increasingly mature. The process of autonomous driving generally relies on the collaborative efforts of artificial intelligence, computer vision, radar, detection devices, and a global positioning system (GPS) to allow computers to automatically and safely operate motor vehicles without any active human intervention. Autonomous driving may include automatic braking, where a given braking distance is used to decelerate or bring the vehicle to a stop.

[0003] In realizing the present invention, the inventors discovered at least the following problems in the related technology: after the vehicle responds to the brake opening value and begins braking, the difference between the actual acceleration of the vehicle during deceleration and the calibrated acceleration that should be achieved is large. Therefore, the automatic braking system of the related technology suffers from low processing precision and low accuracy during vehicle braking, reducing vehicle stability. Summary of the Invention

[0004] In view of this, the present disclosure provides a vehicle braking method, device, equipment, storage medium, and program product that can improve the processing accuracy and precision of an automatic braking system and enhance vehicle stability.

[0005] One aspect of this disclosure provides a vehicle braking method, comprising: obtaining a first calibrated brake opening value associated with the target acceleration from a calibration file, based on a target acceleration that the vehicle needs to achieve during deceleration, wherein the target acceleration is less than zero; determining an initial acceleration of the vehicle during the deceleration process based on the first calibrated brake opening value; generating a compensation curve associated with the first calibrated brake opening value based on the initial acceleration; processing the compensation acceleration associated with the first calibrated brake opening value to obtain a first compensated brake opening value associated with the first calibrated brake opening value, wherein the compensation acceleration is determined based on the compensation curve; and generating a first target brake opening value based on the first calibrated brake opening value and the first compensated brake opening value, such that the acceleration obtained by the vehicle when executing the first target brake opening value is equal to the target acceleration.

[0006] According to an embodiment of this disclosure, generating a compensation curve associated with the first calibrated brake opening value based on the initial acceleration includes: generating an acceleration variation curve associated with the first calibrated brake opening value based on the initial acceleration; and flipping the acceleration variation curve along a preset axis to obtain a compensation curve associated with the first calibrated brake opening value.

[0007] According to an embodiment of this disclosure, the deceleration process includes an initial deceleration phase, and the calibration file includes a calibration acceleration. Generating an acceleration variation curve associated with the first calibration brake opening value based on the initial acceleration includes: generating a calibration acceleration variation curve based on the calibration acceleration; generating an initial acceleration variation curve based on the relationship between the vehicle's brake opening and acceleration during the initial deceleration phase; inputting the initial acceleration into a function constructed from the integral of the calibration acceleration variation curve and the integral of the initial acceleration variation curve, and outputting an acceleration variation function; and generating an acceleration variation curve associated with the first calibration brake opening value based on the acceleration variation function.

[0008] According to an embodiment of this disclosure, determining the initial acceleration of the vehicle during the deceleration process based on the first calibrated brake opening value includes: inputting the first calibrated brake opening value into a first linear function and outputting the initial acceleration.

[0009] According to an embodiment of this disclosure, the above-mentioned processing of the compensation acceleration associated with the first calibrated brake opening value to obtain a first compensated brake opening value associated with the first calibrated brake opening value includes: transforming the first linear function to obtain a second linear function; inputting the compensation acceleration associated with the first calibrated brake opening value into the second linear function, and outputting the first compensated brake opening value.

[0010] According to an embodiment of this disclosure, generating a first target brake opening value based on the first calibrated brake opening value and the first compensated brake opening value includes: assigning preset weight values ​​to the first calibrated brake opening value and the first compensated brake opening value respectively; and generating the first target brake opening value based on the first calibrated brake opening value, the first compensated brake opening value and their respective associated preset weight values.

[0011] According to embodiments of this disclosure, the method further includes: when the target acceleration is not less than zero for the first time, obtaining a second calibrated brake opening value associated with the target acceleration from a calibration file based on the target acceleration; obtaining a historical target brake opening value executed by the vehicle when the previous historical target acceleration was less than zero; determining whether the current time and the time when the vehicle begins braking meet a second preset condition if a first preset condition is met between the second calibrated brake opening value and the historical target brake opening value; determining a second compensated brake opening value for the vehicle based on data obtained from the current time and the time when the vehicle begins braking if the second preset condition is met between the current time and the time when the vehicle begins braking; and generating a second target brake opening value based on the second calibrated brake opening value and the second compensated brake opening value, such that the acceleration obtained by the vehicle when executing the second target brake opening value is equal to the target acceleration.

[0012] According to an embodiment of this disclosure, determining the second compensated brake opening value of the vehicle based on data obtained from the current time and the time when the vehicle begins braking includes: inputting the data obtained from the current time and the time when the vehicle begins braking into an acceleration change function, and outputting an acceleration change function associated with the second calibrated brake opening value; obtaining an acceleration curve associated with the second calibrated brake opening value based on the acceleration change function associated with the second calibrated brake opening value; flipping the acceleration curve associated with the second calibrated brake opening value to obtain a compensation curve associated with the second calibrated brake opening value; and obtaining the second compensated brake opening value based on the compensation curve associated with the second calibrated brake opening value.

[0013] According to an embodiment of this disclosure, the method further includes: if the current time and the time when the vehicle begins braking do not meet the second preset condition, directly outputting the second calibrated braking opening value, so that the acceleration obtained by the vehicle when executing the second calibrated braking opening value is equal to the target acceleration.

[0014] According to an embodiment of this disclosure, the method further includes: determining a compensation curve associated with the second calibrated brake opening value when the second calibrated brake opening value and the historical target brake opening value do not meet a first preset condition; obtaining a compensation acceleration associated with the second calibrated brake opening value based on the compensation curve associated with the second calibrated brake opening value; processing the compensation acceleration associated with the second calibrated brake opening value to obtain a third compensation brake opening value; and generating a third target brake opening value based on the second calibrated brake opening value and the third compensation brake opening value, such that the acceleration obtained by the vehicle when performing the third target brake opening value is equal to the target acceleration.

[0015] Another aspect of this disclosure provides a vehicle braking device, comprising: a first acquisition module, configured to acquire, from a calibration file, a first calibrated brake opening value associated with the target acceleration, based on a target acceleration that the vehicle needs to achieve during deceleration, wherein the target acceleration is less than zero; a first determination module, configured to determine, based on the first calibrated brake opening value, an initial acceleration of the vehicle during the deceleration process; a first generation module, configured to generate, based on the initial acceleration, a compensation curve associated with the first calibrated brake opening value; a processing module, configured to process the compensation acceleration associated with the first calibrated brake opening value to obtain a first compensation brake opening value associated with the first calibrated brake opening value, wherein the compensation acceleration is determined based on the compensation curve; and a second generation module, configured to generate a first target brake opening value based on the first calibrated brake opening value and the first compensation brake opening value, such that the acceleration obtained by the vehicle when executing the first target brake opening value is equal to the target acceleration.

[0016] Another aspect of this disclosure provides an electronic device, comprising: one or more processors; and a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the vehicle braking method described above.

[0017] Another aspect of this disclosure provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, cause the processor to implement the vehicle braking method described above.

[0018] Another aspect of this disclosure provides a computer program product, including a computer program that, when executed by a processor, implements the vehicle braking method described above.

