A braking control method and system for vehicle turning process

Abstract

The present invention provides a braking control method and system applied to a vehicle turning process, wherein the method comprises: before the vehicle turns, based on the vehicle driving information and the external environment information, calling the turning braking control sub-library from the pre-configured turning braking control general library; when receiving a braking command during the vehicle turning process, determining a real-time braking control scheme based on the current braking condition and the turning braking control sub-library; and executing the braking command based on the real-time braking control scheme. The braking control method applied to the vehicle turning process of the present invention can determine the braking control strategy according to the specific working conditions to ensure the safety of the vehicle's braking during the turning process.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle braking, and in particular to a braking control method and system applied to a vehicle turning process. Background Art

[0002] The driving process of a vehicle mainly consists of: straight driving and turning driving. When driving in a straight line, automobile braking technology is quite mature. However, for turning driving, due to the complexity of the situation, braking during turning is a potentially threatening operation, with the risk of skidding, tail swinging, and even more serious rollover accidents. Although the stability of the vehicle is evaluated and considered during vehicle design and production, it cannot take into account the specific turning conditions and cannot provide timely application and actual braking control strategies for the responsible conditions. Summary of the invention

[0003] One of the purposes of the present invention is to provide a braking control method applied to a vehicle turning process, which can determine the braking control strategy according to specific working conditions to ensure the braking safety of the vehicle during the turning process.

[0004] An embodiment of the present invention provides a braking control method applied to a vehicle turning process, comprising:

[0005] Before the vehicle turns, the turning brake control sub-library is retrieved from the pre-configured turning brake control general library according to the vehicle driving information and external environment information;

[0006] When a braking command is received during a vehicle turning process, a real-time braking control scheme is determined based on the current braking condition and the turning braking control sub-library;

[0007] Execute braking commands according to the real-time braking control plan.

[0008] Preferably, the vehicle driving information includes: one or more combinations of data indicating the vehicle's location, data indicating the vehicle's brand and model, and data indicating the speed and angle during historical turns.

[0009] Preferably, the external environment information includes: one or more combinations of data indicating road surface type, data indicating road surface flatness, data indicating temperature outside the vehicle, data indicating humidity outside the vehicle, and data indicating weather type outside the vehicle.

[0010] Preferably, the data representing the current braking condition includes:

[0011] Data on the location of surrounding objects detected by on-board radar;

[0012] and / or,

[0013] Data on the speed and force with which the vehicle's brake pedal is depressed;

[0014] and / or,

[0015] Data indicating the reason for triggering the braking of the vehicle;

[0016] and / or,

[0017] Data indicating the angle and speed at which the vehicle is turning.

[0018] Preferably, the braking control method applied to a vehicle turning process further includes:

[0019] Before the vehicle turns, based on the vehicle driving information and external environment information, with the assistance of the pre-configured initial turning brake control library, the initial turning brake control plan is clarified;

[0020] After receiving the braking command and before determining the real-time braking control plan, the braking command is executed according to the initial turning braking control plan.

[0021] The present invention also provides a braking control system applied to a vehicle turning process, comprising: a pre-adjustment module, a real-time control analysis module and an execution module;

[0022] Before the vehicle turns, the pre-retrieval module retrieves the turning brake control sub-library from the pre-configured turning brake control library based on the vehicle driving information and external environment information; when the vehicle receives a braking command during the turning process, the real-time control analysis module determines the real-time braking control plan based on the current braking condition and the turning brake control sub-library; the execution module executes the braking command based on the real-time braking control plan.

[0023] Preferably, the vehicle driving information includes: one or more combinations of data indicating the vehicle's location, data indicating the vehicle's brand and model, and data indicating the speed and angle during historical turns.

[0024] Preferably, the external environment information includes: one or more combinations of data indicating road surface type, data indicating road surface flatness, data indicating temperature outside the vehicle, data indicating humidity outside the vehicle, and data indicating weather type outside the vehicle.

[0025] Preferably, the data representing the current braking condition includes:

[0026] Data on the location of surrounding objects detected by on-board radar;

[0027] and / or,

[0028] Data on the speed and force with which the vehicle's brake pedal is depressed;

[0029] and / or,

[0030] Data indicating the reason for triggering the braking of the vehicle;

[0031] and / or,

[0032] Data indicating the angle and speed at which the vehicle is turning.

