Vehicle braking control method and device, electronic equipment and storage medium

Abstract

The invention relates to a vehicle braking control method and device, electronic equipment and a storage medium, and the vehicle braking control method comprises the steps that feedback information of at least one time of braking operation before the current moment is obtained; determining whether the vehicle needs to be braked based on the feedback information; if it is determined that the vehicle needs to be braked, the vehicle is controlled to enter a pre-braking state; and the distance between a friction disc and a brake caliper of the vehicle in the pre-braking state is reduced. Therefore, the braking early warning process is optimized according to the related data of the previous braking operation, braking preparation is made before braking, the braking response is accelerated, and the accuracy and safety of intelligent braking are improved.

Description

Technical Field

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

[0002] Road conditions are becoming increasingly complex. At present, the automatic braking process under the intelligent driving function has low accuracy, such as false braking, insufficient braking, excessive braking, untimely braking, etc., resulting in poor driving experience and safety. Summary of the invention

[0003] The present application provides a vehicle braking control method to solve the technical problem of low accuracy in automatic braking processing.

[0004] In a first aspect, the present application provides a vehicle braking control method, the method comprising:

[0005] Obtaining feedback information of at least one braking operation before the current moment;

[0006] determining whether the vehicle needs braking based on the feedback information;

[0007] If it is determined that the vehicle needs to be braked, the vehicle is controlled to enter a pre-braking state; in the pre-braking state, the distance between the friction disc and the brake caliper of the vehicle is reduced.

[0008] In a possible implementation manner, controlling the vehicle to enter a pre-braking state includes:

[0009] Controlling the vehicle to enter a pre-braking state and maintaining the pre-braking state for a preset time period;

[0010] If no braking instruction is sent to the vehicle within the preset time period, or if no braking operation of the vehicle is detected within the preset time period, the vehicle is controlled to release the pre-braking state after the preset time period.

[0011] In a possible implementation manner, after controlling the vehicle to enter a pre-braking state, the method further includes:

[0012] In response to detecting that the vehicle completes a braking operation, generating feedback information based on the braking operation;

[0013] The feedback information of the current braking operation is stored.

[0014] In a possible implementation manner, the obtaining feedback information of at least one braking operation before the current moment includes:

[0015] Get feedback information about the last braking operation before the current moment.

[0016] In a possible implementation manner, the feedback information includes at least one of the following:

[0017] the speed of the vehicle before and after the braking operation;

[0018] a change amount and / or change rate of the vehicle speed before and after the braking operation is performed;

[0019] the distance between the vehicle and the warning target before and after the braking operation is performed;

[0020] The change amount and / or change rate of the distance between the vehicle and the warning target before and after the braking operation is performed.

[0021] In a possible implementation manner, determining whether the vehicle needs braking based on the feedback information includes:

[0022] Obtain driving scene information;

[0023] Determine whether the vehicle needs braking based on the driving scenario information and the feedback information.

[0024] In a possible implementation manner, the driving scene information includes at least one of the following:

[0025] Vehicle motion status information;

[0026] Warning target information around the vehicle;

[0027] The collision probability corresponding to the scene in which the vehicle is located;

[0028] The duration for which the collision probability is maintained;

[0029] Driver's driving status information.

[0030] In a second aspect, the present application provides a vehicle braking control device, the device comprising:

[0031] an acquisition unit, configured to acquire feedback information of at least one braking operation before a current moment;

[0032] a determination unit configured to determine whether the vehicle needs braking based on the feedback information;

[0033] The control unit is configured to control the vehicle to enter a pre-braking state if it is determined that the vehicle needs to be braked; in the pre-braking state, the distance between the friction disc and the brake caliper of the vehicle is reduced.

[0034] In a third aspect, the present application provides an electronic device, comprising a processor, a memory, and an executable program stored in the memory and capable of being run by the processor, wherein the processor executes any one of the methods described in the first aspect when running the executable program.

