Vehicle braking method and related products

Abstract

Embodiments of the present application provide a vehicle braking method and related products. The method includes: obtaining first braking data from a brake pedal; determining, based on the first braking data and a first vehicle speed, whether the driver has an emergency braking request; and, if so, sending a braking signal to an electronic parking brake system, requesting the electronic parking brake system to perform emergency braking on the vehicle. Embodiments of the present application facilitate high-precision assistance to the driver in emergency braking.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle braking method and related products. BACKGROUND

[0002] Currently, more and more vehicles on the market are equipped with brake assist systems. The brake assist system detects whether the driver has an emergency braking demand by obtaining the pressure and pressure gradient of the brake pedal pressed by the driver. When the brake intention of the driver is identified as emergency braking, the Electronic Stability Program (ESP) system of the vehicle increases the hydraulic brake output to achieve the effect of assisting emergency braking.

[0003] However, due to the slow timeliness of hydraulic braking, assisting the driver to perform emergency braking through hydraulic braking still has certain hysteresis and cannot accurately assist the driver to perform emergency braking. SUMMARY

[0004] The embodiments of the present application provide a vehicle braking method and related products. When the driver has an emergency braking demand, the electronic parking brake system is used to perform emergency braking, thereby accurately assisting the driver to perform emergency braking and improving driving safety.

[0005] In a first aspect, the embodiments of the present application provide a vehicle braking method. The method is applied to an electronic brake assist system. The method comprises:

[0006] obtaining first braking data of a brake pedal;

[0007] determining whether the driver has an emergency braking demand based on the first braking data and a first vehicle speed;

[0008] If yes, a brake signal is sent to an electronic parking brake system, wherein the brake signal is used to request the electronic parking brake system to perform emergency braking on the vehicle.

[0009] In a second aspect, the embodiments of the present application provide a vehicle braking method. The method is applied to an electronic parking brake system. The method comprises:

[0010] receiving a brake signal from an electronic brake assist system, wherein the brake signal is sent by the electronic brake assist system when it is determined that the driver has an emergency braking demand based on first braking data of a brake pedal and a first vehicle speed;

[0011] performing emergency braking on the vehicle in response to the brake signal.

[0012] In a third aspect, the embodiments of the present application provide an electronic brake assist system, comprising a transceiver unit and a processing unit.

[0013] The transceiving unit is configured to acquire first brake data of a brake pedal.

[0014] The processing unit is configured to determine whether an emergency brake demand exists based on the first brake data and a first vehicle speed.

[0015] If so, a brake signal is sent to an electronic parking brake system, the brake signal being configured to request the electronic parking brake system to perform emergency braking on the vehicle.

[0016] In a fourth aspect, an embodiment of the present application provides an electronic parking brake system, comprising a transceiving unit and a processing unit.

[0017] The transceiving unit is configured to receive a brake signal from an electronic brake assist system, wherein the brake signal is sent by the electronic brake assist system based on first brake data of a brake pedal and a first vehicle speed when determining that an emergency brake demand exists.

[0018] The processing unit is configured to perform emergency braking on the vehicle in response to the brake signal.

[0019] In a fifth aspect, an embodiment of the present application provides an electronic device, comprising a processor and a memory, the processor being connected to the memory, the memory being configured to store a computer program, and the processor being configured to execute the computer program stored in the memory, so that the electronic device performs the method of the first aspect or the second aspect.

[0020] In a sixth aspect, an embodiment of the present application provides a computer readable storage medium, the computer readable storage medium storing a computer program, the computer program causing a computer to execute the method of the first aspect or the second aspect.

[0021] In a seventh aspect, an embodiment of the present application provides a computer program product, the computer program product comprising a non-transitory computer readable storage medium storing a computer program, the computer being operable to cause a computer to execute the method of the first aspect or the second aspect.

[0022] The embodiments of the present application have the following beneficial effects:

[0023] It can be seen that, in the embodiment of the present application, when the electronic brake auxiliary system determines that the driver's behavior of stepping on the brake pedal is to perform emergency braking on the vehicle, a brake signal will be sent to the electronic parking brake system. After receiving the brake signal, the electronic parking brake system will perform emergency braking on the vehicle by sending an electric current to the caliper motor through an electric signal, i.e. to the caliper motor. Since the electric signal braking has high real-time performance and has relatively low or no hysteresis, it can accurately assist the driver to perform emergency braking on the vehicle, thereby ensuring the safety of the vehicle in driving. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0025] Figure 1 A schematic diagram of a vehicle is provided for the embodiments of the present application.

