Vehicle braking control method, device, equipment and storage medium

Abstract

The present application discloses a vehicle braking control method, device, equipment and storage medium, and relates to the field of vehicle braking technology. The present application discloses a vehicle braking control method, including: when determining that the vehicle is traveling on a bumpy road and is in a stable state, based on the collected wheel speed information, wheel speed change rate and preset stability parameters, determining the target braking torque required for vehicle braking; receiving the actual braking torque of the motor when the motor braking in the vehicle is controlled based on the target braking torque; based on the difference between the target braking torque and the actual braking torque, requesting the torque supplementation module in the vehicle to provide the supplementary braking torque that is lacking in the motor braking. In the present application, the torque supplementation module in the vehicle is requested to balance the torque required for braking, so as to avoid the vehicle from experiencing a sense of frustration due to the lack of deceleration, thereby improving driving comfort.

Description

Technical Field

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

[0002] In the development of modern electric vehicles, torque control is not only the key to improving driving performance, but also directly related to the safety of electric vehicles.

[0003] At present, when a vehicle passes through bumpy road conditions such as speed bumps and joint roads, the ABS (Anti-lock Braking System) function is activated. In order to ensure the safety of the vehicle, the motor braking torque will be quickly withdrawn to prevent the vehicle from losing stability and causing traffic accidents. However, due to the rapid withdrawal of the motor braking torque, the vehicle will lose deceleration, resulting in a strong sense of frustration, which in turn reduces driving comfort.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of the present application is to provide a vehicle braking control method, device, equipment and storage medium, aiming to solve the technical problem that the motor braking torque is quickly withdrawn, causing the vehicle to lose deceleration, have a strong sense of frustration, and thus reduce driving comfort.

[0006] To achieve the above object, the present application proposes a vehicle braking control method, the method comprising:

[0007] When it is determined that the vehicle is traveling on an uneven road condition and is in a stable state, a target braking torque required for braking the vehicle is determined based on the collected wheel speed information, the wheel speed change rate, and a preset stability parameter;

[0008] acquiring an actual braking torque of the motor when controlling braking of the motor in the vehicle based on the target braking torque;

[0009] Based on the difference between the target brake torque and the actual brake torque, a torque supplement module in the vehicle is requested to provide a supplementary brake torque that is missing from the motor brake.

[0010] In one embodiment, when it is determined that the vehicle is traveling on an uneven road and is in a stable state, the step of determining the target braking torque required for braking the vehicle based on the collected wheel speed information, the wheel speed change rate and the preset stability parameter further includes:

[0011] Acquiring road information collected by the vehicle, the wheel speed information, the wheel speed change rate, the steering wheel angle of the vehicle, and the yaw rate of the vehicle;

[0012] Determining whether the road condition on which the vehicle is currently traveling is a bumpy road condition according to the road information, the wheel speed information, and the wheel speed change rate;

[0013] If it is determined based on the wheel speed information that the wheel speeds of the wheels of the vehicle are the same, the turning angle satisfies a preset stable turning angle, and the yaw angular velocity satisfies a preset stable yaw velocity, then it is determined that the vehicle is in a stable state.

[0014] In one embodiment, the step of determining whether the road condition on which the vehicle is currently traveling is a bumpy road condition based on the road information, the wheel speed information, and the wheel speed change rate comprises:

[0015] Reading the wheel speed of each wheel in the vehicle from the wheel speed information, and analyzing the sudden change of the wheel speed change rate;

[0016] When it is preliminarily identified based on the road information that the vehicle is traveling on a bumpy road, judging whether the vehicle is airborne based on the wheel speed of each wheel and the mutation;

[0017] If it is determined that the vehicle is in the air, then it is determined that the road condition on which the vehicle is currently traveling is a bumpy road condition;

[0018] If it is determined that the vehicle is not airborne, it is determined that the road condition on which the vehicle is currently traveling is not a bumpy road condition.

[0019] In one embodiment, if it is determined based on the wheel speed information that the wheel speeds of the wheels of the vehicle are the same, the turning angle satisfies a preset stable turning angle, and the yaw angular velocity satisfies a preset stable yaw velocity, then after the step of determining that the vehicle is in a stable state, the step further includes:

[0020] If it is detected that the vehicle is driving on the uneven road condition and the ABS function and / or the DTC function are activated, determining whether the vehicle has the ACC function turned on;

[0021] If it is determined that the ACC function is turned on for the vehicle, then after determining that the vehicle is in a stable state, the ACC function is kept turned on.

[0022] In one embodiment, the step of requesting a torque supplement module in the vehicle to provide a supplementary braking torque missing from motor braking based on the difference between the target braking torque and the actual braking torque comprises:

[0023] determining a torque difference between the target braking torque and the actual braking torque;

[0024] determining a braking wheel speed deviation of the vehicle on a bumpy road condition based on the torque difference;

[0025] determining a hydraulic torque required to hydraulically brake the vehicle based on the brake wheel speed deviation;

[0026] A torque supplement module in the vehicle provides supplemental braking torque that is lacking in electric motor braking based on the hydraulic torque request.