[0035] In a fourth aspect, the present application further provides a computer storage medium storing an executable program; after the executable program is executed by a processor, it can implement any of the methods described in the first aspect above.

[0036] Compared with the prior art, the above technical solution provided by the embodiment of the present application has the following advantages: the method provided by the embodiment of the present application obtains feedback information of at least one braking operation before the current moment; determines whether the vehicle needs braking based on the feedback information; if it is determined that the vehicle needs braking, controls the vehicle to enter a pre-braking state; in the pre-braking state, the distance between the friction disc and the brake caliper of the vehicle is reduced. In this way, adding previous braking feedback data to the braking warning judgment is conducive to making a more accurate judgment in combination with the vehicle's most recent braking situation. Furthermore, reducing the distance between the friction disc and the brake caliper before braking and making good preparations for braking can speed up the response to braking commands and comprehensively improve the accuracy and safety of intelligent braking. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0038] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0039] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0040] Figure 1 A schematic flow chart of a vehicle braking control method provided in an embodiment of the present application;

[0041] Figure 2 A schematic flow chart of a vehicle braking control method provided in an embodiment of the present application;

[0042] Figure 3 A schematic diagram of a braking warning function process provided in an embodiment of the present application;

[0043] Figure 4 A schematic diagram of a vehicle braking control device provided in an embodiment of the present application;

[0044] Figure 5 A schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0046] The disclosure below provides many different embodiments or examples to implement different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0047] In order to solve the technical problems of insufficient accuracy and safety of automatic braking functions in the prior art, the present application provides a vehicle braking control method, which introduces feedback data of previous braking operations during brake warning analysis, and controls the distance between the brake caliper and the friction disc to be reduced before braking to prepare for braking, thereby enabling a quick response and improving the accuracy and safety of automatic braking.

[0048] Figure 1 A schematic flow chart of a vehicle braking control method provided in this embodiment is shown in FIG. Figure 1 As shown, the method may include:

[0049] S11: Obtaining feedback information of at least one braking operation before the current moment.

[0050] The vehicle braking control method provided in this embodiment is applied to vehicles having a braking function and a braking device for realizing the braking function, such as automobiles, electric vehicles, work vehicles and other types of vehicles. The braking device may include a friction disc and a brake caliper, and the brake caliper realizes the braking function by fitting the friction disc. Here, the brake caliper may also be called a brake caliper, etc., and the friction disc may also be called a friction plate, a brake disc, a brake pad, etc., which will not be described in detail here.

[0051] In one embodiment, the feedback information of the braking operation may be feedback information characterizing the effect of the braking operation, for example, it may include at least one of the information characterizing the braking distance, braking duration, change amount / rate of change of the distance between the warning target before and after braking, change amount / rate of change of vehicle speed before and after braking, braking acceleration, braking urgency, brake pedal force / opening, etc.

[0052] In one embodiment, step S11 may include: obtaining feedback information of at least one braking operation of the vehicle before the current moment after the current start. For example, feedback information of at least one braking operation within a predetermined time period before the current moment after the current start may be obtained, or feedback information of a predetermined number of braking operations of the vehicle before the current moment after the current start may be obtained, or feedback information of at least one braking operation of the vehicle that meets a predetermined condition before the current moment after the current start may be obtained. In this way, by limiting the braking operation after the current start, it is more consistent with the current driving demand, and the braking accuracy is further improved.

[0053] In one embodiment, step S11 may include: obtaining feedback information of at least one braking operation of the vehicle within a predetermined time period before the current moment. The predetermined time period may be a fixed value, such as 10s, 30s, 1min, 5min, etc., or may be a predetermined time period determined according to the current driving conditions of the vehicle, such as the current vehicle speed. Exemplarily, the length of the predetermined time period is positively correlated with the current vehicle speed. The faster the vehicle speed, the lower the frequency of previous braking may be. Therefore, braking operations within a longer period may be selected to avoid failure to select braking operations. In this way, one or more braking operations within the recent period may be selected, which is more consistent with the current driving needs, further improving the braking accuracy.

