Vehicle control method, device, braking system, vehicle and readable storage medium

Abstract

The present application discloses a vehicle control method, an electronic device, a braking system, a vehicle and a computer storage medium. The control method includes: obtaining the vehicle status information, and determining the target duration of the vehicle's driving on a flooded road according to the status information, and controlling the vehicle to perform target parameter braking when the target duration is greater than or equal to the duration threshold, so as to maintain the braking force output capacity of the vehicle's braking unit. In this way, the present application allows the reduction of the braking output capacity caused by the water film generated by the friction pair when the target duration of the vehicle's driving on the flooded road is greater than or equal to the duration threshold to be improved by performing target parameter braking, thereby avoiding the occurrence of the situation where the braking force output capacity of the vehicle's braking system is reduced, and based on the setting of the target parameters, the impact of the vehicle's active braking on the driver and passengers can be reduced, which guarantees the vehicle driving experience of the driver and passengers to a certain extent.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, an electronic device, a braking system, a vehicle and a computer storage medium. Background Art

[0002] Generally, when a vehicle is driving on a flooded road, the braking force output capacity of the vehicle's braking system will be reduced. In order to ensure the braking force output capacity of the vehicle's braking system when driving on a flooded road, the traditional solution is to improve the hardware architecture of the braking system, such as adjusting the single drive motor in the system to two drive motors, thereby improving the braking force output capacity of the braking system itself, so that the braking system can still generate sufficient braking force output when the vehicle is driving on a flooded road.

[0003] However, this method of improving the braking system does not take into account the impact of flooded roads on the internal braking system. When a vehicle travels on flooded roads for a long time, a water film may form on the friction pairs in the braking system. The water film will reduce the friction coefficient of the friction pairs, thereby causing a decrease in the braking force output capacity of the braking system. Summary of the invention

[0004] The present application provides a vehicle control method, an electronic device, a braking system, a vehicle and a computer storage medium.

[0005] The present application provides a vehicle control method, including:

[0006] Acquiring status information of the vehicle, wherein the status information includes driving environment information;

[0007] Determining a target duration of time for which the vehicle is traveling on a flooded road according to the state information;

[0008] When the target duration is greater than or equal to a duration threshold, the vehicle is controlled to perform target parameter braking to maintain the braking force output capacity of the vehicle braking unit, wherein the target parameters include braking duration and / or braking force, the braking duration is less than or equal to the target time, and the braking force is less than or equal to the target force.

[0009] Thus, in the embodiment of the present application, the vehicle can determine the target duration of driving on the wading road according to the state information, and perform the target parameter braking when the target duration is greater than or equal to the duration threshold, so as to maintain the braking force output capacity of the vehicle brake unit, so that when the target duration of driving on the wading road is greater than or equal to the duration threshold, the reduction of the braking output capacity due to the water film generated by the friction pair can be improved by performing the target parameter braking, so as to avoid the occurrence of the situation that the braking force output capacity of the braking system is reduced when the vehicle is driving on the wading road to a certain extent, and to a certain extent reduce the influence of the dynamic change of the braking force output capacity of the vehicle brake unit on the vehicle braking operation triggered by the user, thereby ensuring the robust response to the vehicle braking operation triggered by the user during driving, and driving safety is ensured. In addition, based on the setting of the target parameter, when the vehicle performs braking to destroy the water film, the braking duration that can be braked is less than or equal to the target time, and / or the braking force is less than or equal to the target force, so as to reduce the influence of the vehicle's active braking on the driver and passengers, and to a certain extent ensure the vehicle driving experience of the driver and passengers.

[0010] In certain embodiments of the present application, the driving environment information is determined by a vehicle wiper and / or a rain sensor installed on the vehicle.

[0011] In this way, in the implementation mode of the present application, the vehicle can obtain driving environment information through the vehicle wipers and / or rain sensors, thereby achieving efficient acquisition of driving environment information.

[0012] In certain embodiments of the present application, the target parameter further includes a braking execution frequency, and the braking execution frequency is greater than or equal to the target frequency.

[0013] In certain embodiments of the present application, the state information further includes driving state information, and the controlling the vehicle to perform target parameter braking when the target duration is greater than or equal to a duration threshold to maintain the braking force output capacity of the vehicle braking unit includes:

[0014] When the target duration is greater than or equal to the duration threshold, the vehicle is controlled to perform braking of target parameters according to the driving state information to maintain the braking force output capacity of the vehicle braking unit.

[0015] In this way, in the implementation mode of the present application, the vehicle can brake the target parameters according to its own driving status information when the target duration is greater than or equal to the duration threshold, which to a certain extent ensures the reliable braking of the vehicle and ensures the timely maintenance of the braking force output capacity of the vehicle braking unit.

[0016] In certain embodiments of the present application, the driving state information includes a brake pedal opening within the target duration, and when the target duration is greater than or equal to the duration threshold, controlling the vehicle to perform target parameter braking according to the driving state information to maintain the braking force output capacity of the vehicle braking unit includes:

[0017] When the target duration is greater than or equal to the duration threshold and the brake pedal opening within the target duration is always less than or equal to the target opening, the vehicle is controlled to brake with target parameters to maintain the braking force output capacity of the vehicle braking unit.

[0018] In this way, in the implementation mode of the present application, the vehicle can perform braking with target parameters when the target duration of driving on a flooded road surface is greater than or equal to the duration threshold and the brake pedal opening is always less than or equal to the target opening within the target duration. This can ensure that the braking force output capacity of the vehicle braking unit is maintained in a timely manner to a certain extent.

