Vehicle braking method and system and vehicle

Abstract

The invention relates to the technical field of vehicle control, in particular to a vehicle braking method and system and a vehicle. The method is applied to a vehicle braking system. The system comprises a braking pedal, a compensation driving mechanism, a hydraulic braking loop and a liquid storage unit. The brake pedal is coupled with the hydraulic brake loop, the compensation driving mechanism is in transmission connection with the hydraulic brake loop, the hydraulic brake loop is in pipeline connection with the liquid storage unit, and the method comprises the steps that under the condition that a target vehicle is in a brake state, the current speed of the target vehicle is obtained; the brake state represents that the brake pedal is in a treading state; under the condition that the current speed meets the preset braking condition, liquid in a hydraulic braking loop is controlled to flow into a liquid storage unit; the operation power of the compensation driving mechanism is adjusted based on the current brake fluid volume in the fluid storage unit; by providing the vehicle braking method, the sense of contusion in the braking process is avoided, the reasonability of vehicle feedback force is improved, and the stability of driving feedback is improved.

Description

Technical Field

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

[0002] The braking structure of a vehicle is divided into a brake-by-wire system with a decoupled brake pedal and a control system with a non-decoupled brake pedal. Before the vehicle is about to stop, the vehicle speed will fluctuate greatly, which will cause the driver to have an obvious sense of frustration. In the prior art, the sense of frustration is usually resolved by reducing the brake pressure. However, in a non-decoupled control system, reducing the brake pressure will cause unstable brake feedback. Summary of the invention

[0003] In view of the above-mentioned problems in the prior art, the purpose of the present application is to provide a vehicle braking method, so as to avoid the feeling of frustration during braking, improve the rationality of the vehicle feedback force, and further improve the stability of driving feedback.

[0004] In order to solve the above problems, the present application provides a vehicle braking method, which is applied to a vehicle braking system, wherein the system comprises a brake pedal, a compensation drive mechanism, a hydraulic brake circuit and a liquid storage unit; the brake pedal is coupled to the hydraulic brake circuit, the compensation drive mechanism is transmission-connected to the hydraulic brake circuit, and the hydraulic brake circuit is connected to a pipeline of the liquid storage unit, and the method comprises:

[0005] When the target vehicle is in a braking state, obtaining a current speed of the target vehicle; the braking state indicates that the brake pedal is in a stepped state;

[0006] When the current speed satisfies a preset braking condition, controlling the liquid in the hydraulic brake circuit to flow into the liquid storage unit; the volume of the brake fluid in the hydraulic brake circuit represents the brake pressure of the target vehicle; the brake pressure of the target vehicle is equal to the sum of the pedal pressure of the brake pedal and the drive pressure of the compensation drive mechanism;

[0007] The operating power of the compensating drive mechanism is adjusted based on the current brake fluid volume in the fluid storage unit.

[0008] The hydraulic brake circuit is connected to the water inlet of the liquid storage unit through a liquid outlet valve, and the water outlet of the liquid storage unit is connected to the hydraulic brake circuit through the water pump. The method includes:

[0009] When the current vehicle speed is zero, controlling the liquid outlet valve to close, and controlling the water pump to start, so that the liquid in the hydraulic storage module flows back to the hydraulic brake circuit;

[0010] The operating power of the compensating drive mechanism is adjusted based on the current brake fluid volume in the fluid storage unit.

[0011] In an embodiment of the present application, the braking method further includes:

[0012] Acquiring a brake pedal travel of the brake pedal;

[0013] Based on the brake pedal stroke, a first preset relationship and a second preset relationship, respectively determining a brake pressure corresponding to the brake pedal stroke and a pedal pressure corresponding to the brake pedal stroke; the first preset relationship refers to a mapping relationship between the brake pedal stroke and the brake pressure; the second preset relationship refers to a mapping relationship between the brake pedal stroke and the pedal pressure;

[0014] determining a pressure to be compensated based on the brake pressure and the pedal pressure;

[0015] The operating power of the compensation drive mechanism is determined based on the pressure to be compensated.

