Braking method, braking module, vehicle and computer readable storage medium

Abstract

The application discloses a braking method, a braking module, a vehicle and a computer readable storage medium. The braking method comprises the following steps: after a target deceleration is acquired, a deceleration greater than or equal to the target deceleration is generated according to a preset feedback torque and a hydraulic braking unit, so that the braking feedback efficiency in braking can be higher than a preset value. In this way, the braking is performed by the feedback torque and the hydraulic braking unit together, so that the load of the brake is reduced when the hydraulic unit is running, thereby reducing the aging / wearing speed of the brake; and because the braking feedback efficiency when the vehicle brakes is higher than the preset value, the energy generated in the braking process can be fully utilized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of braking, and more particularly, to a braking method, a braking module, a vehicle and a computer readable storage medium. BACKGROUND

[0002] In the related art, when a vehicle performs a parking brake deceleration, a hydraulic brake unit is used to apply a braking force to the wheels to achieve deceleration. However, the aging / wear rate of the brake is high when the brake is based on the hydraulic unit. SUMMARY

[0003] The present application provides a braking method, a braking module, a vehicle and a computer readable storage medium.

[0004] The present application provides a braking method applied to a vehicle, wherein the vehicle comprises a hydraulic brake unit, and the method comprises:

[0005] obtaining a target deceleration, and generating a deceleration greater than or equal to the target deceleration based on a preset feedback torque and the hydraulic brake unit, wherein when the vehicle is braked based on the preset feedback torque, the brake feedback efficiency of the vehicle is higher than a preset value.

[0006] In the braking method provided by the present application, after the vehicle obtains the target deceleration, a deceleration greater than or equal to the target deceleration is generated based on the preset feedback torque and the hydraulic brake unit, so that the brake feedback efficiency in braking can be higher than the preset value. In this way, the present application performs braking based on the feedback torque and the hydraulic brake unit, so that the load of the brake when the hydraulic unit is running is reduced, thereby reducing the aging / wear rate of the brake. Moreover, because the brake feedback efficiency when the vehicle is braked is higher than the preset value, the energy generated during braking can be fully utilized.

[0007] In some embodiments, the generation of the deceleration greater than or equal to the target deceleration based on the preset feedback torque and the hydraulic brake unit comprises:

[0008] If the expected deceleration based on the preset feedback torque is lower than the target deceleration, the deceleration is generated based on the preset feedback torque and the hydraulic brake unit.

[0009] In this way, the embodiments of the present application make the hydraulic control unit only work when the expected deceleration is lower than the target deceleration, so that the operation frequency of the hydraulic brake unit is reduced, thereby further reducing the wear rate of the brake caused by the hydraulic brake unit.

[0010] In some embodiments, the deceleration comprises the expected deceleration and a compensation deceleration.

[0011] The generating the deceleration based on the preset feedback torque and the hydraulic brake unit comprises:

[0012] The generating the expected deceleration based on the preset feedback torque;

[0013] The generating the compensation deceleration by the hydraulic brake unit based on the difference between the expected deceleration and the target deceleration.

[0014] Therefore, the difference between the expected deceleration and the target deceleration is used to compensate the lack of deceleration due to the small expected deceleration, so that the stability of the vehicle is ensured.

[0015] In some embodiments, the method further comprises:

[0016] If the expected deceleration based on the preset feedback torque is not lower than the target deceleration, braking is performed based on the feedback torque that can generate the target deceleration.

[0017] In some embodiments, the vehicle further comprises an intelligent integrated brake system, a vehicle control unit and an electronic parking brake unit.

[0018] The obtaining the target deceleration and generating the deceleration greater than or equal to the target deceleration based on the preset feedback torque and the hydraulic brake unit comprises:

[0019] The electronic parking brake unit sends the target deceleration to the intelligent integrated brake system.

[0020] The intelligent integrated brake system generates the preset feedback torque based on the maximum brake feedback efficiency of the vehicle control unit.

[0021] The intelligent integrated brake system sends the preset feedback torque to the vehicle control unit and controls the hydraulic brake unit to operate to generate the deceleration.

