Vehicle braking control method and device, vehicle and storage medium

Abstract

The invention relates to a vehicle braking control method and device, a vehicle and a storage medium, and the method comprises the steps that a braking control signal of the vehicle is received; in response to the braking control signal, whether the vehicle meets a preset comfortable braking condition or not is judged according to the braking parameters and the current driving parameters of the vehicle; if the vehicle meets the preset comfortable braking condition, the distance between the vehicle and the braking obstacle is obtained, the pressure relief slope of the braking hydraulic pressure of the vehicle is determined based on the distance, and the pressure relief speed of the wheel end braking pressure of the vehicle is determined based on the pressure relief slope so as to control a brake-by-wire system of the vehicle to conduct braking. Therefore, the technical problems that in the related technology, the comfortable braking function of the vehicle is difficult to intelligently adjust according to the actual scene, safety and comfort are difficult to balance, and the driving requirements of a user cannot be considered are solved.

Description

Technical Field

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

[0002] In the related technology, the brake comfort braking function based on the wire control system can adjust the change speed when reducing the brake fluid pressure through the pre-set brake hydraulic pressure relief slope, affect the response time and efficiency of the braking system, and thus achieve comfortable braking.

[0003] However, in the related art, the brake hydraulic pressure relief slope is a fixed value, which makes it impossible to intelligently adjust the brake comfort function according to the actual scene and cannot take into account the driving needs of users. When the pressure relief slope is adjusted slowly and the vehicle is close to the obstacle in front, the user may lose a large braking distance when braking or even collide with the obstacle in front; when the pressure relief slope is adjusted quickly, the braking comfort may not meet the user's expectations, thus affecting the user's driving experience, which needs to be improved. Summary of the invention

[0004] The present application provides a vehicle braking control method, device, vehicle and storage medium to solve the technical problems in the related art that the vehicle's braking comfort braking function is difficult to intelligently adjust according to actual scenarios, it is difficult to balance safety and comfort, and it is impossible to take into account the user's driving needs.

[0005] A first aspect embodiment of the present application provides a vehicle braking control method, comprising the following steps: receiving a braking control signal of a vehicle; in response to the braking control signal, determining whether the vehicle meets a preset comfort braking condition based on the braking parameters and current driving parameters of the vehicle; if the vehicle meets the preset comfort braking condition, obtaining the distance between the vehicle and a braking obstacle, determining a pressure relief slope of the vehicle's braking hydraulic pressure based on the distance, and determining a pressure relief speed of the vehicle's wheel-end braking pressure based on the pressure relief slope, so as to control the vehicle's brake-by-wire system for braking.

[0006] Optionally, in one embodiment of the present application, the preset comfort braking conditions include: the braking pressure of the vehicle is less than or equal to a first preset pressure threshold, and the braking pressure is greater than or equal to a second preset pressure threshold, wherein the second preset pressure threshold is less than the first preset pressure threshold; the comfort parking function of the vehicle is in the on state; the current speed of the vehicle is less than the preset speed threshold; the current deceleration of the vehicle is in a preset deceleration range.

[0007] Optionally, in one embodiment of the present application, determining the pressure relief slope of the brake hydraulic pressure of the vehicle based on the distance includes: if the distance is greater than or equal to a first preset distance threshold, and the distance is less than or equal to a second preset distance threshold, calculating the pressure relief slope using the distance, wherein the second preset distance threshold is greater than the first preset distance threshold; if the distance is greater than the second preset distance threshold, determining the pressure relief slope as the lower limit value of the pressure relief slope of the brake hydraulic pressure.

[0008] Optionally, in one embodiment of the present application, after obtaining the distance between the vehicle and the braking obstacle, the method further includes: if the distance is less than the first preset distance threshold, prohibiting the vehicle from performing braking pressure relief.

[0009] Optionally, in one embodiment of the present application, calculating the pressure relief slope using the distance includes: calculating the pressure relief slope factor of the brake hydraulic pressure of the vehicle using the distance; calculating the pressure relief slope based on the pressure relief slope factor, the pressure relief slope lower limit value and the pressure relief slope upper limit value of the brake hydraulic pressure.