[0026] Figure 2 A flowchart of a vehicle control method is provided for the embodiments of the present application.

[0027] Figure 3 A schematic diagram of an electronic brake auxiliary system is provided for the embodiments of the present application.

[0028] Figure 4 A schematic diagram of an electronic parking brake system is provided for the embodiments of the present application.

[0029] Figure 5 A schematic diagram of an electronic device is provided for the embodiments of the present application. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0031] The terms "first", "second", "third", and "fourth" and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. Moreover, the terms "include", and "have", and any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, product, or device that comprises a list of steps or elements is not necessarily limited to those listed steps or elements but can include additional steps or elements not expressly listed or inherent to such process, method, system, product, or device.

[0032] Reference herein to "an embodiment" means that a particular feature, structure, result, or characteristic described in connection with an embodiment can be included in at least one embodiment of the application. The appearances of the phrase that an embodiment in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive of one another. As will be apparent to those of ordinary skill in the art, embodiments described herein can be combinable with other embodiments.

[0033] With reference to Figure 1 , Figure 1 A schematic diagram of a vehicle is provided for embodiments of the present application. As shown in Figure 1 , the vehicle 100 comprises a sensor 110, a brake system 120, and a computing platform 130.

[0034] The sensor 110 comprises a brake pedal depth sensor 111 and a wheel speed sensor 112. The brake pedal depth sensor 111 is configured to obtain a brake stroke of a brake pedal, so as to determine a rotation angle and a rotation rate of the brake pedal. The wheel speed sensor 112 is configured to obtain a wheel speed of the vehicle, i.e., a vehicle speed.

[0035] The brake system 120 comprises an intelligent power brake system (IPB) 121, an electronic parking brake system (EPB) 122, a brake pedal 123, and an electronic stability program (ESP) 124.

[0036] The IPB 121 comprises an electronic brakeforce distribution and proportioning system (EPA) 1211 and an anti-lock braking system (ABS) 1212.

[0037] EPA 1211 is used for brake force distribution, brake compensation, brake assistance, and brake anti-locking. Brake force distribution refers to EPA 1211 automatically adjusting the front and rear wheel brake force distribution according to factors such as vehicle speed and vehicle weight, ensuring that the vehicle does not lose control or slide during emergency braking; brake compensation refers to the fact that due to factors such as road friction coefficient and vehicle speed, different tires may have different braking effects. EPA 1211 can compensate for each wheel according to actual conditions to ensure balanced and maximized braking effect of each wheel; brake assistance refers to EPA 1211 providing additional brake force when the driver suddenly steps on the brake pedal, shortening the braking distance and reducing the likelihood of accidents, i.e., assisting the driver in emergency braking; brake anti-locking refers to EPA 1211 interacting with the automobile anti-lock braking system 1212 to avoid wheel locking during braking, ensuring vehicle stability and handling.

[0038] EPB 122 is an electronic parking brake system that directly transmits brake signals to brake caliper motors through electrical signals compared to the hydraulic transmission of brake force of ESP 124, and realizes brake function by controlling the clamping depth of brake caliper motors. The main function of EPB 122 is to replace traditional hand brakes and foot brakes when the vehicle is parked to prevent vehicle sliding or rolling. EPB 122 mainly includes the following functions: parking brake, automatic release, emergency brake, hill start assist, automatic adaptive brake force, and automatic reset. Among them, parking brake: EPB 122 can control the vehicle's brakes through an electronic control unit (ECU) to keep the vehicle from sliding or moving when parked. Automatic release: when the driver starts the car, EPB 122 can automatically release the brake to prepare the vehicle for departure. Emergency brake: in emergency situations, such as sudden stops, EPB 122 can quickly brake to ensure safe parking of the vehicle. Hill start assist: EPB 122 can prevent vehicle sliding down the slope and help the vehicle start smoothly on the slope by controlling the brake. Automatic adaptive brake force: EPB 122 can automatically adjust the brake force and action time according to different driving conditions and speeds to ensure optimal braking effect. Automatic reset: when EPB 122 fails or needs to replace the brake disc, EPB 122 can automatically reset and recalibrate to maintain normal use.