[0016] In an embodiment of the present application, after determining the operating power of the compensation drive mechanism based on the pressure to be compensated, the method further includes:

[0017] Obtaining a travel variable of the brake pedal;

[0018] Based on the stroke variable, the first preset relationship, and the second preset relationship, respectively determining a brake pressure variable corresponding to the stroke variable and a pedal pressure variable corresponding to the stroke variable;

[0019] determining a compensation pressure variable based on the travel variable and the pedal pressure variable;

[0020] The operating power of the compensating drive mechanism is adjusted based on the compensating pressure variable.

[0021] In an embodiment of the present application, the braking method further includes:

[0022] When the stroke variable is greater than the preset variable, the liquid outlet valve is controlled to be closed; the stroke variable being greater than the preset variable indicates that the target vehicle is in an emergency braking state.

[0023] On the other hand, the present application further provides a vehicle braking system, the braking system applying the vehicle braking method of the embodiment of the present application, the system comprising:

[0024] a brake pedal mechanism for providing pedal pressure to a hydraulic brake circuit;

[0025] a compensating drive mechanism, the compensating drive mechanism being used to provide a driving pressure to the hydraulic brake circuit;

[0026] a hydraulic brake circuit for braking the vehicle based on the pedal pressure and the drive pressure;

[0027] and a liquid storage unit connected to the hydraulic brake circuit pipeline, the liquid storage unit being used to store or release the liquid in the hydraulic brake circuit to change the brake pressure of the hydraulic brake circuit, wherein the sum of the pedal pressure and the drive pressure is equal to the brake pressure of the hydraulic brake circuit.

[0028] In the embodiment of the present application, the hydraulic brake circuit is connected to the water inlet of the liquid storage unit through a liquid outlet valve, and the water outlet of the liquid storage unit is connected to the hydraulic brake circuit through the water pump.

[0029] In the embodiment of the present application, the brake pedal mechanism includes a pedal, an output shaft and a brake pedal travel sensor, and the hydraulic brake circuit includes a hydraulic cylinder; the pedal is fixedly connected to the piston of the hydraulic cylinder through the output shaft;

[0030] The brake pedal travel sensor is used to detect the brake pedal travel of the pedal.

[0031] In the embodiment of the present application, the compensation drive mechanism includes a drive motor and a transmission assembly, and the drive motor is transmission-connected to the output shaft via the transmission assembly.

[0032] On the other hand, the present application also provides a vehicle, which applies the vehicle braking method described in the embodiments of the present application.

[0033] On the other hand, the present application also provides an electronic device, comprising a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the vehicle braking method as described above.

[0034] On the other hand, the present application also provides a computer storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the vehicle braking method as described above.

[0035] Due to the above technical solution, a vehicle braking method described in this application has the following beneficial effects:

[0036] When the vehicle decelerates to the preset braking condition, the liquid in the hydraulic brake circuit flows into the liquid storage unit for pressure relief, so as to reduce the braking pressure of the target vehicle and the braking pressure on the four wheel cylinders of the wheels, thereby avoiding large fluctuations in the body posture and avoiding vehicle jerking. When the brake pressure drops, the operating power of the compensation drive mechanism is adjusted in real time based on the current brake fluid volume in the liquid storage unit, and then the drive pressure is adjusted, so that the change in pedal pressure will not be affected by the change in brake pressure, thereby improving the smoothness of driving feedback.

[0037] In addition, by adopting the above-mentioned vehicle braking method, the user does not need to rely on driving experience to apply the brake pedal, thereby reducing the need for reliance on vehicle control experience and reducing vehicle control logic. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the embodiments or prior art descriptions. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 is a schematic diagram of the structure of a vehicle braking system provided in an embodiment of the present application;

[0040] Figure 2 It is a schematic flow chart of a vehicle braking method provided in an embodiment of the present application;

[0041] Figure 3 It is a schematic diagram of a callback process of a vehicle braking method provided in an embodiment of the present application;

[0042] Figure 4 It is a schematic diagram of the compensation determination process in the vehicle braking method provided in an embodiment of the present application;

[0043] Figure 5 It is a schematic diagram of a pedal stroke change process in a vehicle braking method provided in an embodiment of the present application;

[0044] Figure 6 It is a schematic diagram of specific braking steps in the vehicle braking method provided in an embodiment of the present application;

[0045] Figure 7 It is a hardware structure block diagram of the vehicle braking method provided in an embodiment of the present application.

