A vehicle braking control method and device, electronic equipment and storage medium

Abstract

The application discloses a vehicle braking control method and device, electronic equipment and storage medium, comprising: when detecting that the vehicle braking system of a target vehicle fails, acquiring vehicle operating parameters of the target vehicle; determining a target braking force corresponding to the target vehicle according to the vehicle operating parameters, and performing vehicle braking processing on the target vehicle based on the target braking force. By adopting a flexible fault processing mode, the braking demand of the target vehicle is gradually determined, and when the fault degree of the vehicle braking system is different, different vehicle operating parameters are used to determine the target braking force to brake the target vehicle, thereby improving the vehicle driving comfort of the target vehicle during braking. The application avoids using a one-size-fits-all braking measure to brake the target vehicle when the vehicle braking system fails, which leads to ignoring the vehicle driving comfort during braking, and realizes the effect of improving the vehicle driving comfort during vehicle braking under the premise of ensuring safe braking of the vehicle.

Description

Technical Field

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

[0002] When braking a vehicle, the vehicle braking system can apply a certain braking force to the wheels to force the vehicle to a certain extent.

[0003] Currently, when a vehicle's braking system malfunctions, a crude "one-size-fits-all" approach is generally used: immediately applying the brakes upon detecting a fault. While this approach maximizes driving safety, it significantly sacrifices driving comfort, especially when the braking system has not completely failed.

[0004] To solve the above problems, the vehicle braking control method needs to be improved. Summary of the Invention

[0005] This invention provides a vehicle braking control method, device, electronic device, and storage medium to solve the problem that when a vehicle braking system fails, a one-size-fits-all braking approach is used to brake the target vehicle, which leads to neglecting the driving comfort of the vehicle during the braking process.

[0006] In a first aspect, embodiments of the present invention provide a vehicle braking control method, comprising:

[0007] When a vehicle braking system fault is detected in the target vehicle, the vehicle operating parameters of the target vehicle are acquired; wherein, the vehicle operating parameters include at least one of the following: brake pedal travel parameters, brake master cylinder pressure parameters, brake pedal status parameters, brake pedal differential fault parameters, and brake pedal master switch status parameters.

[0008] The target braking force corresponding to the target vehicle is determined based on the vehicle operating parameters, and the vehicle braking process is performed on the target vehicle based on the target braking force.

[0009] Secondly, embodiments of the present invention also provide a vehicle braking control device, comprising:

[0010] The parameter acquisition module is used to acquire vehicle operating parameters of the target vehicle when a vehicle braking system fault of the target vehicle is detected; wherein, the vehicle operating parameters include at least one of brake pedal travel parameters, brake master cylinder pressure parameters, brake pedal status parameters, brake pedal differential fault parameters, and brake pedal master switch status parameters;

[0011] The vehicle braking module is used to determine the target braking force corresponding to the target vehicle based on the vehicle operating parameters, and to perform vehicle braking processing on the target vehicle based on the target braking force.

[0012] Thirdly, embodiments of the present invention also provide an electronic device, comprising:

[0013] At least one processor; and

[0014] A memory communicatively connected to the at least one processor; wherein,

[0015] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle braking control method according to any embodiment of the present invention.

[0016] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the vehicle braking control method described in any embodiment of the present invention.

[0017] The technical solution of this invention, when a vehicle braking system malfunction is detected in a target vehicle, acquires the vehicle's operating parameters to determine whether the target vehicle requires braking. Further, a target braking force corresponding to the target vehicle is determined based on the vehicle operating parameters, and braking is applied to the target vehicle based on this target braking force. Specifically, if braking is required, the target braking force is determined based on a first set of vehicle operating parameters; if no braking is required, the target braking force is determined based on a second set of vehicle operating parameters; if the braking requirement is unclear, the target braking force is determined to be a forced braking force, and braking of the target vehicle is controlled based on this target braking force. The advantage of this approach is that by employing a flexible fault handling method to gradually determine the braking requirement of the target vehicle, and by using different vehicle operating parameters to determine the target braking force based on different degrees of vehicle braking system malfunction, the driving comfort of the target vehicle during braking is improved. This avoids the problem of using a one-size-fits-all braking approach when the vehicle braking system malfunctions, which would neglect driving comfort during braking, thus achieving the effect of improving driving comfort during braking while ensuring safe braking.

[0018] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a flowchart of a vehicle braking control method provided in Embodiment 1 of the present invention;

[0021] Figure 2 This is a flowchart of a vehicle braking control method according to Embodiment 2 of the present invention;

[0022] Figure 3 This is a flowchart of a vehicle braking control method according to Embodiment 2 of the present invention;

[0023] Figure 4 This is a schematic diagram of the structure of a vehicle braking control device according to Embodiment 3 of the present invention;

[0024] Figure 5 This is a schematic diagram of the structure of an electronic device that implements the vehicle braking control method of this invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in sequences other than those illustrated or described herein.