[0019] In certain embodiments of the present application, the driving state information includes the brake pedal opening within the target duration and the vehicle speed at the current moment, and when the target duration is greater than or equal to the duration threshold, controlling the vehicle to perform target parameter braking according to the driving state information to maintain the braking force output capacity of the vehicle braking unit includes:

[0020] When the target duration is greater than or equal to the duration threshold, the brake pedal opening within the target duration is always less than or equal to the target opening, and the vehicle speed at the current moment is less than or equal to the target vehicle speed, the vehicle is controlled to perform braking of the target parameters to maintain the braking force output capacity of the vehicle braking unit.

[0021] In this way, in the implementation mode of the present application, the vehicle can perform a target parameter braking when the target duration of driving on a flooded road is greater than the duration threshold, the brake pedal opening is always less than or equal to the target opening within the target duration, and the current vehicle speed is less than or equal to the target vehicle speed. This can ensure, to a certain extent, the timely maintenance of the braking force output capacity of the vehicle braking unit.

[0022] In certain embodiments of the present application, the target duration includes a first duration, and the first duration is used to indicate the duration of the vehicle driving on the flooded road surface since entering the flooded road surface.

[0023] In certain embodiments of the present application, the target duration includes a second duration, and the second duration is used to indicate the duration of the vehicle traveling on the flooded road since the last time the vehicle braked on the flooded road.

[0024] An embodiment of the present application provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the above-mentioned vehicle control method is implemented.

[0025] An embodiment of the present application provides a braking system, which includes a friction pair, a brake motor and the above-mentioned electronic device.

[0026] An embodiment of the present application provides a vehicle, which includes the above-mentioned electronic device, or includes the above-mentioned braking system.

[0027] An embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by one or more processors, the above-mentioned vehicle control method is implemented.

[0028] The electronic device, braking system, vehicle and computer-readable storage medium provided by the embodiments of the present application enable the vehicle to determine the target duration of driving on a flooded road according to the state information, and to perform braking with target parameters when the target duration is greater than or equal to the duration threshold, thereby maintaining the braking force output capacity of the vehicle braking unit, so that when the target duration of driving on a flooded road is greater than or equal to the duration threshold, the reduction in braking output capacity due to the water film generated by the friction pair can be improved by performing braking with target parameters, thereby avoiding the occurrence of the situation that the braking force output capacity of the braking system is reduced when the vehicle is driving on a flooded road to a certain extent, and can reduce the influence of the dynamic change of the braking force output capacity of the vehicle braking unit on the vehicle braking operation triggered by the user to a certain extent, thereby ensuring a robust response to the vehicle braking operation triggered by the user during driving, and ensuring driving safety. In addition, based on the setting of the target parameters, when the vehicle performs braking to destroy the water film, the braking duration that can be braked is less than or equal to the target time, and / or the braking force is less than or equal to the target force, thereby reducing the influence of the vehicle's active braking on the driver and passengers, and ensuring the vehicle driving experience of the driver and passengers to a certain extent.

[0029] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0031] Figure 1 This is one of the flowcharts of the vehicle control method in certain embodiments of the present application;

[0032] Figure 2 A schematic diagram of a braking system in some embodiments of the present application;

[0033] Figure 3 This is the second flow chart of the vehicle control method in certain embodiments of the present application. DETAILED DESCRIPTION

[0034] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the embodiments of the present application.

[0035] With the improvement of economic level and the change of consumption concept, more and more people choose to buy vehicles to improve the quality of life. Therefore, the number of vehicles owned increases year by year. More and more people drive to meet their daily travel needs, which leads to increasingly complex road conditions.

[0036] Furthermore, during vehicle driving, braking (or braking) is one of the inevitable driving operations. As a result, faced with increasingly complex road conditions, people's requirements for the vehicle's braking system (or braking function) have increased accordingly.

[0037] Traditional braking systems are usually pneumatic or hydraulic, and the implementation of pneumatic and hydraulic braking requires the installation of complex pipeline structures in the vehicle, which has a certain impact on the weight and cost of the vehicle. At the same time, when the pipeline structure is more complex, there is a large response delay when the pipeline transmits air pressure and hydraulic pressure. In addition, there is a risk of leakage in the pipeline. It is understandable that traditional braking systems implemented with air pressure or hydraulic pressure are difficult to meet current braking needs.

[0038] Furthermore, with the development of electronic control technology, the electro-hydraulic brake system (EHB) was developed and widely used by improving the traditional hydraulic brake system. However, since the electro-hydraulic brake system uses the hydraulic pipelines in the traditional hydraulic brake system, it is similar to the traditional hydraulic brake system and has the disadvantages of complex pipelines, difficult assembly, and complex control system.

[0039] With the further development of torque motors and electronic control technology, the Electro Mechanical Brake (EMB) system has emerged. Among them, the working principle of the electronic hydraulic brake system is: when the driver issues a braking demand for the vehicle, such as stepping on the brake pedal, the Electronic Control Unit (ECU) in the system determines the user's desired target deceleration based on the current working conditions, control signals, and brake pedal opening signals. Then, based on the target deceleration, combined with parameters such as vehicle weight and wheelbase, the required braking force of the front and rear brake wheels is determined. Then, the required braking force of the brake wheel is converted into the target braking pressure. Then, according to the target braking pressure of each brake wheel, the corresponding motor control signal is generated and sent to the motor control module at the corresponding wheel end of each brake wheel. Finally, the motor control module drives the motor by controlling the current to amplify the output torque of the motor through the deceleration and force-increasing mechanism to drive the motion conversion mechanism such as the ball screw, and the rotational motion of the motion conversion mechanism such as the ball screw is converted into axial motion, which finally acts on the brake disc, causing the friction pair to tighten and generate friction, thereby achieving braking.

[0040] It is understandable that, since a large number of pipelines are eliminated in the electronically controlled mechanical brake system, compared with the traditional pneumatic brake system, the traditional hydraulic brake system and the electronically controlled hydraulic brake system, the electronically controlled mechanical brake system can effectively reduce the weight and cost of the vehicle, and can shorten the braking response time, thereby shortening the braking distance. In addition, the electronically controlled mechanical brake system can be equipped with corresponding control algorithms such as the Antilock Brake System (ABS), the Electronic Stability Control System (ESC), etc.