[0022] Therefore, the embodiments of the present application enable the vehicle to achieve deceleration without adding other modules when the vehicle is equipped with an intelligent power brake system, a vehicle control unit, an intelligent power brake system and a hydraulic brake unit, so that the structure of the vehicle is optimized.

[0023] In some embodiments, before the generating the preset feedback torque, the method further comprises:

[0024] The electronic parking brake unit sends the verification data to the intelligent integrated brake system.

[0025] The intelligent integrated brake system checks the verification data to obtain a verification result.

[0026] If the verification result is a verification pass, the intelligent integrated brake system generates the preset feedback torque.

[0027] Thus, the embodiments of the present application enable the vehicle to brake based on legal / safe data only, so that the driving safety is guaranteed.

[0028] In some embodiments, the intelligent integrated brake system, the vehicle control unit and the electronic parking brake unit jointly constitute a parking brake deceleration module.

[0029] The method further comprises:

[0030] When the vehicle speed is not zero and the braking is performed, the parking brake deceleration module enters a deceleration state.

[0031] When the vehicle speed is zero and the braking is performed, the parking brake deceleration module enters a stationary state.

[0032] When the braking is not performed, the parking brake deceleration module enters a standby state.

[0033] Thus, the embodiments of the present application enable the deceleration control in the vehicle to be realized based on one parking brake deceleration module, so that the complexity of the deceleration / braking control logic is reduced, and thus the braking execution efficiency is guaranteed.

[0034] In some embodiments, the vehicle further comprises an anti-lock braking system.

[0035] The method further comprises:

[0036] In response to an anti-lock instruction, the anti-lock braking system is controlled to operate.

[0037] Thus, the embodiments of the present application enable the vehicle to maintain lateral stability and steering stability based on the anti-lock braking system during the deceleration / braking process, so that the safety of the vehicle is further guaranteed.

[0038] The present application provides a brake module applied to a vehicle, wherein the vehicle comprises a hydraulic brake unit, and the module comprises:

[0039] A generation module is configured to obtain a target deceleration, and generate a deceleration greater than or equal to the target deceleration based on a preset feedback torque and the hydraulic brake unit, wherein when the vehicle brakes based on the preset feedback torque, the braking feedback efficiency of the vehicle is higher than a preset value.

[0040] The application provides a braking module, comprising a memory and a processor, wherein the memory stores a computer program, and the computer program is executed by the processor to implement the braking method.

[0041] The application provides a vehicle, comprising a vehicle body and the braking module.

[0042] The application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by one or more processors to implement the braking method.

[0043] The braking module, the vehicle and the computer readable storage medium provided by the application are based on feedback torque and hydraulic braking units to jointly perform braking, so that the load of the brake is reduced when the hydraulic unit is running, thereby reducing the aging / wear speed of the brake; and because the braking feedback efficiency of the vehicle during braking is higher than a preset value, the energy generated during braking can be fully utilized.

[0044] Additional aspects and advantages of the embodiments of the application will be in part apparent and in part pointed out below. BRIEF DESCRIPTION OF DRAWINGS

[0045] The above and / or additional aspects and advantages of the application will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings in which:

[0046] Figure 1 A flowchart of the braking method in some embodiments of the application;

[0047] Figure 2 A flowchart of the braking method in some embodiments of the application;

[0048] Figure 3 A signal interaction diagram of some embodiments of the application;

[0049] Figure 4 A running diagram of the parking brake deceleration module in some embodiments of the application;

[0050] Figure 5 A flowchart of the braking method in some embodiments of the application. DETAILED DESCRIPTION

[0051] Embodiments of the present application are described below in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as a limitation on the embodiments of the present application.

[0052] In order to more clearly illustrate the various embodiments provided by the present application, a brief description of the related art is provided as follows:

[0053] According to the vehicle setting requirements, the vehicle needs to be equipped with another set of brake modules / systems / equipment / devices in addition to the driving brake system, and this brake module needs to be able to make the vehicle generate at least 1.5 m / s 2 of deceleration. In the related art, the vehicle is equipped with an EPB (Electrical Park Brake), and after the EPB switch is triggered / pressed, the CDP (Controller Deceleration Parking) control hydraulic brake unit is started to make the vehicle reach the above-mentioned at least 1.5 m / s 2 deceleration, thereby realizing emergency braking.