[0027] Before elaborating on this technical solution, a brief introduction to its application scenarios is provided to facilitate a clearer understanding. The function of a vehicle braking system is to force a vehicle to decelerate or even stop as required by the driver or controller, to stabilize a stopped vehicle under various road conditions (e.g., on a slope), or to maintain a stable speed for a vehicle traveling downhill. Failure of the vehicle braking system can have a fatal impact on driving safety. In existing technologies, when a vehicle braking system malfunctions, the vehicle is typically braked directly. While this one-size-fits-all approach ensures safe driving, it neglects driving comfort, especially when the braking system is not completely ineffective, significantly sacrificing driving comfort. Therefore, how to maximize driving comfort while ensuring driving safety when the vehicle braking system malfunctions has always been a key issue to be addressed in the automotive industry.

[0028] Example 1

[0029] Figure 1 The present invention provides a flowchart of a vehicle braking control method according to Embodiment 1. This embodiment is applicable to situations where, when the vehicle braking system of a target vehicle malfunctions, the method determines whether the target vehicle has a braking demand based on the acquired vehicle operating parameters, and determines the target braking force of the target vehicle based on the corresponding vehicle operating parameters, so as to perform braking processing on the target vehicle based on the target braking force. This method can be executed by a vehicle braking control device, which can be implemented in hardware and / or software, and can be configured in a computing device capable of executing the vehicle braking control method.

[0030] To more clearly illustrate this technical solution, a brief description of the vehicle operating parameters involved is provided. These vehicle operating parameters include at least one of the following: brake pedal travel parameters, brake master cylinder pressure parameters, brake pedal status parameters, brake pedal differential fault parameters, and brake pedal master switch status parameters.

[0031] The brake pedal travel parameter refers to the travel parameter of the target vehicle from the moment the brake pedal is pressed until the braking effect is achieved. The larger the brake pedal travel parameter, the worse the braking effect, and excessively high brake pedal travel parameter can easily cause severe wear of the brake pads.

[0032] The brake master cylinder pressure parameter refers to the pressure parameter when the brake master cylinder of the target vehicle converts the push rod force output by the vacuum booster into hydraulic pressure.

[0033] The brake pedal state parameter can be used to characterize whether the brake pedal is in a depressed state. When the brake pedal state parameter is "Actuated", it is considered that the brake pedal is depressed. If the brake pedal state parameter is other parameters, it is considered that the brake pedal is not depressed.

[0034] The brake pedal differential fault parameter can be understood as a parameter used to characterize whether a differential fault exists in the brake pedal of a vehicle. For example, when the brake pedal differential fault parameter is "00", it indicates that the target vehicle does not have a brake pedal differential fault; if the brake pedal differential fault parameter is "10", it indicates that the target vehicle has a brake pedal differential fault. Specifically, the target vehicle also includes a brake switch, which is a mechanical switch used to identify whether the brake pedal is depressed. The VCU in the vehicle can obtain the open / closed state of the brake switch through hard-wired signals, but it cannot determine the depth to which the brake pedal is depressed. Currently, vehicle brake switches generally have a main switch and an auxiliary switch, and their open / closed states are transmitted through two independent hard wires. Under normal circumstances, depending on the vehicle model, the open / closed states of the two should remain mutually exclusive or identical in real time. When the states of the two cannot maintain the expected mutually exclusive or identical states in real time, a brake pedal differential fault is considered to have occurred.

[0035] The brake pedal master switch parameters can be understood as representing the on / off state of the brake pedal master switch. In this technical solution, the VCU obtains the brake pedal master switch state via hard wiring and combines it with the master brake switch state to analyze the braking force. When the master switch is in the open state, it indicates that the brake pedal is depressed; when the master switch is in the closed state, it indicates that the brake pedal is not depressed.

[0036] like Figure 1 As shown, the method includes:

[0037] S110. When a vehicle braking system malfunction of the target vehicle is detected, obtain the vehicle operating parameters of the target vehicle.

[0038] The target vehicle can be understood as a vehicle equipped with a vehicle braking system. This technical solution does not specifically limit the type of the target vehicle; for example, the target vehicle can be a car, truck, or van. The vehicle braking system is used to decelerate or stop the target vehicle according to the driver's driving intention or the controller's control requirements during its operation. Vehicle operating parameters refer to the vehicle driving parameters uploaded by each vehicle controller during the target vehicle's operation. These vehicle operating parameters include at least one of the following: brake pedal travel parameters, brake master cylinder pressure parameters, brake pedal status parameters, brake pedal differential fault parameters, and brake pedal master switch status parameters.

[0039] In practical applications, the vehicle braking system is a crucial component of a vehicle, providing safety for drivers and passengers. However, as vehicles age, the braking system may experience malfunctions such as brake failure or insufficient braking force, leading to potential safety hazards. To facilitate timely detection of braking system failures, appropriate warning systems are typically installed. For example, the brake light illuminating indicates a potential braking system malfunction, or the presence of brake failure, excessive brake noise, or insufficient braking force can all be considered signs of a braking system failure.