[0041] Furthermore, in some related technologies, the controller in the electronically controlled mechanical brake system can receive and control the front wheel motor brake and the rear wheel motor brake to brake the entire vehicle based on the pedal signal collected by the brake pedal signal collector. It has the advantages of fewer mechanical connections, no hydraulic brake lines, simple structure, small size, and easy layout on the vehicle.

[0042] In other related technologies, the electronically controlled mechanical brake system adopts a dual-motor structure to achieve redundancy through dual motors while meeting the requirements of wire control braking. In addition, when the anti-lock braking system is working, the threaded screw transmission component can be self-locking while the ball screw transmission component is not self-locking, so that one motor does not need to lock the braking torque, and the other motor does not need to reverse to release the braking torque, thereby extending the service life of the motor and making the braking of the whole vehicle more stable.

[0043] However, as shown above, the electronically controlled mechanical brake systems in the related art mostly consider the impact of changes in the brake system framework on the braking performance of the vehicle, but do not consider the impact of actual braking scenarios on the braking performance of the vehicle. For example, in rainy or wading scenes, due to direct or indirect contact with water, a water film may form on the friction pair, and the water film will cause the friction coefficient of the friction pair (or between the two brake pads) to decrease, thereby reducing the braking force generated by the friction pair, and ultimately increasing the braking distance of the vehicle.

[0044] Based on the above problems you may encounter, please refer to Figure 1 , the embodiment of the present application provides a vehicle control method, comprising:

[0045] 01: Obtain vehicle status information, where the status information includes driving environment information;

[0046] 02: Determine the target duration of the vehicle driving on the flooded road based on the status information;

[0047] 03: When the target duration is greater than or equal to the duration threshold, the vehicle is controlled to brake with target parameters to maintain the braking force output capacity of the vehicle braking unit, wherein the target parameters include braking duration and / or braking force, the braking duration is less than or equal to the target time, and the braking force is less than or equal to the target force.

[0048] The embodiment of the present application provides a control device. The control method of the embodiment of the present application can be implemented by the control device of the embodiment of the present application. Specifically, the control device includes a transceiver unit and a processing unit. The transceiver unit is configured to obtain status information of the vehicle, and the status information includes driving environment information. The processing unit is configured to determine the target duration of the vehicle driving on a wading road according to the status information, and control the vehicle to brake with target parameters when the target duration is greater than or equal to a duration threshold, so as to maintain the braking force output capacity of the vehicle braking unit, wherein the target parameters include braking duration and / or braking force, the braking duration is less than or equal to the target time, and the braking force is less than or equal to the target force.

[0049] The embodiment of the present application also provides an electronic device, which includes a memory and a processor. The control method of the vehicle of the embodiment of the present application can be implemented by the electronic device of the embodiment of the present application. Specifically, a computer program is stored in the memory, and the processor is used to obtain the status information of the vehicle, and to determine the target duration of the vehicle's driving on the wading road according to the status information, and to control the vehicle to brake with target parameters when the target duration is greater than or equal to the duration threshold, so as to maintain the braking force output capacity of the vehicle's braking unit, wherein the status information includes driving environment information, the target parameters include braking duration and / or braking force, the braking duration is less than or equal to the target time, and the braking force is less than or equal to the target force.

[0050] Specifically, in the implementation mode of the present application, the vehicle (or control device, or electronic device) can obtain status information including driving environment information, and determine the target duration of its own driving on a flooded road surface based on the status information, and when the target duration is greater than or equal to a duration threshold, perform braking of target parameters to destroy the level that may be formed on the friction pair, thereby maintaining the braking force output capacity of the vehicle braking unit.

[0051] It can be understood that the status information in the implementation mode of the present application may include driving environment information, and the driving environment information can be understood as information representing the environment outside the vehicle cabin space, including but not limited to images outside the vehicle cabin.

[0052] It can also be understood that the vehicle braking unit in the embodiments of the present application can be understood as a friction pair, or as a braking system including a friction pair, such as the above-mentioned electronically controlled hydraulic braking system, electronically controlled mechanical braking system, etc.

[0053] Furthermore, in the embodiment of the present application, the braking force output capacity of the vehicle brake unit can be understood as the friction coefficient of the friction pair. "Maintaining the braking force output capacity" can be understood as "maintaining the magnitude of the friction coefficient of the friction pair".

[0054] It should be noted that when the current weather is rainy, or when the vehicle is currently driving on a wading road (or a flooded road), due to direct or indirect contact with water, a water film may form on the friction pair in the vehicle's braking system, and the water film will reduce the friction coefficient of the friction pair, ultimately resulting in a decrease in the braking force that the friction pair can output.

[0055] It should also be noted that the water film on the friction pair can be destroyed by vehicle braking, or in other words, when the vehicle brakes, the friction pair will perform corresponding actions, thereby destroying the water film on the friction pair.

[0056] However, in the process of driving a vehicle, the driver usually presses the brake pedal to trigger vehicle braking when he confirms that there is danger in the front or rear (such as the vehicle in front brakes suddenly) or confirms that the current driving status is dangerous (such as excessive speed). When confirming that the current road condition is good (such as there are no vehicles in the front or rear for a long time), the driver's intention to press the brake pedal is weak, resulting in a long time interval between the two times the brake pedal is pressed. As a result, when the driver presses the brake pedal, a water film has formed on the friction pair due to the long-term driving of the vehicle on a flooded road. The braking force output generated by the friction pair of the braking system does not match the brake pedal opening, and the vehicle braking effect cannot meet user expectations.