[0019] According to the vehicle braking method, apparatus, device, storage medium, and program product provided in the embodiments of this disclosure, a first calibrated brake opening value is obtained from a calibration file based on the target acceleration that the vehicle needs to achieve during the deceleration process; the initial acceleration of the vehicle during the deceleration process is determined based on the first calibrated brake opening value; a compensation curve associated with the first calibrated brake opening value is generated based on the initial acceleration; the compensation acceleration obtained from the compensation curve is processed to obtain a first compensation brake opening value; and a first target brake opening value is generated based on the first calibrated brake opening value and the first compensation brake opening value, so that the acceleration obtained by the vehicle at the first target brake opening value is equal to the target acceleration. Because a compensation curve associated with the first calibrated brake opening value is generated during vehicle braking, compensation is made for the nonlinear changes of the vehicle in the initial deceleration phase. The first target brake opening value to be executed by the vehicle is generated together with the first calibrated brake opening value and the first compensated brake opening value. This can at least partially overcome the problem of a large gap between the actual acceleration of the vehicle during the deceleration process and the calibrated acceleration that should be achieved in related technologies. This achieves the technical effect of improving the processing accuracy and precision of the automatic braking system and improving vehicle stability. Attached Figure Description

[0020] The above and other objects, features and advantages of this disclosure will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0021] Figure 1 This illustration schematically shows an exemplary system architecture to which vehicle braking methods and apparatus can be applied according to embodiments of the present disclosure;

[0022] Figure 2 A flowchart illustrating a vehicle braking method according to an embodiment of the present disclosure is shown schematically.

[0023] Figure 3 The diagram illustrates the curves of vehicle speed and acceleration over time during the initial deceleration phase.

[0024] Figure 4 A schematic diagram illustrating compensation for the nonlinear phase of a vehicle according to an embodiment of the present disclosure is shown.

[0025] Figure 5 The diagram illustrates the curves of acceleration versus brake opening value of a vehicle during the nonlinear deceleration phase according to an embodiment of the present disclosure;

[0026] Figure 6 A schematic diagram illustrating the braking opening curve of a vehicle in a nonlinear phase according to an embodiment of the present disclosure is shown.

[0027] Figure 7A flowchart illustrating a vehicle braking method according to another embodiment of the present disclosure is shown schematically;

[0028] Figure 8 A block diagram schematically illustrates a vehicle braking device according to an embodiment of the present disclosure; and

[0029] Figure 9 A block diagram of an electronic device suitable for implementing a vehicle braking method according to an embodiment of the present disclosure is shown schematically. Detailed Implementation

[0030] The embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the present disclosure for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0031] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0032] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0033] When using expressions such as "at least one of A, B, and C", they should generally be interpreted in accordance with the meaning that is commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, and C" should include, but is not limited to, a system having A alone, a system having B alone, a system having C alone, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B, and C, etc.).

[0034] In the embodiments disclosed herein, the collection, updating, analysis, processing, use, transmission, provision, disclosure, and storage of data (e.g., including but not limited to user personal information) comply with relevant laws and regulations, are used for legitimate purposes, and do not violate public order and good morals. In particular, necessary measures have been taken to prevent unauthorized access to user personal information data and to safeguard user personal information security, network security, and national security.

[0035] In the embodiments disclosed herein, user authorization or consent is obtained before acquiring or collecting user personal information.

[0036] In the actual braking process of related vehicle braking systems, after the vehicle reaches the calibrated braking value given by the braking system, the change in vehicle acceleration from the start to the end of deceleration is not linear. Instead, a nonlinear change occurs during the initial deceleration phase. This nonlinear change can lead to a significant difference between the actual acceleration and the calibrated acceleration under continuous braking commands. This results in deceleration delays or excessive / insufficient acceleration during deceleration, causing poor speed control precision and accuracy in the automatic braking system, thus reducing vehicle stability.

[0037] In view of this, embodiments of this disclosure, by collecting data from vehicles under different step braking commands, use a quadratic equation to compensate for the vehicle braking process. During the initial braking phase, this compensates for the nonlinear speed change caused by the friction between the caliper and wheel not reaching its maximum value during the initial braking process. Specifically, embodiments of this disclosure provide a vehicle braking method, apparatus, device, storage medium, and program product to improve the precision and accuracy of automatic braking system speed control and enhance vehicle stability. The vehicle braking method may include: obtaining a first calibrated brake opening value associated with the target acceleration from a calibration file, based on the target acceleration that the vehicle needs to achieve during deceleration, wherein the target acceleration is less than zero; determining the initial acceleration of the vehicle during deceleration based on the first calibrated brake opening value; generating a compensation curve associated with the first calibrated brake opening value based on the initial acceleration; processing the compensation acceleration associated with the first calibrated brake opening value to obtain a first compensation brake opening value associated with the first calibrated brake opening value, wherein the compensation acceleration is determined based on the compensation curve; and generating a first target brake opening value based on the first calibrated brake opening value and the first compensation brake opening value, such that the acceleration obtained by the vehicle when executing the first target brake opening value is equal to the target acceleration.

[0038] Figure 1 The illustration schematically depicts an exemplary system architecture to which vehicle braking methods and apparatus can be applied according to embodiments of this disclosure. It should be noted that... Figure 1 The examples shown are merely examples of system architectures that can be applied to the embodiments of this disclosure, in order to help those skilled in the art understand the technical content of this disclosure, but do not mean that the embodiments of this disclosure cannot be used in other devices, systems, environments or scenarios.

[0039] like Figure 1As shown, the system architecture 100 according to this embodiment may include a vehicle 101, a network 102, and a server 103. The network 102 serves as a medium for providing a communication link between the vehicle 101 and the server 103, facilitating the vehicle 101 and the server 103 to send or receive data. The network 102 may include various connection types, such as wired and / or wireless communication links, etc.

[0040] Vehicle 101 can be an autonomous vehicle on the road. Vehicle 101 may be equipped with an MPC (Model Predictive Control) system, which outputs the target acceleration the vehicle should achieve during deceleration. This acceleration is applied to the vehicle's chassis through the brake opening value, achieving braking. Understandably, this target acceleration is determined by the vehicle's path planning system based on actual road conditions, such as path planning based on obstacles ahead, the path the vehicle is about to reach its destination, or other path planning requiring deceleration. This target acceleration is transmitted from the planning system to the MPC system, which then outputs the target acceleration.

[0041] Server 103 can be a server that provides various services, such as processing the received target acceleration and feeding back the processing results (e.g., the target braking opening value generated based on the target acceleration) to the vehicle.

[0042] It should be noted that the vehicle braking method provided in this embodiment can generally be executed by server 103. Correspondingly, the vehicle braking device provided in this embodiment can generally be located in server 103. The vehicle braking method provided in this embodiment can also be executed by a server or server cluster that is different from server 103 but capable of communicating with vehicle 101 and / or server 103. Correspondingly, the vehicle braking device provided in this embodiment can also be located in a server or server cluster that is different from server 103 but capable of communicating with vehicle 101 and / or server 103.

[0043] It should be understood that Figure 1 The number of vehicles, networks, and servers shown is merely illustrative. Any number of vehicles, networks, and servers can be included depending on implementation needs.

[0044] Figure 2 A flowchart illustrating a vehicle braking method according to an embodiment of the present disclosure is shown schematically.

[0045] like Figure 2 As shown, the method includes operations S201 to S205.

[0046] In operation S201, based on the target acceleration that the vehicle needs to achieve during the deceleration process, the first calibrated brake opening value associated with the target acceleration is obtained from the calibration file, wherein the target acceleration is less than zero.

[0047] In operation S202, the initial acceleration of the vehicle during deceleration is determined based on the first calibrated brake opening value.