[0033] Preferably, the braking control system applied to the vehicle turning process further includes: an initial control module;

[0034] Before the vehicle turns, the initial control module determines the initial turning brake control scheme based on the vehicle driving information and external environment information with the assistance of the pre-configured initial turning brake control library;

[0035] After receiving the braking command and before determining the real-time braking control plan, the execution module executes the braking command according to the initial turning braking control plan.

[0036] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0037] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0039] Figure 1 is a schematic diagram of a braking control method applied to a vehicle turning process in an embodiment of the present invention;

[0040] Figure 2 It is a schematic diagram of the steering model of a crawler bulldozer;

[0041] Figure 3 It is a schematic diagram of the driving traction force of a crawler bulldozer;

[0042] Figure 4 It is a schematic diagram of the outer track force;

[0043] Figure 5 is a schematic diagram of the steering force of a crawler bulldozer;

[0044] Figure 6 Schematic diagram of a braking control system applied to a vehicle turning process in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0046] The embodiment of the present invention provides a braking control method applied to a vehicle turning process, such as Figure 1 As shown, including:

[0047] Step 1: before the vehicle turns, based on the vehicle driving information and external environment information, the turning brake control sub-library is retrieved from the pre-configured turning brake control general library;

[0048] The control sub-library is retrieved before turning, and part of the processing of the turning braking control is advanced, which improves the speed of determining the real-time braking plan.

[0049] The vehicle driving information includes one or more combinations of data indicating the vehicle's location, data indicating the vehicle's brand and model, and data indicating the speed and angle during historical turns.

[0050] The external environment information includes: one or more combinations of data indicating the type of road surface, data indicating the smoothness of the road surface, data indicating the temperature outside the vehicle, data indicating the humidity outside the vehicle, and data indicating the weather type outside the vehicle.

[0051] The retrieval process of the turning brake control sub-library includes: screening and extracting data from vehicle driving information and external environment information, and then quantizing the extracted data according to the quantization template corresponding to each data, and then arranging the quantized data in order to form a condition set; then matching the condition set with the call set corresponding to each turning brake control sub-library in the turning brake control master library; then retrieving the turning brake control sub-library associated with the call set matching the condition set in the turning brake control master library; the turning brake control master library is constructed in advance by professionals, and different turning brake control sub-libraries are constructed for different vehicle conditions and external conditions; in the library, the call set is associated with the turning brake control sub-library in a one-to-one correspondence; the call set represents the scene adapted by the turning brake control sub-library, and the condition set represents the current scene, and the two are matched to retrieve the turning brake control sub-library applicable to the current scene; wherein the data extracted in the screening and extraction step includes: data representing the brand and model of the vehicle, data representing the road surface type, data representing the road surface flatness, data representing the temperature outside the vehicle, data representing the humidity outside the vehicle, data representing the weather type outside the vehicle, etc.;

[0052] Step 2: when a braking command is received during a vehicle turning process, a real-time braking control scheme is determined based on the current braking condition and the turning braking control sub-library;

[0053] According to the current braking conditions, the turning brake control sub-library is used to control the braking action of the vehicle during turning, so as to improve the stability of the vehicle under the braking action during turning, thereby ensuring the safety of personnel.

[0054] The data representing the current braking condition includes: data on the position of surrounding objects detected by the vehicle-mounted radar; and / or data on the speed and force at which the vehicle's brake pedal is stepped on; and / or data representing the reason for triggering the vehicle's braking; and / or data representing the angle and speed of the vehicle's turning. The real-time braking control scheme is determined based on the current braking condition and the turning braking control sub-library. The specific steps include: screening and extracting the data of the current braking condition, then quantizing the extracted data according to the quantization template corresponding to each data, and then arranging the quantized data in order to form a condition set; then matching the condition set with the call set corresponding to each real-time braking control scheme in the turning braking control sub-library; then retrieving the real-time braking control scheme associated with the call set matching the condition set in the turning braking control sub-library; the turning braking control sub-library is also constructed in advance by professionals, and different real-time braking control schemes are constructed for different working conditions; in the library, the call set is associated with the real-time braking control scheme in a one-to-one correspondence; the call set represents the working condition to which the real-time braking control scheme is adapted, and the condition set represents the current working condition. The two are matched to retrieve the real-time braking control scheme suitable for the current working condition. The filtered and extracted data are data that can describe the current working conditions in detail, for example: the position and distance values ​​of other objects closest to the vehicle in the data of the positions of surrounding objects detected by the vehicle-mounted radar, the reason for braking, the turning angle and speed, the speed and force at which the vehicle's brake pedal is stepped on, etc.