[0040] In this technical solution, when a vehicle braking system malfunction of the target vehicle is detected, the vehicle operating parameters corresponding to the target vehicle are obtained, and the vehicle operating parameters are used to determine whether the target vehicle has a braking requirement. Furthermore, the vehicle is braked according to the braking requirement.

[0041] Optionally, the vehicle operating parameters include first vehicle operating parameters and second vehicle operating parameters. Obtaining the vehicle operating parameters of the target vehicle includes: receiving communication messages sent by the electronic stability control system in the target vehicle; parsing the communication messages to obtain the vehicle operating parameters corresponding to the target vehicle.

[0042] In this context, a communication message refers to a message sent by the Electronic Stability Control (ESC) system to the Vehicle Control Unit (VCU). In practical applications, the ESC can obtain vehicle operating information corresponding to the target vehicle and convert it into a communication message, which is then transmitted to the VCU. Furthermore, the VCU parses the received communication message to obtain the vehicle operating parameters carried within it.

[0043] In this technical solution, when collecting vehicle operation information of the target vehicle based on ESC, the data acquisition can be performed periodically or in real time. Furthermore, the communication message can include multiple vehicle operation parameters, or each vehicle operation parameter can correspond to a communication message.

[0044] S120. Determine the target braking force corresponding to the target vehicle based on the vehicle operating parameters, and perform vehicle braking on the target vehicle based on the target braking force.

[0045] The target braking force can be understood as the braking force used when braking a target vehicle, which is determined based on the vehicle's operating parameters.

[0046] It should be noted that in existing technologies, when a malfunction is detected in the vehicle braking system, it is generally not distinguished whether the vehicle's braking demand can be obtained normally. Instead, a large braking force is directly applied to brake the vehicle, resulting in the neglect of vehicle comfort during the braking process.

[0047] In this technical solution, to ensure the driving comfort of the target vehicle while guaranteeing safe braking, when a malfunction in the target vehicle's braking system is detected, vehicle operating parameters are collected, and based on these parameters, it is further determined whether the target vehicle requires braking. If the target vehicle requires braking, it indicates that the vehicle's braking system has not completely failed, and control signals from the target vehicle, such as brake pedal travel signals and / or brake master cylinder pressure signals, can still be detected. Therefore, if the target vehicle requires braking, a first preset braking force (i.e., forced braking force) can be used to control the target vehicle's braking. Furthermore, when the target vehicle's braking demand cannot be obtained, it indicates a serious malfunction in the vehicle's braking system. In this case, the signals sent by the ESC that can analyze or calculate the braking force of the vehicle's braking system are invalid or unreliable. To ensure the driving safety of the target vehicle, the first preset braking force should also be used to brake the target vehicle. If the target vehicle has no braking requirement, it indicates that the braking requirement of the target vehicle can still be obtained, and the driver of the target vehicle does not wish to brake. In this case, to ensure the safety and comfort of the target vehicle, a second preset braking force can be used to brake the target vehicle. It should be noted that in this technical solution, the first preset braking force is much greater than the second preset braking force. The first preset braking force can be a larger braking force preset based on vehicle braking experience, used to directly brake the target vehicle. The second preset braking force can be a smaller braking force preset to slowly decelerate the target vehicle or to control the target vehicle to slowly stop.

[0048] In other words, in this technical solution, based on the vehicle's actual braking experience, even if the braking force applied by the driver cannot be accurately determined when ESC communication fails, there are still other ways to ascertain whether the driver has a braking need. That is, first, the braking force magnitude is identified; if the braking force magnitude cannot be identified, then the presence or absence of a braking need is identified; if even the presence or absence of a braking need cannot be determined, then a default braking force (i.e., the first preset braking force) is used instead, so as to achieve sufficient braking force to bring the vehicle to a short stop without seriously affecting the driving experience.

[0049] The technical solution of this invention, when a vehicle braking system malfunction is detected in a target vehicle, acquires the vehicle's operating parameters to determine whether the target vehicle requires braking. Further, a target braking force corresponding to the target vehicle is determined based on the vehicle operating parameters, and braking is applied to the target vehicle based on this target braking force. Specifically, if braking is required, the target braking force is determined based on a first set of vehicle operating parameters; if no braking is required, the target braking force is determined based on a second set of vehicle operating parameters; if the braking requirement is unclear, the target braking force is determined to be a forced braking force, and braking of the target vehicle is controlled based on this target braking force. The advantage of this approach is that by employing a flexible fault handling method to gradually determine the braking requirement of the target vehicle, and by using different vehicle operating parameters to determine the target braking force based on different degrees of vehicle braking system malfunction, the driving comfort of the target vehicle during braking is improved. This avoids the problem of using a one-size-fits-all braking approach when the vehicle braking system malfunctions, which would neglect driving comfort during braking, thus achieving the effect of improving driving comfort during braking while ensuring safe braking.

[0050] Example 2

[0051] Figure 2 The flowchart of a vehicle braking control method provided in Embodiment 2 of the present invention is shown. Optionally, the process of determining the target braking force corresponding to the target vehicle based on the vehicle operating parameters and performing vehicle braking processing on the target vehicle based on the target braking force is further refined.