[0027] In one embodiment, the step of determining the target braking torque required for braking the vehicle based on the collected wheel speed information, the wheel speed change rate and the preset stability parameter comprises:

[0028] Determining an actual slip rate of the vehicle on the uneven road condition based on the collected wheel speed information and wheel speed change rate;

[0029] The target braking torque required for braking the vehicle is determined according to the actual slip ratio and the target slip ratio set in the preset stability parameter.

[0030] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle braking control device, the vehicle braking control device comprising:

[0031] A determination module, used to determine the target braking torque required for braking the vehicle based on the collected wheel speed information, wheel speed change rate and preset stability parameters when the vehicle is traveling on a bumpy road and is in a stable state;

[0032] A receiving module, configured to obtain an actual braking torque of the motor when the motor in the vehicle is braked based on the target braking torque;

[0033] A control module is configured to request a torque supplement module in the vehicle to provide a supplementary braking torque that is lacking in motor braking based on a difference between the target braking torque and the actual braking torque.

[0034] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle braking control device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the vehicle braking control method as described above.

[0035] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the vehicle braking control method described above are implemented.

[0036] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the vehicle braking control method as described above are implemented.

[0037] One or more technical solutions proposed in this application have at least the following technical effects:

[0038] In the present application, when it is determined that the vehicle is traveling on a bumpy road and is in a stable state, it means that the vehicle is in a safe state when traveling on the bumpy road. In order to avoid rapid exit of the motor braking, it is necessary to determine the target braking torque required for motor braking based on the collected wheel speed information and wheel speed changes and preset stability parameters, so that the motor brakes the vehicle according to the target braking torque, and ensures that the current braking torque of the motor can correspond to the wheel speed of the vehicle. Since there will be loss in the transmission or conversion process of power, the actual braking torque generated by the motor will be less than the target braking torque to produce a torque error. Therefore, the actual braking torque generated by the motor when working according to the target braking torque can be received to use the difference between the actual braking torque and the target braking torque to determine the braking error of the motor. In order to avoid a sudden change in the deceleration of the vehicle due to the motor braking error, which causes the vehicle to feel frustrated, the torque supplement module in the vehicle can be requested to supplement the torque required for braking based on the difference, so as to avoid the vehicle feeling frustrated due to the lack of deceleration, thereby improving driving comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0041] Figure 1 A schematic diagram of a flow chart of a first embodiment of a braking control method for a vehicle of the present application;

[0042] Figure 2 A schematic diagram of a flow chart of a second embodiment of a braking control method for a vehicle of the present application;

[0043] Figure 3 A schematic diagram of a flow chart of a second embodiment of a braking control method for a vehicle of the present application;

[0044] Figure 4A logic flow diagram of a vehicle braking control method provided by an embodiment of the present application;

[0045] Figure 5 A functional block diagram of the braking control of a vehicle provided in an embodiment of the present application;

[0046] Figure 6 This is a schematic diagram of the module structure of the brake control device of the vehicle according to the embodiment of the present application;

[0047] Figure 7 This is a schematic diagram of the device structure of the hardware operating environment involved in the vehicle braking control method in the embodiment of the present application.

[0048] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0049] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0050] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0051] The main solution of the embodiment of the present application is: when the wire control brake controller determines that the vehicle is traveling on a bumpy road condition and is in a stable state, the wire control brake controller determines the target braking torque required for braking the vehicle based on the collected wheel speed information, the wheel speed change rate and the preset stability parameters; obtains the actual braking torque of the motor when controlling the motor braking in the vehicle based on the target braking torque; and based on the difference between the target braking torque and the actual braking torque, requests the torque supplement module in the vehicle to provide the supplementary braking torque lacking in the motor braking.

[0052] In this embodiment, for the convenience of description, the brake-by-wire controller is used as the execution subject for explanation below.

[0053] In the prior art, when a vehicle passes through a bumpy road such as a speed bump or a joint road, the ABS function is activated. To ensure the safety of the vehicle, the motor braking torque will be quickly withdrawn to prevent the vehicle from losing stability and causing a traffic accident. However, the rapid withdrawal of the motor braking torque will cause the vehicle to lose deceleration, resulting in a strong sense of frustration, which in turn reduces driving comfort.

[0054] The present application provides a solution. When it is determined that a vehicle is traveling on a bumpy road and is in a stable state, it means that the vehicle is in a safe state when traveling on the bumpy road. In order to avoid rapid exit of motor braking, it is necessary to determine the target braking torque required for motor braking based on the collected wheel speed information and wheel speed changes and preset stability parameters, so that the motor brakes the vehicle according to the target braking torque, and ensures that the current braking torque of the motor can correspond to the wheel speed of the vehicle. Since there will be loss in the transmission or conversion process of power, the actual braking torque generated by the motor will be less than the target braking torque to produce a torque error. Therefore, the actual braking torque generated by the motor when working according to the target braking torque can be received to use the difference between the actual braking torque and the target braking torque to determine the braking error of the motor. In order to avoid a sudden change in the deceleration of the vehicle due to the motor braking error, which causes the vehicle to feel frustrated, the torque supplement module in the vehicle can be requested to supplement the torque required for braking based on the difference, so as to avoid the vehicle feeling frustrated due to the lack of deceleration, thereby improving driving comfort.