[0055] Step 3: Execute the braking command according to the real-time braking control plan.

[0056] The real-time braking control scheme includes: a corresponding table of the braking parameters of the brakes corresponding to each wheel of the vehicle and the braking parameters of the brake pad; that is, when executing a braking command, the braking parameters of the brake pad in the braking command (for example: the displacement of the brake pad compared to the initial state) are queried in the corresponding table to determine the braking parameters (for example: braking force) of the brakes of each wheel, thereby achieving precise control. Furthermore, the implementation of the braking control scheme may also include: the maximum angle that the steering wheel can be moved, etc.

[0057] Since the real-time braking control of the present application is analyzed and determined after the working condition occurs, in order to deal with the braking control before the analysis and determination, in one embodiment, the braking control method applied to the vehicle turning process also includes:

[0058] Before the vehicle turns, based on the vehicle driving information and external environment information, with the assistance of the pre-configured initial turning brake control library, the initial turning brake control plan is clarified;

[0059] After receiving the braking command and before determining the real-time braking control plan, the braking command is executed according to the initial turning braking control plan.

[0060] In this embodiment, the initial turning brake control library is also constructed through prior analysis. The retrieval set in the library is associated with the initial turning brake control scheme. The steps for retrieving the initial turning brake control scheme from the library are similar to those for retrieving the turning brake control sub-library, which will not be explained in detail here. However, the data extracted in the screening and extraction step include: data indicating the brand and model of the vehicle, data indicating the road surface type, data indicating the road surface flatness, data indicating the temperature outside the vehicle, data indicating the humidity outside the vehicle, data indicating the weather type outside the vehicle, etc., as well as data indicating the speed and angle during historical turns, and data indicating the positioning of the vehicle.

[0061] In one embodiment, the initial turning brake control library is updated as follows:

[0062] Group each real-time turning braking case in the database according to vehicle driving information and external environment information;

[0063] Determine the initial turning braking control scheme based on the distribution of real-time turning braking cases in each working condition within the group and the effect of case implementation;

[0064] The specific steps of grouping include:

[0065] Extracting features from vehicle driving information and external environment information, and constructing a first identification parameter set based on the extracted feature values; the parameters in the first identification parameter set include: parameters indicating the brand and model of the vehicle, parameters indicating the road surface type, parameters indicating the road surface flatness, parameters indicating the temperature outside the vehicle, parameters indicating the humidity outside the vehicle, parameters indicating the weather type outside the vehicle, parameters indicating the location of the vehicle, etc.;

[0066] Calculating the similarity of the first identification parameter set corresponding to each real-time turning braking case;

[0067] The real-time turning braking cases whose similarity is greater than a preset similarity threshold (any value between 0.80 and 0.95) are grouped into the same group;

[0068] Among them, according to the distribution of real-time turning braking cases in each working condition within the group and the effect of case implementation, the initial turning braking control scheme is determined. The specific steps include:

[0069] Extracting features from the working condition data, and constructing a second identification parameter set based on the extracted features;

[0070] Calculate the similarity of each case to the second identification parameter set of other cases; and calculate the sum of the similarities of each case as the total similarity value;

[0071] According to the ratio of the total similarity value corresponding to each case to the sum of all the total similarity values, query the pre-configured first priority value table to determine the first priority value;

[0072] According to the effect of case implementation, query the pre-configured second priority value table to determine the second priority value;

[0073] The real-time turning braking control scheme in the case with the largest sum of the first priority value and the second priority value is used as the initial turning braking control scheme, and then a corresponding call set is constructed according to the vehicle driving information and external environment information in the case.

[0074] Among them, the implementation effect can be obtained by analyzing the stability of the monitoring vehicle after the implementation of the case. The monitoring data used in the actual analysis include: the monitoring data of the on-board gyroscope. The deviation of the vehicle's posture after the implementation plan is analyzed through the monitoring data, and then the preset deviation and effect comparison table is queried to determine the implementation effect. For example, the deviation can be expressed as the deviation value in three mutually perpendicular coordinate directions, and then the quantitative value of the implementation effect is obtained by looking up the table based on the deviation value (which can be any value from 0 to 100); the larger the deviation value in the table, the smaller the quantitative value.