[0039] ESP 124 is mainly used to improve the stability and safety of the vehicle. Specifically, ESP 124 detects the state of the vehicle, analyzes whether the vehicle has the risk of losing control, and applies brake force of appropriate size as needed to control the stability of the vehicle. ESP 124 mainly brakes the vehicle through hydraulic means.

[0040] Some or all of the functionality of the vehicle 100 is controlled by a computing platform 130. The computing platform 130 can include at least one processor 131 that can execute instructions 133 stored in a non-transitory computer readable medium such as a memory 132. In some embodiments, the computing platform 130 can also be a plurality of computing devices that control individual components or subsystems of the vehicle 100 in a distributed manner.

[0041] The processor 131 can be any conventional processor, such as commercially available CPUs. Alternatively, the processor 131 can also include a Graphics Processing Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

[0042] In conjunction with Figure 1 In the illustrated vehicle, in this application, the IPB 121 periodically acquires the driver's braking data from the brake pedal depth sensor. For example, in any one cycle, the first braking data of the brake pedal is acquired from the brake pedal depth sensor; then, the EPA 1211 determines whether the driver has an emergency braking demand based on the first braking data and the first vehicle speed; if so, a brake signal is sent to the EPB 122, wherein the brake signal is used to request the EPB 122 to brake the vehicle. Accordingly, the EPB 122 responds to the brake signal to brake the vehicle.

[0043] As can be seen, in the embodiment of the present application, when the EPA 1211 determines that the driver has an emergency braking demand, the vehicle is braked by the EPB 122. Since the braking of the vehicle by the EPB 122 is achieved by electrical signals, the real-time performance is high, and the emergency braking of the driver can be accurately assisted.

[0044] Referring to Figure 2 , Figure 2 A flowchart of a vehicle braking method provided by an embodiment of the present application. The method is applied to the above-mentioned vehicle. The method includes but is not limited to the following steps:

[0045] 201: The electronic brake assistance system acquires the first braking data of the brake pedal.

[0046] For example, the electronic brake assistant system periodically acquires brake data of the driver stepping on the brake pedal from the brake pedal depth sensor. In this application, the electronic brake assistant system acquires first brake data from the brake pedal depth sensor in any one period is taken as an example to illustrate the emergency braking process of this application.

[0047] It should be noted that if the electronic brake assistant system acquires data from the brake pedal depth sensor in any one period, it means that the driver has no braking demand, and the electronic brake assistant system will not make any braking operation on the vehicle to keep the vehicle normal driving.

[0048] 202: The electronic brake assistant system determines whether the driver has an emergency braking demand based on the first brake data and the first vehicle speed.

[0049] For example, after the electronic brake assistant system acquires the first brake data, it acquires the first vehicle speed of the vehicle through the wheel speed sensor. Then, the electronic brake assistant system determines whether the driver has an emergency braking demand based on the first brake data and the first vehicle speed.

[0050] Alternatively, the first brake data includes a first brake stroke of the brake pedal. Then, the electronic brake assistant system determines a first rotation angle and a first rotation angle rate of the brake pedal according to the first brake stroke. For example, the electronic brake assistant system determines the first rotation angle of the brake pedal in the period according to the first brake stroke, and determines the first rotation angle rate based on the first rotation angle, i.e. the rotation angle change rate per unit time. Then, the electronic brake assistant system determines whether the driver has an emergency braking demand based on the first rotation angle, the first rotation angle rate and the first vehicle speed. Specifically, if the first vehicle speed is greater than a first threshold, the first rotation angle is greater than a second threshold, and the first rotation angle rate is greater than a third threshold, the electronic brake assistant system determines that the driver has an emergency braking demand; or if the first vehicle speed is greater than the first threshold, the first rotation angle is less than or equal to the second threshold, the first rotation angle is greater than a fourth threshold, and the first rotation angle rate is greater than a fifth threshold, the electronic brake assistant system determines that the driver has an emergency braking demand. Conversely, as long as the first vehicle speed, the first rotation angle and the first rotation angle rate cannot simultaneously satisfy any one of the above two conditions, it is determined that the driver has no emergency braking, that is, it is determined that the driver stepping on the brake pedal is a normal braking behavior, and then the electronic brake assistant system sends a brake signal to the ESP, which is used to instruct the ESP to brake the vehicle. Correspondingly, the ESP will brake the vehicle by hydraulic means according to the current braking demand.