[0055] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a brake-by-wire controller, etc. The brake-by-wire controller is taken as an example to illustrate this embodiment and the following embodiments.

[0056] Based on this, the present application embodiment provides a vehicle braking control method, referring to Figure 1 , Figure 1 This is a flow chart of a first embodiment of a vehicle braking control method of the present application.

[0057] In this embodiment, the vehicle braking control method includes steps S10 to S30:

[0058] Step S10, when it is determined that the vehicle is traveling on a bumpy road and is in a stable state, a target braking torque required for braking the vehicle is determined based on the collected wheel speed information, wheel speed change rate, and preset stability parameters;

[0059] It should be noted that the uneven road condition may be a road condition with speed bumps, a road condition with joint gaps, or a road condition with damaged road surface, etc., which may lead to uneven road conditions. A stable state may be a state in which the vehicle can maintain the expected trajectory or posture and continue to travel without losing control when it is disturbed by the outside world or driving normally. Wheel speed information may include the wheel speed of each wheel of the vehicle, etc. The wheel speed change rate may be the change in the wheel speed of each wheel in the vehicle, etc. The preset stability parameters may include the slip rate required for normal braking of the vehicle when the vehicle is in a stable state, etc. The target braking torque may be the torque that the motor needs to provide when braking the vehicle when the vehicle is motor-braking.

[0060] In addition, it should be noted that when the vehicle brakes, the wheel speed will change according to a certain deceleration. Due to the friction between the road and the wheel or the energy loss between the vehicle's braking device, the deceleration will fluctuate normally within a certain range. Therefore, the change in wheel speed may be the fluctuation of the deceleration.

[0061] It is understandable that when a vehicle is traveling on an uneven road, in order to ensure the stability of the vehicle's driving, the vehicle needs to be appropriately decelerated, and deceleration too quickly will also cause the vehicle to lose balance. Therefore, in order to keep the vehicle in a stable state on the uneven road, the vehicle's wheel speed information and wheel speed change rate can be obtained, and combined with some parameters required for the vehicle to be in stable driving, the target braking torque required for braking the vehicle can be determined, so that the vehicle's braking device can provide deceleration for the vehicle when the vehicle is traveling on the uneven road, thereby ensuring that the vehicle's deceleration is not lost when the vehicle is traveling on the uneven road.

[0062] Furthermore, step S10 may also include:

[0063] Determining an actual slip rate of the vehicle on the uneven road condition based on the collected wheel speed information and wheel speed change rate;

[0064] The target braking torque required for braking the vehicle is determined according to the actual slip ratio and the target slip ratio set in the preset stability parameter.

[0065] It should be noted that the slip ratio may be a physical quantity describing the relative slip degree between the tire of the vehicle and the road surface. The actual slip ratio may reflect the actual slip degree of the vehicle. The target slip ratio may pre-set the range of the vehicle slip degree to ensure the driving safety of the vehicle.

[0066] Step S20, obtaining the actual braking torque of the motor when the motor in the vehicle is braked based on the target braking torque;

[0067] It should be noted that the actual braking torque may be the torque actually used by the motor to brake the vehicle when the motor is controlled to brake the vehicle's wheel speed according to the target braking torque. Since the motor needs to transmit the torque output by the motor to the wheels to brake the vehicle's wheels or due to some other reasons, the torque applied to the wheels by the motor is not the target braking torque set for the motor.

[0068] It is understandable that since the torque applied to the wheels by the motor is not the torque set for the motor, that is, there will be a torque difference when the motor brakes the vehicle, which makes the braking of the vehicle unable to proceed as expected, and because the actual braking is different from the expected braking, the amplitude of the vehicle's deceleration change becomes larger, causing the user to feel a sense of frustration when driving the vehicle. In order to avoid the sense of frustration, the actual braking torque applied to the wheels when the torque set by the motor is the target braking torque can be obtained, so as to facilitate the subsequent determination of the braking torque that needs to be supplemented by other braking methods based on the actual braking torque, thereby avoiding the motor from failing to provide sufficient braking torque for the vehicle, causing the vehicle to decelerate too quickly on bumpy road conditions, causing the vehicle to activate the ABS function, causing the vehicle to lose control, causing the vehicle to be dangerous, and avoiding the sense of frustration of the vehicle during deceleration.

[0069] Step S30 : based on the difference between the target braking torque and the actual braking torque, request a torque supplement module in the vehicle to provide a supplementary braking torque that is lacking in motor braking.