[0075] In order to obtain external environmental information, in one embodiment, the external environmental information can be determined by the vehicle's positioning information to determine the location of the vehicle, and then by querying the road distribution map and the meteorological data platform.

[0076] Before building a general library of turning brake control, professionals need to analyze the steering performance of various types of vehicles. Here, a crawler bulldozer is taken as an example. In order to better analyze the ground pressure, total resistance of the crawler during walking, sinking depth, turning radius, turning angular velocity, left crawler driving traction and right crawler braking force of the crawler bulldozer during steering, the following assumptions are made for the steering of the crawler bulldozer: (1) Since the width of the crawler is very small, the impact on the experiment can be ignored; (2) The impact of slip on the crawler bulldozer is not considered; (3) The two crawlers have the same load; (4) The influence of centrifugal force is ignored because the speed of the crawler vehicle is very low; (5) During the steering process of the crawler vehicle, according to the shear stress model, the shear stress τ at any point on the crawler is related to the shear displacement j at that point. The expression is:

[0077] τ=(c+σtanφ)(1-e -j / K )

[0078] Where c is soil cohesion, σ is normal stress, φ is the internal shear angle of the terrain, and K is the shear deformation modulus.

[0079] Kinematic analysis of tracked vehicle steering: Due to the different driving torques of the track drive wheels on both sides, the driving forces generated by the tracks on both sides are also different, which will generate a steering torque M Z When the steering torque is greater than the steering resistance torque, the tracked vehicle can turn around the steering center axis with a turning radius R. The track gauge is known to be B and the steering angular velocity is ω. The velocities V0 and V i for:

[0080] V0=(R+0.5B)ω

[0081] V i =(R-0.5B)ω

[0082] The average velocity at the center of the vehicle's longitudinal symmetry plane is V:

[0083] V=Rω

[0084] If the angular velocities of the driving wheels on both sides are ω0 and ω i , the pitch radius of the driving wheel is r, then the linear velocities are:

[0085] V0=rω0=(R+0.5B)ω

[0086] V i =rω i =(R-0.5B)ω

[0087] Therefore, the steering angular velocity ω of the crawler bulldozer is:

[0088]

[0089] From the above formula, we can know that the vehicle parameter B is a constant, and the turning radius is related to three angular velocities, including the angular velocities ω0, ω i and the angular velocity ω of the geometric center of the track.

[0090] Steering force analysis of crawler bulldozer travel system: When the crawler is turning, the horizontal ground is used as the fixed coordinate system XOY. The vehicle body moves in a plane during the turning process, and point P is the actual turning center of the vehicle body. Take the vehicle body as the moving reference body, and establish the moving coordinate system xoy with the geometric center of the vehicle body, such as Figure 2 As shown; P1 is the instantaneous turning center of the inner track grounding section; P2 is the instantaneous turning center of the outer track grounding section; Q1 is any point on the longitudinal axis of the inner track; Q2 is any point on the longitudinal axis of the outer track; v a1 is the absolute velocity of the inner track section relative to the ground at point Q1; v a2is the absolute speed of the outer track section relative to the ground at point Q2; S1 is the lateral offset of the inner track turning pole; S2 is the lateral offset of the outer track turning pole; ω is the steering angular velocity of the tracked vehicle; B is the track gauge; L is the length of the track in contact with the ground. During the steering process of the tracked vehicle, the outer and inner track contact sections move in a plane relative to the fixed coordinate system. Take any point Q1 on the longitudinal axis of the inner track, and its absolute speed v a1 The direction is perpendicular to the line connecting the instantaneous center of velocity P1 of the inner track contact section and this point. The projection of the absolute velocity in the moving coordinate xoy is:

[0091] v ax1 =-ωy1

[0092] v ay1 =ωS1

[0093] y1 is the y-axis coordinate of any point on the longitudinal axis of the inner track in the moving coordinate system xoy. Similarly, for any point Q2 on the longitudinal axis of the outer track, its absolute velocity v a2 The direction is perpendicular to the line connecting the instantaneous center of velocity P2 of the outer track contact section and this point. The projection of the absolute velocity in the moving coordinate xoy is:

[0094] v ax2 =-ωy2

[0095] v ay2 =-ωS2

[0096] y2 is the y-axis coordinate of any point on the longitudinal axis of the outer track in the moving coordinate system xoy. From the projection formula, it can be seen that the component velocities of the absolute velocity of each point on the longitudinal axis of the inner track contact section are the same, and the component velocities of the absolute velocity of each point on the longitudinal axis of the outer track contact section are also the same.