[0010] A second aspect of the present application provides a vehicle braking control device, comprising: a first receiving module for receiving a braking control signal of a vehicle; a judgment module for responding to the braking control signal and judging whether the vehicle satisfies a preset comfort braking condition according to the braking parameters and current driving parameters of the vehicle; a control module for obtaining the distance between the vehicle and a braking obstacle when the vehicle satisfies the preset comfort braking condition, determining a pressure relief slope of the braking hydraulic pressure of the vehicle based on the distance, and determining a pressure relief speed of the wheel-end braking pressure of the vehicle based on the pressure relief slope, so as to control the vehicle's brake-by-wire system for braking.

[0011] Optionally, in one embodiment of the present application, the preset comfort braking conditions include: the braking pressure of the vehicle is less than or equal to a first preset pressure threshold, and the braking pressure is greater than or equal to a second preset pressure threshold, wherein the second preset pressure threshold is less than the first preset pressure threshold; the comfort parking function of the vehicle is in the on state; the current speed of the vehicle is less than the preset speed threshold; the current deceleration of the vehicle is in a preset deceleration range.

[0012] Optionally, in one embodiment of the present application, the control module includes: a calculation unit, used to calculate the pressure relief slope using the distance when the distance is greater than or equal to a first preset distance threshold and the distance is less than or equal to a second preset distance threshold, wherein the second preset distance threshold is greater than the first preset distance threshold; and a determination unit, used to determine that the pressure relief slope is the lower limit value of the pressure relief slope of the brake hydraulic pressure when the distance is greater than the second preset distance threshold.

[0013] Optionally, in one embodiment of the present application, it further includes: a prohibition module, used to prohibit the vehicle from braking and depressurizing when the distance is less than the first preset distance threshold.

[0014] Optionally, in one embodiment of the present application, the calculation unit includes: a first calculation subunit, used to calculate the pressure relief slope factor of the brake hydraulic pressure of the vehicle using the distance; and a second calculation subunit, used to calculate the pressure relief slope based on the pressure relief slope factor, the pressure relief slope lower limit value and the pressure relief slope upper limit value of the brake hydraulic pressure.

[0015] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle braking control method as described in the above embodiment.

[0016] A fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the vehicle braking control method as described in the above embodiments.

[0017] The fifth aspect of the present application provides a computer program product, including a computer program, which, when executed, is used to implement the above vehicle braking control method.

[0018] The embodiment of the present application can respond to the vehicle's braking control signal and determine whether the vehicle can perform comfort braking according to the vehicle's braking parameters and current driving parameters. When the vehicle can perform comfort braking, the pressure relief slope of the brake hydraulic pressure is adjusted according to the distance between the vehicle and the braking obstacle, so as to intelligently adjust the pressure relief slope according to the actual scene, thereby achieving the purpose of improving braking comfort and safety and improving the user's driving experience. This solves the technical problem in the related art that the vehicle's braking comfort braking function is difficult to intelligently adjust according to the actual scene, it is difficult to balance safety and comfort, and it is impossible to take into account the user's driving needs.

[0019] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0021] Figure 1 It is a schematic diagram of the comfort braking operation in the related art;

[0022] Figure 2 It is a schematic diagram of the working principle of comfort braking in the related art;

[0023] Figure 3 It is a control flow diagram of comfort braking in the related art;

[0024] Figure 4 A flowchart of a vehicle braking control method provided according to an embodiment of the present application;

[0025] Figure 5 is a schematic diagram of a pressure relief slope model according to an embodiment of the present application;

[0026] Figure 6 is a schematic diagram of the distance between a vehicle and a braking obstacle according to an embodiment of the present application;

[0027] Figure 7 A schematic diagram of a curve showing the relationship between a pressure relief slope and a pressure relief slope factor according to an embodiment of the present application;

[0028] Figure 8 is a flow chart of a vehicle braking control method according to an embodiment of the present application;

[0029] Fig. 9 A schematic diagram of the structure of a vehicle braking control device provided according to an embodiment of the present application;