[0070] It should be noted that the torque supplement module can be a control module in the vehicle that controls the braking of the wheels other than the motor, and the torque supplement module can be a hydraulic control module or a pneumatic control module, etc. Among them, the hydraulic control module can be a module in the vehicle for hydraulically braking the wheels, and the hydraulic brake device at the wheel can be controlled by the hydraulic control module to perform hydraulic braking on the vehicle. The supplementary braking torque can be determined according to the wheel speed difference between the actual wheel speed of the vehicle after braking and the expected wheel speed after braking when the motor is braking.

[0071] It can be understood that in order to balance the insufficient braking torque of the motor, the torque (supplementary braking torque) that the hydraulic brake needs to provide can be determined based on the difference between the target braking torque and the real-time braking torque, so that the braking torque required for stable deceleration of the vehicle on uneven roads can be balanced through the supplementary braking torque, thereby avoiding the feeling of frustration of the vehicle during deceleration due to insufficient motor braking torque, thereby improving driving comfort.

[0072] The present embodiment provides a braking control method for a vehicle. When it is determined that the vehicle is traveling on a bumpy road and is in a stable state, it means that the vehicle is in a safe state when traveling on the bumpy road. In order to avoid rapid exit of motor braking, it is necessary to determine the target braking torque required for motor braking based on the collected wheel speed information and wheel speed change and preset stability parameters, so that the motor brakes the vehicle according to the target braking torque, and ensures that the current braking torque of the motor can correspond to the wheel speed of the vehicle. Since there will be loss in the transmission or conversion process of power, the actual braking torque generated by the motor will be less than the target braking torque to generate a torque error. Therefore, the actual braking torque generated by the motor when working according to the target braking torque can be received to determine the braking error of the motor by using the difference between the actual braking torque and the target braking torque. In order to avoid a sudden change in the deceleration of the vehicle due to the motor braking error, which causes a sense of frustration in the vehicle, the torque supplement module in the vehicle can be requested to supplement the torque required for braking based on the difference, so as to avoid a sense of frustration in the vehicle due to a lack of deceleration, thereby improving driving comfort.

[0073] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can refer to the above introduction, and will not be repeated later. Figure 2 Before step S10, the vehicle braking control method further includes steps S01 to S03:

[0074] Step S01, acquiring road information collected by the vehicle, the wheel speed information, the wheel speed change rate, the steering wheel angle of the vehicle, and the yaw angular velocity of the vehicle;

[0075] It should be noted that the steering wheel angle may be the angle at which the driver in the cab turns the steering wheel, and the steering wheel angle may be used to determine whether the driver is manipulating the vehicle. The yaw rate may be the speed at which the vehicle body rotates around a vertical axis, and the yaw rate may directly reflect the control performance and stability of the vehicle. The road information may be collected by a multi-function camera in the vehicle, and the multi-function camera may preliminarily determine whether the corresponding road is a bumpy road based on the collected road information.

[0076] It is understandable that since the multi-function camera determines whether the corresponding road is a bumpy road based on the road information, that is, the result of the multi-function camera's judgment based on the road information is whether there are speed bumps on the road, whether the road is damaged, and whether there are bumps such as connecting gaps on the road. However, different vehicles may feel different bumps when passing through the same speed bump, damaged area or connecting gap. Therefore, it is necessary to further determine whether the current road is bumpy relative to the current vehicle based on the results of the multi-function camera's recognition based on the collected road information, wheel speed information, wheel speed change rate, steering wheel angle and yaw angular velocity.

[0077] Step S02, judging whether the road condition on which the vehicle is currently traveling is a bumpy road condition according to the road information, the wheel speed information and the wheel speed change rate;

[0078] It is understandable that when a vehicle is traveling on a relatively bumpy road, the rotation speed and wheel speed change rate of the vehicle's wheels will become abnormal. Therefore, it is possible to preliminarily determine whether the road the vehicle is on is a bumpy road based on the road information, and to determine whether the bumpy road is a bumpy road relative to the vehicle through the wheel speed information and the wheel speed change rate, so as to avoid the vehicle's ACC (Adaptive Cruise Control) function being exited when the vehicle is traveling on a bumpy road with no impact, affecting the user's driving experience.

[0079] Step S03: if it is determined based on the wheel speed information that the wheel speeds of the wheels of the vehicle are the same, the turning angle satisfies a preset stable turning angle, and the yaw angular velocity satisfies a preset stable yaw velocity, then it is determined that the vehicle is in a stable state.

[0080] It should be noted that the preset stable turning angle may be a slight turning angle caused by the bumps of the road when the vehicle is driving stably. The preset stable yaw angle may be a normal swing angle of the vehicle around the vertical axis when the vehicle is passing through an uneven road normally and stably.