[0051] In one embodiment of the present application, the electronic brake assist system determines whether the driver has an emergency braking demand based on the first brake data and the first vehicle speed, and further determines whether the vehicle has a driving output in combination with a vehicle control unit (VCU), and only determines that the driver truly has an emergency braking demand if the vehicle has a driving output, thereby avoiding the problem of the driver mistakenly touching the brake pedal.

[0052] It should be noted that before the electronic brake assist system determines whether the driver has an emergency braking demand based on the first brake data and the first vehicle speed, it will first check whether the vehicle meets a preset condition, and only determines whether the driver has an emergency braking demand when the vehicle meets the preset condition. The preset condition includes but is not limited to the following conditions:

[0053] The power supply of the vehicle is in an OK mode, the gear of the vehicle is in a D / B / N gear, and the vehicle is in a forward direction.

[0054] 203: If yes, the electronic brake assist system sends a brake signal to the electronic parking brake system, and the brake signal is used to request the electronic parking brake system to perform emergency braking on the vehicle.

[0055] For example, when the electronic brake assist system determines that the driver has an emergency braking demand, it instructs the electronic parking brake system to perform emergency braking on the vehicle through the brake signal.

[0056] Alternatively, the electronic brake assist system can determine a target braking force required for emergency braking, and carry the target braking force in the brake signal, so that the electronic parking brake system performs emergency braking on the vehicle based on the target braking force.

[0057] 204: The electronic parking brake system performs emergency braking on the vehicle in response to the brake signal.

[0058] It should be noted that the electronic parking brake system brakes the vehicle by controlling the clamping depth of the caliper motor through the current, and the greater the current output to the caliper motor, the greater the clamping depth of the caliper motor, and the greater the braking force. In order to ensure the driving safety of the vehicle, the electronic parking brake system first starts to brake the vehicle at a preset braking force, that is, first outputs a preset current corresponding to the preset braking force to the caliper motor, and then gradually increases the current output to the caliper motor to gradually increase the braking force and achieve emergency braking on the vehicle. Alternatively, the electronic brake assist system can also determine a target braking force carried in the brake signal, so that the electronic parking brake system gradually increases the braking force until the braking force is increased to the target braking force, and achieves emergency braking on the vehicle through the target braking force.

[0059] Specifically, the electronic brake assist system first acquires the basic brake force corresponding to the first brake stroke. For example, the basic brake force corresponding to the first brake stroke can be acquired based on the mapping relationship between the brake stroke and the brake force. Then, according to the first brake stroke, the brake stroke per unit time is determined. For example, the electronic brake assist system acquires the time for the driver to step the brake pedal to the first brake stroke, and determines the brake stroke per unit time according to the time and the first brake stroke. Finally, the electronic brake assist system determines the proportional coefficient corresponding to the vehicle according to the brake stroke per unit time and the vehicle model of the vehicle. Specifically, the electronic brake assist system acquires the vehicle model of the vehicle, and acquires the basic proportional coefficient corresponding to the vehicle model, for example, the basic proportional coefficient corresponding to a heavy off-road vehicle is 7%, and the basic proportional coefficient corresponding to a small car is 4%. Then, according to the vehicle model of the vehicle and the brake stroke per unit time, the adjustment ratio corresponding to the basic proportional coefficient is determined, wherein the greater the mass and the greater the brake stroke per unit time of the vehicle, the greater the demand for brake force, and the greater the corresponding adjustment ratio. Of course, considering the acceptable range of hardware to avoid the emergence of dangerous working conditions, the maximum adjustment ratio of each vehicle cannot exceed a preset threshold, for example, cannot exceed 20%. Finally, the electronic brake assist system adjusts the basic coefficient based on the adjustment ratio to obtain the proportional coefficient corresponding to the vehicle, for example, the proportional coefficient can be obtained by adding the adjustment ratio and the basic proportional coefficient.

[0060] Finally, the electronic brake assist system determines the target brake force according to the proportional coefficient and the basic brake force. The target brake force can be represented by formula (1):

[0061] F final =F basic *(1+K) Formula (1);

[0062] Wherein, F final is the target brake force, F basic is the basic brake force, and K is the proportional coefficient.

[0063] It can be seen that in the embodiment of the application, when the electronic brake assist system determines that the driver's behavior of stepping on the brake pedal is to perform emergency braking on the vehicle, the electronic brake assist system will send a brake signal to the electronic parking brake system. After receiving the brake signal, the electronic parking brake system will perform emergency braking on the vehicle by sending an electric current to the caliper motor through an electric signal, i.e. an electric signal. Because the electric signal braking has high real-time performance and has relatively low hysteresis, it can accurately assist the driver to perform emergency braking on the vehicle, thereby ensuring the safety of the vehicle in operation.