[0030] Fig.10 It is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0031] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0032] The following describes the vehicle braking control method, device, vehicle and storage medium of the embodiment of the present application with reference to the accompanying drawings. In view of the technical problem that the vehicle's braking comfort braking function is difficult to be intelligently adjusted according to the actual scene, it is difficult to balance safety and comfort, and it is impossible to take into account the driving needs of the user in the related art mentioned in the above background technology, the present application provides a vehicle braking control method, in which it can respond to the vehicle's braking control signal, and determine whether the vehicle can perform comfort braking according to the vehicle's braking parameters and current driving parameters, so that when the vehicle can perform comfort braking, the pressure relief slope of the brake hydraulic pressure is adjusted according to the distance between the vehicle and the braking obstacle, so as to intelligently adjust the pressure relief slope according to the actual scene, so as to achieve the purpose of improving braking comfort and safety, and improve the user's driving experience. As a result, the technical problem that the vehicle's braking comfort braking function is difficult to be intelligently adjusted according to the actual scene, it is difficult to balance safety and comfort, and it is impossible to take into account the driving needs of the user in the related art is solved.

[0033] In related technologies, such as Figure 1 and Figure 2 As shown, the comfort braking function can be applied to the vehicle's braking process, wherein the brake-by-wire system can monitor the vehicle status (including vehicle speed, deceleration, brake pressure and other signals) in real time and, on the premise of meeting the user's braking intention, appropriately release the wheel-end brake pressure before braking to stop the vehicle, thereby stopping the vehicle smoothly, reducing the pitch of the vehicle when braking, and improving braking comfort.

[0034] Comfort braking improves driving comfort by increasing the braking distance. It is not triggered in general emergency braking (safety first, ensuring braking distance) or small braking (the vehicle has a small braking pitch and no pressure relief is required). The general triggering conditions are ① vehicle speed <10kph & ② braking pressure: 10bar <P <50bar & ③ deceleration: 0.1g <a <0.5g.

[0035] The specific control process can be as follows Figure 3 As described above, the user turns on the comfort braking function through the host. During the vehicle braking process, the wire control system determines whether to trigger the comfort braking function based on the current vehicle speed, braking pressure, deceleration and other information. If the conditions reach the trigger threshold, the wire control system releases the wheel end pressure according to the fixed pressure relief slope K (calibrated value), thereby reducing the vehicle braking pitch.

[0036] After the comfort braking function is activated, the wheel-end pressure can only be adjusted according to a pressure relief slope K. The value of the pressure relief slope K is determined only by the needs of the car manufacturer and can only represent the style preferences of some users, but not the driving habits of all users. It has certain defects and is not conducive to improving the user's driving experience.

[0037] In order to solve the above problems, the vehicle braking control method proposed in the embodiment of the present application can introduce ranging parameters in the logic, and determine the matching pressure relief slope K and strategy by identifying the distance S between the vehicle and the braking obstacle, so as to realize intelligent adjustment of the pressure relief slope of the comfort braking function, so as to achieve the purpose of improving braking comfort and safety, thereby improving the user's driving experience.

[0038] Specifically, Figure 4 A schematic flow chart of a vehicle braking control method provided in an embodiment of the present application.

[0039] like Figure 4 As shown, the vehicle braking control method comprises the following steps:

[0040] In step S401 , a braking control signal of a vehicle is received.

[0041] During the actual implementation process, the embodiments of the present application can generate a braking control signal based on the depression amplitude of the brake pedal or the triggering condition of the brake button or when the intelligent driving system detects that the vehicle needs to brake, so as to control the braking of the vehicle according to the braking control signal.

[0042] In step S402, in response to the braking control signal, it is determined whether the vehicle meets the preset comfort braking condition according to the braking parameters and current driving parameters of the vehicle.

[0043] As a possible implementation method, the embodiment of the present application can respond to the braking control signal and determine whether comfort braking can be performed.

[0044] The embodiment of the present application can determine whether the vehicle can perform comfort braking based on braking parameters and current driving parameters, such as the depression amplitude of the brake pedal, the braking pressure of the vehicle, the current speed of the vehicle and the current deceleration of the vehicle.