[0081] It is understandable that, since the wheel speeds of the vehicle are almost the same in a stable state, when the wheel speeds are different, the vehicle will experience severe lateral swings, and when the steering wheel angle turns significantly, it may be that the driver intervened, or the vehicle lost control, and the uneven road surface forced the wheels to change their forward direction, thereby changing the steering wheel angle. In addition, the most intuitive manifestation of the vehicle losing stability is that the vehicle's yaw rate exceeds the preset stable yaw rate of the vehicle in a stable state. Therefore, it is possible to judge whether the vehicle is in a stable state based on the wheel speeds of each wheel, the angle of direction, and the yaw rate of the vehicle, so as to avoid forced subsequent braking control after the vehicle loses control on an uneven road, which would put the vehicle in danger.

[0082] Furthermore, when the vehicle is traveling on a bumpy road, if the vehicle does not exceed the destabilization speed corresponding to the bumpy road, the vehicle will not lose control. In order to avoid the need to brake any vehicle passing through the bumpy road and ensure the stability of the vehicle, which may reduce the driving experience of the user, step S02 further includes:

[0083] Reading the wheel speed of each wheel in the vehicle from the wheel speed information, and analyzing the sudden change of the wheel speed change rate;

[0084] When it is preliminarily identified based on the road information that the vehicle is traveling on a bumpy road, judging whether the vehicle is airborne based on the wheel speed of each wheel and the mutation;

[0085] If it is determined that the vehicle is in the air, then it is determined that the road condition on which the vehicle is currently traveling is a bumpy road condition;

[0086] If it is determined that the vehicle is not airborne, it is determined that the road condition on which the vehicle is currently traveling is not a bumpy road condition.

[0087] It should be noted that the sudden change may be a sudden increase or decrease in the rate of change of the wheel speed, that is, an abnormal fluctuation in the rate of change of the wheel speed. The vehicle may be vacant with the front wheels, rear wheels or the entire vehicle, or a single wheel.

[0088] It is understandable that since vehicles are prone to become airborne on uneven roads, after becoming airborne, the vehicle is prone to large-scale yaw, which requires higher vehicle operation. In addition, when the vehicle is not airborne, each wheel can firmly grasp the ground to make the vehicle tend to a stable state. Therefore, when it is preliminarily identified that the road the vehicle is traveling on is an uneven road based on road information, it is possible to determine whether the vehicle is in an airborne state by determining whether the wheel speeds of each wheel are the same and whether there is a sudden change in the wheel speed change path. When it is determined that the vehicle is in an airborne state, it is determined whether the current uneven road is an uneven road condition relative to the vehicle. That is, by detecting whether the vehicle is airborne, it is determined whether the vehicle is in an uneven road condition, and then it is determined whether the vehicle needs to exit the ACC function and hand over the control of the vehicle to the driver. This not only avoids frequent exits from the ACC function, but also ensures the vehicle's driving safety.

[0089] Optionally, when the vehicle encounters some dangerous road conditions, the ABS function and / or the DTC (Diagnostic Trouble Code) function will be activated to avoid the danger of the vehicle sliding on the road, and after the vehicle activates the ABS function and / or the DTC function, it means that the vehicle is driving dangerously. When the vehicle turns on the ACC function, it is necessary to exit the ACC function and let the driver control the vehicle to reduce the occurrence of danger. However, when the vehicle passes through a bumpy road that has no driving effect on the vehicle, the vehicle will automatically exit the ACC function, reducing the driver's driving experience. Therefore, in order to avoid the vehicle exiting the ACC function when encountering a bumpy road, after step S03, the vehicle braking control method further includes steps S04~S05:

[0090] Step S04, if it is detected that the ABS function and / or the DTC function of the vehicle is activated when driving on the uneven road condition, it is determined whether the ACC function of the vehicle is turned on;

[0091] Step S05: If it is determined that the ACC function of the vehicle is turned on, then after determining that the vehicle is in a stable state, the ACC function is kept turned on.

[0092] It should be noted that the ACC function can monitor the road conditions ahead in real time by integrating sensors such as radar or cameras in front of the vehicle, and automatically adjust the vehicle speed to maintain a safe distance from the vehicle in front, while also supporting the cruise control function. The ABS function can prevent the wheels from locking during emergency braking, allowing the vehicle to maintain controllability and directional stability, thereby effectively improving driving safety. The DTC function can be a digital universal identifier of the fault state identified by the on-board diagnostic system to determine the vehicle fault based on the universal identifier.

[0093] It is understandable that when the vehicle loses deceleration during braking, the vehicle will drop to zero speed in an instant, causing the vehicle to slide on the road. In order to avoid this situation, the vehicle will automatically activate the ABS function so that the wheels can still turn. However, after the ABS function is turned on, the vehicle will automatically be considered to be in a dangerous driving state and the control of the vehicle needs to be handed over to the driver. In order to avoid judging any working condition in which the ABS function is activated as a dangerous driving state, when it is determined that the vehicle has activated the ABS function and turned on the ACC function, it is further determined whether the vehicle is in a stable state. If the vehicle is in a stable state, it means that the vehicle is braking normally on uneven roads, so as to avoid the ACC function not being able to exit at the appropriate time, thereby improving the user's driving experience.