[0054] However, in the process of braking by the hydraulic unit, the brake disc (drum) and the brake disc will be heated due to friction, resulting in a decrease in the braking performance based on the brake disc (drum) and the brake disc due to temperature rise, and the wear of the brake system composed of the brake disc (drum), the brake disc and other equipment is intensified.

[0055] The present application provides a braking method applied to a vehicle, the vehicle comprising a hydraulic brake unit, the method comprising:

[0056] 0110, obtaining a target deceleration, and generating a deceleration greater than or equal to the target deceleration based on a preset feedback torque and the hydraulic brake unit, wherein when the vehicle is braked based on the preset feedback torque, the braking feedback efficiency of the vehicle is higher than a preset value.

[0057] That is, when the user wants to trigger the corresponding operation of the vehicle (such as pressing the EPB switch) to brake the vehicle, the vehicle will allocate corresponding torque to the wheels and control the hydraulic brake unit to operate based on the target deceleration corresponding to this braking, thereby generating the above-mentioned target deceleration.

[0058] Specifically, after the vehicle obtains the target deceleration, the vehicle controls the wheels and related devices based on the power corresponding to the preset feedback torque to slow down the vehicle, and the kinetic energy generated in the process of slowing down drives the motor to charge the on-board battery, thereby realizing braking feedback.

[0059] It should be understood that the vehicle of the embodiments of the present application can make the motor generate as much electric energy as possible when the motor is driven during braking based on the feedback torque, i.e., the braking feedback efficiency is higher than the preset value, so that the vehicle can brake by the feedback torque and the on-board battery can be fed back as much electric energy as possible. Based on this, the vehicle of the embodiments of the present application allocates power to each wheel by the predetermined preset feedback torque to brake, so that the motor can generate enough electric energy to charge the on-board battery, and thus the braking feedback efficiency is higher than the preset value.

[0060] It should also be understood that the manner of obtaining / calculating the preset feedback torque is a content that can be set according to actual conditions.

[0061] Further, while the vehicle is braking based on the feedback torque, the hydraulic braking unit of the embodiments of the present application is also controlled to brake cooperatively to ensure that the vehicle can generate a deceleration of the target deceleration size when braking. It can be understood that the specific process of controlling the hydraulic braking unit to brake cooperatively with the feedback torque is a content that can be set according to actual conditions.

[0062] In this way, the present application performs braking based on the feedback torque and the hydraulic braking unit cooperatively, so that the load of the brake is reduced when the hydraulic unit operates, thereby reducing the aging / wear rate of the brake; and because the braking feedback efficiency of the vehicle when braking is higher than the preset value, the energy generated during braking can be fully utilized.

[0063] Optionally, to further reduce the wear rate of the brake, in some embodiments, the above-mentioned 0110 based on the preset feedback torque and the hydraulic braking unit to generate a deceleration greater than or equal to the target deceleration includes:

[0064] If the expected deceleration that can be generated based on the preset feedback torque is lower than the target deceleration, the deceleration is generated based on the preset feedback torque and the hydraulic braking unit.

[0065] That is, only in the case where the braking feedback efficiency is higher than the preset value, but the vehicle deceleration (i.e., the expected deceleration) cannot reach the target deceleration, the vehicle of the embodiments of the present application will control the hydraulic braking unit to operate, so as to avoid the brake wear caused by the hydraulic braking unit operating in any case.

[0066] It should be clear that in the embodiments of the present application, the expected deceleration that can be generated by the vehicle based on the preset feedback torque is a known quantity. In some embodiments, the expected deceleration that can be generated based on the preset feedback torque is 0.3 m / s 2 . Further, if the target deceleration is greater than 0.3 m / s 2In this case, the vehicle will operate in two modes simultaneously: "braking based on feedback torque" and "braking based on hydraulic braking unit" to ensure that the vehicle's deceleration is greater than or equal to the target deceleration.