[0064] In one embodiment of the present application, the electronic brake assist system further acquires the running state of the vehicle after sending the brake signal to the electronic parking brake system. When it is determined that the emergency brake needs to be exited, the electronic brake assist system sends an exit signal to the electronic parking brake system, wherein the exit signal is used to instruct the electronic parking brake system to exit the emergency brake of the vehicle. Accordingly, the electronic parking brake system exits the emergency brake of the vehicle in response to the exit signal.

[0065] Optionally, after the electronic parking brake system performs the emergency brake on the vehicle, the brake force is gradually increased, and in this process, the IPB always monitors the running state of the vehicle, and when it is determined that the ABS needs to be activated, the ABS is activated. When the ABS is activated, the electronic brake assist system detects that the ABS is in the activated state, and determines that the vehicle needs to exit the emergency brake.

[0066] Optionally, after the electronic brake assist system sends the brake signal to the electronic parking brake system, the electronic brake assist system still periodically acquires the brake data of the driver stepping on the brake pedal from the brake pedal depth sensor. In the present application, the second brake data acquired in any one period is taken as an example for description. Then, after the electronic brake assist system acquires the second brake data, the electronic brake assist system acquires the second vehicle speed from the wheel speed sensor. Accordingly, the electronic brake assist system determines whether to exit the emergency brake according to the second brake data and the second vehicle speed. Specifically, the second brake data includes the second brake stroke of the brake pedal, and the electronic brake assist system determines the second rotation angle and the second rotation angle rate of the brake pedal according to the second brake stroke. The way of determining the second rotation angle and the second rotation angle rate is similar to the way of determining the first rotation angle and the first rotation angle rate, which will not be described again. Finally, if the second vehicle speed is less than the sixth threshold value, or the second rotation angle is less than the seventh threshold value, or the second rotation angle rate is less than the eighth threshold value, the electronic brake assist system determines that the emergency brake needs to be exited; otherwise, the electronic brake assist system determines that the emergency brake does not need to be exited.

[0067] Referring to Figure 3 , Figure 3 A schematic diagram of an electronic brake assist system provided by an embodiment of the present application is shown. The electronic brake assist system 300 includes a transceiver unit 301 and a processing unit 302.

[0068] The transceiver unit 301 is configured to acquire first brake data of a brake pedal.

[0069] The processing unit 302 is configured to determine whether the driver has an emergency brake demand based on the first brake data and a first vehicle speed.

[0070] If yes, a brake signal is sent to an electronic parking brake system, the brake signal being used to request the electronic parking brake system to perform emergency braking on the vehicle.

[0071] In an embodiment of the present application, the first brake data comprises a first brake stroke of the brake pedal; in determining whether the driver has an emergency braking demand based on the first brake data and a first vehicle speed, the processing unit 302 is specifically configured to:

[0072] determine a first rotation angle and a first rotation angle rate of the brake pedal according to the first brake stroke;

[0073] If the first vehicle speed is greater than a first threshold value, and the first rotation angle is greater than a second threshold value, and the first rotation angle rate is greater than a third threshold value, it is determined that the driver has an emergency braking demand;

[0074] Or, if the first vehicle speed is greater than the first threshold value, and the first rotation angle is less than or equal to the second threshold value, and the first rotation angle is greater than a fourth threshold value, and the first rotation angle rate is greater than a fifth threshold value, it is determined that the driver has an emergency braking demand.

[0075] In an embodiment of the present application, in the case of determining to exit the emergency braking, the transceiver unit 301 is further configured to send an exit signal to the electronic parking brake system, wherein the exit signal is used to instruct the electronic parking brake system to exit the emergency braking on the vehicle.

[0076] In an embodiment of the present application, the processing unit 302 is further configured to, in the case of activating an anti-lock braking system of the vehicle, determine to exit the emergency braking; or, acquire second brake data of the brake pedal; and determine to exit the emergency braking according to the second brake data and a second vehicle speed.

[0077] In an embodiment of the present application, the second brake data comprises a second brake stroke of the brake pedal; in determining to exit the emergency braking according to the second brake data and a second vehicle speed, the processing unit 302 is specifically configured to: determine a second rotation angle and a second rotation angle rate of the brake pedal according to the second brake stroke;

[0078] If the second vehicle speed is less than a sixth threshold value, or the second rotation angle is less than a seventh threshold value, or the second rotation angle rate is less than an eighth threshold value, it is determined to exit the emergency braking.