[0094] Based on the first and second embodiments of the present application, in the third embodiment of the present application, the same or similar contents as those in the above embodiments can be referred to the above introduction, and will not be described in detail later. Figure 3 , using the hydraulic control module to represent the torque supplement module used in the specific implementation, step S30 includes steps S31 to S34:

[0095] Step S31, determining a torque difference between the target braking torque and the actual braking torque;

[0096] Step S32, determining a braking wheel speed deviation of the vehicle on a bumpy road condition based on the torque difference;

[0097] Step S33, determining the hydraulic torque required for hydraulic braking of the vehicle based on the braking wheel speed deviation;

[0098] Step S34 , requesting a torque supplement module in the vehicle to provide a supplementary braking torque that is lacking in the motor brake according to the hydraulic torque.

[0099] It should be noted that the braking wheel speed deviation may be the deviation between the actual wheel speed of the wheel after the motor brakes and the expected wheel speed to which the wheel is expected to be reduced.

[0100] It is understandable that due to the different principles of motor braking and hydraulic braking, hydraulic braking is performed by pushing the brake caliper with hydraulic oil, and since the hydraulic oil in the hydraulic brake may have a certain rebound, the braking effect under the same braking torque is far inferior to the braking effect of motor braking. Therefore, it is necessary to determine the braking wheel speed deviation of the vehicle on uneven road conditions based on the difference between the actual braking torque of the motor and the target braking torque, and further determine the supplementary braking torque that the hydraulic brake needs to provide based on the braking wheel speed deviation, so as to make the vehicle's braking control more precise, make the vehicle's braking control more stable, and avoid the vehicle's sense of frustration, affecting the user's driving experience.

[0101] For example, in order to help understand the implementation process of the vehicle braking control method obtained by combining this embodiment with the above embodiments, please refer to Figure 4 and Figure 5 , Figure 4 A logic flow diagram of a vehicle braking control method is provided. Figure 5 A functional block diagram of a vehicle braking control is provided, specifically:

[0102] 1) The multifunctional camera collects road information and, after identifying special road conditions (such as deceleration, bad roads, joint roads, etc.), sends a signal to the brake-by-wire controller as a feedforward input for the brake-by-wire function to control special road conditions;

[0103] 2) The brake-by-wire controller uses the steering wheel angle sensor to determine whether the driver intends to intervene in the special road condition. If the driver intervenes, the event is interrupted;

[0104] 3) If the driver does not intervene, the brake-by-wire controller determines whether the vehicle is in the airborne condition by collecting wheel speed signals and wheel speed change rate signals of special road conditions and calibrating airborne parameters. If the wheel speed threshold does not enter the airborne condition, the event is interrupted;

[0105] 4) If the wheel speed threshold enters the airborne condition, the brake-by-wire controller needs to determine whether the vehicle is in a stable state through the wheel speed, steering wheel angle and yaw rate sensors. If the vehicle is unstable, the event ends;

[0106] 5) If the vehicle is in a stable state and the brake-by-wire function is activated (such as ABS, DTC, etc.):

[0107] a. When the brake-by-wire controller determines that the ABS and DTC functions are activated under special road conditions, it will also provide feedback to the intelligent driving controller, which will determine whether the ACC function must be exited after the controller is calibrated and the road conditions are verified, thereby improving driving satisfaction;

[0108] b. After calibrating reasonable parameters, request the vehicle controller to control the motor braking torque, and the vehicle controller will feed back the actual execution value of the motor to the wire control controller in real time;

[0109] 6) The brake-by-wire controller performs brake pressure PID control based on the difference between the actual motor threshold and the requested target value to ensure that the electro-hydraulic brake balance and deceleration are not lost;

[0110] 7) After identifying special road conditions through the above strategies, the brake-by-wire system controls the motor braking torque and hydraulic braking torque to solve problems such as the vehicle passing through special road conditions, the wheel speed change leading to the activation of ABS and other functions, and the motor braking torque quickly exiting, causing the vehicle to stall and lose deceleration.

[0111] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the braking control method of the vehicle of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0112] The present application also provides a vehicle braking control device, please refer to Figure 6 , the braking control device of the vehicle comprises:

[0113] The determination module 10 is used to determine the target braking torque required for the vehicle to brake based on the collected wheel speed information, wheel speed change rate and preset stability parameters when the vehicle is traveling on a bumpy road and is in a stable state;

[0114] A receiving module 20, configured to obtain an actual braking torque of the motor when the motor in the vehicle is braked based on the target braking torque;

[0115] The control module 30 is configured to request a torque supplement module 30 in the vehicle to provide a supplementary braking torque that is lacking in the motor braking based on a difference between the target braking torque and the actual braking torque.