[0052] like Figure 2 As shown, the method includes:

[0053] S210. When a vehicle braking system malfunction of the target vehicle is detected, the vehicle operating parameters of the target vehicle are obtained.

[0054] In this technical solution, to more accurately and reasonably determine the target braking force corresponding to the target vehicle, the braking demand corresponding to the target vehicle is obtained through different methods and approaches, and then prioritized. The appropriate vehicle braking force output is then selected based on the current applicable conditions of the target vehicle. When all methods and vehicle braking forces are unreliable, a flexible fault handling method is adopted.

[0055] Specifically, when the target vehicle's braking system malfunctions to the point that the braking demand cannot be accurately determined based on the vehicle's operating parameters, an attempt is made to analyze whether the target vehicle actually requires braking. In other words, based on actual braking experience, even when ESC communication is unavailable, although the braking force applied by the driver cannot be accurately determined, there are still other ways to ascertain whether the target vehicle requires braking. If there is a braking demand or the braking demand is unclear, a first preset braking force can be used to control the target vehicle's braking. If the target vehicle does not require braking, a second preset braking force is used to control the target vehicle's braking.

[0056] S220. Determine whether the target vehicle has a braking requirement based on whether the brake pedal travel signal and / or brake master cylinder pressure signal of the target vehicle are transmitted normally. If yes, execute S230; otherwise, execute S240.

[0057] In this technical solution, the ESC can send a brake pedal travel signal to the VCU. If this signal can be transmitted normally, the corresponding communication message will display "Communication valid". "Communication valid" here can be understood as the ESC sending the communication message to the VCU without encountering faults such as Checksum, Livecounter, or Timeout, and the VCU receiving the brake pedal travel signal from the ESC not being an initial or invalid value. If the communication message is valid, it is determined that the target vehicle has a braking requirement. If the communication message is invalid, it is necessary to further determine whether the target vehicle has a braking requirement based on the brake master cylinder pressure signal.

[0058] In other words, if the communication message corresponding to the brake pedal travel signal is invalid, the brake master cylinder pressure signal sent by the ESC to the VCU is obtained. If this signal can be transmitted normally, it indicates that the corresponding communication message is "valid," and it is determined that the target vehicle has a braking demand. Otherwise, it is determined that the target vehicle does not have a braking demand. Furthermore, this technical solution also includes the case where the braking demand is unclear. In this technical solution, a first preset braking force, i.e., a forced braking force, is used for both cases of braking demand and unclear braking demand.

[0059] Based on this, if the target vehicle has a braking requirement, then S230 is executed; if the target vehicle does not have a braking requirement, then S240 is executed.

[0060] S230. Determine the target braking force based on the first vehicle parameters.

[0061] The first vehicle parameters include brake pedal travel parameters and / or brake master cylinder pressure parameters.

[0062] In this technical solution, such as Figure 3As shown, if the brake pedal travel signal communication is valid, the target braking force corresponding to the target vehicle can be obtained based on the brake pedal travel parameters. If the brake pedal travel signal communication is invalid, the target braking force corresponding to the target vehicle is determined based on the brake master cylinder pressure parameters.

[0063] Optionally, the target braking force includes a first braking force or a second braking force. The target braking force is determined based on the first vehicle parameters, including: if the brake pedal travel signal transmission is normal, then the first braking force corresponding to the target vehicle is determined based on the brake pedal travel parameters; if the brake pedal travel signal transmission is abnormal, then the second braking force corresponding to the target vehicle is determined based on the brake master cylinder pressure parameters.

[0064] In this technical solution, the target braking force is determined based on different vehicle operating parameters by using the first braking force, the second braking force, the third braking force, the fourth braking force, the fifth braking force, and the forced braking force.

[0065] Specifically, if the brake pedal travel signal transmission is normal, it indicates that the target vehicle has a braking demand, and the first braking force can be obtained by calculating F1 = f1(α) based on the brake pedal travel parameter α. If the brake pedal travel signal transmission is abnormal, the second braking force can be obtained by calculating F2 = f2(φ) based on the brake master cylinder pressure parameter φ. Here, f1(·) and f2(·) are the analytical functions of braking force, with the independent variable of f1(·) being the brake pedal travel parameter α (unit: mm) and the independent variable of f2(·) being the brake master cylinder pressure parameter φ (unit: bar).

[0066] It should be noted that, in order to ensure timely detection of vehicle braking system malfunctions, if the brake pedal travel signal or brake master cylinder pressure signal cannot be transmitted normally, corresponding fault information will be generated, enabling the target vehicle to take corresponding fault handling measure A. Fault handling measure A refers to storing a fault code indicating abnormal signal transmission of the brake pedal travel signal or brake master cylinder pressure signal, illuminating the corresponding fault light on the instrument panel, and displaying the text warning message "Vehicle braking system malfunction, please drive with caution"; simultaneously, a fault alert can also be sent to the driver of the target vehicle via a remote APP.