[0048] In operation S203, a compensation curve associated with the first calibrated brake opening value is generated based on the initial acceleration.

[0049] In operation S204, the compensated acceleration associated with the first calibrated brake opening value is processed to obtain the first compensated brake opening value associated with the first calibrated brake opening value, wherein the compensated acceleration is determined based on the compensation curve.

[0050] In operation S205, a first target braking opening value is generated based on the first calibrated braking opening value and the first compensated braking opening value, so that the acceleration obtained by the vehicle when performing the first target braking opening value is equal to the target acceleration.

[0051] According to embodiments of this disclosure, the target acceleration that the vehicle needs to achieve during deceleration can be output by the MPC system. Specifically, when the vehicle planning system plans the vehicle based on actual road conditions (such as needing to decelerate when encountering an obstacle ahead, or needing to decelerate as the vehicle approaches its destination, or other road conditions requiring deceleration), it transmits the required acceleration to the MPC system. This acceleration is then applied to the vehicle's chassis through the brake opening value to achieve braking. It is understood that the target acceleration, initial acceleration, etc., mentioned in the embodiments of this disclosure can all be values ​​less than zero.

[0052] According to embodiments of this disclosure, a calibration file is used to obtain a first calibrated brake opening value corresponding to a target acceleration. The brake opening value can be understood as the degree of braking. The calibration file can be a calibration brake opening value-calibrated acceleration lookup table obtained by calibrating the vehicle's chassis using a step command. The target acceleration can be any calibration acceleration in the calibration file. Specifically, calibrating the vehicle's chassis using a step command can be done as follows: setting the brake opening value to 5% to 100%, and executing the above brake opening value at 5% intervals to obtain the resulting acceleration as the calibrated acceleration.

[0053] Figure 3 The diagram illustrates the curves showing the vehicle's speed and acceleration over time during the initial deceleration phase.

[0054] like Figure 3 As shown, the horizontal axis represents time, and the vertical axis represents vehicle acceleration. (Refer to...) Figure 3 The acceleration curve shows that after the vehicle's braking system reaches its calibrated braking opening of 35%, the vehicle's acceleration during the initial deceleration phase is not linear with time, but rather follows a quadratic equation. Therefore, compensation is needed for the acceleration during the initial deceleration phase so that the vehicle's acceleration also changes linearly with time during this phase, ultimately achieving the target acceleration accurately.

[0055] Compensation for the initial acceleration can be achieved by determining the compensation brake opening value. During the compensation phase, the initial acceleration of the vehicle during deceleration can be determined. Specifically, the stage where the vehicle speed decreases to 80% is considered the nonlinear stage. Based on pre-measured data of the vehicle's brake opening value and actual acceleration, a curve of acceleration versus brake opening value during the nonlinear deceleration stage can be obtained. After fitting this curve, a first linear function can be obtained. Inputting the calibrated brake opening value into the first linear function outputs the vehicle's initial acceleration.

[0056] According to embodiments of this disclosure, a compensation curve is used to determine the compensated acceleration of a vehicle. The compensation curve can be obtained by flipping an acceleration variation curve generated based on an initial acceleration along a predetermined axis.

[0057] According to embodiments of this disclosure, the compensated acceleration can be used to determine a first compensated braking opening value for the vehicle. Specifically, the first linear function may include independent and dependent variables, such as the braking opening value as the independent variable and the vehicle acceleration as the dependent variable. By transforming the independent and dependent variables of the first linear function, converting the dependent variable to the braking opening value and the independent variable to the vehicle acceleration, a second linear function is obtained. By inputting the compensated acceleration into the second linear function, the corresponding first compensated braking opening value can be output.

[0058] According to embodiments of this disclosure, since a first compensated braking opening value is given during the initial deceleration phase of the vehicle, the first target braking opening value ultimately required by the vehicle can be generated by combining the first calibrated braking opening value and the first compensated braking opening value. For example, the first calibrated braking opening value and the first compensated braking opening value are assigned the same or different weight values, and the first target braking opening value is generated based on the first calibrated braking opening value and the first compensated braking opening value and their respective weight values.

[0059] Figure 4 This schematically illustrates a diagram of compensation for the nonlinear phase of a vehicle according to an embodiment of the present disclosure. Figure 4 The multiple curves shown further illustrate the vehicle braking method of this disclosure embodiment.

[0060] like Figure 4As shown, the horizontal axis represents time, and the vertical axis represents the vehicle's acceleration during deceleration. According to... Figure 4 As can be seen from the original acceleration variation curve, before compensation, the vehicle's acceleration changes non-linearly with time. The purpose of the vehicle braking method provided in this embodiment is to determine a compensated acceleration variation curve, and to compensate the original acceleration curve using this compensated acceleration curve to obtain a mean acceleration variation curve, thereby improving the accuracy of vehicle acceleration control.

[0061] According to the vehicle braking method, apparatus, device, storage medium, and program product provided in the embodiments of this disclosure, a first calibrated brake opening value is obtained from a calibration file based on the target acceleration that the vehicle needs to achieve during the deceleration process; the initial acceleration of the vehicle during the deceleration process is determined based on the first calibrated brake opening value; a compensation curve associated with the first calibrated brake opening value is generated based on the initial acceleration; the compensation acceleration obtained from the compensation curve is processed to obtain a first compensation brake opening value; and a first target brake opening value is generated based on the first calibrated brake opening value and the first compensation brake opening value, so that the acceleration obtained by the vehicle at the first target brake opening value is equal to the target acceleration. Because a compensation curve associated with the first calibrated brake opening value is generated during vehicle braking, compensation is made for the nonlinear changes of the vehicle in the initial deceleration phase. The first target brake opening value to be executed by the vehicle is generated together with the first calibrated brake opening value and the first compensated brake opening value. This can at least partially overcome the problem of a large gap between the actual acceleration of the vehicle during the deceleration process and the calibrated acceleration that should be achieved in related technologies. This achieves the technical effect of improving the processing accuracy and precision of the automatic braking system and improving vehicle stability.

[0062] According to an embodiment of this disclosure, operation S201 may include the following operation: inputting a first calibrated brake opening value into a first linear function, and outputting an initial acceleration. The first linear function may be obtained by fitting a curve between the vehicle's acceleration and the brake opening value during the nonlinear deceleration phase.

[0063] Figure 5 The diagram illustrates the curves of acceleration versus brake opening value of a vehicle during a nonlinear deceleration phase according to an embodiment of the present disclosure.

[0064] By designating the stage where the vehicle speed decreases to 80% as a non-linear phase, and based on pre-measured data of the vehicle's braking opening and actual acceleration, the following can be obtained: Figure 5 The curves shown represent the vehicle's acceleration versus braking angle during the nonlinear deceleration phase. Figure 5In the figure, the horizontal axis represents the brake opening value, and the vertical axis represents the acceleration. By fitting the nonlinear acceleration versus the brake opening value curve, a linear curve can be obtained. Based on the fitted linear curve, the first linear function can be shown in formula (1). By inputting the first calibrated brake opening value into the first linear function shown in formula (1), the initial acceleration is output.

[0065] a0=A*brake-B (1)

[0066] Where a0 is the acceleration, brake is the braking opening value, A is the slope of the linear curve, and B is a constant obtained from the fitted linear curve.