[0116] Optionally, the vehicle braking control device further includes:

[0117] An acquisition module 40 is used to acquire the road information collected by the vehicle, the wheel speed information, the wheel speed change rate, the steering wheel angle of the vehicle, and the yaw angular velocity of the vehicle;

[0118] A judgment module 50, configured to judge whether the road condition on which the vehicle is currently traveling is a bumpy road condition according to the road information, the wheel speed information and the wheel speed change rate;

[0119] The determination module 60 is configured to determine that the vehicle is in a stable state if it is determined based on the wheel speed information that the wheel speeds of the wheels of the vehicle are the same, the turning angle satisfies a preset stable turning angle, and the yaw angular velocity satisfies a preset stable yaw velocity.

[0120] Optionally, the judgment module 50 is also used to read the wheel speed of each wheel in the vehicle from the wheel speed information, and analyze the mutation of the wheel speed change rate; when it is preliminarily identified based on the road information that the vehicle is traveling on a bumpy road, based on the wheel speed of each wheel and the mutation, it is judged whether the vehicle is airborne; if it is determined that the vehicle is airborne, it is determined that the road condition on which the vehicle is currently traveling is a bumpy road condition; if it is determined that the vehicle is not airborne, it is determined that the road condition on which the vehicle is currently traveling is not a bumpy road condition.

[0121] Optionally, the determination module 60 is further used to determine whether the ACC function of the vehicle is turned on if it is detected that the ABS function and / or the DTC function are activated when the vehicle is traveling on the uneven road condition; if it is determined that the ACC function of the vehicle is turned on, the ACC function is kept turned on after determining that the vehicle is in a stable state.

[0122] Optionally, the control module 30 is also used to determine the torque difference between the target braking torque and the actual braking torque; determine the braking wheel speed deviation of the vehicle on uneven road conditions based on the torque difference; determine the hydraulic torque required for hydraulic braking of the vehicle based on the braking wheel speed deviation; and request the torque supplement module 30 in the vehicle to provide supplementary braking torque lacking in motor braking based on the hydraulic torque.

[0123] Optionally, the determination module 10 is further used to determine the actual slip rate of the vehicle in the uneven road condition based on the collected wheel speed information and the wheel speed change rate; and determine the target braking torque required for braking the vehicle according to the actual slip rate and the target slip rate set in the preset stability parameters.

[0124] The vehicle braking control device provided by the present application adopts the vehicle braking control method in the above embodiment, which can solve the technical problem that the motor braking torque is quickly withdrawn, causing the vehicle to lose deceleration, resulting in a strong sense of frustration, and thus reducing driving comfort. Compared with the prior art, the beneficial effects of the vehicle braking control device provided by the present application are the same as the beneficial effects of the vehicle braking control method provided by the above embodiment, and the other technical features of the vehicle braking control device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0125] The present application provides a vehicle braking control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vehicle braking control method in the above-mentioned embodiment one.

[0126] Reference below Figure 7 , which shows a schematic diagram of the structure of a braking control device for a vehicle suitable for implementing an embodiment of the present application. The braking control device for a vehicle in the embodiment of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 7 The brake control device of the vehicle shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0127] like Figure 7As shown, the braking control device of the vehicle may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the braking control device of the vehicle are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the brake control device of the vehicle to communicate with other devices wirelessly or by wire to exchange data. Although the brake control device of the vehicle with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0128] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0129] The vehicle braking control device provided by the present application adopts the vehicle braking control method in the above embodiment, which can solve the technical problem that the motor braking torque is quickly withdrawn, causing the vehicle to lose deceleration, resulting in a strong sense of frustration, and thus reducing driving comfort. Compared with the prior art, the beneficial effects of the vehicle braking control device provided by the present application are the same as the beneficial effects of the vehicle braking control method provided by the above embodiment, and the other technical features in the vehicle braking control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0130] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0131] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0132] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, wherein the computer-readable program instructions are used to execute the vehicle braking control method in the above-mentioned embodiment.

[0133] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0134] The computer-readable storage medium may be included in the brake control device of the vehicle; or may exist independently without being assembled into the brake control device of the vehicle.

[0135] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the vehicle's braking control device, the vehicle's braking control device: determines that the vehicle is traveling on a bumpy road condition and is in a stable state, and determines the target braking torque required for braking the vehicle based on the collected wheel speed information, wheel speed change rate and preset stability parameters; obtains the actual braking torque of the motor when controlling the motor braking in the vehicle based on the target braking torque; and based on the difference between the target braking torque and the actual braking torque, requests the torque supplement module in the vehicle to provide the supplementary braking torque lacking in the motor braking.

[0136] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0137] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0138] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0139] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned vehicle braking control method, and can solve the technical problem that the motor braking torque is quickly withdrawn, causing the vehicle to lose deceleration, resulting in a strong sense of frustration, and thus reducing driving comfort. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the vehicle braking control method provided by the above-mentioned embodiment, and will not be repeated here.

[0140] The present application also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the vehicle braking control method as described above are implemented.