[0054] In one embodiment, step S11 may include: obtaining feedback information of a predetermined number of braking operations of the vehicle before the current moment. Here, the predetermined number of times may be a fixed value, such as 1 time, 3 times, 5 times, etc., or may be a predetermined number of times determined according to the current driving conditions of the vehicle, such as being related to the current vehicle speed, etc. Exemplarily, the predetermined number of times is negatively correlated with the current vehicle speed. The faster the vehicle speed, the fewer the number of braking times in a short period of time, and the more recent braking operations are of reference value.

[0055] In one embodiment, step S11 may include: obtaining feedback information of at least one braking operation of the vehicle that meets a predetermined condition before the current moment. Here, the predetermined condition may be a condition related to the current driving state of the vehicle. For example, the predetermined condition may include that the braking operation is an automatic braking operation controlled by the system, or an active control operation controlled by the driver. In this way, a braking operation that is more relevant to the current demand can be selected, which is conducive to improving the reference value of the feedback information.

[0056] In one embodiment, step S11 may include: obtaining feedback information of the last braking operation before the current moment. In this way, by obtaining the last braking operation feedback information for the current braking warning analysis, a warning can be better combined with the last braking effect to improve the reliability of automatic braking.

[0057] S12: Determine whether the vehicle needs braking based on the feedback information.

[0058] In some embodiments, step S12 may include: obtaining driving scene information; determining whether the vehicle needs to brake based on the driving scene information and the feedback information. The driving scene information may include at least one of the following: vehicle motion state information; warning target information around the vehicle; collision probability corresponding to the scene in which the vehicle is located; duration of the collision probability; and driver's driving state information.

[0059] In one embodiment, the motion state information may include at least one of the following: current speed, current acceleration, current longitudinal deceleration, deceleration of braking warning, current throttle state or braking state, steering wheel angle, heading angle, throttle pedal opening, brake pedal opening, current driving path, etc.

[0060] In one embodiment, the warning targets around the vehicle may include targets that require braking warning, such as other vehicles, pedestrians, obstacles, etc. that may collide with the vehicle. The warning target information may include at least one of the following: the speed, acceleration, distance from the vehicle, relative position of the warning target to the vehicle, and other information.

[0061] In one embodiment, the collision probability corresponding to the scene in which the vehicle is located can be determined according to a predetermined strategy, for example, by analyzing the scene in which the vehicle is located through a predetermined early warning model and determining the corresponding collision probability.

[0062] In one embodiment, the duration of maintaining the collision probability may refer to that the vehicle always maintains the collision probability during the duration. For example, the duration may also be determined according to a predetermined strategy, such as analyzing the scene in which the vehicle is located through a predetermined warning model, and determining the corresponding collision probability and its duration.

[0063] In one embodiment, the driver's driving state information may include at least one of the following: the driver's attention, fatigue level, current posture, etc. For example, the driver's continuous driving time, posture information, etc. may be included.

[0064] In one embodiment, determining whether the vehicle needs to brake can be determining whether the vehicle needs to brake within a predetermined time in the future. The predetermined time can be a fixed value, such as 1s, 2s, 3s, etc.; it can also be a value determined according to the braking urgency or the current speed of the vehicle, driving scene information, etc. For example, it can be negatively correlated with the braking urgency or the current speed of the vehicle. The higher the urgency or the higher the current speed of the vehicle, the shorter the predetermined time in the future is, which is conducive to improving safety.

[0065] In one embodiment, the method may further include: in the case where it is determined that braking is required, determining the degree of urgency of braking based on the feedback information. For example, the degree of urgency may be characterized by a warning level. Exemplarily, a warning level of level 1 represents the highest degree of urgency.

[0066] In this way, by introducing the effect feedback information of one or more previous braking operations of the vehicle in the braking warning analysis stage, it is helpful to provide more valuable reference input data for the braking warning, so as to improve the accuracy and safety of automatic braking.