[0057] Therefore, in the embodiments of the present application, the vehicle can actively perform braking of the target parameters to destroy the water film when the duration of driving on the flooded road is long enough, that is, when the target duration is greater than or equal to the duration threshold.

[0058] For example, in an example where the driving environment information includes an image of the outside environment, the vehicle determines that the current weather is rainy based on the image of the outside environment, and thus determines that the current driving road surface is a wading road surface, then a braking operation can be performed according to the target parameters to make the friction pair perform the corresponding action, so that the water film on the friction pair is destroyed due to the action performed by the friction pair, and then the friction coefficient of the friction pair is restored to its original state, and the braking force output capacity of the friction pair is maintained. Therefore, when the user steps on the brake pedal, the vehicle can normally perform the whole vehicle braking function according to the "friction pair whose friction coefficient is not reduced by the water film", and the user's vehicle braking intention can be reliably responded to.

[0059] In addition, it can be understood that in the implementation of the present application, the duration threshold can be set according to actual conditions. For example, in one example, the duration threshold is 10 seconds. In another example, the value range of the duration threshold is [5, 15], in seconds.

[0060] And, it should also be noted that in order to avoid the driving experience of the occupants in the vehicle being affected by the execution of the braking when the vehicle actively performs braking when the target duration is greater than or equal to the duration threshold, in the implementation mode of the present application, the vehicle performs braking with target parameters, or in other words, performs braking with "'braking duration less than or equal to the target time', and / or 'braking force less than or equal to the target force'".

[0061] In an example, the target time has a value range of [1, 100], and the unit is milliseconds.

[0062] In an example, the target strength has a value range of [15, 25], and the unit is Newton.

[0063] Optionally, in certain embodiments of the present application, the target parameter further includes a braking execution frequency, and the braking execution frequency is greater than or equal to the target frequency. Further, in one example, the target frequency has a value range of [40, 60], in Hertz.

[0064] In summary, in the embodiments of the present application, the vehicle can determine the target duration of driving on a flooded road according to the state information, and perform the target parameter braking when the target duration is greater than or equal to the duration threshold, so as to maintain the braking force output capacity of the vehicle brake unit, so that when the target duration of driving on the flooded road is greater than or equal to the duration threshold, the reduction of the braking output capacity due to the water film generated by the friction pair can be improved by performing the target parameter braking, so as to avoid the reduction of the braking force output capacity of the braking system when the vehicle is driving on the flooded road to a certain extent, and to reduce the influence of the dynamic change of the braking force output capacity of the vehicle brake unit on the vehicle braking operation triggered by the user to a certain extent, thereby ensuring the robust response to the vehicle braking operation triggered by the user during driving, and driving safety can be ensured. In addition, based on the setting of the target parameter, when the vehicle performs braking to destroy the water film, the braking duration that can be braked is less than or equal to the target time, and / or the braking force is less than or equal to the target force, so as to reduce the influence of the vehicle's active braking on the driver and passengers, and to a certain extent ensure the vehicle driving experience of the driver and passengers.

[0065] In addition, it is understandable that after the vehicle brakes to destroy the water film on the friction pair, if the vehicle continues to travel on the flooded road surface, a new water film may be formed on the friction pair. For this reason, the target duration of the embodiment of the present application can be divided into two types, one is the first duration, which is used to indicate the duration of the vehicle driving on the flooded road surface since entering the flooded road surface. The other is the second duration, which is used to indicate the duration of the vehicle driving on the flooded road surface since the last time the vehicle braked on the flooded road surface.

[0066] For example, in one example, t 0 time and t 1 moment is two adjacent moments, t 1 moment t After time 0, the vehicle t Driving on a dry road at time 0, t Driving on the flooded road at time 1, let the current time be t now , then:

[0067] Vehicle from t 1 starts timing to determine the first duration, and at the current time t now for t2 o'clock, that is t now = t 2 o'clock, confirmed t now and t 1 time difference ( t 2- t 1) is greater than or equal to the duration threshold, that is, the first duration is greater than or equal to the duration threshold, then the vehicle can t 2. Braking of target parameters is performed once at each moment.

[0068] Vehicle from t 2 starts timing to determine the second duration, and at the current time t now for t 2 after t 3 o'clock, that is t now = t 3 o'clock, confirmed t now and t 2 time difference ( t 3- t 2) is greater than or equal to the duration threshold, that is, the second duration is greater than or equal to the duration threshold, then the vehicle can t 3. Braking of target parameters again.

[0069] Optionally, in the implementation manner of the present application, the first duration and the second duration correspond to different duration thresholds. Therefore, when the first duration is greater than or equal to the corresponding duration threshold, the vehicle performs the braking of the target parameter. Similarly, when the second duration is greater than or equal to the corresponding duration threshold, the vehicle may perform the braking of the target parameter.

[0070] Optionally, in certain embodiments of the present application, the "duration threshold corresponding to the first duration" is less than or equal to the "duration threshold corresponding to the second duration". In one example, the "duration threshold corresponding to the first duration" is 15 seconds, and the "duration threshold corresponding to the second duration" is 10 seconds. In another example, the value range of the "duration threshold corresponding to the first duration" is [10, 20], and the value range of the "duration threshold corresponding to the second duration" is [5, 10), and the units of the two value ranges are both seconds.

[0071] To more clearly illustrate the implementation mode of the present application, the above t 0. t 1. t 2. t 3 and t now For example, let the duration threshold corresponding to the first duration be Ttarget_1 , and let the duration threshold corresponding to the second duration be T target_2 , then:

[0072] Vehicle from t 1 starts timing to determine the first duration, and at the current time t now for t Confirmed at 2 o'clock t now and t 1 time difference ( t 2- t 1) Greater than or equal to T target_1 , then the vehicle can t 2. Braking of target parameters is performed once at each moment.