[0141] The computer program product provided by the present application can solve the technical problem that the motor braking torque is quickly withdrawn, which causes the vehicle to lose deceleration, resulting in a strong sense of frustration, thereby reducing driving comfort. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the vehicle braking control method provided by the above embodiment, and will not be repeated here.

[0142] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A vehicle braking control method, characterized in that: The method includes: Acquiring road information, wheel speed information, wheel speed change rate, steering wheel angle of the vehicle, and yaw rate of the vehicle collected by the vehicle; Reading the wheel speed of each wheel in the vehicle from the wheel speed information, and analyzing the sudden change of the wheel speed change rate; When it is preliminarily identified based on the road information that the vehicle is traveling on a bumpy road, judging whether the vehicle is airborne based on the wheel speed of each wheel and the mutation; If it is determined that the vehicle is in the air, then it is determined that the road condition on which the vehicle is currently traveling is a bumpy road condition; If it is determined that the vehicle is not vacated, it is determined that the road condition on which the vehicle is currently traveling is not a bumpy road condition; If it is determined based on the wheel speed information that the wheel speeds of the wheels of the vehicle are the same, the turning angle satisfies a preset stable turning angle, and the yaw angular velocity satisfies a preset stable yaw velocity, then it is determined that the vehicle is in a stable state; When it is determined that the vehicle is traveling on an uneven road condition and is in a stable state, a target braking torque required for braking the vehicle is determined based on the collected wheel speed information, the wheel speed change rate, and a preset stability parameter; acquiring an actual braking torque of the motor when controlling braking of the motor in the vehicle based on the target braking torque; Based on the difference between the target brake torque and the actual brake torque, a torque supplement module in the vehicle is requested to provide a supplementary brake torque that is missing from the motor brake.

2. The method according to claim 1, characterized in that If it is determined based on the wheel speed information that the wheel speeds of the wheels of the vehicle are the same, the turning angle satisfies a preset stable turning angle, and the yaw angular velocity satisfies a preset stable yaw velocity, then after the step of determining that the vehicle is in a stable state, the method further includes: If it is detected that the vehicle is driving on the uneven road condition and the ABS function and / or the DTC function are activated, determining whether the vehicle has the ACC function turned on; If it is determined that the ACC function is turned on for the vehicle, then after determining that the vehicle is in a stable state, the ACC function is kept turned on.

3. The method according to any one of claims 1 to 2, characterized in that The step of requesting the torque supplement module in the vehicle to provide a supplementary braking torque missing from the motor braking based on the difference between the target braking torque and the actual braking torque comprises: determining a torque difference between the target braking torque and the actual braking torque; determining a braking wheel speed deviation of the vehicle on a bumpy road condition based on the torque difference; determining a hydraulic torque required to hydraulically brake the vehicle based on the brake wheel speed deviation; A torque supplement module in the vehicle provides supplemental braking torque that is lacking in electric motor braking based on the hydraulic torque request.

4. The method according to any one of claims 1 to 2, characterized in that The step of determining the target braking torque required for braking the vehicle based on the collected wheel speed information, the wheel speed change rate and the preset stability parameter comprises: Determining an actual slip rate of the vehicle on the uneven road condition based on the collected wheel speed information and wheel speed change rate; The target braking torque required for braking the vehicle is determined according to the actual slip ratio and the target slip ratio set in the preset stability parameter.

5. A vehicle braking control device, characterized in that: The device comprises: a determination module, for acquiring road information, wheel speed information, wheel speed change rate, steering angle of the steering wheel in the vehicle, and yaw rate of the vehicle collected by the vehicle; reading the wheel speed of each wheel in the vehicle from the wheel speed information, and analyzing the mutation of the wheel speed change rate; when the vehicle is initially identified as a bumpy road based on the road information, judging whether the vehicle is airborne based on the wheel speed of each wheel and the mutation; if the vehicle is judged to be airborne, judging the road condition on which the vehicle is currently traveling is a bumpy road condition; if the vehicle is judged to be not airborne, judging the road condition on which the vehicle is currently traveling is not a bumpy road condition; if the wheel speed information determines that the wheel speeds of each wheel in the vehicle are the same, the steering angle satisfies a preset stable steering angle, and the yaw rate satisfies a preset stable yaw rate, then judging that the vehicle is in a stable state; when it is determined that the vehicle is traveling on a bumpy road condition and is in a stable state, judging the target braking torque required for braking the vehicle based on the collected wheel speed information, wheel speed change rate, and preset stability parameters; A receiving module, configured to obtain an actual braking torque of the motor when the motor in the vehicle is braked based on the target braking torque; A control module is configured to request a torque supplement module in the vehicle to provide a supplementary braking torque that is lacking in motor braking based on a difference between the target braking torque and the actual braking torque.

6. A vehicle braking control device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the vehicle braking control method according to any one of claims 1 to 4.

7. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the vehicle braking control method according to any one of claims 1 to 4 are implemented.

8. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the vehicle braking control method according to any one of claims 1 to 4 are implemented.

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