[0046] Among them, 1-brake pedal, 2-compensation drive mechanism, 3-hydraulic brake circuit, 31-hydraulic cylinder, 32-circuit control valve, 4-liquid storage unit, 5-liquid outlet valve, 51-pressure reducing valve, 52-high-pressure switching valve, 6-water pump, 7-boosting valve, FL-left front wheel, FR-right front wheel, RL-left rear wheel, RR-right rear wheel. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0048] The term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present application. In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "top", "bottom", etc. is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application. In addition, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may include one or more of the features explicitly or implicitly. Moreover, the terms "first", "second", etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here.

[0049] Combination Figure 1 , introduces a vehicle braking system provided in an embodiment of the present application, the system includes a brake pedal 1, a compensation drive mechanism 2, a hydraulic brake circuit 3 and a liquid storage unit 4; the brake pedal 1 is coupled to the hydraulic brake circuit 3, the compensation drive mechanism 2 is transmission-connected to the hydraulic brake circuit 3, and the hydraulic brake circuit 3 is pipeline-connected to the liquid storage unit 4.

[0050] In an embodiment of the present application, the brake pedal 1 mechanism is used to provide pedal pressure to the hydraulic brake circuit 3; the compensating drive mechanism 2 is used to provide drive pressure to the hydraulic brake circuit 3; the hydraulic brake circuit 3 is used to brake the vehicle based on the pedal pressure and the drive pressure; the liquid storage unit 4 is used to store or release the liquid in the hydraulic brake circuit 3 to change the braking pressure of the hydraulic brake circuit 3, wherein the sum of the pedal pressure and the drive pressure is equal to the braking pressure of the hydraulic brake circuit 3.

[0051] In the embodiment of the present application, the coupling between the brake pedal 1 and the hydraulic brake circuit 3 represents that the pedal pressure of the brake pedal 1 can directly act on the hydraulic brake circuit 3 .

[0052] In a specific embodiment of the present application, the hydraulic brake circuit 3 is connected to the water inlet of the liquid storage unit 4 through the liquid outlet valve 5 , and the water outlet of the liquid storage unit 4 is connected to the hydraulic brake circuit 3 through the water pump 6 .

[0053] In a specific embodiment of the present application, the liquid outlet valve 5 is used to control the flow between the hydraulic brake circuit 3 and the liquid storage unit 4 ; the water pump 6 is used to control the liquid in the liquid storage unit 4 to flow back to the hydraulic brake circuit 3 .

[0054] In a specific embodiment of the present application, the liquid outlet valve 5 includes a pressure reducing valve 51 and a high-pressure switching valve 52 .

[0055] In a specific embodiment of the present application, the hydraulic brake circuit 3 includes a hydraulic cylinder 31, a circuit control valve 32, a wheel cylinder and a connecting pipeline; specifically, the hydraulic cylinder 31 includes a first chamber and a second chamber, and the brake pedal 1 is coupled to the piston in the first chamber; the piston in the first chamber is connected to the piston in the second chamber through a spring, and the piston in the second chamber is connected to the bottom of the hydraulic cylinder 31 through a spring.

[0056] In a specific embodiment of the present application, the wheel cylinders include a first wheel cylinder, a second wheel cylinder, a third wheel cylinder and a fourth wheel cylinder; the first wheel cylinder is used to brake the left front wheel FL of the vehicle, the second wheel cylinder is used to brake the right front wheel FR of the vehicle, the third wheel cylinder is used to brake the left rear wheel RL of the vehicle, and the fourth wheel cylinder is used to brake the right rear wheel RR of the vehicle.