[0079] In an embodiment of the present application, the brake signal comprises a target braking force, before sending the brake signal to the electronic parking brake system, the processing unit 302 is further configured to:

[0080] acquire a basic braking force corresponding to the first brake stroke;

[0081] determine a braking stroke per unit time according to the first braking stroke;

[0082] determine a proportional coefficient corresponding to the vehicle according to the braking stroke per unit time and a vehicle model of the vehicle;

[0083] determine the target braking force according to the proportional coefficient and the basic braking force, so that the electronic parking brake system performs emergency braking on the vehicle at the target braking force.

[0084] Referring to Figure 4 , Figure 4 An electronic parking brake system provided by an embodiment of the present application is shown in a schematic diagram. The electronic parking brake system 400 includes a transceiver unit 401 and a processing unit 402.

[0085] The transceiver unit 401 is configured to receive a braking signal from an electronic brake assist system, wherein the braking signal is sent by the electronic brake assist system when the electronic brake assist system determines that a driver has an emergency braking demand based on first braking data of a brake pedal and a first vehicle speed.

[0086] The processing unit 402 is configured to perform emergency braking on the vehicle in response to the braking signal.

[0087] In an embodiment of the present application, the transceiver unit 401 is further configured to receive an exit signal from the electronic brake assist system, wherein the exit signal is used to indicate that the electronic parking brake system exits the emergency braking on the vehicle.

[0088] The processing unit 402 is further configured to exit the emergency braking on the vehicle in response to the exit signal.

[0089] In an embodiment of the present application, the braking signal includes a target braking force; and in terms of performing emergency braking on the vehicle, the processing unit 402 is specifically configured to:

[0090] start emergency braking on the vehicle at a preset braking force in response to the braking signal, and continuously increase the braking force on the vehicle until the emergency braking on the vehicle is performed at the target braking force.

[0091] Referring to Figure 5 , Figure 5 A structural schematic diagram of an electronic device provided by an embodiment of the present application is shown in FIG. 1. As shown in FIG. 1, the electronic device 100 includes a transceiver unit 101 and a processing unit 102. Figure 5As shown, the electronic device 500 comprises a transceiver 501, a processor 502 and a memory 503. They are connected through a bus 504. The memory 503 is used to store computer programs and data, and can transmit the data stored in the memory 503 to the processor 502. Among them, the electronic device 500 can be the electronic brake assist system or the electronic parking brake system described above.

[0092] For example, when the electronic device 500 is the electronic brake assist system described above, the processor 502 is used to read the computer program in the memory 503 to perform the following operations:

[0093] Control the transceiver 501 to obtain first brake data of a brake pedal;

[0094] Determine whether the driver has an emergency braking demand based on the first brake data and a first vehicle speed;

[0095] If yes, send a brake signal to the electronic parking brake system, wherein the brake signal is used to request the electronic parking brake system to perform emergency braking on the vehicle.

[0096] In an embodiment of the present application, the first brake data comprises a first brake stroke of the brake pedal; in determining whether the driver has an emergency braking demand based on the first brake data and the first vehicle speed, the processor 502 is specifically used to perform the following steps:

[0097] Determine a first rotation angle and a first rotation angle rate of the brake pedal according to the first brake stroke;

[0098] If the first vehicle speed is greater than a first threshold value, and the first rotation angle is greater than a second threshold value, and the first rotation angle rate is greater than a third threshold value, it is determined that the driver has an emergency braking demand;

[0099] Or, if the first vehicle speed is greater than the first threshold value, and the first rotation angle is less than or equal to the second threshold value, and the first rotation angle is greater than a fourth threshold value, and the first rotation angle rate is greater than a fifth threshold value, it is determined that the driver has an emergency braking demand.

[0100] In an embodiment of the present application, in the case of determining to exit the emergency braking, the processor 502 is further used to perform the following steps:

[0101] Control the transceiver 501 to send an exit signal to the electronic parking brake system, wherein the exit signal is used to instruct the electronic parking brake system to exit the emergency braking on the vehicle.

[0102] In an embodiment of the present application, the processor 502 is further used to perform the following steps:

[0103] In the case that the anti-lock braking system of the vehicle is activated, determining to exit the emergency braking; or, obtaining second braking data of the brake pedal; determining to exit the emergency braking according to the second braking data and a second vehicle speed.