[0067] According to embodiments of this disclosure, accurate determination of the compensation curve is crucial for precise control of vehicle acceleration during the aforementioned vehicle braking process. The process of determining the compensation curve in embodiments of this disclosure may include the following operations: generating an acceleration change curve associated with a first calibrated brake opening value based on the initial acceleration; and flipping the acceleration change curve along a preset axis to obtain a compensation curve associated with the first calibrated brake opening value.

[0068] According to embodiments of this disclosure, the deceleration process includes an initial deceleration phase, and the calibration file includes a calibration acceleration. Generating an acceleration change curve associated with a first calibrated brake opening value based on the initial acceleration may include the following operations: generating a calibration acceleration change curve based on the calibration acceleration; generating an initial acceleration change curve based on the relationship between the vehicle's brake opening and acceleration during the initial deceleration phase; inputting the initial acceleration into a function constructed from the integrals of the calibration acceleration change curve and the initial acceleration change curve, and outputting an acceleration change function; generating an acceleration change curve associated with the first calibrated brake opening value based on the acceleration change function.

[0069] According to embodiments of this disclosure, calibrating the acceleration variation curve can be a curve showing the acceleration changing over time; the initial acceleration variation curve can be as follows: Figure 3 The acceleration change curve shown is a quadratic equation curve. By inputting the initial acceleration output by formula (1) into the function, and making the integral of the initial acceleration curve (e.g., the integral of the quadratic equation curve) equal to the integral of the calibrated acceleration change curve, the acceleration change function shown in formula (2) can be obtained.

[0070]

[0071] in, y is acceleration; a0 is the initial acceleration output by formula (1); t is the time difference between the current time and the time when braking begins, and the time difference can include 0; acc mean It is the mean acceleration.

[0072] The acceleration change curve associated with the first calibrated brake opening value can be obtained according to formula (2).

[0073] According to an embodiment of this disclosure, a compensation curve associated with the first calibrated brake opening value is obtained by flipping the acceleration change curve associated with the first calibrated brake opening value along a preset axis. Specifically, after obtaining the acceleration change function shown in formula (2), an acceleration change curve is plotted, and the curve is flipped along a preset axis (e.g., y = acc). mean By flipping the axis, we can obtain the compensation curve and the compensation curve function. The compensation curve function can be shown in formula (3).

[0074] y compensate =2*acc mean -y (3)

[0075] Among them, y compensate To compensate for acceleration, acc mean Let y be the mean acceleration, and y be the acceleration output by formula (2). By inputting y obtained from formula (2) into formula (3), the compensated acceleration can be output.

[0076] According to embodiments of this disclosure, after obtaining the compensated acceleration, the compensated acceleration is processed to obtain a first compensated braking opening value. Specifically, the process of obtaining the first compensated braking opening value may include the following operations: transforming a first linear function to obtain a second linear function; inputting the compensated acceleration associated with the first calibrated braking opening value into the second linear function, and outputting the first compensated braking opening value.

[0077] According to the embodiments of this disclosure, after obtaining the compensation acceleration, the first compensation acceleration can be calculated back using the first linear function. Specifically, the second linear function obtained after transforming the independent and dependent variables of the first linear function can be as shown in formula (4).

[0078]

[0079] According to embodiments of this disclosure, the process of obtaining a target brake opening value after obtaining a first calibrated brake opening value and a first compensated brake opening value may include the following operations: assigning preset weight values ​​to the first calibrated brake opening value and the first compensated brake opening value respectively; generating a first target brake opening value based on the first calibrated brake opening value, the first compensated brake opening value and their respective associated preset weight values.

[0080] According to the embodiments of this disclosure, the preset weight values ​​can be adaptively adjusted according to actual needs. This disclosure takes a preset weight value of 0.5 as an example to describe the process of generating the first target brake opening value. The specific process is shown in formula (5). By inputting the first calibrated brake opening value and the first compensated brake opening value into formula (5), the first target brake opening value can be output. Target brake opening value = calibrated brake opening value × 0.5 + compensated brake opening value × 0.5 (5)

[0081] Figure 6 The diagram illustrates the braking opening curve of a vehicle during a nonlinear phase according to an embodiment of the present disclosure.

[0082] By compensating for the brake opening value, the resulting brake opening curve can be as follows: Figure 6 As shown. Figure 6 In the diagram, the horizontal axis represents time, and the vertical axis represents the brake opening value. Taking a vehicle's brake opening value to reach 10% as an example, according to the original brake opening curve, the vehicle's brake opening value may remain unchanged before compensation. By using the compensated brake opening curve obtained in this embodiment to compensate the original brake opening curve, the final brake opening curve can be obtained.

[0083] According to embodiments of this disclosure, by compensating for the nonlinear phenomena that occur during the initial deceleration phase of a vehicle, the vehicle acceleration can reach the target acceleration during the initial deceleration phase, thereby achieving precise control of the vehicle acceleration during the deceleration phase and improving the stability of the vehicle during the braking phase.

[0084] According to embodiments of this disclosure, operations S201 to S205 described above can be performed when the acceleration output by the MPC is less than zero for the first time. For cases where the acceleration output by the MPC is not less than zero for the first time, the following operations can be performed: Based on the target acceleration, obtain a second calibrated brake opening value associated with the target acceleration from a calibration file; obtain a historical target brake opening value executed by the vehicle when the historical target acceleration was less than zero in the previous instance; if the second calibrated brake opening value and the historical target brake opening value meet a first preset condition, determine whether the current time and the vehicle's starting braking time meet a second preset condition; if the current time and the vehicle's starting braking time meet the second preset condition, determine a second compensated brake opening value for the vehicle based on the data obtained from the current time and the vehicle's starting braking time; generate a second target brake opening value based on the second calibrated brake opening value and the second compensated brake opening value, such that the acceleration obtained by the vehicle executing the second target brake opening value is equal to the target acceleration.

[0085] According to embodiments of this disclosure, if the acceleration output by the MPC is not the first time it is less than zero, it indicates that deceleration may have already occurred, the initial deceleration phase may have passed, and compensation may not be necessary. However, it is also possible that due to a significant difference between this acceleration and historical acceleration, the calibrated brake opening value is large, or the current deceleration time differs significantly from the start of braking time, etc., recompensation is required to accurately control the vehicle speed. Therefore, for cases where the acceleration is not the first time it is less than zero, it is necessary to further determine whether compensation is needed based on the actual situation. Specific procedures are described below.

[0086] According to embodiments of this disclosure, the process of obtaining the second calibrated brake opening value can be the same as the process of obtaining the first calibrated brake opening value, and will not be described again here. "First" and "second" are used to distinguish between a calibrated brake opening value obtained when the acceleration is first less than zero, and a calibrated brake opening value obtained when the acceleration is not first less than zero. Similarly, "first" and "second" in the first compensated brake opening value, first target brake opening value, second compensated brake opening value, and second target brake opening value are also used to distinguish between values ​​obtained when the acceleration is first less than zero, and values ​​obtained when the acceleration is not first less than zero.

[0087] According to embodiments of this disclosure, since the acceleration is not the first time it has been less than zero, it indicates that this is not the first deceleration, and there is a historical deceleration process. Therefore, for the case where the previous historical target acceleration was less than zero, the historical target braking opening value executed by the vehicle can be retrieved from the database. It is understood that the target braking opening value executed by the vehicle each time can be stored in the database for easy retrieval in the future.