[0057] In a specific embodiment of the present application, the first chamber is connected to the pipelines of the second wheel cylinder and the third wheel cylinder respectively, and the second chamber is connected to the pipelines of the first wheel cylinder and the fourth wheel cylinder respectively.

[0058] In a specific embodiment of the present application, the circuit control valve 32 includes a first circuit control valve 32 and a second circuit control valve 32; the first circuit control valve 32 is arranged on the pipeline corresponding to the first chamber, and the second circuit control valve 32 is arranged on the pipeline corresponding to the second chamber.

[0059] In a specific embodiment of the present application, each of the plurality of wheel cylinders corresponds to a boost valve 7 , and the boost valve 7 is disposed between the first circuit control valve 32 and / or the second circuit control valve 32 and the wheel cylinder.

[0060] In a specific embodiment of the present application, the pressure reducing valve 51 is arranged between the pressure boosting valve 7 and the wheel cylinder, and the liquid outlet valve 5 is close to the liquid storage unit 4; the high-pressure switching valve 52 is arranged between the hydraulic cylinder 31 and the liquid storage unit 4, and the high-pressure switching valve 52 and the circuit control valve 32 are respectively located in two independent pipelines; the liquid storage unit 4 discharges the liquid to the first circuit control valve 32 and / or the second circuit control valve 32 and the wheel cylinder through the water pump 6.

[0061] In the specific embodiment of the present application, since there are two chambers, there is a liquid storage unit 4 in the pipeline corresponding to each of the two chambers; the number of water pumps 6 is consistent with the number of liquid storage units 4.

[0062] In a specific embodiment of the present application, the vehicle braking system further includes a water pump motor, which is used to drive the operation of the water pump 6.

[0063] In a specific embodiment of the present application, the vehicle braking system further includes a hydraulic sensor, which is used to measure liquid pressure.

[0064] In a specific embodiment of the present application, the brake pedal 1 mechanism includes a pedal, an output shaft and a sensor, and the hydraulic brake circuit 3 includes a hydraulic cylinder 31; the pedal is fixedly connected to the piston of the hydraulic cylinder 31 through the output shaft; the brake pedal 1 stroke sensor is used to detect the brake pedal 1 stroke of the pedal.

[0065] In a specific embodiment of the present application, the compensation drive mechanism 2 includes a drive motor and a transmission assembly, and the drive motor is connected to the output shaft through the transmission assembly.

[0066] In a specific embodiment of the present application, the transmission assembly is used to convert the rotational motion of the drive motor into axial motion so that the driving pressure of the drive motor acts on the hydraulic cylinder 31; specifically, the transmission assembly can be transmitted through a transmission mechanism such as gears.

[0067] refer to Figure 2 The following describes a vehicle braking method provided in an embodiment of the present application, which is applied to a vehicle braking system in an embodiment of the present application. The method includes:

[0068] S1001. When the target vehicle is in a braking state, obtain a current speed of the target vehicle; the braking state indicates that the brake pedal is in a stepped state.

[0069] In the embodiment of the present application, the target vehicle being in a braking state refers to the process of controlling the vehicle to decelerate after the user steps on the brake pedal; the current speed refers to the driving speed of the vehicle.

[0070] In the embodiment of the present application, since the brake pedal is coupled to the hydraulic brake circuit, the pressure of the brake pedal will directly act on the hydraulic brake circuit.

[0071] S1002. When the current speed meets the preset braking conditions, control the liquid in the hydraulic brake circuit to flow into the liquid storage unit; the volume of the brake fluid in the hydraulic brake circuit represents the braking pressure of the target vehicle; the braking pressure of the target vehicle is equal to the sum of the pedal pressure of the brake pedal and the driving pressure of the compensating driving mechanism.

[0072] In the embodiment of the present application, the current speed satisfies the preset braking condition, indicating that the braking deceleration of the target vehicle is in the braking end time period; the preset braking condition can be that the current speed is within a preset threshold range, or that the current speed is equal to a preset non-zero speed.