[0045] For example, when the brake pressure of the vehicle is high, it can be determined that the vehicle is in emergency braking, and performing comfort braking may cause the vehicle to be unable to complete braking before hitting an obstacle. At this time, the vehicle cannot perform comfort braking.

[0046] Optionally, in one embodiment of the present application, the preset comfort braking conditions include: the vehicle's braking pressure is less than or equal to a first preset pressure threshold, and the braking pressure is greater than or equal to a second preset pressure threshold, wherein the second preset pressure threshold is less than the first preset pressure threshold; the vehicle's comfort parking function is in the on state; the vehicle's current speed is less than the preset speed threshold; the vehicle's current deceleration is in a preset deceleration range.

[0047] like Figure 5As shown, P1 is the first preset pressure threshold, i.e., the maximum brake pressure (generally 50 bar) that can activate the comfort brake. If the brake pressure exceeds this value, it is regarded as emergency braking and the comfort brake function does not intervene; P2 is the second preset pressure threshold, i.e., the minimum brake pressure to keep the vehicle stationary. Therefore, the brake pressure in the embodiment of the present application should be between P1 and P2.

[0048] At the same time, in the embodiment of the present application, the comfort parking function of the vehicle needs to be turned on in advance to avoid responding when the user does not need to perform comfortable parking, thereby affecting the user's driving experience.

[0049] The embodiment of the present application can also determine whether the current vehicle speed is less than a preset vehicle speed threshold. When the current vehicle speed is relatively high, it is difficult to ensure braking safety when the vehicle performs comfortable braking, and there are certain safety hazards.

[0050] The embodiment of the present application can also determine whether the current deceleration is in a preset deceleration range. When the current deceleration is large, the vehicle may be in a state requiring emergency braking. When the current deceleration is small, the vehicle does not need to perform comfort braking.

[0051] It should be noted that the first preset pressure threshold, the second preset pressure threshold, the preset vehicle speed threshold and the preset deceleration interval can be set accordingly by those skilled in the art according to actual conditions, and no specific limitation is made here.

[0052] In step S403, if the vehicle meets the preset comfort braking conditions, the distance between the vehicle and the braking obstacle is obtained, the pressure relief slope of the vehicle's brake hydraulics is determined based on the distance, and the pressure relief speed of the vehicle's wheel-end braking pressure is determined based on the pressure relief slope to control the vehicle's wire control brake system for braking.

[0053] It can be understood that the pressure relief slope is the speed at which pressure is released in the brake system. When the vehicle is emergency braking or driving on complex road conditions, the braking force on each wheel can be adjusted to prevent the tire from locking or excessive slipping. This adjustment involves rapid increase or decrease in brake fluid pressure. The pressure relief slope is the speed at which the brake system changes when reducing brake fluid pressure. It determines the response time and efficiency of the brake system. The correct pressure relief slope helps to achieve a smooth and effective braking process.

[0054] When the vehicle meets the preset comfort braking conditions, the embodiment of the present application can detect the distance between the vehicle and the braking obstacle. For example, the embodiment of the present application can obtain the braking obstacle distance signal parameter using the wire control braking system, and can also obtain the distance between the braking obstacle in front of the vehicle and the vehicle through the vehicle's sensors, such as radar, infrared sensor, etc.

[0055] According to the distance between the vehicle and the braking obstacle, the embodiment of the present application can determine the current actual braking scenario of the vehicle, thereby determining the pressure relief slope of the vehicle's brake hydraulics, thereby achieving comfortable braking of the vehicle.

[0056] Optionally, in one embodiment of the present application, the pressure relief slope of the vehicle's brake hydraulics is determined based on the distance, including: if the distance is greater than or equal to a first preset distance threshold, and the distance is less than or equal to a second preset distance threshold, the pressure relief slope is calculated using the distance, wherein the second preset distance threshold is greater than the first preset distance threshold; if the distance is greater than the second preset distance threshold, the pressure relief slope is determined to be the lower limit value of the pressure relief slope of the brake hydraulics.