[0088] According to embodiments of this disclosure, if a first preset condition is met between the second calibrated brake opening value and the historical target brake opening value, for example, if |second calibrated brake opening value - historical target brake opening value| < 10, it is determined whether the current time and the time when the vehicle begins braking meet the second preset condition. For example, determining whether the current time and the time when the vehicle begins braking meet the second preset condition. v is velocity, acc mean The acceleration is the mean. Both the first and second preset conditions can be adjusted adaptively according to actual needs.

[0089] According to embodiments of this disclosure, when the current time and the time when the vehicle begins braking meet a second preset condition, determining the second compensated braking opening value of the vehicle based on data obtained from the current time and the time when the vehicle begins braking may include the following operations: inputting the data obtained from the current time and the time when the vehicle begins braking into an acceleration change function, and outputting an acceleration change function associated with the second calibrated braking opening value; obtaining an acceleration curve associated with the second calibrated braking opening value based on the acceleration change function associated with the second calibrated braking opening value; flipping the acceleration curve associated with the second calibrated braking opening value along a preset axis to obtain a compensation curve associated with the second calibrated braking opening value; and obtaining the second compensated braking opening value based on the compensation curve associated with the second calibrated braking opening value.

[0090] Specifically, the time between the current moment and the moment the vehicle begins braking must be consistent. In the case of obtaining the first compensated brake opening value, the second compensated brake opening value is obtained using the same process as obtaining the first compensated brake opening value.

[0091] The value obtained from the current moment - the moment when the vehicle begins to brake will be used as t and input into the acceleration change function shown in formula (2). The result output by formula (2) will then be input into formula (3) to obtain the compensation acceleration of the vehicle. The second compensation acceleration will then be input into formula (4) to obtain the second compensation braking opening value.

[0092] According to the embodiments of this disclosure, the second calibrated brake opening value and the second compensated brake opening value are input into formula (5) to obtain the second target brake opening value.

[0093] According to embodiments of this disclosure, if the time between the current moment and the moment the vehicle begins braking does not meet the second preset condition, no compensation can be performed, and the second calibrated braking opening value can be directly output so that the acceleration obtained by the vehicle when executing the second calibrated braking opening value is equal to the target acceleration. Specifically, if the time between the current moment and the moment the vehicle begins braking does not meet the second preset condition, compensation can be performed, and the second calibrated braking opening value can be directly output so that the acceleration obtained by the vehicle when executing the second calibrated braking opening value is equal to the target acceleration. In this case, it can be indicated that the second calibrated brake opening value is close to the historical target brake opening value, and the difference between the current time and the start of braking is large, meaning the vehicle's deceleration process has passed the nonlinear stage and reached the linear stage. For acceleration in the linear stage, no compensation is needed, and the second calibrated brake opening value can be directly output. In another embodiment, if recompensation is performed, the compensation result may not differ significantly. Therefore, to save computational resources and improve the efficiency of determining the brake opening value, if the difference between the current time and the start of braking does not meet the second preset condition, compensation can be omitted, and the second calibrated brake opening value can be directly output.

[0094] According to embodiments of this disclosure, when the second calibrated brake opening value and the historical target brake opening value do not meet the first preset condition, the following operations can be performed: determining a compensation curve associated with the second calibrated brake opening value; obtaining a compensation acceleration associated with the second calibrated brake opening value based on the compensation curve associated with the second calibrated brake opening value; processing the compensation acceleration associated with the second calibrated brake opening value to obtain a third compensation brake opening value; and generating a third target brake opening value based on the second calibrated brake opening value and the third compensation brake opening value, such that the acceleration obtained by the vehicle when performing the third target brake opening value is equal to the target acceleration.

[0095] According to embodiments of this disclosure, if the second calibrated brake opening value and the historical target brake opening value do not differ by |second calibrated brake opening value - historical target brake opening value| < 10, the compensation curve associated with the second calibrated brake opening value can be recalculated. This is because the discrepancy between |second calibrated brake opening value - historical target brake opening value| < 10 indicates a significant difference between the second calibrated brake opening value and the historical target brake opening value, and consequently, a significant difference in the target acceleration corresponding to each of these significant differences. The vehicle's acceleration may exhibit a non-linear phase as it progresses from the target acceleration corresponding to the historical target brake opening value to the target acceleration corresponding to the second calibrated brake opening value.

[0096] If the compensation curve is not recalculated for this recurring nonlinear phase, or if the compensation curve from the previous historical target speed is still used, the compensation for the current nonlinear phase of the vehicle may be inaccurate, thus reducing the control precision of the vehicle speed. Therefore, it is necessary to redetermine the compensation acceleration and compensation brake opening value for the current target acceleration (e.g., the target acceleration corresponding to the second calibrated brake opening value). The process of recalculating the compensation curve can be referred to in operations S202 to S204.

[0097] That is, the compensation curve associated with the second calibrated brake opening value can be referenced to the curve plotted by the acceleration change function shown in formula (2), and the plotted curve is plotted along a preset axis (e.g., y = acc). meanBy flipping the axis, a compensation curve associated with the second calibrated brake opening value can be obtained; the function of this compensation curve can be referred to formula (3). Based on formula (3), the compensation acceleration associated with the second calibrated brake opening value is output. The compensation acceleration is input into formula (4) to output the third compensation brake opening value. The third compensation brake opening value is input into formula (5) to output the third target brake opening value. The difference between "third" in the third compensation brake opening value and the third target brake opening value and "first" and "second" in the first compensation brake opening value, the first target brake opening value, the second compensation brake opening value and the second target brake opening value described above is that "third" indicates the case where the target acceleration is not less than zero for the first time and compensation needs to be re-determined.

[0098] According to embodiments of this disclosure, by classifying whether the target acceleration is less than zero for the first time, and by judging multiple preset conditions for cases where the target acceleration is not less than zero for the first time, the vehicle's acceleration can be controlled with finer granularity, thereby improving the precision and accuracy of vehicle acceleration control and enhancing vehicle stability during deceleration.

[0099] Figure 7 A flowchart illustrating a vehicle braking method according to another embodiment of the present disclosure is shown schematically.

[0100] like Figure 7 As shown, another embodiment of the vehicle braking method disclosed herein may include operations S701 to S712.

[0101] Using S701, obtain the target acceleration.

[0102] Obtain the target acceleration output by the MPC system.

[0103] In operation S702, determine whether the target acceleration is less than zero for the first time. If it is less than zero for the first time, execute operation S703; if it is not less than zero for the first time, execute operation S708.

[0104] When operating S703, obtain the first calibrated brake opening value from the calibration file.

[0105] The process of obtaining the first calibrated brake opening value can be found in the relevant content of operation S201, and will not be repeated here.

[0106] When operating the S704, record the braking start time and the braking opening value.

[0107] The brake opening value can be either the first calibrated brake opening value or a historical target brake opening value. For example, when the target acceleration is less than zero for the first time, the first calibrated brake opening value can be recorded; when the target acceleration is not less than zero for the first time, a historical target brake opening value can be recorded.

[0108] When operating the S705, a compensation curve is generated based on the calibrated brake opening value.

[0109] For operation S705, please refer to operations S202 to S203, as well as the relevant content of formulas (2) and (3), which will not be repeated here.

[0110] When operating S706, calculate the compensation brake opening value.

[0111] For operation S706, please refer to operation S204 and the relevant content of formula (4), which will not be repeated here.

[0112] In operation S707, preset weight values ​​are assigned, and the target brake opening value is calculated and output.

[0113] For operation S707, please refer to operation S205 and the relevant content of formula (5), which will not be repeated here.

[0114] When operating S708, obtain the second calibrated brake opening value from the calibration file.