[0067] Thus, the embodiments of this application enable the hydraulic control unit to operate only when the expected deceleration is lower than the target deceleration, thereby reducing the operating frequency of the hydraulic braking unit and further reducing the wear rate of the brake caused by the hydraulic braking unit.

[0068] Furthermore, it is easy to understand that if the expected deceleration is lower than the target deceleration, it indicates that the vehicle's "braking based on regenerative torque" method can reasonably complete the braking, thus eliminating the need to activate the hydraulic braking unit. Therefore, in some embodiments of this application, the above braking method further includes:

[0069] If the expected deceleration generated based on the preset feedback torque is not lower than the target deceleration, then braking is performed based on the feedback torque that can generate the target deceleration.

[0070] As an example, the expected deceleration rate remains at 0.3 m / s². 2 For example, if the target deceleration is 0.2 m / s² 2 The vehicle then generates 0.2 m / s only through "braking based on regenerative torque". 2 The deceleration.

[0071] In some implementations, the deceleration of the vehicle due to "regenerative torque braking" is not less than the target deceleration but not greater than the expected deceleration. Exemplarily, the target deceleration is 0.2 m / s². 2 The expected deceleration is 0.3 m / s². 2 For example, the vehicle generates a speed greater than or equal to 0.2 m / s² using a braking method based on regenerative torque. 2 But less than or equal to 0.3 m / s 2 The deceleration.

[0072] Optionally, to further reduce brake wear, in some embodiments of this application, the deceleration includes expected deceleration and compensating deceleration.

[0073] Furthermore, the aforementioned deceleration based on the preset feedback torque and the hydraulic braking unit includes:

[0074] The expected deceleration is generated based on the preset feedback torque;

[0075] Based on the difference between the expected deceleration and the target deceleration, a compensating deceleration is generated through a hydraulic braking unit.

[0076] That is, in the case where the target deceleration cannot be achieved based on the preset feedback torque braking, the hydraulic brake unit is used to compensate for the deficiency in deceleration, i.e., to generate a deceleration that is not less than the difference between the target deceleration and the expected deceleration.

[0077] For example, if the vehicle is set to have a deceleration of 0.4 m / s 2 when the EPB switch is pressed, the vehicle will generate a deceleration of 0.8 m / s 2 when the EPB switch is pressed and the brake pedal is depressed, and the vehicle needs to generate a deceleration of 2 m / s 2 , then in the case where the EPB switch is pressed but the brake pedal is not depressed, the target deceleration is 1.6 m / s 2 ; in the case where the EPB switch is pressed and the brake pedal is depressed, the target deceleration is 1.2 m / s 2 , and when the expected deceleration is 0.3 m / s 2 , then the hydraulic brake unit needs to generate a deceleration of 1.3 m / s 2 above to compensate for the deficiency in deceleration in the case where the EPB switch is pressed and the brake pedal is depressed, which will generate a deceleration of 0.9 m / s 2 above to ensure that the actual deceleration of the vehicle is greater than or equal to the target deceleration.

[0078] In some embodiments, the deceleration of the vehicle when braking is not less than 1.5 m / s 2 , so when the expected deceleration is 0.3 m / s 2 , the compensation deceleration is certainly greater than 1.2 m / s 2 so that the actual deceleration of the vehicle is not less than 1.5 m / s 2 , or, the vehicle generates an expected deceleration based on the feedback torque, generates a compensation deceleration based on the hydraulic control unit, and generates other decelerations (such as 0.4 m / s 2 or 0.8 m / s 2 above) based on other devices, and the actual deceleration of the vehicle generated based on the three decelerations is not less than 1.5 m / s 2 .

[0079] In this way, the difference between the expected deceleration and the target deceleration is used to compensate for the deficiency in deceleration when the hydraulic brake unit is controlled to operate, so that the deceleration generated by the vehicle is effectively reasonable / appropriate to compensate for the lack of deceleration due to the small expected deceleration, and the stable braking of the vehicle is ensured.