[0067] S13: If it is determined that the vehicle needs to be braked, the vehicle is controlled to enter a pre-braking state; in the pre-braking state, the distance between the friction disc and the brake caliper of the vehicle is reduced.

[0068] In some embodiments, automatic braking often occurs in emergency situations. For emergency braking scenarios, the faster the response speed of the braking operation, the higher the safety. Therefore, the vehicle can be controlled to enter a pre-braking state when it is determined through early warning analysis that braking is required.

[0069] Here, the pre-braking state may also be referred to as the front braking state, the braking preparation state, etc., indicating that the vehicle is ready for braking before braking to quickly respond to the braking operation. The distance between the friction disc and the brake caliper is reduced, which may refer to reducing the distance while keeping the friction disc and the brake caliper not in contact. For example, the distance may be reduced to the minimum value before the friction disc and the brake caliper are in contact.

[0070] In one embodiment, the distance between the friction disk and the brake caliper is reduced, and the distance may be reduced by a first predetermined value, a first predetermined ratio, a second predetermined value, a second predetermined ratio, or the like.

[0071] In one embodiment, the degree of reduction of the distance between the friction disc and the brake caliper can be determined according to the driving scene information of the vehicle and / or the braking urgency. For example, the first predetermined value, the first predetermined ratio, the second predetermined value and the second predetermined ratio can be determined according to at least one of the current speed of the vehicle, the current acceleration of the vehicle, the speed of the warning target, the acceleration, the distance between the warning target and the vehicle, the relative position between the warning target and the vehicle, the braking urgency, etc.

[0072] For example, the first predetermined value, the first predetermined ratio, the second predetermined value and the second predetermined ratio may be positively correlated with the current speed of the vehicle. The higher the current speed of the vehicle, the greater the first predetermined value or the first predetermined ratio by which the distance between the friction disc and the brake caliper of the vehicle is reduced, or the smaller the second predetermined value or the second predetermined ratio by which the distance is reduced.

[0073] Exemplarily, when it is determined that braking is required based on the driving scene information and the feedback information, the braking urgency is determined based on the driving scene information and the feedback information. The first predetermined value, the first predetermined ratio, the second predetermined value, and the second predetermined ratio may be positively correlated with the urgency. The higher the urgency, the greater the first predetermined value or the first predetermined ratio by which the distance between the friction disc and the brake caliper of the vehicle is reduced, or the smaller the reduction to the second predetermined value or the second predetermined ratio.

[0074] In this way, by reducing the distance between the friction disc and the brake caliper in advance before braking, the friction disc can fit together with the brake caliper more quickly when a braking command is received to complete braking, which is conducive to a quick response to braking operations and further improves the safety of automatic braking.

[0075] In some embodiments, controlling the vehicle to enter a pre-braking state includes:

[0076] Controlling the vehicle to enter a pre-braking state and maintaining the pre-braking state for a preset time period;

[0077] If no braking instruction is sent to the vehicle within the preset time period, or if no braking operation of the vehicle is detected within the preset time period, the vehicle is controlled to release the pre-braking state after the preset time period.

[0078] In this embodiment, the preset duration may be a fixed value, such as 3s, 5s, etc.; or it may be a value determined according to driving scene information, for example, it may be related to the current speed, acceleration, etc. of the vehicle.

[0079] In one embodiment, after determining that the vehicle needs to brake, the vehicle is controlled to enter a pre-braking state and maintain the pre-braking state for a preset time, and it is determined whether to issue a braking instruction, which is used to control the vehicle to perform a braking operation. For example, it can be determined whether to issue a braking instruction based on feedback information. In particular, it can be determined whether to issue a braking instruction based on feedback information and driving scene information.

[0080] In one embodiment, determining whether to issue a braking command may also include determining information such as the time of issuing the braking command, the braking urgency, etc. For example, the higher the braking urgency, the earlier the time of issuing the braking command.