[0073] Vehicle from t 2 starts timing to determine the second duration, and at the current time t now for t Confirmed at 3 o'clock t now and t 2 time difference ( t 3- t 2) Greater than or equal to T target_2 , then the vehicle can t At time 3, braking to the target parameter is performed again.

[0074] In addition, it can be understood that the type of the road surface on which the vehicle is currently traveling can be determined based on the driving environment information, and the specific process of determining the type of the road surface on which the vehicle is currently traveling based on the driving environment information can be set according to actual conditions.

[0075] For example, in certain embodiments of the present application, the driving environment information includes an image of the road surface on which the vehicle is currently driving, and a camera is installed outside the vehicle cabin, and the camera is used to capture the image of the road surface on which the vehicle is currently driving. Then, the vehicle can call a pre-trained road type recognition model to perform road type recognition on the image captured by the camera, thereby obtaining the type of the road surface on which the vehicle is currently driving.

[0076] For another example, in certain embodiments of the present application, the driving environment information is determined by the vehicle wipers and / or a rain sensor installed on the vehicle. It is understood that if the vehicle wipers start to work, it means that there may be rain on the windshield of the vehicle, and then it is determined that there may be water on the current driving road of the vehicle. Furthermore, when the enable signal of the vehicle wipers (i.e., the driving environment information) is triggered, and the wipers enter a moving state, it can be determined that the current driving road of the vehicle is a wading road. On the contrary, when the enable signal of the vehicle wipers is not triggered, and the wipers are in a stationary state, it can be determined that the current driving road of the vehicle is not a wading road.

[0077] It can also be understood that the rain sensor installed at the vehicle windshield can be used to detect whether the vehicle windshield is in contact with water (such as rain) in the environment outside the vehicle. Furthermore, when it is determined that the vehicle windshield is in contact with water in the environment outside the vehicle based on the data collected by the rain sensor (i.e., driving environment information), it can be determined that the road surface the vehicle is currently driving on is a wading road surface. Conversely, when it is determined that the vehicle windshield is not in contact with water in the environment outside the vehicle based on the data collected by the rain sensor, it can be determined that the road surface the vehicle is currently driving on is not a wading road surface.

[0078] It can be understood that the process of determining whether the vehicle windshield is in contact with water through the data collected by the rain sensor can be set according to actual conditions.

[0079] It can also be understood that in order to ensure the reliable determination of the current road surface type and to achieve redundancy in the operation of determining the road surface type, in an embodiment of the present application, the vehicle can use the information of the two components, the vehicle wiper and the rain sensor, to determine the type of the vehicle's current road surface.

[0080] Specifically, when the enable signal of the vehicle wiper is triggered, and the data collected by the rain sensor reflects that "the vehicle windshield is in contact with water in the environment outside the vehicle", it is determined that the vehicle is currently traveling on a road surface that is a wading road surface. Conversely, when the enable signal of the vehicle wiper is not triggered, or the data collected by the rain sensor does not reflect that "the vehicle windshield is in contact with water in the environment outside the vehicle", it is determined that the vehicle is currently traveling on a road surface that is not a wading road surface.

[0081] In this way, in the implementation mode of the present application, the vehicle can obtain driving environment information through the vehicle wipers and / or rain sensors, thereby achieving efficient acquisition of driving environment information.

[0082] In some embodiments of the present application, the state information also includes driving state information, and then step 03 includes:

[0083] When the target duration is greater than or equal to the duration threshold, the vehicle is controlled to perform braking of the target parameters according to the driving state information to maintain the braking force output capacity of the vehicle braking unit.

[0084] The processing unit of the embodiment of the present application is configured to control the vehicle to brake with target parameters according to the driving state information when the target duration is greater than or equal to the duration threshold, so as to maintain the braking force output capacity of the vehicle braking unit.

[0085] The processor of the embodiment of the present application is also used to control the vehicle to brake with target parameters according to the driving status information when the target duration is greater than or equal to the duration threshold, so as to maintain the braking force output capacity of the vehicle braking unit.

[0086] Specifically, in the implementation mode of the present application, in order to ensure the effective maintenance of the braking force output capacity of the vehicle braking unit, or in other words, to ensure the reliable destruction of the water film on the friction pair, the vehicle of the implementation mode of the present application can determine whether to perform target parameter braking based on its own driving status information when the target duration is greater than or equal to the duration threshold.

[0087] It is understandable that the type of the road surface on which the vehicle is currently traveling can reflect the possibility of water film forming on the friction surface of the friction pair to a certain extent. For example, when the driving state information includes the time when the vehicle last braked, the vehicle can determine whether water film has formed on the friction pair based on the difference between the current time and the time when the vehicle last braked.

[0088] Specifically, assuming that when the vehicle continues to travel on a flooded road for more than 10 seconds, a water film will form on the friction pair. Then: at the current moment, when the vehicle continues to travel on the flooded road for more than 10 seconds, the vehicle determines that the vehicle has performed a braking operation 5 seconds ago based on the difference between the current moment and the last braking time. In other words, the water film on the friction pair has been destroyed 5 seconds ago. At the current moment, no new water film may be formed on the friction pair. Therefore, the vehicle may not perform braking of the target parameters at the current moment.

[0089] For example, at the current moment, if the vehicle has been driving on a flooded road for more than 10 seconds, the vehicle determines that the vehicle has braked once 15 seconds ago based on the difference between the current moment and the last braking time. Therefore, a new water film may have formed on the friction pair at the current moment, so the vehicle can perform target parameter braking at the current moment.

[0090] In this way, in the implementation mode of the present application, the vehicle can brake the target parameters according to its own driving status information when the target duration is greater than or equal to the duration threshold, which to a certain extent ensures the reliable braking of the vehicle and ensures the timely maintenance of the braking force output capacity of the vehicle braking unit.