[0057] Combination Figure 5 and Figure 6 As shown, in the embodiment of the present application, three methods for determining the pressure relief slope can be obtained according to the distance.

[0058] First, the embodiment of the present application can formulate different pressure relief slopes k between P1 and P2, where k1 is the upper limit value of the pressure relief slope of the brake hydraulic pressure, that is, the fastest pressure relief slope (calibrated value), and k2 is the lower limit value of the pressure relief slope of the brake hydraulic pressure, that is, the slowest pressure relief slope (calibrated value), and the pressure relief slope model of the embodiment of the present application is an intelligent adjustment range with k1 and k2 as the boundaries.

[0059] When the distance S is greater than the second preset distance threshold L2, the embodiment of the present application may execute the slope of the lower limit value k2 of the pressure relief slope of the brake hydraulic pressure;

[0060] When the distance S is greater than or equal to the first preset distance threshold L1 and the distance is less than or equal to the second preset distance threshold L2, that is, L1≤S≤L2, the embodiment of the present application can calculate the pressure relief slope according to the distance S.

[0061] Optionally, in one embodiment of the present application, the pressure relief slope is calculated using the distance, including: calculating the pressure relief slope factor of the vehicle's brake hydraulic pressure using the distance; calculating the pressure relief slope based on the pressure relief slope factor, the pressure relief slope lower limit value and the pressure relief slope upper limit value of the brake hydraulic pressure.

[0062] When the distance S is L1≤S≤L2, in order to achieve intelligent adjustment of comfortable braking, the embodiment of the present application can pre-construct a pressure relief model and set a pressure relief slope factor x in the pressure relief model.

[0063] The pressure relief slope factor range is set to [0,1], and the pressure relief slope factor is calculated from the distance S, that is,

[0064] Among them, when x=1, the pressure relief slope is the largest, which is k2. At this time, the pressure relief is the slowest and the effect is the best; when x=0, the pressure relief slope is the smallest, which is k1. At this time, the pressure relief is the fastest, but still within an acceptable range.

[0065] Furthermore, the embodiment of the present application can determine the functional relationship between the pressure relief slope K and the slope factor x, the pressure relief slope K = (k2-k1)x + k1, and the relationship curve can be as follows: Figure 7 shown.

[0066] Optionally, in one embodiment of the present application, after obtaining the distance between the vehicle and the braking obstacle, the method further includes: if the distance is less than a first preset distance threshold, prohibiting the vehicle from performing braking pressure relief.

[0067] In some embodiments, when the distance S is less than the first preset distance threshold L1, pressure relief is not performed to ensure driving safety.

[0068] Combination Figures 5 to 8 As shown, a method for controlling vehicle braking according to an embodiment of the present application is described in detail using an embodiment.

[0069] First of all, the embodiments of the present application may be directed to a wire control braking system and a vehicle with a comfort braking function. The embodiments of the present application may involve two systems (a wire control braking system and an intelligent assisted driving system). The intelligent assisted driving system provides the wire control braking system with braking obstacle distance signal parameters in front of the vehicle.

[0070] like Figure 8 As shown, the embodiment of the present application may include the following steps:

[0071] Step S801: Turn on the comfort brake parking function, wherein the comfort brake parking function can be triggered by a center console operation, a vehicle hard switch, or a mobile terminal associated with the vehicle.

[0072] Step S802: Receive a brake signal, wherein the brake signal may be generated according to the depression amplitude of the brake pedal or the triggering condition of the brake button or the intelligent driving system detecting that the vehicle needs to brake.

[0073] Step S803: Determine whether the preset comfortable braking conditions are met according to the braking pressure, vehicle speed, deceleration, etc. If the conditions are met, proceed to step S804, otherwise proceed to step S807.

[0074] Step S804: Obtain the distance between the vehicle and the braking obstacle. The distance can be obtained through a braking assistance driving system or through a sensor installed on the vehicle.

[0075] Step S805: calling the pressure relief strategy according to the distance and calculating the pressure relief slope.