[0080] Optionally, please refer to Figure 1 , Figure 1For the flowchart of the braking method in some embodiments of the present application, in some embodiments of the present application, the vehicle further comprises an intelligent integrated brake system, a vehicle control unit and an electronic parking brake unit.

[0081] Further, the above-mentioned 0110 specifically comprises the following steps in some embodiments of the present application:

[0082] 0111, the electronic parking brake unit sends a target deceleration to the intelligent integrated brake system;

[0083] 0112, the intelligent integrated brake system generates a preset feedback torque based on the maximum brake feedback efficiency of the vehicle control unit;

[0084] 0113, the intelligent integrated brake system sends the preset feedback torque to the vehicle control unit and controls the hydraulic brake unit to operate to generate a deceleration.

[0085] That is, the embodiments of the present application complete vehicle braking based on IPB (Intergrated Power Brake, intelligent power brake system), VCU (Vehicle Control Unit, vehicle control unit), EPB (Electrical Park Brake, intelligent power brake system / electronic hand brake) and hydraulic brake unit. In other words, the present application realizes a braking module based on IPB, VCU, EPB and hydraulic brake unit, so that the vehicle can complete braking based on the braking module.

[0086] It is not difficult to understand that the vehicle in the related art is usually equipped with IPB, VCU, EPB and hydraulic brake unit.

[0087] To make the embodiments provided by the present application clearer, please refer to Figure 2 , Figure 3 and Table 1, Figure 2 For the flowchart of the braking method in some embodiments of the present application, Figure 3 For the signal interaction schematic diagram of some embodiments of the present application, Table 1 is used to illustrate the signals transmitted when the IPB, EPB and VCU communicate with each other.

[0088] Table 1

[0089]

[0090]

[0091] In combination with Figure 2 , Figure 3 and Table 1, when the EPB of the vehicle is pulled up, the EPB will send a braking request to the IPB to make the IPB know that the vehicle wants to brake, and at the same time, the EPB will also send a target deceleration to the IPB.

[0092] IPB receives the EPB deceleration request and the target deceleration, and then allocates the braking force of different units based on the size of the target deceleration, i.e., determines the feedback torque of the VCU and the deceleration generated by the hydraulic braking unit. Figure 3 Figure 3

[0093] Subsequently, the IPB generates the feedback torque based on the maximum braking feedback efficiency of the VCU, and sends it to the VCU (IPB_Plunger_Pressure_S in Figure 3

[0094] After receiving the feedback torque, the VCU controls the braking of each wheel, so that the motor is driven to generate electricity, thereby charging the on-board battery. At the same time, the VCU can also send corresponding feedback information (Vehicle_MbRegen_Status and Vehicle_MbRegen in Figure 3

[0095] At the same time that the IPU sends the feedback torque to the VCU, the EPB also controls the operation of the hydraulic braking unit (this step is not shown) to brake. At the same time, the IPB can also send corresponding feedback information (CDP Available and CDPActive in Figure 3

[0096] Thus, the embodiments of the present application enable the vehicle to achieve braking deceleration without adding other modules when the vehicle is equipped with the intelligent power braking system, the vehicle control unit, the intelligent power braking system, and the hydraulic braking unit, so that the structure of the vehicle is optimized.

[0097] In addition, it can be understood that Figure 2 Figure 3 The communication process and communication signals between the IPB, the VCU, and the EPB shown in Table 1 are only feasible embodiments, and the communication process and communication signals between the IPB, the VCU, and the EPB can be set according to actual conditions.

[0098] Optionally, in order to improve communication security, before the above-mentioned preset feedback torque is generated, the braking method provided by the present application further includes:

[0099] The electronic parking brake unit sends the verification data to the intelligent integrated braking system; ​​​​​​

[0100] The intelligent integrated braking system verifies the verification data to obtain the verification result;

[0101] If the verification result is successful, the intelligent integrated braking system generates a preset feedback torque.