[0081] In one embodiment, when the braking urgency reaches a preset emergency condition, a braking command is issued and a hydraulic auxiliary device of the vehicle is controlled to assist the braking operation.

[0082] In one embodiment, the vehicle can be controlled to perform a braking operation by a braking command issued by the system, or the braking operation can also be performed by the driver's autonomous control. Therefore, if no braking command is issued within a preset time period, or the driver is not detected to control the vehicle to perform a braking operation, the pre-braking state can be released.

[0083] Here, releasing the pre-braking state may refer to releasing the distance between the friction disc and the brake caliper, for example, the distance is restored to the distance before entering the pre-braking state. In this way, it is avoided that the distance between the friction disc and the brake caliper is kept small for a long time when no braking operation is performed, resulting in unnecessary performance loss.

[0084] Figure 2 A schematic flow chart of a vehicle braking control method provided in this embodiment is shown in FIG. Figure 2 As shown, the method may include:

[0085] S21: Obtaining feedback information of at least one braking operation before the current moment;

[0086] S22: Determine whether the vehicle needs braking based on the feedback information;

[0087] S23: If it is determined that the vehicle needs to be braked, the vehicle is controlled to enter a pre-braking state; in the pre-braking state, the distance between the friction disc and the brake caliper of the vehicle is reduced;

[0088] S24: in response to detecting that the vehicle has completed a braking operation, generating feedback information based on the braking operation;

[0089] S25: storing the feedback information of this braking operation.

[0090] In this embodiment, the specific implementation methods and related embodiments of steps S21-S23 can refer to the specific implementation methods and related embodiments of the aforementioned steps S11-S13. The same expressions can correspond to the same content when there is no contradiction, and they will not be repeated here.

[0091] In one embodiment, detecting that the vehicle has completed the braking operation may include detecting that the vehicle has completed the braking operation after sending a braking command to the vehicle, or detecting that the driver has completed the braking operation by using the brake pedal. Completing the braking operation may include releasing the friction disc after it is in contact with the brake caliper.

[0092] In one embodiment, generating feedback information based on the braking operation may include generating feedback information based on the braking effect of the braking operation, for example, generating feedback information based on information of vehicles before and after the braking operation and / or warning targets.

[0093] The feedback information may include at least one of the following:

[0094] the speed of the vehicle before and after the braking operation is performed;

[0095] a change amount and / or change rate of the vehicle speed before and after the braking operation is performed;

[0096] the distance between the vehicle and the warning target before and after the braking operation is performed;

[0097] The change amount and / or change rate of the distance between the vehicle and the warning target before and after the braking operation is performed.

[0098] In one embodiment, storing the feedback information of the braking operation may include storing the feedback information in an early warning module for determining whether the vehicle needs braking based on the feedback information. The early warning module may include an early warning model, etc., and the functions implemented may be as follows: Figure 3 The stored feedback information of this braking operation can be used for early warning analysis of the next braking.

[0099] In this way, by obtaining feedback information that represents the effect of this braking operation, it can be stored and used as a reference for analysis in the next and subsequent braking warning judgments, thereby further improving the consistency of the braking warning results with the current state requirements of the vehicle and improving the reliability of automatic braking.

[0100] In some embodiments, step S11 or S21 may include: obtaining feedback information of the last braking operation before the current moment, that is, obtaining feedback information of the last braking operation.

[0101] In one embodiment, the last braking operation before the current moment may be the last braking operation before the current moment after the vehicle is started this time, or may be the last braking operation of the vehicle within a predetermined time period before the current moment. The predetermined time period may be a fixed value, such as 10s, 30s, 1min, 5min, etc., or may be a predetermined time period determined according to the current driving conditions of the vehicle, such as the current vehicle speed. Exemplarily, the length of the predetermined time period is positively correlated with the current vehicle speed. The faster the vehicle speed, the lower the frequency of previous braking may be. Therefore, braking operations within a longer time period may be selected to avoid failure to select braking operations. In this way, the last braking operation within the most recent time period may be selected, which is more consistent with the current driving needs and further improves braking accuracy.