[0067] S240. Determine the target braking force based on the second vehicle parameters.

[0068] In this technical solution, if both the brake pedal travel signal and the brake master cylinder pressure signal of the target vehicle cannot be transmitted normally, and "communication invalid" is displayed, it is determined that the target vehicle has no braking requirement or the braking requirement is unclear. At this time, the target braking force corresponding to the target vehicle is determined based on the second vehicle parameters, or the target vehicle is braked based on the forced braking force. The second vehicle parameters include at least one of the following: brake pedal state parameters, brake pedal differential fault parameters, and brake pedal master switch state parameters.

[0069] Optionally, the target braking force includes a third braking force. The target braking force is determined based on the second vehicle parameters, including: if the brake pedal state parameters are consistent with the preset state parameters, then the third braking force of the target vehicle is determined based on the brake master cylinder pressure parameters of the target vehicle; if the brake pedal state parameters are inconsistent with the preset state parameters, then the fault data corresponding to the brake pedal state parameters is stored, and the target braking force is determined based on the second vehicle parameters.

[0070] In practical applications, in this technical solution, the preset state parameter can be set to "Actuated" to indicate that the brake pedal of the target vehicle is depressed. If the message communication between the ESC and VCU regarding the brake pedal state signal is valid, and the brake pedal state parameter is consistent with the preset state parameter, it indicates that the brake pedal is depressed. At this time, the third braking force corresponding to the target vehicle is determined based on the brake master cylinder pressure parameter β of the target vehicle, and the braking of the target vehicle is controlled based on the third braking force. The third braking force can be expressed as F = f2(β). Conversely, if the message communication regarding the brake pedal state signal is invalid, or if the brake pedal state parameter is inconsistent with the preset state parameter, it indicates that the vehicle braking system has malfunctioned. In this case, fault handling measure B needs to be taken, and the next step is to make a judgment. The fault handling measure B can be storing the corresponding fault code, illuminating the fault light on the instrument panel, displaying a text reminder such as "Serious brake system malfunction, automatic parking is imminent," and sending a fault warning message to the driver of the target vehicle remotely.

[0071] Optionally, the target braking force includes a fourth braking force, which is determined based on the second vehicle parameters. This includes: if the brake pedal differential fault parameters are consistent with the differential fault parameters to be compared, then the fourth braking force of the target vehicle is determined based on the brake master cylinder pressure parameters of the target vehicle; if the brake pedal differential fault parameters are inconsistent with the differential fault parameters to be compared, then the fault data corresponding to the specified brake pedal differential fault parameters is stored, and the target braking force is determined based on the second vehicle parameters.

[0072] Based on the above example, if the message communication containing the brake pedal status signal is invalid, or if the brake pedal status is inconsistent with the preset status parameters, then the fourth braking force of the target vehicle is further determined based on the brake pedal difference fault parameters of the target vehicle.

[0073] Specifically, the brake switches in the target vehicle generally include a master brake switch and an auxiliary brake switch. To distinguish the brake pedal differential fault parameters corresponding to the two brake switches, the differential fault parameters corresponding to the master brake switch are called brake pedal differential fault parameters, and the differential fault parameters corresponding to the auxiliary brake switch are called comparison differential fault parameters. If the brake pedal differential fault parameters are consistent with the comparison differential fault parameters, it indicates that there is no brake pedal differential fault. In this case, the fourth braking force is determined based on the master cylinder pressure parameter β. The fourth braking force can be obtained by calculating F = f2(β). Conversely, if the brake pedal differential fault parameters are inconsistent with the comparison differential fault parameters, that is, if a brake pedal differential fault exists, the fifth braking force corresponding to the target vehicle is determined based on the brake pedal master switch state parameters.

[0074] It should be noted that, under normal circumstances, the open and closed states of the main brake switch and the auxiliary brake switch in the target vehicle should be mutually exclusive or identical in real time. When the states of the two cannot maintain the expected mutually exclusive or identical states in real time, it is considered that a brake pedal difference fault has occurred.

[0075] Optionally, the target braking force includes a fifth braking force or a forced braking force. The target braking force is determined based on the second vehicle parameters, including: if the brake pedal master switch state parameter is a preset switch state parameter, then the fifth braking force corresponding to the target vehicle is determined based on the brake master cylinder pressure parameter of the target vehicle; if the brake pedal master switch state parameter is inconsistent with the preset switch state parameter, then the fault data corresponding to the brake pedal master switch state parameter is stored, and the forced braking force of the target vehicle is determined based on the maximum brake master cylinder pressure parameter of the target vehicle.

[0076] Among them, the preset switch state parameters refer to the state parameters corresponding to the state when the main brake switch is turned on.