[0097] like Figure 3 As shown, F r1 、F r2 are the resistances of the inner and outer tracks respectively; F y1 、F y2 are the driving forces on the inner and outer tracks respectively; F1 and F2 are the absolute speeds v of points Q1 and Q2 on the inner and outer tracks respectively a1 、v a2 The force in the opposite direction; a1 and a2 are the absolute speeds v of points Q1 and Q2 on the inner and outer tracks respectively. a1 、v a2 The angle between the force in the opposite direction and the x-axis. Due to the interaction between the ground and the track, the absolute velocity v at point Q2 in the outer track contact section a2A tangential reaction force F2 is generated in the opposite direction. For the convenience of calculation, it is assumed that the ground pressure of the track is evenly distributed, and the track width is ignored and is set to "1" during calculation. If the mass of the vehicle is m, then the unit pressure of the track along the longitudinal axis is q = mg / 2L.

[0098] For the analysis of the outer track, the longitudinal axis of the track is taken as the y-axis, and the instantaneous center P2 perpendicular to the longitudinal axis is taken as the x-axis.

[0099] Establish the coordinate system xoy, such as Figure 4 Take the microelement dy at point Q2 of the track contact section, and the microelement is subjected to a small friction force df2, the direction of which is the same as v a2 The direction is opposite, dF2 = μqdy, so the component of df2 on the y-axis is dF2 = dF2sinα:

[0100]

[0101] Then the integral of the traction force acting on the longitudinal center line of the outer track contact section along the entire track contact length is:

[0102]

[0103] Among them, s2 = S2 / (L / 2) is the relative value of the lateral offset of the steering pole relative to L / 2. The force expression of the inner track is:

[0104]

[0105] Among them, s1=S1 / (L / 2) is the relative value of the lateral offset of the steering pole relative to L / 2, and the negative sign in front of the force expression of the inner track indicates that it is opposite to the positive direction of the y-axis.

[0106] Figure 5 Shows the track forces when a crawler dozer is turning. xi and F yi are the components of the shear force between the track and the ground on side i in the x and y directions respectively. Ri is the steering resistance torque of the track on side i. Ri is the rolling resistance of the track on side i. Based on the above formula, the shear force F of the sth running wheel of the track on side i is obtained xis and F yis . F xi and F yi Through the F xis and F yis It is obtained by summing, which can be expressed as follows:

[0107]

[0108] Rolling resistance F of the track on side iRi It can be expressed as follows:

[0109]

[0110] Where f is the rolling resistance coefficient. The steering resistance moment M of the track on side i Ri It is also through the steering resistance torque M of each wheel Ris The sum is obtained, which can be expressed as follows:

[0111]

[0112] The technology for analyzing the steering performance of other types of vehicles is also mature and will not be listed here one by one.

[0113] The present invention also provides a braking control system for a vehicle turning process, such as Figure 6 As shown, it includes: a pre-call module 1, a real-time control and analysis module 2 and an execution module 3;

[0114] Before the vehicle turns, the pre-retrieval module 1 retrieves the turning brake control sub-library from the pre-configured turning brake control library based on the vehicle driving information and the external environment information; when the vehicle receives a braking command during the turning process, the real-time control analysis module 2 determines the real-time braking control plan based on the current braking condition and the turning brake control sub-library; the execution module 3 executes the braking command based on the real-time braking control plan.

[0115] The vehicle driving information includes one or more combinations of data indicating the vehicle's location, data indicating the vehicle's brand and model, and data indicating the speed and angle during historical turns.

[0116] The external environment information includes one or more combinations of data indicating the type of road surface, data indicating the smoothness of the road surface, data indicating the temperature outside the vehicle, data indicating the humidity outside the vehicle, and data indicating the weather type outside the vehicle.

[0117] Among them, the data representing the current braking condition includes:

[0118] Data on the location of surrounding objects detected by on-board radar;

[0119] and / or,

[0120] Data on the speed and force with which the vehicle's brake pedal is depressed;

[0121] and / or,

[0122] Data indicating the reason for triggering the braking of the vehicle;

[0123] and / or,

[0124] Data indicating the angle and speed at which the vehicle is turning.