[0102] In one embodiment, the last braking operation before the current moment may be the last braking operation that meets the predetermined condition before the current moment. Here, the predetermined condition may be a condition related to the current driving state of the vehicle. For example, the predetermined condition may include that the braking operation is an automatic braking operation controlled by the system, or an active control operation controlled by the driver. In this way, a braking operation that is more relevant to the current demand can be selected, which is conducive to improving the referenceability of the feedback information.

[0103] In some embodiments, step S12 or S22 may include: obtaining driving scene information; and determining whether the vehicle needs braking based on the driving scene information and the feedback information. Here, the current vehicle driving scene information may be used together with the feedback information of the last one or more braking operations as input for braking warning analysis.

[0104] In one embodiment, the driving scene information may include at least one of the following:

[0105] Vehicle motion status information;

[0106] Warning target information around the vehicle;

[0107] The collision probability corresponding to the scene in which the vehicle is located;

[0108] The duration for which the collision probability is maintained;

[0109] Driver's driving status information.

[0110] In one embodiment, the motion state information may include at least one of the following: current speed, current acceleration, current longitudinal deceleration, deceleration of braking warning, current throttle state or braking state, steering wheel angle, heading angle, throttle pedal opening, brake pedal opening, current driving path, etc.

[0111] In one embodiment, the warning targets around the vehicle may include targets that require braking warning, such as other vehicles, pedestrians, obstacles, etc. that may collide with the vehicle. The warning target information may include at least one of the following: the speed, acceleration, distance from the vehicle, relative position of the warning target to the vehicle, and other information.

[0112] In one embodiment, the collision probability corresponding to the scene in which the vehicle is located can be determined according to a predetermined strategy, for example, by analyzing the scene in which the vehicle is located through a predetermined early warning model and determining the corresponding collision probability.

[0113] In one embodiment, the duration of maintaining the collision probability may refer to that the vehicle always maintains the collision probability during the duration. For example, the duration may also be determined according to a predetermined strategy, such as analyzing the scene in which the vehicle is located through a predetermined warning model, and determining the corresponding collision probability and its duration.

[0114] In one embodiment, the driver's driving state information may include at least one of the following: the driver's attention, fatigue level, current posture, etc. For example, the driver's continuous driving time, posture information, etc. may be included.

[0115] In this way, by combining the current driving scenario and the feedback on the previous braking effect, the current braking warning analysis can be carried out together, which can more accurately determine the collision risk, and then combined with the pre-braking status, it can quickly respond to the braking operation, which is beneficial to improving the overall safety and reliability of automatic braking.

[0116] As a possible implementation, a vehicle braking control method is provided, comprising:

[0117] Based on the current traditional warning + braking mode framework design, the front brake + rear brake module is added to achieve stable driving of the vehicle under complex road conditions, avoid collision accidents, reduce the driver's driving pressure, and achieve efficient and stable driving.

[0118] 1. Front brake module:

[0119] (1) A front brake module (i.e., pre-braking) is added based on the traditional warning brake module. When the system determines that the vehicle needs to perform obstacle avoidance braking in the next step, the system will send a front brake signal to reduce the distance between the friction disc and the brake caliper. During this process, there is no contact between the friction disc and the brake caliper, and no braking force is generated, which can enable the brake system to respond more quickly to the upper-level braking request and quickly achieve braking.

[0120] (2) Front brake function design: When designing the front brake, an enable holding loop is added to ensure the effectiveness of the front brake function. Assume that the enable holding loop is designed to last for 3 seconds (the time is designed according to the requirements), and when the time is up, the enable is released. After the enable holding loop is designed, on the one hand, the enable holding loop can ensure that the vehicle has enough time to effectively handle the warning braking problem in the current scenario; on the other hand, if no braking command is received from the upper system later, it is judged that the current situation is normal and no braking is required, and the enable is released after the time is up.