[0102] To more clearly illustrate the implementation methods provided in this application, please refer again. Figure 3 Specifically, after sending the target deceleration to the IPB, the EPB will also send verification data to the IPB "to verify its own legitimacy," that is... Figure 3 The rollingcounter in the IPB enables the IPB to verify the verification data to obtain the verification result, and to determine whether the IPB and the target deceleration sent by the IPB are valid based on the verification result.

[0103] If the verification result is "verification passed", it means that both the target deceleration sent by the EPB and the target deceleration sent by the EPB are valid. Therefore, the IPB will execute the subsequent process according to the target deceleration to complete the braking.

[0104] It is easy to understand that if the verification result is "verification failed", it means that one of the target deceleration sent by the EPB and the EPB is invalid, or both are invalid. Therefore, the IPB may not perform any operation to avoid the vehicle braking unexpectedly and affecting the user's driving safety.

[0105] Thus, the implementation method of this application enables the vehicle to brake only based on legal / safe data, thereby ensuring driving safety.

[0106] Furthermore, it is understood that implementing the verification process based on the aforementioned rolling counter is only one feasible implementation method. In some other implementation methods, the verification process will be implemented through checksum (i.e., CRC check).

[0107] Optionally, in some embodiments of this application, the aforementioned intelligent integrated braking system, vehicle control unit, and electronic parking brake unit together constitute a parking brake deceleration module.

[0108] Furthermore, the braking method provided in this application also includes:

[0109] When the vehicle speed is not zero and braking is applied, the parking brake deceleration module enters the deceleration state;

[0110] When the vehicle speed is zero and braking is applied, the parking brake deceleration module enters a stationary state;

[0111] When braking is not applied, the parking brake deceleration module enters a standby state.

[0112] It is understandable that the IPB, VCU and EPD in the embodiments of the present application can realize the vehicle CDP function, so as to reduce the control difficulty of the IPB, VCU and EPD in the vehicle, the embodiments of the present application regard the three as a complete module, that is, as a CDP module to perform corresponding control.

[0113] Further, in the case that the vehicle realizes braking based on the parking brake deceleration module, the parking brake deceleration module will control the IPB, VCU and EPD based on the three states of deceleration, stillness and standby. In order to more clearly illustrate the embodiments provided by the present application, please refer to Figure 4 , Figure 4 The running schematic diagram of the parking brake deceleration module of some embodiments of the present application.

[0114] Specifically, when the IPB, VCU and EPD in the CDP module are not running, and the braking is not executed, the CDP module enters the standby state (that is, the "CDP standby" in Figure 4 ).

[0115] When in the standby state, if the braking / deceleration is triggered based on the request / instruction, the CDP module enters the deceleration state (that is, the "CDP deceleration" in Figure 4 ), and then the IPB, VCU and EPD in the CDP module perform corresponding actions to realize joint / synergic braking based on the brake feedback (that is, braking through the preset feedback torque) and the hydraulic braking (that is, braking through the hydraulic brake unit), so as to gradually reduce the vehicle speed to 0.

[0116] When in the standby state or the deceleration state, if the IPB, VCU and EPD in the CDP module are running, but the vehicle speed is 0, the CDP module enters the stillness state (that is, the "CDP stillness" in Figure 4 ). After that, if the stillness state is in a relatively long time, and the IPB, VCU and EPD have stopped running, the CDP module enters the standby state.

[0117] In some embodiments, when the CDP module is in the deceleration state, if the EPB sends a useless / illegal deceleration signal to the IPB (for example, when the target deceleration is determined to be illegal due to the failure of the verification result), the CDP module will enter the standby state from the deceleration state.

[0118] In some embodiments, when the CDP module is in the deceleration state and the stillness state, the EPB switch is in the pressed state.

[0119] In some embodiments, when the CDP module is in the deceleration state, the CDP module has reached a preset maximum working time (e.g., 2 seconds), the CDP module will enter the standby state.

[0120] In some embodiments, when the CDP module is in the deceleration state, the CDP module has reached a preset maximum working time (e.g., 2 seconds), the CDP module will enter the standby state.