[0091] In certain embodiments of the present application, the driving state information includes a brake pedal opening within a target duration. Furthermore, when the target duration is greater than or equal to a duration threshold, the step of controlling the vehicle to perform a target parameter braking according to the driving state information to maintain the braking force output capacity of the vehicle brake unit includes:

[0092] When the target duration is greater than or equal to the duration threshold and the brake pedal opening within the target duration is always less than or equal to the target opening, the vehicle is controlled to brake with target parameters to maintain the braking force output capacity of the vehicle brake unit.

[0093] The processing unit of the embodiment of the present application is configured to control the vehicle to brake with target parameters to maintain the braking force output capacity of the vehicle braking unit when the target duration is greater than or equal to a duration threshold and the brake pedal opening within the target duration is always less than or equal to the target opening.

[0094] The processor of the embodiment of the present application is also used to control the vehicle to perform target parameter braking to maintain the braking force output capacity of the vehicle braking unit when the target duration is greater than or equal to a duration threshold and the brake pedal opening within the target duration is always less than or equal to the target opening.

[0095] Specifically, in the embodiment of the present application, the water film on the friction pair can be destroyed by the braking of the vehicle, and the braking of the vehicle can be triggered by the user, or it can be actively performed by the vehicle when the condition of "the target duration is greater than or equal to the duration threshold" is met. Therefore, in order to avoid the invalid execution of the operation of "brake to destroy the water film on the friction pair", the vehicle in the embodiment of the present application can record the change of the opening of the brake pedal.

[0096] It is understood that the brake pedal opening can reflect the user's use of the vehicle's braking function. In addition, in the embodiment of the present application, if the user steps on the brake pedal to brake the vehicle, the brake pedal opening is greater than the target opening. Conversely, if the user does not step on the brake pedal, the brake pedal opening is less than or equal to the target opening. In one example, the target opening is 1. In another example, the target opening is 0.

[0097] In order to clearly illustrate the implementation mode of the present application, the above t 0. t 1.t 2. t 3 and t now As an example, let the duration threshold corresponding to the first duration be T target_1 , and let the duration threshold corresponding to the second duration be T target_2 , then:

[0098] Vehicle from t 1 starts timing to determine the first duration, and at the current time t now for t Confirmed at 2 o'clock t now and t 1 time difference ( t 2- t 1) Greater than or equal to T target_1 , and in t 1 to t 2During this period, the user has not stepped on the brake pedal, that is, the brake pedal is opened t 1 to t 2 During this period, the vehicle can t 2. Braking of target parameters is performed once at each moment.

[0099] Then, the vehicle t 2 starts timing to determine the second duration, but the current time t now for t 3 o'clock when the user presses the brake pedal, or in other words, the brake pedal opening is t If the opening degree at moment 3 is greater than the target opening degree, the second duration will be reset to zero.

[0100] Next, from t 3. The timer starts again at time 3 to re-determine the second duration, and at the current time t now for t 4 o'clock t now and t The time difference of 3 ( t 4- t 3) Greater than or equal to T target_2 , and in t 3 to t 4During this period, the user has not stepped on the brake pedal. In other words, t 3 to t 4 During this period, the brake pedal opening is always less than or equal to the target opening, so the vehicle cant At 4, braking to the target parameter is performed again.

[0101] In this way, in the implementation mode of the present application, the vehicle can perform braking with target parameters when the target duration of driving on a flooded road surface is greater than or equal to the duration threshold and the brake pedal opening is always less than or equal to the target opening within the target duration. This can ensure that the braking force output capacity of the vehicle braking unit is maintained in a timely manner to a certain extent.

[0102] In certain embodiments of the present application, the driving state information includes the brake pedal opening within the target duration and the vehicle speed at the current moment. Furthermore, when the target duration is greater than or equal to the duration threshold, the step of controlling the vehicle to perform braking of the target parameter according to the driving state information to maintain the braking force output capacity of the vehicle braking unit includes:

[0103] When the target duration is greater than or equal to the duration threshold, the brake pedal opening within the target duration is always less than or equal to the target opening, and the vehicle speed at the current moment is less than or equal to the target vehicle speed, the vehicle is controlled to brake with target parameters to maintain the braking force output capacity of the vehicle braking unit.

[0104] The processing unit of the embodiment of the present application is configured to control the vehicle to brake according to the target parameters to maintain the braking force output capacity of the vehicle braking unit when the target duration is greater than or equal to the duration threshold, the brake pedal opening within the target duration is always less than or equal to the target opening, and the vehicle speed at the current moment is less than or equal to the target vehicle speed.

[0105] The processor of the embodiment of the present application is also used to control the vehicle to perform target parameter braking to maintain the braking force output capacity of the vehicle braking unit when the target duration is greater than or equal to a duration threshold, the brake pedal opening within the target duration is always less than or equal to the target opening, and the vehicle speed at the current moment is less than or equal to the target vehicle speed.

[0106] Specifically, considering the impact of braking at high speeds on driving safety, the vehicle in the embodiments of the present application can also determine whether to perform braking with target parameters based on the vehicle speed.

[0107] In order to clearly illustrate the implementation mode of the present application, the above t 0. t 1. t 2. t 3. t now , T target_1 and T target_2 , for example, we have:

[0108] Vehicle from t 1 starts timing to determine the first duration, and at the current time t now for t Confirmed at 2 o'clock t now and t 1 time difference ( t 2- t 1) Greater than or equal to T target_1 , determine the brake pedal opening t 1 to t 2 During this period, it is always less than or equal to the target opening, and t If the vehicle speed at time 2 is less than or equal to the target speed, the vehicle can t 2. Braking of target parameters is performed once at each moment.