[0115] In operation S709, it is determined whether the second calibrated brake opening value and the historical target brake opening value meet the first preset condition. If the first preset condition is met, operation S710 is executed; if the first preset condition is not met, operations S704 to S707 are executed to recalculate the compensated brake opening value, thereby obtaining the third compensated brake opening value and the third target brake opening value.

[0116] The first preset condition and the judgment process based on the first preset condition can be referred to the above description of |second calibration brake opening value - historical target brake opening value| < 10 and related judgment content, which will not be repeated here.

[0117] In operation S710, it is determined whether the current time and the time when the vehicle begins braking meet the second preset condition. If the second preset condition is met, operation S711 is executed; if the second preset condition is not met, operation S713 is executed.

[0118] The second preset condition and the judgment process based on the second preset condition can be referred to the description above. The relevant judgments and related content will not be elaborated here.

[0119] When operating S711, the second compensating brake opening value is calculated based on the data obtained at the current time and the time when the vehicle begins to brake.

[0120] Specifically, referring to the above description, the value obtained from |current moment - vehicle start braking moment| is used as t and input into the acceleration change function shown in formula (2). The result output by formula (2) is then input into formula (3) to obtain the vehicle's compensation acceleration. The second compensation acceleration is then input into formula (4) to obtain the second compensation braking opening value.

[0121] In operation S712, a preset weight value is assigned, and the second target brake opening value is calculated and output.

[0122] Specifically, the operation of S710 can refer to the above process of obtaining the second target brake opening value based on the second calibrated brake opening value and the second compensated brake opening value, as well as formula (5), which will not be repeated here.

[0123] When operating S713, output the second calibrated brake opening value.

[0124] According to embodiments of this disclosure, by using the vehicle's calibrated brake opening value and the vehicle acceleration change curve, and based on the correspondence between the brake opening value and acceleration, compensation is made for the nonlinear phenomenon that occurs in the initial deceleration phase of the vehicle. Data analysis and quadratic equation compensation are used to ensure that the vehicle acceleration reaches the required target acceleration in the initial deceleration phase. The compensation logic exits after the vehicle enters the stable deceleration process, thereby achieving precise control of vehicle speed during the deceleration phase, improving the stability of the vehicle during the braking phase, and avoiding the problem of vehicle speed control oscillation caused by nonlinearity in the initial phase.

[0125] It should be noted that, unless it is explicitly stated that there is a sequential order of execution between different operations, or that there is a sequential order of execution between different operations in terms of technical implementation, the execution order between multiple operations may not be significant, and multiple operations may be executed simultaneously.

[0126] Figure 8 A block diagram of a vehicle braking device according to an embodiment of the present disclosure is shown schematically.

[0127] like Figure 8 As shown, the vehicle braking device 800 includes a first acquisition module 810, a first determination module 820, a first generation module 830, a processing module 840, and a second generation module 850.

[0128] The first acquisition module 810 is used to acquire a first calibration brake opening value associated with the target acceleration from a calibration file, based on the target acceleration that the vehicle needs to achieve during the deceleration process, wherein the target acceleration is less than zero.

[0129] The first determining module 820 is used to determine the initial acceleration of the vehicle during the deceleration process based on the first calibrated brake opening value.

[0130] The first generation module 830 is used to generate a compensation curve associated with the first calibrated brake opening value based on the initial acceleration.

[0131] The processing module 840 is used to process the compensation acceleration associated with the first calibrated brake opening value to obtain a first compensation brake opening value associated with the first calibrated brake opening value, wherein the compensation acceleration is determined according to the compensation curve.

[0132] The second generation module 850 is used to generate a first target braking opening value based on the first calibrated braking opening value and the first compensated braking opening value, so that the acceleration obtained by the vehicle when performing the first target braking opening value is equal to the target acceleration.

[0133] According to the vehicle braking method, apparatus, device, storage medium, and program product provided in the embodiments of this disclosure, a first calibrated brake opening value is obtained from a calibration file based on the target acceleration that the vehicle needs to achieve during the deceleration process; the initial acceleration of the vehicle during the deceleration process is determined based on the first calibrated brake opening value; a compensation curve associated with the first calibrated brake opening value is generated based on the initial acceleration; the compensation acceleration obtained from the compensation curve is processed to obtain a first compensation brake opening value; and a first target brake opening value is generated based on the first calibrated brake opening value and the first compensation brake opening value, so that the acceleration obtained by the vehicle at the first target brake opening value is equal to the target acceleration. Because a compensation curve associated with the first calibrated brake opening value is generated during vehicle braking, compensation is made for the nonlinear changes of the vehicle in the initial deceleration phase. The first target brake opening value to be executed by the vehicle is generated together with the first calibrated brake opening value and the first compensated brake opening value. This can at least partially overcome the problem of a large gap between the actual acceleration of the vehicle during the deceleration process and the calibrated acceleration that should be achieved in related technologies. This achieves the technical effect of improving the processing accuracy and precision of the automatic braking system and improving vehicle stability.

[0134] According to embodiments of this disclosure, the first generation module may include a first generation submodule and a first flipping submodule.

[0135] The first generation submodule is used to generate an acceleration change curve associated with the first calibrated brake opening value based on the initial acceleration.

[0136] The first flipping submodule is used to flip the acceleration change curve along a preset axis to obtain a compensation curve associated with the first calibrated brake opening value.

[0137] According to embodiments of this disclosure, the first generation submodule may include a first generation unit, a second generation unit, a first input unit, and a third generation unit.

[0138] The first generation unit is used to generate a calibration acceleration change curve based on the calibration acceleration.

[0139] The second generation unit is used to generate an initial acceleration change curve based on the relationship between the brake opening and acceleration of the vehicle during the initial deceleration phase.

[0140] The first input unit is used to input the initial acceleration into a function constructed based on the integral of the calibrated acceleration change curve and the integral of the initial acceleration change curve, and output the acceleration change function.

[0141] The third generation unit is used to generate an acceleration change curve associated with the first calibrated brake opening value based on the acceleration change function.

[0142] According to embodiments of this disclosure, the first determining module may include a first input submodule.

[0143] The first input submodule is used to input the first calibrated brake opening value into the first linear function and output the initial acceleration.

[0144] According to embodiments of this disclosure, the processing module may include a conversion submodule and a second input submodule.

[0145] The transformation submodule is used to transform the first linear function to obtain the second linear function.

[0146] The second input submodule is used to input the compensated acceleration associated with the first calibrated brake opening value into the second linear function and output the first compensated brake opening value.

[0147] According to embodiments of this disclosure, the second generation module may include an assignment submodule and a second generation submodule.

[0148] The assignment submodule is used to assign preset weight values ​​to the first calibrated brake opening value and the first compensated brake opening value, respectively.

[0149] The fourth generation submodule is used to generate a first target brake opening value based on the first calibrated brake opening value, the first compensated brake opening value, and their respective associated preset weight values.

[0150] According to embodiments of this disclosure, the vehicle braking device may further include a second acquisition module, a third acquisition module, a second determination module, a third determination module, and a third generation module.

[0151] The second acquisition module is used to acquire, based on the target acceleration, a second calibration brake opening value associated with the target acceleration from the calibration file when the target acceleration is not the first time it is less than zero.

[0152] The third acquisition module is used to acquire the historical target braking opening value executed by the vehicle when the historical target acceleration was less than zero in the previous historical case.