[0077] Specifically, the VCU can obtain the brake pedal master switch status via hardwired connection and analyze the braking force by combining the corresponding brake pedal master switch parameters. When the master switch is in the open state, it indicates that the brake pedal of the target vehicle is depressed. The fifth braking force corresponding to the target vehicle is then obtained based on the brake master cylinder pressure parameter β, and braking is applied to the target vehicle based on this fifth braking force. If the master switch is in the closed state, it indicates that the brake pedal is not depressed. The forced braking force corresponding to the target vehicle is then obtained based on the brake master cylinder pressure parameter γ, and braking is controlled based on this forced braking force. The fifth braking force can be represented by F = f²(β), and the forced braking force can be represented by F = f²(γ). Both β and γ are constants and can vary depending on vehicle weight, tire adhesion, and friction pad contact area. They can be calibrated through test driving; for example, β = 10 bar and γ = 5 bar can be set.

[0078] In this technical solution, when it is necessary to determine the target braking force based on the second vehicle parameters, it indicates that the vehicle's braking system is in a serious malfunction state. The brake pedal travel and master cylinder pressure signals sent by the ESC have both failed. Based on experience, other signals sent by the ESC that can analyze and calculate braking pressure at this time are either invalid or unreliable. Although the driver's braking force cannot be accurately analyzed when ESC communication fails, it is still possible to learn whether the driver has requested braking through other means. First, the magnitude of the braking force is identified. If the magnitude of the braking force cannot be identified, then the presence or absence of a braking demand is identified. If even the presence or absence of a braking demand cannot be determined, the default braking force (i.e., the forced braking force) is used instead. 10 bar is an empirical value, which can analyze sufficient braking force to bring the vehicle to a short stop without severely affecting the driving experience. Furthermore, brake pedal differential failure is the last line of defense against complete failure of the vehicle's braking system. When this step is reached, it indicates that the vehicle's braking system has suffered a serious malfunction. At this point, regardless of whether the target vehicle has a braking requirement, a certain braking force should be applied to the wheel ends. This is to further determine whether the target vehicle has a braking requirement by checking the open / closed state of the main brake switch, in the absence of a brake pedal differential fault. However, when a brake pedal differential fault occurs, the brake switch status reported by the hardwire may be inaccurate, meaning it's impossible to accurately determine whether the target vehicle has a braking requirement. In this case, it is assumed that the target vehicle has a braking requirement, and forced braking force (i.e., the first preset braking force set in this technical solution) is used to control the target vehicle's braking.

[0079] The advantage of this setup is that when the target vehicle's braking system malfunctions, the severity of the malfunction can be determined based on the acquired vehicle operating parameters. Furthermore, these parameters can be used to determine if the target vehicle requires braking, thus more accurately determining the target braking force. This flexible fault handling approach for the vehicle's braking system avoids the problem of a one-size-fits-all approach that severely impacts the driving experience when braking the target vehicle. It maximizes driving comfort while ensuring vehicle braking safety.

[0080] S250, Perform vehicle braking on the target vehicle based on the target braking force.

[0081] The technical solution of this invention, when a vehicle braking system malfunction is detected in a target vehicle, acquires the vehicle's operating parameters to determine whether the target vehicle requires braking. Further, a target braking force corresponding to the target vehicle is determined based on the vehicle operating parameters, and braking is applied to the target vehicle based on this target braking force. Specifically, if braking is required, the target braking force is determined based on a first set of vehicle operating parameters; if no braking is required, the target braking force is determined based on a second set of vehicle operating parameters; if the braking requirement is unclear, the target braking force is determined to be a forced braking force, and braking of the target vehicle is controlled based on this target braking force. The advantage of this approach is that by employing a flexible fault handling method to gradually determine the braking requirement of the target vehicle, and by using different vehicle operating parameters to determine the target braking force based on different degrees of vehicle braking system malfunction, the driving comfort of the target vehicle during braking is improved. This avoids the problem of using a one-size-fits-all braking approach when the vehicle braking system malfunctions, which would neglect driving comfort during braking, thus achieving the effect of improving driving comfort during braking while ensuring safe braking.

[0082] Example 3

[0083] Figure 4 This is a schematic diagram of a vehicle braking control device provided in Embodiment 3 of the present invention. Figure 4 As shown, the device includes a parameter acquisition module 310 and a vehicle braking module 320.

[0084] The parameter acquisition module 310 is used to acquire vehicle operating parameters of the target vehicle when a vehicle braking system fault of the target vehicle is detected; wherein the vehicle operating parameters include at least one of brake pedal travel parameters, brake master cylinder pressure parameters, brake pedal status parameters, brake pedal differential fault parameters, and brake pedal master switch status parameters.

[0085] The vehicle braking module 320 is used to determine the target braking force corresponding to the target vehicle based on the vehicle operating parameters, and to perform vehicle braking processing on the target vehicle based on the target braking force.