[0109] Then, the vehicle t 2 to determine the duration of the second time, and the current time t now for t 3 o'clock when the user presses the brake pedal, or in other words, the brake pedal opening is t If the opening degree at moment 3 is greater than the target opening degree, the second duration will be reset to zero.

[0110] Next, from t 3. Start timing again at time 3 to re-determine the second duration and set it at the current time. t now for t Confirmed at 4 o'clock t now and t The time difference of 3 ( t 4- t 3) Greater than or equal to T target_2 ,and t 3 to t 4 During this period, the brake pedal opening is always less than or equal to the target opening, but t 4. If the vehicle speed at the moment is greater than the target speed, the vehicle can suspend the execution of braking.

[0111] Then, if t 4 hours later t 5. At this moment, the vehicle speed is less than or equal to the target speed, and t 4 to t 5 During this period, the brake pedal opening is always less than or equal to the target opening, and the vehicle can t 5. Braking to the target parameter is performed at every moment.

[0112] In this way, in the implementation mode of the present application, the vehicle can perform a target parameter braking when the target duration of driving on a flooded road is greater than the duration threshold, the brake pedal opening is always less than or equal to the target opening within the target duration, and the current vehicle speed is less than or equal to the target vehicle speed. This can ensure, to a certain extent, the timely maintenance of the braking force output capacity of the vehicle braking unit.

[0113] Optional, see Figure 2 and Figure 3 , Figure 2 is a schematic diagram of a braking system 200 in some embodiments of the present application. Figure 3 It is a flowchart of a vehicle control method in certain embodiments of the present application.

[0114] Specifically, if Figure 2 As shown, in the embodiment of the present application, the braking system 200 of the vehicle may be composed of a first information acquisition module 210 , a second information acquisition module 220 , a braking controller 230 , a motor control module 240 and an actuator 250 .

[0115] The first information acquisition module 210 and the second information acquisition module 220 may both transmit the acquired information to the brake controller 230 via a CAN (Controller Area Network) bus.

[0116] The friction pair wiping module 231 in the brake controller 230 can determine whether the friction pair needs to be wiped, or in other words, whether there is a water film on the friction pair and the water film needs to be destroyed by braking. If necessary, the brake controller 230 can send a braking request to the brake pressure control module 232. The brake pressure control module 232 can generate a corresponding current instruction according to the received braking request, and send the current instruction to the motor control module 240. The motor control module 240 can apply a corresponding driving current to the brake according to the received current instruction, so that the actuator performs a corresponding action to brake the vehicle, thereby destroying the water film on the friction pair.

[0117] More specifically, the first information collection module 210 may include a rain sensor 211 and a wiper 212. The second information collection module may include a wheel speed sensor 221 and a brake pedal opening sensor 222. The brake controller 230 may include a friction pair wiping module 231, a brake pressure control module 232, and a basic control module 233.

[0118] Furthermore, the rain sensor 210 may be a camera, or a sensor installed on the windshield that can collect optical information, or a sensor installed on the chassis of the vehicle for detecting whether the vehicle is wading.

[0119] The wiper 212 may refer to the wiper body, or to a sensor mounted on the wiper. When the wiper 212 refers to the wiper body, the information transmitted by the wiper 212 via the CAN bus is an enable signal of the wiper. When the wiper 212 refers to a sensor mounted on the wiper, the wiper 212 is used to detect whether it is currently raining.

[0120] The friction pair wiping module 231 can determine whether the working condition of "the friction pair may form a water film" is met according to the information transmitted by the rain sensor 211 and / or the wiper 212, and can determine whether the friction pair needs to be wiped according to the vehicle speed and brake pedal state transmitted by the basic control module 231. If necessary, a braking request representing "short-term low-intensity high-frequency target braking pressure (or braking of target parameters)" is sent to the brake pressure control module 232. Optionally, the friction pair wiping module 231 can also be used to determine the working condition of "the friction pair may wade for a long time", and according to the identification of this working condition, a braking request representing "short-term low-intensity high-frequency target braking pressure" is sent to the brake pressure control module 232 at regular intervals, so that the vehicle wipes the friction pair once at regular intervals.

[0121] The basic control module 233 can identify the driver's braking intention based on the information transmitted by the wheel speed sensor 221 and the brake pedal opening sensor 222 in the second information acquisition module 220 through the CAN bus, calculate the braking force required for the entire vehicle, distribute the braking force to each wheel according to the braking distribution strategy, and finally calculate the required target braking pressure and form a corresponding braking request, and send the braking request to the brake pressure control module 232.

[0122] The brake pressure control module 232 calculates a target current command of the motor according to the received brake request and the current actual brake pressure, and sends the target current command to the motor control module 240 .

[0123] The motor control module 240 directly supplies the corresponding current to the actuator 250 according to the target current instruction. At the same time, the motor control module 240 drives the motor to output torque through the current, and the deceleration and force-increasing mechanism in the actuator 250 amplifies the output torque of the motor, and the motion conversion mechanism such as the ball screw converts the rotational motion into axial motion, which finally acts on the brake disc, clamps the friction pair to generate friction, thereby achieving the purpose of braking.

[0124] It should be noted that if Figure 2 and Figure 3As shown, in an embodiment of the present application, the friction pair wiping module 231 can obtain driving environment information through the rain sensor 211 and / or the wiper 212, such as an enable signal of the wiper 212, and / or data collected by the rain sensor 211 for characterizing whether there is currently rainfall and other information.

[0125] Further, the friction pair wiping module 231 can determine whether a water film may be formed on the friction pair based on the driving environment information and the driving state information. Specifically, when it is determined that the current driving road surface of the vehicle is a wading road surface according to the driving environment information and the driving state information, and the vehicle has entered the wading road surface and the driving duration (i.e., the first duration) on the wading road surface is greater than the duration threshold, a water film may be formed on the friction pair.