[0073] In a specific embodiment of the present application, the brake pressure, the pedal pressure and the driving pressure can be expressed by the following formula:

[0074] F1=F2+F3 (1)

[0075] Among them, F1 refers to the brake pressure, F2 refers to the pedal pressure, and F3 refers to the driving pressure.

[0076] S1003 . Adjust the operating power of the compensation drive mechanism based on the current brake fluid volume in the liquid storage unit.

[0077] In the embodiment of the present application, after S1002, the current brake fluid volume in the liquid storage unit will increase, thereby causing the operating power of the compensation drive mechanism to increase, thereby increasing the driving pressure of the compensation mechanism.

[0078] In a specific embodiment of the present application, the operating power of the compensation drive mechanism represents the driving pressure of the compensation drive mechanism.

[0079] In an embodiment of the present application, when the vehicle decelerates to a preset braking condition, the liquid in the hydraulic brake circuit flows into the liquid storage unit for pressure relief to reduce the braking pressure of the target vehicle, and the braking pressure on the four wheel cylinders of the wheels is reduced to avoid large fluctuations in the body posture and avoid a sense of frustration in the vehicle; when the brake pressure drops, the operating power of the compensation drive mechanism is adjusted in real time based on the current brake fluid volume in the liquid storage unit, and then the drive pressure is adjusted, so that the change in pedal pressure will not be affected by the change in brake pressure, thereby improving the smoothness of driving feedback.

[0080] In addition, by adopting the above-mentioned vehicle braking method, the user does not need to rely on driving experience to apply the brake pedal, thereby reducing the need for reliance on vehicle control experience and reducing vehicle control logic.

[0081] In a specific embodiment of the present application, S1001 includes:

[0082] Get the current brake pressure of the brake pedal;

[0083] When the current braking pressure is less than a preset pressure threshold, it is determined that the target vehicle is in a braking state; preferably, the preset pressure threshold is 50 bar.

[0084] In a specific embodiment of the present application, by determining the target vehicle to be in a braking state under a safe braking pressure, the unexpected response of sudden braking is avoided, thereby improving the adaptability of braking to actual driving scenarios.

[0085] In a specific embodiment of the present application, S1002 includes:

[0086] When the current speed meets the preset braking condition, the liquid outlet valve is controlled to open.

[0087] In a specific embodiment of the present application, the liquid in the hydraulic brake circuit flows into the liquid storage unit in a linear gradient manner.

[0088] refer to Figure 3 In the embodiment of the present application, the vehicle braking method further includes:

[0089] S2001. When the current vehicle speed is zero, control the liquid outlet valve to close and control the water pump to start, so that the liquid in the hydraulic storage module flows back to the hydraulic brake circuit.

[0090] In the embodiment of the present application, the current vehicle speed being equal to zero indicates that the braking of the target vehicle has been completed, and at this time, the fluid in the hydraulic brake circuit should be returned to the initial state.

[0091] S2002. Adjust the operating power of the compensation drive mechanism based on the current brake fluid volume in the liquid storage unit.

[0092] In the embodiment of the present application, after the vehicle stops, the liquid in the hydraulic storage module flows back to the hydraulic brake circuit, thereby avoiding affecting the next braking, improving the reliability of vehicle braking, and achieving repeatability in the vehicle braking process.

[0093] refer to Figure 4 In the embodiment of the present application, the vehicle braking method further includes:

[0094] S3001. Obtain a brake pedal stroke of a brake pedal; the brake pedal stroke refers to a relative position between a pedal and an output shaft in a brake pedal.

[0095] S3002. Based on the brake pedal stroke, the first preset relationship and the second preset relationship, respectively determine the brake pressure corresponding to the brake pedal stroke and the pedal pressure corresponding to the brake pedal stroke; the first preset relationship refers to the mapping relationship between the brake pedal stroke and the brake pressure; the second preset relationship refers to the mapping relationship between the brake pedal stroke and the pedal pressure.

[0096] In a specific embodiment of the present application, the first preset relationship is a linear relationship, and the second preset relationship is a calibration relationship.