[0086] The technical solution of this invention, when a vehicle braking system malfunction is detected in a target vehicle, acquires the vehicle's operating parameters to determine whether the target vehicle requires braking. Further, a target braking force corresponding to the target vehicle is determined based on the vehicle operating parameters, and braking is applied to the target vehicle based on this target braking force. Specifically, if braking is required, the target braking force is determined based on a first set of vehicle operating parameters; if no braking is required, the target braking force is determined based on a second set of vehicle operating parameters; if the braking requirement is unclear, the target braking force is determined to be a forced braking force, and braking of the target vehicle is controlled based on this target braking force. The advantage of this approach is that by employing a flexible fault handling method to gradually determine the braking requirement of the target vehicle, and by using different vehicle operating parameters to determine the target braking force based on different degrees of vehicle braking system malfunction, the driving comfort of the target vehicle during braking is improved. This avoids the problem of using a one-size-fits-all braking approach when the vehicle braking system malfunctions, which would neglect driving comfort during braking, thus achieving the effect of improving driving comfort during braking while ensuring safe braking.

[0087] Optionally, the parameter acquisition module includes: a message receiving submodule, used to receive communication messages sent by the electronic stability control system in the target vehicle;

[0088] The parameter determination submodule is used to parse communication messages to obtain vehicle operating parameters corresponding to the target vehicle.

[0089] Optionally, the vehicle braking module includes: a first submodule, used to determine that the target vehicle has a braking demand if the brake pedal travel signal and / or brake master cylinder pressure signal of the target vehicle are detected to be transmitted normally, and to determine the target braking force according to the first vehicle parameters; wherein, the first vehicle parameters include brake pedal travel parameters and / or brake master cylinder pressure parameters;

[0090] The second submodule is used to determine that the target vehicle has no braking demand if both the brake pedal travel signal and the brake master cylinder pressure signal are detected to be abnormally transmitted, and to determine the target braking force based on the second vehicle parameters; wherein, the second vehicle parameters include at least one of the following: brake pedal status parameters, brake pedal differential fault parameters, and brake pedal master switch status parameters.

[0091] Optionally, the first submodule includes: a first braking force determination unit, used to determine the first braking force corresponding to the target vehicle based on the brake pedal travel parameters if the brake pedal travel signal transmission is normal;

[0092] The second braking force determination unit is used to determine the second braking force corresponding to the target vehicle based on the brake master cylinder pressure parameters if the brake pedal travel signal transmission is abnormal.

[0093] Optionally, the second submodule includes: a third braking force determination unit, used to store fault data corresponding to the brake pedal state parameters if the brake pedal state parameters are consistent with the preset state parameters, and to determine the target braking force according to the second vehicle parameters;

[0094] The preset state parameter comparison unit is used to determine the fourth braking force corresponding to the target vehicle based on the brake pedal difference fault parameters if the brake pedal state parameters are inconsistent with the preset state parameters.

[0095] Optionally, the second submodule includes: a fourth braking force determination unit, used to determine the fourth braking force of the target vehicle based on the brake master cylinder pressure parameter of the target vehicle if the brake pedal differential fault parameter is consistent with the differential fault parameter to be compared.

[0096] The main switch status parameter comparison unit is used to store the fault data corresponding to the specified pedal difference fault parameter if the brake pedal difference fault parameter is inconsistent with the difference fault parameter to be compared, and to determine the target braking force based on the second vehicle parameter.

[0097] Optionally, the second sub-module includes: a fifth braking force determination unit, used to determine the fifth braking force corresponding to the target vehicle based on the brake master cylinder pressure parameter of the target vehicle if the brake pedal master switch state parameter is a preset switch state parameter;

[0098] The forced braking force determination unit is used to store fault data corresponding to the brake pedal main switch state parameters if the brake pedal main switch state parameters are inconsistent with the preset switch state parameters, and to determine the forced braking force of the target vehicle based on the maximum brake master cylinder pressure parameters of the target vehicle.

[0099] The vehicle braking control device provided in the embodiments of the present invention can execute the vehicle braking control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method execution.

[0100] Example 4

[0101] Figure 5A schematic diagram of the structure of an electronic device 10 according to an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0102] like Figure 5 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0103] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0104] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as vehicle braking control methods.

[0105] In some embodiments, the vehicle braking control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle braking control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the vehicle braking control method by any other suitable means (e.g., by means of firmware).