[0121] It can be understood that, Figure 4 The state transition logic of the CDP module shown is only a feasible embodiment, and the state transition logic of the CDP module can also be set to other situations according to actual conditions.

[0122] In this way, the embodiments of the present application enable the deceleration control in the vehicle to be implemented based on a parking brake deceleration module, so that the complexity of the deceleration / braking control logic is reduced, and the braking execution efficiency is guaranteed.

[0123] Optionally, in order to further guarantee the driving safety of the user, in some embodiments of the present application, the vehicle further comprises an anti-lock braking system.

[0124] Further, the braking method provided by the present application further comprises:

[0125] In response to the anti-lock instruction, the anti-lock braking system is controlled to operate.

[0126] That is, in order to avoid wheel lock, the vehicle of the embodiments of the present application can send a corresponding instruction to the ABS (antilock braking system) when braking in the case of being equipped with the ABS, so that the ABS operates to avoid wheel lock, thereby maintaining the lateral stability and steering stability of the vehicle.

[0127] In order to more clearly illustrate the embodiments provided by the present application, reference can be made to Figure 5 , Figure 5 The flowchart of the braking method in some embodiments of the present application is shown in FIG. 4. In addition, it can be understood that, Figure 5 The application scenario shown above includes the CDP module, but the anti-lock braking system of the present application can be applied without the CDP module in the vehicle.

[0128] Based on Figure 5 When the EPB issues a deceleration / braking request / CDP signal, the CDP is executing (i.e., enters the deceleration state), and if the ABS is triggered, the ABS will operate to maintain the lateral stability and steering stability of the vehicle.

[0129] It is understandable that if the EPB does not send the CDP signal but the CDP is executing, the CDP can exit the operation after a preset time length (i.e. 200 ms in the embodiment) and send a state signal to indicate that it is in a standby state or a static state and waits for the next operation. Figure 5

[0130] It is also understandable that if the EPB sends the CDP signal and the CDP is executing, the CDP will brake and send a state signal to indicate that it is in a deceleration state.

[0131] Thus, the embodiment of the application can keep the lateral stability and steering stability based on the ABS during the deceleration / braking process, so as to further ensure the safety of the vehicle.

[0132] The application further provides a braking module applied to a vehicle, wherein the vehicle comprises a hydraulic braking unit, and the module comprises:

[0133] a generating module configured to acquire a target deceleration and generate a deceleration greater than or equal to the target deceleration based on a preset feedback torque and the hydraulic braking unit, wherein the braking feedback efficiency of the vehicle is higher than a preset value when the vehicle brakes based on the preset feedback torque.

[0134] It is understandable that the braking module provided by the embodiment of the application can realize each process of the above braking method and achieve the same technical effect, and thus the description is omitted here.

[0135] The application further provides a braking module comprising a memory and a processor, wherein the memory stores a computer program, and the computer program is executed by the processor to realize the above braking method.

[0136] The application further provides a vehicle comprising a vehicle body and the above braking module, wherein the braking module is mounted on the vehicle body.

[0137] The application further provides a computer readable storage medium storing a computer program, wherein the computer program is executed by one or more processors to realize the above braking method.

[0138] ​In the description of the specification, the description of the terms "certain embodiments", "in an example", "exemplarily" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present application. In the specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Also, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0139] Any process or method descriptions or descriptions of the flow diagrams in the flow charts described herein and elsewhere can be understood as representing code modules, segments, or portions of code which include one or more executable instructions for performing specific logic functions or steps in the process, and that the various systems described herein can include one or more circuits, circuitry, or other hardware for implementing the described functions or steps. The various systems described herein can form part of a machine in the form of a computer, embedded computer, arithmetical logic unit, or other device for example.

[0140] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be construed as limiting the present application, and the person skilled in the art can make changes, modifications, replacements and variations to the above-described embodiments within the scope of the present application.