[0121] (3) Factors affecting the front brake function: Scenarios include target vehicle movement, braking, parking, and driving in, and other targets include motorcycles, bicycles, cars, and pedestrians; the vehicle status includes longitudinal deceleration, deceleration of collision brake warning, and the speed range of the vehicle; as well as collision probability and probability maintenance time of some scenarios, driver attention, and other factors. Through the comprehensive judgment of the above influencing factors and conditions, it is determined whether to execute the front brake function.

[0122] 2. Rear brake module

[0123] A rear braking module is designed in the braking module to detect the vehicle speed and the braking effect of the vehicle on other vehicles and pedestrians, and input this braking effect as feedback to the next braking loop to ensure stable and reliable vehicle braking.

[0124] As a possible implementation, a vehicle braking control method is provided, comprising:

[0125] 1. By detecting input signals such as vehicle speed, acceleration, heading angle, driving route, as well as driver behavior, attention, feedback, etc.

[0126] 2. Based on the above-described factors as input, determine the next state of the vehicle, the warning state of the vehicle, and the level of braking required. If the vehicle is in the warning braking state, send a corresponding signal.

[0127] 3. If the brake signal from the early warning module is received, the enable signal of the front brake is given, and the front brake module is in the enable holding loop time (3 seconds). According to the conditions, the current braking is judged as general braking or emergency braking, and the function is executed according to the corresponding signal.

[0128] 4. If it is emergency braking, the hydraulic brake assist can provide the required acceleration to assist the driver to complete emergency braking. If it is general braking, assist braking according to the general braking process.

[0129] 5. The rear brake module serves as the monitoring module of the entire brake system, detecting the vehicle's braking on road vehicles and pedestrians, and inputs the braking status of this cycle as feedback to the next brake module.

[0130] like Figure 4As shown, an embodiment of the present application provides a vehicle braking control device, which may include:

[0131] An acquisition unit 110 is configured to acquire feedback information of at least one braking operation before a current moment;

[0132] A determination unit 120, configured to determine whether the vehicle needs braking based on the feedback information;

[0133] The control unit 130 is configured to control the vehicle to enter a pre-braking state if it is determined that the vehicle needs to be braked; in the pre-braking state, the distance between the friction disc and the brake caliper of the vehicle is reduced.

[0134] In some embodiments, the control unit 130 is specifically configured to:

[0135] Controlling the vehicle to enter a pre-braking state and maintaining the pre-braking state for a preset time period;

[0136] If no braking instruction is sent to the vehicle within the preset time period, or if no braking operation of the vehicle is detected within the preset time period, the vehicle is controlled to release the pre-braking state after the preset time period.

[0137] In some embodiments, the control unit 130 is further configured to:

[0138] In response to detecting that the vehicle completes a braking operation, generating feedback information based on the braking operation;

[0139] The feedback information of the current braking operation is stored.

[0140] In some embodiments, the acquisition unit 110 is specifically configured to:

[0141] Get feedback information about the last braking operation before the current moment.

[0142] In some embodiments, the feedback information includes at least one of the following:

[0143] the speed of the vehicle before and after the braking operation;

[0144] a change amount and / or change rate of the vehicle speed before and after the braking operation is performed;

[0145] the distance between the vehicle and the warning target before and after the braking operation is performed;

[0146] The change amount and / or change rate of the distance between the vehicle and the warning target before and after the braking operation is performed.

[0147] In some embodiments, the determining unit 120 is specifically configured to:

[0148] Obtain driving scene information;

[0149] Determine whether the vehicle needs braking based on the driving scenario information and the feedback information.

[0150] In some embodiments, the driving scene information includes at least one of the following:

[0151] Vehicle motion status information;

[0152] Warning target information around the vehicle;

[0153] The collision probability corresponding to the scene in which the vehicle is located;

[0154] The duration for which the collision probability is maintained;

[0155] Driver's driving status information.

[0156] In the embodiment of the present device, the specific implementation methods and embodiments of each unit can refer to the specific implementation methods and embodiments corresponding to the same content mentioned above, and will not be repeated here.