[0106] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0107] Computer programs for implementing the vehicle braking control method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs can be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0108] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0109] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0110] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0111] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0112] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0113] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle braking control method, characterized in that, include: When a vehicle braking system fault is detected in the target vehicle, the vehicle operating parameters of the target vehicle are acquired; wherein, the vehicle operating parameters include a first vehicle operating parameter and a second vehicle operating parameter, and the vehicle operating parameters include at least one of the following: brake pedal travel parameter, brake master cylinder pressure parameter, brake pedal status parameter, brake pedal differential fault parameter, and brake pedal master switch status parameter; If the brake pedal travel signal and / or brake master cylinder pressure signal of the target vehicle are detected to be transmitted normally, it is determined that the target vehicle has a braking demand, and the target braking force is determined according to the first vehicle parameters; wherein, the first vehicle parameters include the brake pedal travel parameters and / or the brake master cylinder pressure parameters; If both the brake pedal travel signal and the brake master cylinder pressure signal are detected to be abnormally transmitted, it is determined that the target vehicle has no braking requirement, and the target braking force is determined according to the second vehicle parameters; wherein, the second vehicle parameters include at least one of brake pedal status parameters, brake pedal differential fault parameters, and brake pedal master switch status parameters; The target vehicle is braked based on the target braking force. The target braking force includes a third braking force. Determining the target braking force based on the second vehicle parameters includes: if the brake pedal state parameters are consistent with preset state parameters, then determining the third braking force of the target vehicle based on the brake master cylinder pressure parameters of the target vehicle; if the brake pedal state parameters are inconsistent with preset state parameters, then storing fault data corresponding to the brake pedal state parameters, and determining the target braking force based on the second vehicle parameters. The target braking force includes a fourth braking force. Determining the target braking force based on the second vehicle parameters includes: if the brake pedal differential fault parameter is consistent with the differential fault parameter to be compared, then determining the fourth braking force of the target vehicle based on the brake master cylinder pressure parameter of the target vehicle; if the brake pedal differential fault parameter is inconsistent with the differential fault parameter to be compared, then storing the fault data corresponding to the brake pedal differential fault parameter, and determining the target braking force based on the second vehicle parameters; wherein the brake pedal differential fault parameter corresponds to the differential fault parameter of the master brake switch, and the differential fault parameter to be compared corresponds to the differential fault parameter of the auxiliary brake switch.

2. The method according to claim 1, characterized in that, The process of obtaining the vehicle operating parameters of the target vehicle includes: Receive communication messages sent by the electronic stability control system in the target vehicle; The communication message is parsed to obtain the vehicle operating parameters corresponding to the target vehicle.

3. The method according to claim 2, characterized in that, The target braking force includes a first braking force or a second braking force, and determining the target braking force based on the first vehicle parameters includes: If the brake pedal travel signal transmission is normal, then the first braking force corresponding to the target vehicle is determined based on the brake pedal travel parameters. If the brake pedal travel signal transmission is abnormal, the second braking force corresponding to the target vehicle is determined based on the brake master cylinder pressure parameter.

4. The method according to claim 1, characterized in that, The target braking force includes a fifth braking force or a forced braking force, and determining the target braking force based on the second vehicle parameters includes: If the brake pedal master switch state parameter is a preset switch state parameter, then the fifth braking force corresponding to the target vehicle is determined according to the brake master cylinder pressure parameter of the target vehicle. If the brake pedal master switch state parameter is inconsistent with the preset switch state parameter, then the fault data corresponding to the brake pedal master switch state parameter is stored, and the forced braking force of the target vehicle is determined according to the maximum brake master cylinder pressure parameter of the target vehicle.

5. A vehicle braking control device, characterized in that, include: The parameter acquisition module is used to acquire vehicle operating parameters of the target vehicle when a vehicle braking system fault of the target vehicle is detected; wherein, the vehicle operating parameters include first vehicle operating parameters and second vehicle operating parameters, and the vehicle operating parameters include at least one of brake pedal travel parameters, brake master cylinder pressure parameters, brake pedal status parameters, brake pedal differential fault parameters, and brake pedal master switch status parameters. The first submodule is used to determine that the target vehicle has a braking demand if the brake pedal travel signal and / or brake master cylinder pressure signal of the target vehicle are detected to be transmitted normally, and to determine the target braking force according to the first vehicle parameters; wherein, the first vehicle parameters include the brake pedal travel parameters and / or the brake master cylinder pressure parameters. The second submodule is used to determine that the target vehicle has no braking demand if both the brake pedal travel signal and the brake master cylinder pressure signal are detected to be abnormally transmitted, and to determine the target braking force according to the second vehicle parameters; wherein, the second vehicle parameters include at least one of brake pedal state parameters, brake pedal differential fault parameters, and brake pedal master switch state parameters; A vehicle braking module is used to perform vehicle braking on the target vehicle based on the target braking force. The second submodule includes: a third braking force determination unit, used to determine the third braking force of the target vehicle based on the brake master cylinder pressure parameter of the target vehicle if the brake pedal state parameter is consistent with the preset state parameter; and a preset state parameter comparison unit, used to store fault data corresponding to the brake pedal state parameter if the brake pedal state parameter is inconsistent with the preset state parameter, and determine the target braking force based on the second vehicle parameter. The second submodule includes: a fourth braking force determination unit, used to determine the fourth braking force of the target vehicle based on the brake master cylinder pressure parameter of the target vehicle if the brake pedal differential fault parameter is consistent with the differential fault parameter to be compared; and a main switch state parameter comparison unit, used to store fault data corresponding to the brake pedal differential fault parameter if the brake pedal differential fault parameter is inconsistent with the differential fault parameter to be compared, and determine the target braking force based on the second vehicle parameters; wherein the brake pedal differential fault parameter corresponds to the differential fault parameter of the main brake switch, and the differential fault parameter to be compared corresponds to the differential fault parameter of the auxiliary brake switch.

6. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle braking control method according to any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the vehicle braking control method of any one of claims 1-4.

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