[0076] like Figure 5 As shown, P1 is the first preset pressure threshold, i.e., the maximum brake pressure (generally 50 bar) that can activate the comfort brake. If the brake pressure exceeds this value, it is regarded as emergency braking and the comfort brake function does not intervene; P2 is the second preset pressure threshold, i.e., the minimum brake pressure to keep the vehicle stationary. Therefore, the brake pressure in the embodiment of the present application should be between P1 and P2.

[0077] The embodiment of the present application can formulate different pressure relief slopes k between P1 and P2, wherein k1 is the upper limit value of the pressure relief slope of the brake hydraulic pressure, i.e., the fastest pressure relief slope (calibrated value), and k2 is the lower limit value of the pressure relief slope of the brake hydraulic pressure, i.e., the slowest pressure relief slope (calibrated value), and the pressure relief slope model of the embodiment of the present application is an intelligent adjustment range with k1 and k2 as the boundaries.

[0078] like Figure 6 As shown, in the embodiment of the present application, three methods for determining the pressure relief slope can be obtained according to the distance.

[0079] When the distance S is greater than the second preset distance threshold L2, the embodiment of the present application may execute the slope of the lower limit value k2 of the pressure relief slope of the brake hydraulic pressure;

[0080] When the distance S is greater than or equal to the first preset distance threshold L1 and the distance is less than or equal to the second preset distance threshold L2, that is, L1≤S≤L2, the embodiment of the present application can calculate the pressure relief slope according to the distance S.

[0081] When the distance S is less than the first preset distance threshold L1, to ensure driving safety, no pressure relief is performed.

[0082] When the distance S is L1≤S≤L2, in order to achieve intelligent adjustment of comfortable braking, the embodiment of the present application can pre-construct a pressure relief model and set a pressure relief slope factor x in the pressure relief model.

[0083] The pressure relief slope factor range is set to [0,1], and the pressure relief slope factor is calculated from the distance S, that is,

[0084] Among them, when x=1, the pressure relief slope is the largest, which is k2. At this time, the pressure relief is the slowest and the effect is the best; when x=0, the pressure relief slope is the smallest, which is k1. At this time, the pressure relief is the fastest, but still within an acceptable range.

[0085] Furthermore, the embodiment of the present application can determine the functional relationship between the pressure relief slope K and the slope factor x, the pressure relief slope K = (k2-k1)x + k1, and the relationship curve can be as follows: Figure 7 shown.

[0086] Step S806: Execute the comfort braking parking function.

[0087] Step S807: End.

[0088] In summary, the embodiments of the present application can realize the coordinated control of the wire control brake system and the intelligent assisted driving system, introduce the distance S between the vehicle and the braking obstacle, and realize that the vehicle can intelligently adjust the comfortable braking strategy and the braking pressure relief slope according to the distance between the vehicle and the obstacle during the actual driving process, thereby improving the comfort and safety of the user's use of the vehicle. That is, the pressure relief slope of the comfort braking function is intelligently adjustable, and the comfort of the user's braking and parking in different vehicle use scenarios is improved without affecting the safe driving and braking and parking, thereby improving the intelligence level of the vehicle's performance and the comfort of the user's use of the vehicle. Moreover, on the basis of the original host and wire control brake system, by adding a software control strategy, the pressure relief slope of the comfort braking function in the wire control brake system can be intelligently adjusted without increasing the hardware cost.

[0089] According to the vehicle braking control method proposed in the embodiment of the present application, it is possible to respond to the vehicle's braking control signal and determine whether the vehicle can perform comfort braking according to the vehicle's braking parameters and current driving parameters, so that when the vehicle can perform comfort braking, the pressure relief slope of the brake hydraulic pressure is adjusted according to the distance between the vehicle and the braking obstacle, so as to intelligently adjust the pressure relief slope according to the actual scene, thereby achieving the purpose of improving braking comfort and safety and improving the user's driving experience. As a result, the technical problem in the related art that the vehicle's braking comfort braking function is difficult to intelligently adjust according to the actual scene, it is difficult to balance safety and comfort, and it is impossible to take into account the user's driving needs.