[0153] The second determining module is used to determine whether the current time and the time when the vehicle begins braking meet the second preset condition, provided that the second calibrated brake opening value and the historical target brake opening value meet the first preset condition.

[0154] The third determining module is used to determine the second compensating brake opening value of the vehicle based on the data obtained between the current time and the time when the vehicle begins to brake, provided that the second preset condition is met between the current time and the time when the vehicle begins to brake.

[0155] The third generation module is used to generate a second target braking opening value based on the second calibrated braking opening value and the second compensated braking opening value, so that the acceleration obtained by the vehicle when performing the second target braking opening value is equal to the target acceleration.

[0156] According to embodiments of this disclosure, the third determining module may include a third input submodule, a first result submodule, a second flipping submodule, and a second result submodule.

[0157] The third input submodule is used to input the data obtained based on the current time and the time when the vehicle begins to brake into the acceleration change function, and output the acceleration change function associated with the second calibrated brake opening value.

[0158] The first result submodule is used to obtain the acceleration curve associated with the second calibrated brake opening value based on the acceleration change function associated with the second calibrated brake opening value.

[0159] The second flipping submodule is used to flip the acceleration curve associated with the second calibrated brake opening value to obtain a compensation curve associated with the second calibrated brake opening value.

[0160] The second result submodule is used to obtain the second compensated brake opening value based on the compensation curve associated with the second calibrated brake opening value.

[0161] According to embodiments of this disclosure, the vehicle braking device may further include an output module.

[0162] The output module is used to directly output a second calibrated braking opening value when the time between the current moment and the moment the vehicle begins braking does not meet the second preset condition, so that the acceleration obtained by the vehicle when executing the second calibrated braking opening value is equal to the target acceleration.

[0163] According to embodiments of this disclosure, the vehicle braking device may further include a fourth determining module, a first result module, a second result module, and a fourth generating module.

[0164] If the second calibrated brake opening value and the historical target brake opening value do not meet the first preset condition:

[0165] The fourth determination module is used to determine the compensation curve associated with the second calibrated brake opening value.

[0166] The first result module is used to obtain the compensated acceleration associated with the second calibrated brake opening value based on the compensation curve associated with the second calibrated brake opening value.

[0167] The second result module is used to process the compensation acceleration associated with the second calibrated brake opening value to obtain the third compensation brake opening value.

[0168] The fourth generation module is used to generate a third target braking opening value based on the second calibrated braking opening value and the third compensated braking opening value, so that the acceleration obtained by the vehicle when performing the third target braking opening value is equal to the target acceleration.

[0169] Any one or more of the modules, submodules, units, and subunits according to embodiments of the present disclosure, or at least part of the functions of any one or more of them, can be implemented in one module. Any one or more of the modules, submodules, units, and subunits according to embodiments of the present disclosure can be implemented by dividing them into multiple modules. Any one or more of the modules, submodules, units, and subunits according to embodiments of the present disclosure can be at least partially implemented as hardware circuitry, such as Field Programmable Gate Arrays (FPGAs), Programmable Logic Arrays (PLAs), Systems-on-Chip, Systems-on-Substrate, Systems-on-Package, Application-Specific Integrated Circuits (ASICs), or implemented in hardware or firmware by any other reasonable means of integrating or packaging circuitry, or implemented in software, hardware, or firmware, or in any suitable combination of any of these three implementation methods. Alternatively, one or more of the modules, submodules, units, and subunits according to embodiments of the present disclosure can be at least partially implemented as computer program modules, which, when run, can perform corresponding functions.

[0170] For example, any multiple of the first acquisition module 810, the first determination module 820, the first generation module 830, the processing module 840, and the second generation module 850 can be combined into one module / unit / subunit, or any one of these modules / units / subunits can be split into multiple modules / units / subunits. Alternatively, at least part of the functionality of one or more of these modules / units / subunits can be combined with at least part of the functionality of other modules / units / subunits and implemented in one module / unit / subunit. According to embodiments of this disclosure, at least one of the first acquisition module 810, the first determination module 820, the first generation module 830, the processing module 840, and the second generation module 850 can be at least partially implemented as hardware circuitry, such as a field-programmable gate array (FPGA), a programmable logic array (PLA), a system-on-a-chip, a system-on-a-substrate, a system-on-package, an application-specific integrated circuit (ASIC), or implemented in hardware or firmware by any other reasonable means of integrating or packaging the circuitry, or implemented in software, hardware, or firmware, or in any suitable combination of any of these three implementation methods. Alternatively, at least one of the first acquisition module 810, the first determination module 820, the first generation module 830, the processing module 840, and the second generation module 850 may be at least partially implemented as a computer program module, which can perform corresponding functions when the computer program module is run.

[0171] It should be noted that the vehicle braking device part in the embodiments of this disclosure corresponds to the vehicle braking method part in the embodiments of this disclosure. For a detailed description of the vehicle braking device part, please refer to the vehicle braking method part, which will not be repeated here.

[0172] Figure 9 A block diagram of an electronic device suitable for implementing a vehicle braking method according to an embodiment of the present disclosure is shown schematically. Figure 9 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0173] like Figure 9As shown, an electronic device 900 according to an embodiment of the present disclosure includes a processor 901, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 902 or a program loaded from a storage portion 908 into a random access memory (RAM) 903. The processor 901 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 901 may also include onboard memory for caching purposes. The processor 901 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.

[0174] RAM 903 stores various programs and data required for the operation of electronic device 900. Processor 901, ROM 902, and RAM 903 are interconnected via bus 904. Processor 901 performs various operations of the method flow according to embodiments of the present disclosure by executing programs in ROM 902 and / or RAM 903. It should be noted that the programs may also be stored in one or more memories other than ROM 902 and RAM 903. Processor 901 may also perform various operations of the method flow according to embodiments of the present disclosure by executing programs stored in said one or more memories.

[0175] According to embodiments of this disclosure, the electronic device 900 may further include an input / output (I / O) interface 905, which is also connected to a bus 904. The system 900 may also include one or more of the following components connected to the input / output (I / O) interface 905: an input section 906 including a keyboard, mouse, etc.; an output section 907 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 908 including a hard disk, etc.; and a communication section 909 including a network interface card such as a LAN card, modem, etc. The communication section 909 performs communication processing via a network such as the Internet. A drive 910 is also connected to the input / output (I / O) interface 905 as needed. A removable medium 911, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 910 as needed so that computer programs read from it can be installed into the storage section 908 as needed.

[0176] According to embodiments of this disclosure, the method flow according to embodiments of this disclosure can be implemented as a computer software program. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable storage medium, the computer program containing program code for performing the methods shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network via communication section 909, and / or installed from removable medium 911. When the computer program is executed by processor 901, it performs the functions defined in the system of embodiments of this disclosure. According to embodiments of this disclosure, the systems, devices, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0177] This disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into the device / apparatus / system. The computer-readable storage medium carries one or more programs that, when executed, implement the method according to the embodiments of this disclosure.

[0178] According to embodiments of this disclosure, the computer-readable storage medium can be a non-volatile computer-readable storage medium. Examples include, but are not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this disclosure, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0179] For example, according to embodiments of this disclosure, a computer-readable storage medium may include the ROM 902 and / or RAM 903 described above and / or one or more memories other than ROM 902 and RAM 903.

[0180] Embodiments of this disclosure also include a computer program product comprising a computer program containing program code for performing the methods provided in the embodiments of this disclosure. When the computer program product is run on an electronic device, the program code is used to enable the electronic device to implement the methods provided in the embodiments of this disclosure.