[0097] S3003. Determine a pressure to be compensated based on the brake pressure and the pedal pressure; the pressure to be compensated refers to a driving pressure that the compensation driving mechanism needs to reach.

[0098] In a specific embodiment of the present application, the pressure to be compensated can be determined by calculation based on formula (1).

[0099] S3004. Determine the operating power of the compensation drive mechanism based on the pressure to be compensated.

[0100] In an embodiment of the present application, by determining the pressure to be compensated and determining the operating power of the compensation drive mechanism, the compensation drive mechanism can provide driving pressure during braking, thereby reducing the user's pedaling pressure and improving the user's braking comfort and convenience.

[0101] refer to Figure 5 In the embodiment of the present application, after S3004, the vehicle braking method further includes:

[0102] S4001. Obtain a travel variable of a brake pedal; the travel variable refers to a displacement amount resulting from a change in the pedal travel.

[0103] S4002. Based on the stroke variable, the first preset relationship and the second preset relationship, respectively determine the brake pressure variable corresponding to the stroke variable and the pedal pressure variable corresponding to the stroke variable; the brake pressure variable refers to the pressure variable caused by the change of brake pedal stroke; the pedal pressure variable refers to the pressure variable caused by the change of pedal pressure due to the change of brake pedal stroke.

[0104] S4003. Determine a compensation pressure variable based on the stroke variable and the pedal pressure variable; the compensation pressure variable refers to a pressure variable caused by a change in the driving pressure due to a brake pedal stroke.

[0105] S4004. Adjust the operating power of the compensation drive mechanism based on the compensation pressure variable.

[0106] In an embodiment of the present application, by changing the brake pressure and the compensation pressure in real time based on the brake pedal stroke when the brake pedal stroke changes, the matching degree between the vehicle braking and the actual driving conditions is improved, and the user's braking comfort is improved.

[0107] In an embodiment of the present application, the vehicle braking method further includes:

[0108] When the stroke variable is greater than the preset variable, the liquid outlet valve is controlled to be closed; when the stroke variable is greater than the preset variable, it indicates that the target vehicle is in an emergency braking state.

[0109] In the embodiment of the present application, the travel variable being greater than the preset variable indicates that the current brake pressure is greater than the preset pressure threshold.

[0110] In an embodiment of the present application, when the target vehicle is in an emergency braking situation, the liquid outlet valve is closed to respond to the emergency braking driving situation, thereby giving the user strong feedback, improving the feedback realism of emergency braking, and thereby improving the adaptability of the user's braking control to actual driving.

[0111] refer to Figure 6 , the following describes the target vehicle braking process in the embodiment of the present application:

[0112] Comfortable parking stage: after the vehicle starts braking, the vehicle speed decreases linearly; when it drops to a certain threshold, the liquid in the hydraulic brake circuit of the vehicle's braking system flows into the liquid storage unit to relieve the pressure in the hydraulic brake circuit; at this time, in order to avoid obvious jerking of the vehicle, the driving pressure of the compensation drive mechanism is adjusted synchronously, so that the feedback force of the pedal is always the pedal pressure given by the user, ensuring the user's braking comfort; regardless of whether the pedal pressure changes, the pedal pressure is monitored in time, and the driving pressure of the compensation drive mechanism is changed in real time based on the changed pedal pressure.

[0113] The stage of returning to the initial state after parking: After the vehicle speed reaches zero and the vehicle stops steadily, the liquid in the liquid storage unit is returned to the hydraulic brake circuit through the water pump to avoid affecting the next vehicle braking.

[0114] The vehicle braking method in the embodiment of the present application has the following beneficial effects:

[0115] When the vehicle decelerates to the preset braking condition, the liquid in the hydraulic brake circuit flows into the liquid storage unit for pressure relief, so as to reduce the braking pressure of the target vehicle and the braking pressure on the four wheel cylinders of the wheels, thereby avoiding large fluctuations in the body posture and avoiding vehicle jerking. When the brake pressure drops, the operating power of the compensation drive mechanism is adjusted in real time based on the current brake fluid volume in the liquid storage unit, and then the drive pressure is adjusted, so that the change in pedal pressure will not be affected by the change in brake pressure, thereby improving the smoothness of driving feedback.