[0104] In an embodiment of the present application, the second braking data comprises a second braking stroke of the brake pedal; in determining to exit the emergency braking according to the second braking data and a second vehicle speed, the processor 502 specifically performs the following steps:

[0105] determining a second rotation angle and a second rotation angle rate of the brake pedal according to the second braking stroke;

[0106] determining to exit the emergency braking if the second vehicle speed is less than a sixth threshold value, or the second rotation angle is less than a seventh threshold value, or the second rotation angle rate is less than an eighth threshold value.

[0107] In an embodiment of the present application, the brake signal comprises a target braking force, so that the electronic parking brake system performs emergency braking on the vehicle with the target braking force.

[0108] Specifically, the transceiver 501 described above can be Figure 3 The processor 502 described above can be Figure 3 The processing unit 302 of the electronic brake assist system 300 of the embodiment described above.

[0109] For example, when the electronic device 500 is the electronic parking brake system described above, the processor 502 is configured to read the computer program in the memory 503 to perform the following operations:

[0110] controlling the transceiver 501 to receive a brake signal from the electronic brake assist system, wherein the brake signal is sent by the electronic brake assist system when it determines that the driver has an emergency braking demand based on first braking data of the brake pedal and a first vehicle speed;

[0111] performing emergency braking on the vehicle in response to the brake signal.

[0112] In an embodiment of the present application, the processor 502 further performs the following operations:

[0113] controlling the transceiver 501 to receive an exit signal from the electronic brake assist system, wherein the exit signal is used to instruct the electronic parking brake system to exit the emergency braking on the vehicle;

[0114] exiting the emergency braking on the vehicle in response to the exit signal.

[0115] In one embodiment of the present application, the brake signal comprises a target braking force; in terms of emergency braking of the vehicle, the processor 502 is specifically configured to perform the following operations:

[0116] In response to the brake signal, emergency braking of the vehicle is started at a preset braking force, and the braking force of the vehicle is continuously increased until the vehicle is braked at the target braking force.

[0117] Specifically, the transceiver 501 described above can be Figure 4 The processor 502 described above can be Figure 4 The processing unit 402 of the electronic parking brake system 400 of the embodiment described above.

[0118] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement some or all steps of any vehicle braking method described in the above method embodiments.

[0119] The embodiments of the present application also provide a computer program product, which comprises a non-transitory computer readable storage medium storing a computer program. The computer program is operable to cause a computer to perform some or all steps of any vehicle braking method described in the above method embodiments.

[0120] It should be noted that, for the above-mentioned method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited to the action sequence described, because according to the present application, some steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0121] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0122] In several embodiments provided in the present application, it should be understood that the disclosed apparatus can be implemented in other manners. For example, the division of the apparatus embodiments described above is merely illustrative, and the division of the units can be different, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0123] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0124] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can be physically present separately, or two or more units can be integrated into one unit. The integrated unit can be realized in the form of hardware or in the form of a software program module.

[0125] The integrated unit, if realized in the form of a software program module and sold or used as an independent product, can be stored in a computer readable memory. Based on this understanding, the technical solutions of the present application essentially or the part of the prior art that contributes to the technical solutions or all or part of the technical solutions can be embodied in the form of a software product, which is stored in a memory and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0126] Those of ordinary skill in the art can understand that all or part of the steps of the various methods in the above embodiments can be completed by a program instructing relevant hardware, and the program can be stored in a computer readable memory, which can include a flash disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0127] The above has introduced the embodiments of the present application in detail, and the principles and implementation manners of the present application are described by applying specific examples. The above embodiment description is only used for helping understanding the method of the present application and its core idea; meanwhile, for the general technical personnel in the art, according to the idea of the present application, the specific implementation manner and application range will have changes, and the above description should not be understood as the limitation of the present application.

Claims

1. A vehicle braking method, characterized in that: The method is applied to an electronic brake assist system; the method comprises: Acquiring first braking data of a brake pedal; determining whether the driver has an emergency braking demand based on the first braking data and a first vehicle speed, wherein the first braking data includes a first braking stroke of the brake pedal; If so, obtaining a basic braking force corresponding to the first braking stroke; determining a braking distance per unit time according to the first braking distance; determining a proportional coefficient corresponding to the vehicle according to the braking distance per unit time and the vehicle model; determining a target braking force according to the proportional coefficient and the basic braking force; A braking signal is sent to an electronic parking brake system, wherein the braking signal includes the target braking force, and the braking signal is used to request the electronic parking brake system to perform emergency braking on the vehicle, so that the electronic parking brake system performs emergency braking on the vehicle with the target braking force.