[0181] When the computer program is executed by the processor 901, it performs the functions defined in the system / apparatus of this disclosure embodiments. According to embodiments of this disclosure, the systems, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0182] In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may also be transmitted and distributed in the form of signals over a network medium, and downloaded and installed via the communication section 909, and / or installed from a removable medium 911. The program code contained in the computer program can be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination thereof.

[0183] According to embodiments of this disclosure, program code for executing the computer programs provided in embodiments of this disclosure can be written in any combination of one or more programming languages. Specifically, these computational programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C", or similar programming languages. The program code can execute entirely on the user's computing device, partially on the user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0184] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions. Those skilled in the art will understand that the features recited in the various embodiments and / or claims of this disclosure can be combined and / or combined in various ways, even if such combinations or combinations are not expressly described in this disclosure. In particular, the features described in the various embodiments and / or claims of this disclosure may be combined and / or combined in various ways without departing from the spirit and teachings of this disclosure. All such combinations and / or combinations fall within the scope of this disclosure.

[0185] The embodiments of this disclosure have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of this disclosure. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of this disclosure is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this disclosure, and all such substitutions and modifications should fall within the scope of this disclosure.

Claims

1. A vehicle braking method, comprising: Based on the target acceleration that the vehicle needs to achieve during the deceleration process, a first calibrated brake opening value associated with the target acceleration is obtained from the calibration file, wherein the target acceleration is less than zero; Based on the first calibrated brake opening value, determine the initial acceleration of the vehicle during the deceleration process; Based on the initial acceleration, a compensation curve associated with the first calibrated brake opening value is generated; The compensated acceleration associated with the first calibrated brake opening value is processed to obtain a first compensated brake opening value associated with the first calibrated brake opening value, wherein the compensated acceleration is determined based on the compensation curve; Based on the first calibrated brake opening value and the first compensated brake opening value, a first target brake opening value is generated, such that the acceleration obtained by the vehicle when performing the first target brake opening value is equal to the target acceleration.

2. The method according to claim 1, wherein, The step of generating a compensation curve associated with the first calibrated brake opening value based on the initial acceleration includes: Based on the initial acceleration, an acceleration change curve associated with the first calibrated brake opening value is generated; The acceleration change curve is flipped along a preset axis to obtain a compensation curve associated with the first calibrated brake opening value.

3. The method according to claim 2, wherein, The deceleration process includes an initial deceleration phase, and the calibration file includes a calibration acceleration. The step of generating an acceleration change curve associated with the first calibrated brake opening value based on the initial acceleration includes: Based on the calibrated acceleration, generate the calibrated acceleration variation curve; Based on the relationship between the vehicle's brake opening and acceleration during the initial deceleration phase, an initial acceleration variation curve is generated. The initial acceleration is input into a function constructed based on the integral of the calibrated acceleration change curve and the integral of the initial acceleration change curve, and the acceleration change function is output. Based on the acceleration change function, an acceleration change curve associated with the first calibrated brake opening value is generated.

4. The method according to claim 1, wherein, Determining the initial acceleration of the vehicle during the deceleration process based on the first calibrated brake opening value includes: The first calibrated brake opening value is input into the first linear function, and the initial acceleration is output.

5. The method according to claim 4, wherein, The process of processing the compensated acceleration associated with the first calibrated brake opening value to obtain the first compensated brake opening value associated with the first calibrated brake opening value includes: The first linear function is transformed to obtain the second linear function; The compensated acceleration associated with the first calibrated brake opening value is input into the second linear function, and the first compensated brake opening value is output.

6. The method according to claim 1, wherein, The step of generating a first target brake opening value based on the first calibrated brake opening value and the first compensated brake opening value includes: The first calibrated brake opening value and the first compensated brake opening value are respectively assigned preset weight values; The first target brake opening value is generated based on the first calibrated brake opening value, the first compensated brake opening value, and their respective associated preset weight values.

7. The method according to claim 1, further comprising: If the target acceleration is not less than zero for the first time, a second calibrated brake opening value associated with the target acceleration is obtained from the calibration file based on the target acceleration. Obtain the historical target braking opening value performed by the vehicle when the historical target acceleration was less than zero in the previous instance; If the second calibrated brake opening value and the historical target brake opening value meet the first preset condition, determine whether the current time and the time when the vehicle begins braking meet the second preset condition. If the second preset condition is met between the current time and the time when the vehicle begins to brake, the second compensating brake opening value of the vehicle is determined based on the data obtained between the current time and the time when the vehicle begins to brake; A second target braking opening value is generated based on the second calibrated braking opening value and the second compensated braking opening value, so that the acceleration obtained by the vehicle when performing the second target braking opening value is equal to the target acceleration.

8. The method according to claim 7, wherein, The determination of the second compensating brake opening value of the vehicle based on the data obtained from the current time and the time when the vehicle begins braking includes: The data obtained based on the current time and the time when the vehicle begins braking are input into the acceleration change function, and the output is an acceleration change function associated with the second calibrated brake opening value; Based on the acceleration change function associated with the second calibrated brake opening value, an acceleration curve associated with the second calibrated brake opening value is obtained; The acceleration curve associated with the second calibrated brake opening value is flipped to obtain the compensation curve associated with the second calibrated brake opening value. The second compensated brake opening value is obtained based on the compensation curve associated with the second calibrated brake opening value.

9. The method according to claim 7, further comprising: If the second preset condition is not met between the current time and the time when the vehicle begins braking, the second calibrated braking opening value is directly output so that the acceleration obtained by the vehicle when executing the second calibrated braking opening value is equal to the target acceleration.

10. The method of claim 7, further comprising: If the second calibrated brake opening value and the historical target brake opening value do not meet the first preset condition, then... Determine the compensation curve associated with the second calibrated brake opening value; Based on the compensation curve associated with the second calibrated brake opening value, the compensated acceleration associated with the second calibrated brake opening value is obtained; The compensated acceleration associated with the second calibrated brake opening value is processed to obtain the third compensated brake opening value; A third target braking opening value is generated based on the second calibrated braking opening value and the third compensated braking opening value, so that the acceleration obtained by the vehicle when performing the third target braking opening value is equal to the target acceleration.

11. A vehicle braking device, comprising: The first acquisition module is used to acquire a first calibrated brake opening value associated with the target acceleration from a calibration file, based on the target acceleration that the vehicle needs to achieve during the deceleration process, wherein the target acceleration is less than zero. The first determining module is used to determine the initial acceleration of the vehicle during the deceleration process based on the first calibrated brake opening value. The first generation module is used to generate a compensation curve associated with the first calibrated brake opening value based on the initial acceleration. The processing module is used to process the compensation acceleration associated with the first calibrated brake opening value to obtain a first compensation brake opening value associated with the first calibrated brake opening value, wherein the compensation acceleration is determined according to the compensation curve; The second generation module is used to generate a first target braking opening value based on the first calibrated braking opening value and the first compensated braking opening value, so that the acceleration obtained by the vehicle when performing the first target braking opening value is equal to the target acceleration.

12. An electronic device, comprising: One or more processors; Memory, used to store one or more programs. Wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the method of any one of claims 1 to 10.

13. A computer-readable storage medium having stored thereon executable instructions that, when executed by a processor, cause the processor to perform the method of any one of claims 1 to 10.

14. A computer program product comprising a computer program that, when executed by a processor, implements the method according to any one of claims 1 to 10.

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