[0116] In addition, by adopting the above-mentioned vehicle braking method, the user does not need to rely on driving experience to apply the brake pedal, thereby reducing the need for reliance on vehicle control experience and reducing vehicle control logic.

[0117] The present application also provides a vehicle braking device, which includes:

[0118] The speed acquisition module is used to acquire the current speed of the target vehicle when the target vehicle is in a braking state; the braking state indicates that the brake pedal is in a stepped state.

[0119] The liquid outflow control module is used to control the liquid in the hydraulic brake circuit to flow into the liquid storage unit when the current speed meets the preset braking conditions; the volume of the brake fluid in the hydraulic brake circuit represents the brake pressure of the target vehicle; the brake pressure of the target vehicle is equal to the sum of the pedal pressure of the brake pedal and the driving pressure of the compensating driving mechanism.

[0120] The power regulating module is used to adjust the operating power of the compensation drive mechanism based on the current brake fluid volume in the fluid storage unit.

[0121] An embodiment of the present application also provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the vehicle braking method as described above.

[0122] The memory can be used to store software programs and modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs required for functions, etc.; the data storage area can store data created according to the use of the device, etc. In addition, the memory can include a high-speed random access memory and can also include a non-volatile memory, such as at least one hard disk storage device, a flash memory device or other volatile solid-state storage device. Accordingly, the memory can also include a memory controller to provide the processor with access to the memory.

[0123] The method embodiments provided in the embodiments of the present application can be executed in electronic devices such as mobile terminals, computer terminals, servers or similar computing devices. Figure 7 is an electronic device provided in an embodiment of the present application. Figure 7 As shown, the electronic device 900 may have relatively large differences due to different configurations or performances, and may include one or more central processing units (CPU) 910 (the processor 910 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 930 for storing data, and one or more storage media 920 (such as one or more mass storage devices) for storing application programs 923 or data 922. Among them, the memory 930 and the storage medium 920 can be short-term storage or permanent storage. The program stored in the storage medium 920 may include one or more modules, and each module may include a series of instruction operations in the electronic device. Furthermore, the central processing unit 910 can be configured to communicate with the storage medium 920 to execute a series of instruction operations in the storage medium 920 on the electronic device 900. The electronic device 900 may also include one or more power supplies 960, one or more wired or wireless network interfaces 950, one or more input and output interfaces 940, and / or one or more operating systems 921, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.

[0124] The input / output interface 940 may be used to receive or send data via a network. The specific example of the network may include a wireless network provided by a communication provider of the electronic device 900. In one example, the input / output interface 940 includes a network adapter (NIC), which may be connected to other network devices via a base station so as to communicate with the Internet. In one example, the input / output interface 940 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0125] It can be understood by those skilled in the art that Figure 7 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 7 More or fewer components as shown, or with Figure 7 Different configurations are shown.

[0126] An embodiment of the present application also provides a storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to implement the vehicle braking method as described above.

[0127] The above description has fully disclosed the specific implementation methods of the present application. It should be pointed out that any changes made by technicians familiar with the field to the specific implementation methods of the present application do not deviate from the scope of the claims of the present application. Accordingly, the scope of the claims of the present application is not limited to the above specific implementation methods.

Claims

1. A vehicle braking method, characterized in that: Applied to a vehicle braking system, the system comprises a brake pedal, a compensating drive mechanism, a hydraulic brake circuit and a liquid storage unit; the brake pedal is coupled to the hydraulic brake circuit, the compensating drive mechanism is transmission-connected to the hydraulic brake circuit, the hydraulic brake circuit is connected to the liquid storage unit pipeline, and the method comprises: When the target vehicle is in a braking state, obtaining a current speed of the target vehicle; the braking state indicates that the brake pedal is in a stepped state; When the current speed satisfies a preset braking condition, the brake fluid in the hydraulic brake circuit is controlled to flow into the liquid storage unit; the volume of the brake fluid in the hydraulic brake circuit represents the brake pressure of the target vehicle; the brake pressure of the target vehicle is equal to the sum of the pedal pressure of the brake pedal and the drive pressure of the compensation drive mechanism; The operating power of the compensating drive mechanism is adjusted based on the current brake fluid volume in the fluid storage unit.