2. The method according to claim 1, characterized in that The determining, based on the first braking data and the first vehicle speed, whether the driver has an emergency braking demand includes: determining a first rotation angle and a first rotation angle rate of the brake pedal according to the first braking stroke; If the first vehicle speed is greater than a first threshold, the first turning angle is greater than a second threshold, and the first turning angle rate is greater than a third threshold, it is determined that the driver has an emergency braking demand; Alternatively, if the first vehicle speed is greater than the first threshold, and the first turning angle is less than or equal to the second threshold, and the first turning angle is greater than a fourth threshold, and the first turning angle rate is greater than a fifth threshold, it is determined that the driver has an emergency braking demand.

3. The method according to claim 1 or 2, characterized in that The method further comprises: When it is determined to cancel the emergency braking, a cancellation signal is sent to the electronic parking brake system, wherein the cancellation signal is used to instruct the electronic parking brake system to cancel the emergency braking of the vehicle.

4. The method according to claim 3, characterized in that The method further comprises: If the vehicle's anti-lock braking system is activated, confirm that emergency braking has been disengaged; Alternatively, obtaining second braking data of the brake pedal; Exiting emergency braking is determined based on the second braking data and the second vehicle speed.

5. The method according to claim 4, characterized in that The second braking data includes a second braking stroke of the brake pedal; and determining to exit emergency braking based on the second braking data and the second vehicle speed includes: determining a second rotation angle and a second rotation angle rate of the brake pedal according to the second braking stroke; If the second vehicle speed is less than a sixth threshold, or the second turning angle is less than a seventh threshold, or the second turning angle rate is less than an eighth threshold, it is determined that emergency braking is exited.

6. A vehicle braking method, characterized in that: The method is applied to an electronic parking brake system, and the method comprises: receiving a braking signal from an electronic brake assist system, wherein the braking signal is sent by the electronic brake assist system when the electronic brake assist system determines that a driver has an emergency braking demand based on first braking data of a brake pedal and a first vehicle speed; The braking signal includes a target braking force, and the first braking data includes a first braking stroke of the brake pedal; The target braking force is determined based on a proportional coefficient corresponding to the vehicle and a basic braking force corresponding to the first braking stroke; the proportional coefficient is determined based on a braking stroke per unit time and a vehicle type; the braking stroke per unit time is determined by the sub-brake assist system based on the first braking stroke; In response to the brake signal, the vehicle is emergency braked with the target braking force.

7. The method according to claim 6, characterized in that The method further comprises: receiving an exit signal from the electronic brake assist system, wherein the exit signal is used to instruct the electronic parking brake system to exit emergency braking of the vehicle; In response to the exit signal, emergency braking of the vehicle is exited.

8. The method according to claim 6 or 7, characterized in that The emergency braking of the vehicle with the target braking force includes: The vehicle is initially emergency braked with a preset braking force, and the braking force on the vehicle is continuously increased until the vehicle is emergency braked with the target braking force.

9. An electronic brake assist system, characterized in that: The electronic brake assist system is used to implement the method according to any one of claims 1 to 5, and the electronic brake assist system includes: a transceiver unit and a processing unit; The transceiver unit is used to obtain first braking data of the brake pedal; The processing unit is configured to determine whether the driver has an emergency braking demand based on the first braking data and the first vehicle speed; If so, a braking signal is sent to the electronic parking brake system, where the braking signal is used to request the electronic parking brake system to perform emergency braking on the vehicle.

10. An electronic parking brake system, characterized in that: The electronic parking brake system is used to implement the method according to any one of claims 6 to 8, and the electronic parking brake system includes: a transceiver unit and a processing unit; The transceiver unit is configured to receive a braking signal from an electronic brake assist system, wherein the braking signal is sent by the electronic brake assist system when it determines that the driver has an emergency braking demand based on first braking data of the brake pedal and a first vehicle speed; The processing unit is used to perform emergency braking on the vehicle in response to the braking signal.

11. An electronic device, characterized in that: include: A processor and a memory, the processor is connected to the memory, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the electronic device performs the method according to any one of claims 1 to 8.

12. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method according to any one of claims 1 to 8.

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