[0125] In one embodiment, a braking control system applied to a vehicle turning process further includes: an initial control module;

[0126] Before the vehicle turns, the initial control module determines the initial turning brake control scheme based on the vehicle driving information and external environment information with the assistance of the pre-configured initial turning brake control library;

[0127] After receiving the braking command and before determining the real-time braking control plan, the execution module executes the braking command according to the initial turning braking control plan.

[0128] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A braking control method applied to a vehicle turning process, characterized in that: include: Before the vehicle turns, the turning brake control sub-library is retrieved from the pre-configured turning brake control general library according to the vehicle driving information and external environment information; When a braking command is received during a vehicle turning process, a real-time braking control scheme is determined based on the current braking condition and the turning braking control sub-library; Execute braking instructions according to the real-time braking control plan; Among them, the turning brake control master library is constructed in advance, and different turning brake control sub-libraries are constructed for different vehicle conditions and external conditions; The turning brake control sub-library is also pre-built to construct different real-time brake control schemes for different working conditions; The real-time braking control scheme includes: a correspondence table of braking parameters of the brakes corresponding to each wheel of the vehicle and braking parameters of the brake pedal.

2. The braking control method for a vehicle turning process according to claim 1, characterized in that: The vehicle driving information includes: data indicating the vehicle's location, data indicating the brand and model of the vehicle, data indicating the speed and angle during historical turns, or a combination of one or more of the following.

3. The braking control method for a vehicle turning process according to claim 1, characterized in that: The external environment information includes: one or more combinations of data indicating the type of road surface, data indicating the smoothness of the road surface, data indicating the temperature outside the vehicle, data indicating the humidity outside the vehicle, and data indicating the weather type outside the vehicle.

4. The braking control method for a vehicle turning process according to claim 1, characterized in that: The data indicating the current braking condition include: Data on the location of surrounding objects detected by on-board radar; and / or, Data on the speed and force with which the vehicle's brake pedal is depressed; and / or, Data indicating the reason for triggering the braking of the vehicle; and / or, Data indicating the angle and speed at which the vehicle is turning.

5. The braking control method for a vehicle turning process according to claim 1, characterized in that: Also includes: Before the vehicle turns, based on the vehicle driving information and external environment information, with the assistance of the pre-configured initial turning brake control library, the initial turning brake control plan is clarified; After receiving the braking command and before determining the real-time braking control plan, the braking command is executed according to the initial turning braking control plan.

6. A braking control system applied to a vehicle during a turning process, characterized in that: include: Pre-call module, real-time control analysis module and execution module; Before the vehicle turns, the pre-retrieval module retrieves the turning brake control sub-library from the pre-configured turning brake control general library based on the vehicle driving information and external environment information; When a braking command is received during a vehicle turning process, the real-time control analysis module determines a real-time braking control scheme based on the current braking condition and the turning braking control sub-library; The execution module executes the braking command according to the real-time braking control scheme; Among them, the turning brake control master library is constructed in advance, and different turning brake control sub-libraries are constructed for different vehicle conditions and external conditions; The turning brake control sub-library is also pre-built to construct different real-time brake control schemes for different working conditions; The real-time braking control scheme includes: a correspondence table of braking parameters of the brakes corresponding to each wheel of the vehicle and braking parameters of the brake pedal.

7. The braking control system for a vehicle turning process according to claim 6, characterized in that: The vehicle driving information includes: data indicating the vehicle's location, data indicating the brand and model of the vehicle, data indicating the speed and angle during historical turns, or a combination of one or more of the following.

8. The braking control system for a vehicle turning process according to claim 6, characterized in that: The external environment information includes: one or more combinations of data indicating the type of road surface, data indicating the smoothness of the road surface, data indicating the temperature outside the vehicle, data indicating the humidity outside the vehicle, and data indicating the weather type outside the vehicle.

9. The braking control system for a vehicle turning process according to claim 6, characterized in that: The data indicating the current braking condition include: Data on the location of surrounding objects detected by on-board radar; and / or, Data on the speed and force with which the vehicle's brake pedal is depressed; and / or, Data indicating the reason for triggering the braking of the vehicle; and / or, Data indicating the angle and speed at which the vehicle is turning.

10. The braking control system for a vehicle turning process according to claim 6, characterized in that: Also includes: Initial control module; Before the vehicle turns, the initial control module determines the initial turning brake control scheme based on the vehicle driving information and external environment information with the assistance of the pre-configured initial turning brake control library; After receiving the braking command and before determining the real-time braking control plan, the execution module executes the braking command according to the initial turning braking control plan.

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