2. The vehicle braking method according to claim 1, characterized in that: The hydraulic brake circuit is connected to the water inlet of the liquid storage unit through a liquid outlet valve, and the water outlet of the liquid storage unit is connected to the hydraulic brake circuit through the water pump. The method further includes: When the current vehicle speed is zero, controlling the liquid outlet valve to close, and controlling the water pump to start, so that the liquid in the hydraulic storage module flows back to the hydraulic brake circuit; The operating power of the compensating drive mechanism is adjusted based on the current brake fluid volume in the fluid storage unit.

3. The vehicle braking method according to claim 2, characterized in that: The method comprises: Acquiring a brake pedal travel of the brake pedal; Based on the brake pedal stroke, a first preset relationship and a second preset relationship, respectively determining a brake pressure corresponding to the brake pedal stroke and a pedal pressure corresponding to the brake pedal stroke; the first preset relationship refers to a mapping relationship between the brake pedal stroke and the brake pressure; the second preset relationship refers to a mapping relationship between the brake pedal stroke and the pedal pressure; determining a pressure to be compensated based on the brake pressure and the pedal pressure; The operating power of the compensation drive mechanism is determined based on the pressure to be compensated.

4. The vehicle braking method according to claim 3, characterized in that: After determining the operating power of the compensation drive mechanism based on the pressure to be compensated, the method further includes: Obtaining a travel variable of the brake pedal; Based on the stroke variable, the first preset relationship, and the second preset relationship, respectively determining a brake pressure variable corresponding to the stroke variable and a pedal pressure variable corresponding to the stroke variable; determining a compensation pressure variable based on the travel variable and the pedal pressure variable; The operating power of the compensating drive mechanism is adjusted based on the compensating pressure variable.

5. The vehicle braking method according to claim 4, characterized in that: The method further comprises: When the stroke variable is greater than the preset variable, the liquid outlet valve is controlled to be closed; the stroke variable being greater than the preset variable indicates that the target vehicle is in an emergency braking state.

6. A vehicle braking system, characterized in that: The vehicle braking method according to any one of claims 1 to 5 is applied, wherein the system comprises: a brake pedal mechanism for providing pedal pressure to a hydraulic brake circuit; a compensating drive mechanism, the compensating drive mechanism being used to provide a driving pressure to the hydraulic brake circuit; a hydraulic brake circuit for braking the vehicle based on the pedal pressure and the drive pressure; and a liquid storage unit connected to the hydraulic brake circuit pipeline, the liquid storage unit being used to store or release the liquid in the hydraulic brake circuit to change the brake pressure of the hydraulic brake circuit, wherein the sum of the pedal pressure and the drive pressure is equal to the brake pressure of the hydraulic brake circuit.

7. The vehicle braking system according to claim 6, characterized in that: The hydraulic brake circuit is connected to the water inlet of the liquid storage unit through a liquid outlet valve, and the water outlet of the liquid storage unit is connected to the hydraulic brake circuit through the water pump.

8. The vehicle braking system according to claim 6, characterized in that: The brake pedal mechanism includes a pedal, an output shaft and a brake pedal travel sensor, and the hydraulic brake circuit includes a hydraulic cylinder; the pedal is fixedly connected to the piston of the hydraulic cylinder through the output shaft; The brake pedal travel sensor is used to detect the brake pedal travel of the pedal.

9. The vehicle braking system according to claim 6, characterized in that: The compensation drive mechanism includes a drive motor and a transmission assembly, and the drive motor is transmission-connected to the output shaft via the transmission assembly.

10. A vehicle, characterized in that: A vehicle braking method as described in any one of claims 1 to 5 is applied.

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