[0157] like Figure 5 As shown, an embodiment of the present application provides an electronic device, including a processor 111, a communication interface 112, a memory 113 and a communication bus 114, wherein the processor 111, the communication interface 112, and the memory 113 communicate with each other through the communication bus 114.

[0158] A memory 113, for storing computer programs;

[0159] In one embodiment of the present application, the processor 111 is used to implement the steps of the vehicle braking control method provided by any of the aforementioned method embodiments when executing the program stored in the memory 113.

[0160] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the vehicle braking control method provided in any of the aforementioned method embodiments are implemented.

[0161] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0162] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0163] It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0164] In the absence of contradiction, each step in a certain implementation mode or example can be implemented as an independent example, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a certain implementation mode or example can also be implemented as an independent example, and the order of the steps in a certain implementation mode or example can be arbitrarily exchanged. In addition, the optional methods or optional examples in a certain implementation mode or example can be arbitrarily combined; in addition, the various implementation modes or examples can be arbitrarily combined. For example, some or all steps of different implementation modes or examples can be arbitrarily combined, and a certain implementation mode or example can be arbitrarily combined with the optional methods or optional examples of other implementation modes or examples.

[0165] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A vehicle braking control method, characterized in that: The method comprises: Obtaining feedback information of at least one braking operation before the current moment; determining whether the vehicle needs braking based on the feedback information; If it is determined that the vehicle needs to be braked, the vehicle is controlled to enter a pre-braking state; in the pre-braking state, the distance between the friction disc and the brake caliper of the vehicle is reduced.

2. The method according to claim 1, characterized in that The controlling the vehicle to enter a pre-braking state comprises: Controlling the vehicle to enter a pre-braking state and maintaining the pre-braking state for a preset time period; If no braking instruction is sent to the vehicle within the preset time period, or if no braking operation of the vehicle is detected within the preset time period, the vehicle is controlled to release the pre-braking state after the preset time period.

3. The method according to claim 1, characterized in that After controlling the vehicle to enter a pre-braking state, the method further includes: In response to detecting that the vehicle completes a braking operation, generating feedback information based on the braking operation; The feedback information of the current braking operation is stored.

4. The method according to claim 1, characterized in that: The obtaining of feedback information of at least one braking operation before the current moment includes: Get feedback information about the last braking operation before the current moment.

5. The method according to any one of claims 1 to 4, characterized in that: The feedback information includes at least one of the following: the speed of the vehicle before and after the braking operation; a change amount and / or change rate of the vehicle speed before and after the braking operation is performed; the distance between the vehicle and the warning target before and after the braking operation is performed; The change amount and / or change rate of the distance between the vehicle and the warning target before and after the braking operation is performed.

6. The method according to claim 1, characterized in that The determining whether the vehicle needs braking based on the feedback information includes: Obtain driving scene information; Determine whether the vehicle needs braking based on the driving scenario information and the feedback information.

7. The method according to claim 6, characterized in that The driving scene information includes at least one of the following: Vehicle motion status information; Warning target information around the vehicle; The collision probability corresponding to the scene in which the vehicle is located; The duration for which the collision probability is maintained; Driver's driving status information.

8. A vehicle brake control device, characterized in that: The device comprises: an acquisition unit, configured to acquire feedback information of at least one braking operation before a current moment; a determination unit configured to determine whether the vehicle needs braking based on the feedback information; The control unit is configured to control the vehicle to enter a pre-braking state if it is determined that the vehicle needs to be braked; in the pre-braking state, the distance between the friction disc and the brake caliper of the vehicle is reduced.

9. An electronic device comprising a processor, a memory, and an executable program stored in the memory and capable of being run by the processor, wherein: When the processor runs the executable program, the method according to any one of claims 1 to 7 is performed.

10. A computer storage medium storing an executable program; After the executable program is executed by a processor, the method according to any one of claims 1 to 7 can be implemented.

Images