Claims

1. A braking method, characterized in that, Applied to vehicles, the vehicles include a hydraulic braking unit, an intelligent integrated braking system, a vehicle control unit, and an electronic parking brake unit, wherein the intelligent integrated braking system, the vehicle control unit, and the electronic parking brake unit together constitute a parking brake deceleration module, and the method includes: The target deceleration is obtained, and a deceleration greater than or equal to the target deceleration is generated based on the preset feedback torque and the hydraulic braking unit, wherein when the vehicle brakes based on the preset feedback torque, the braking feedback efficiency of the vehicle is higher than a preset value; When the vehicle speed is not zero and braking is applied, the parking brake deceleration module enters the deceleration state; When the vehicle speed is zero and braking is applied, the parking brake deceleration module enters a stationary state; When braking is not performed, the parking brake deceleration module enters a standby state; The step of acquiring the target deceleration and generating a deceleration greater than or equal to the target deceleration based on the preset feedback torque and the hydraulic braking unit includes: The electronic parking brake unit sends the target deceleration to the intelligent integrated braking system; The intelligent integrated braking system generates the preset feedback torque based on the maximum braking feedback efficiency of the vehicle control unit; The intelligent integrated braking system sends the preset feedback torque to the vehicle control unit and controls the operation of the hydraulic braking unit to generate the deceleration.

2. The braking method according to claim 1, characterized in that, The deceleration generated based on the preset feedback torque and the hydraulic braking unit, which is greater than or equal to the target deceleration, includes: If the expected deceleration generated based on the preset feedback torque is lower than the target deceleration, then the deceleration is generated based on the preset feedback torque and the hydraulic braking unit.

3. The braking method according to claim 2, characterized in that, The deceleration includes the expected deceleration and the compensated deceleration; The deceleration generated based on the preset feedback torque and the hydraulic braking unit includes: The expected deceleration is generated based on the preset feedback torque; The compensating deceleration is generated by the hydraulic braking unit based on the difference between the expected deceleration and the target deceleration.

4. The braking method according to claim 2, characterized in that, The method further includes: If the expected deceleration generated based on the preset feedback torque is not lower than the target deceleration, then braking is performed based on the feedback torque that can generate the target deceleration.

5. The braking method according to claim 1, characterized in that, Before generating the preset feedback torque, the method further includes: The electronic parking brake unit sends verification data to the intelligent integrated braking system; The intelligent integrated braking system verifies the verification data to obtain the verification result; If the verification result is successful, the intelligent integrated braking system generates the preset feedback torque.

6. The braking method according to claim 1, characterized in that, The vehicle also includes an anti-lock braking system; The method further includes: In response to an anti-lock braking command, the braking anti-lock braking system is controlled to operate.

7. A braking module, characterized in that, Applied to vehicles, the vehicle includes a hydraulic braking unit, an intelligent integrated braking system, a vehicle control unit, and an electronic parking brake unit. The intelligent integrated braking system, the vehicle control unit, and the electronic parking brake unit together constitute a parking brake deceleration module. When the vehicle speed is not zero and braking is applied, the parking brake deceleration module enters a deceleration state; when the vehicle speed is zero and braking is applied, the parking brake deceleration module enters a stationary state; when braking is not applied, the parking brake deceleration module enters a standby state. The module includes: A generation module is used to obtain a target deceleration and generate a deceleration greater than or equal to the target deceleration based on a preset feedback torque and the hydraulic braking unit, wherein when the vehicle brakes based on the preset feedback torque, the braking feedback efficiency of the vehicle is higher than a preset value. The step of acquiring the target deceleration and generating a deceleration greater than or equal to the target deceleration based on the preset feedback torque and the hydraulic braking unit includes: The electronic parking brake unit sends the target deceleration to the intelligent integrated braking system; The intelligent integrated braking system generates the preset feedback torque based on the maximum braking feedback efficiency of the vehicle control unit; The intelligent integrated braking system sends the preset feedback torque to the vehicle control unit and controls the operation of the hydraulic braking unit to generate the deceleration.

8. A braking module, characterized in that, The braking module includes a memory and a processor. The memory stores a computer program, which, when executed by the processor, implements the braking method according to any one of claims 1-6.

9. A vehicle, characterized in that, It includes a vehicle body and the braking module as described in claim 8, wherein the braking module is mounted on the vehicle body.

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

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