[0126] Furthermore, in the case where a water film may be formed on the friction pair, the friction pair wiping module 231 can determine whether the braking state is satisfied according to the information transmitted by the second information acquisition module 220 through the CAN bus. Specifically, if the vehicle has been on the flooded road since entering the flooded road until the current time (the current time is T d ), and no braking has been performed until then, it is determined that the vehicle can perform friction pair wiping. At this time, the friction pair wiping module 231 sends a braking request for representing "short-term low-intensity high-frequency target braking pressure" to the braking pressure control module 232, so that the braking pressure control module 232 controls the motor control module 240 and the actuator 250 to perform braking according to the received braking request.

[0127] After braking, the friction pair wiping module 231 continues to obtain information transmitted by the first information acquisition module 210 through the CAN bus. If the information collected by the first information acquisition module 210 determines that the friction pair may still form a water film, that is, when the current driving road surface of the vehicle is still a wading road surface, it can be determined that the friction pair may still form a water film.

[0128] Further, in the case of determining that a water film may be formed on the friction pair, the friction pair wiping module 231 may be configured to obtain a water film from T d At this moment, the continuous wading timing (i.e., the second continuous duration) starts, and when the continuous wading timing duration is greater than or equal to the duration threshold, it is determined again whether the braking state is satisfied based on the information transmitted by the second information acquisition module 220 through the CAN bus.

[0129] That is, judging from T dFrom the moment when the vehicle is in the water, until the moment when the condition of "the duration of continuous wading is greater than or equal to the duration threshold" is satisfied, whether the vehicle has never braked. If so, a braking request representing "short-term low-intensity high-frequency target braking pressure" is sent to the braking pressure control module 232, so that the braking pressure control module 232 controls the motor control module 240 and the actuator 250 to brake according to the received braking request.

[0130] The embodiment of the present application provides a braking system, which includes a friction pair, a brake motor and the above-mentioned electronic device.

[0131] The embodiment of the present application provides a vehicle, wherein the vehicle includes the above-mentioned electronic device or the above-mentioned braking system.

[0132] The embodiment of the present application also provides a computer-readable storage medium storing a computer program, which implements the above-mentioned vehicle control method when the computer program is executed by one or more processors.

[0133] In the description of this specification, the descriptions with reference to the terms "specifically", "further", "particularly", "understandably", etc. are intended to mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not intended to refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0134] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0135] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle control method, characterized in that: include: Acquiring status information of the vehicle, wherein the status information includes driving environment information and driving status information; Determining a target duration of time for which the vehicle is traveling on a flooded road according to the state information; When the target duration is greater than or equal to a duration threshold, the vehicle is controlled to perform braking of a target parameter so as to maintain the braking force output capacity of the vehicle braking unit, wherein the target parameter includes braking duration and / or braking force, the braking duration is less than or equal to the target time, the braking force is less than or equal to the target force, the target duration includes a first duration and a second duration, the duration threshold includes a first threshold and a second threshold, the first duration is used to indicate the duration of the vehicle driving on the flooded road surface since entering the flooded road surface, and the second duration is used to indicate the duration of the vehicle driving on the flooded road surface since braking on the flooded road surface last time; When the target duration is greater than or equal to a duration threshold, controlling the vehicle to brake with a target parameter to maintain the braking force output capacity of the vehicle braking unit includes: When the first duration is greater than or equal to the first threshold and the vehicle speed at the current moment is less than or equal to the target vehicle speed, controlling the vehicle to brake with a target parameter to maintain the braking force output capacity of the vehicle braking unit; When the second duration is greater than or equal to the second threshold and the current vehicle speed is less than or equal to the target vehicle speed, the vehicle is controlled to perform braking with target parameters to maintain the braking force output capacity of the vehicle braking unit.

2. The method according to claim 1, characterized in that The driving environment information is determined by a vehicle wiper and / or a rain sensor installed on the vehicle.

3. The method according to claim 1, characterized in that The target parameter further includes a braking execution frequency, and the braking execution frequency is greater than or equal to a target frequency.

4. The method according to claim 1, characterized in that: The state information also includes driving state information, and the controlling the vehicle to perform target parameter braking when the target duration is greater than or equal to a duration threshold to maintain the braking force output capacity of the vehicle braking unit includes: When the target duration is greater than or equal to the duration threshold, the vehicle is controlled to perform braking of target parameters according to the driving state information to maintain the braking force output capacity of the vehicle braking unit.

5. The method according to claim 4, characterized in that The driving state information includes a brake pedal opening within the target duration, and when the target duration is greater than or equal to the duration threshold, controlling the vehicle to perform target parameter braking according to the driving state information to maintain the braking force output capacity of the vehicle braking unit includes: When the target duration is greater than or equal to the duration threshold and the brake pedal opening within the target duration is always less than or equal to the target opening, the vehicle is controlled to brake with target parameters to maintain the braking force output capacity of the vehicle braking unit.

6. The method according to claim 4, characterized in that The driving state information includes the brake pedal opening within the target duration and the vehicle speed at the current moment, and when the target duration is greater than or equal to the duration threshold, controlling the vehicle to perform target parameter braking according to the driving state information to maintain the braking force output capacity of the vehicle braking unit includes: When the target duration is greater than or equal to the duration threshold, the brake pedal opening within the target duration is always less than or equal to the target opening, and the vehicle speed at the current moment is less than or equal to the target vehicle speed, the vehicle is controlled to perform braking of the target parameters to maintain the braking force output capacity of the vehicle braking unit.

7. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the method according to any one of claims 1 to 6 is implemented.

8. A braking system, characterized in that: The braking system comprises a friction pair, a brake motor and the electronic device according to claim 7.

9. A vehicle, characterized in that: The vehicle comprises the electronic device according to claim 7, or comprises the brake system according to claim 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by one or more processors, the method according to any one of claims 1 to 6 is implemented.

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