[0090] Next, the vehicle braking control device proposed in accordance with the embodiment of the present application will be described with reference to the accompanying drawings.

[0091] Fig. 9 It is a block diagram of a vehicle braking control device according to an embodiment of the present application.

[0092] like Fig. 9 As shown, the vehicle braking control device 10 includes: a first receiving module 100 , a judging module 200 and a control module 300 .

[0093] Specifically, the first receiving module 100 is used to receive a braking control signal of a vehicle.

[0094] The judgment module 200 is used to respond to the braking control signal and judge whether the vehicle meets the preset comfort braking condition according to the braking parameters and current driving parameters of the vehicle.

[0095] The control module 300 is used to obtain the distance between the vehicle and the braking obstacle when the vehicle meets the preset comfort braking conditions, determine the pressure relief slope of the vehicle's brake hydraulic pressure based on the distance, and determine the pressure relief speed of the vehicle's wheel-end braking pressure based on the pressure relief slope, so as to control the vehicle's wire control brake system to brake.

[0096] Optionally, in one embodiment of the present application, the preset comfort braking conditions include: the vehicle's braking pressure is less than or equal to a first preset pressure threshold, and the braking pressure is greater than or equal to a second preset pressure threshold, wherein the second preset pressure threshold is less than the first preset pressure threshold; the vehicle's comfort parking function is in the on state; the vehicle's current speed is less than the preset speed threshold; the vehicle's current deceleration is in a preset deceleration range.

[0097] Optionally, in one embodiment of the present application, the control module 300 includes: a calculation unit and a determination unit.

[0098] The calculation unit is used to calculate the pressure relief slope using the distance when the distance is greater than or equal to a first preset distance threshold and the distance is less than or equal to a second preset distance threshold, wherein the second preset distance threshold is greater than the first preset distance threshold.

[0099] The determination unit is used to determine the pressure relief slope as a lower limit value of the pressure relief slope of the brake hydraulic pressure when the distance is greater than a second preset distance threshold.

[0100] Optionally, in one embodiment of the present application, the vehicle braking control device 10 further includes: a prohibition module.

[0101] The prohibition module is used to prohibit the vehicle from performing brake pressure relief when the distance is less than a first preset distance threshold.

[0102] Optionally, in one embodiment of the present application, the computing unit includes: a first computing subunit and a second computing subunit.

[0103] The first calculation subunit is used to calculate the pressure relief slope factor of the brake hydraulic pressure of the vehicle by using the distance.

[0104] The second calculation subunit is used to calculate the pressure relief slope based on the pressure relief slope factor, the pressure relief slope lower limit value and the pressure relief slope upper limit value of the brake fluid pressure.

[0105] It should be noted that the above explanation of the embodiment of the vehicle braking control method is also applicable to the vehicle braking control device of this embodiment, and will not be repeated here.

[0106] According to the vehicle braking control device proposed in the embodiment of the present application, it can respond to the vehicle's braking control signal and determine whether the vehicle can perform comfort braking according to the vehicle's braking parameters and current driving parameters. Therefore, when the vehicle can perform comfort braking, the pressure relief slope of the brake hydraulic pressure is adjusted according to the distance between the vehicle and the braking obstacle, so as to intelligently adjust the pressure relief slope according to the actual scene, thereby achieving the purpose of improving braking comfort and safety and improving the user's driving experience. In this way, the technical problem in the related art that the vehicle's braking comfort braking function is difficult to be intelligently adjusted according to the actual scene, it is difficult to balance safety and comfort, and it is impossible to take into account the user's driving needs.

[0107] Fig.10 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0108] A memory 1001 , a processor 1002 , and a computer program stored in the memory 1001 and executable on the processor 1002 .

[0109] When the processor 1002 executes the program, the vehicle braking control method provided in the above embodiment is implemented.

[0110] Furthermore, the vehicle also includes:

[0111] The communication interface 1003 is used for communication between the memory 1001 and the processor 1002 .

[0112] The memory 1001 is used to store computer programs that can be executed on the processor 1002 .

[0113] The memory 1001 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0114] If the memory 1001, the processor 1002 and the communication interface 1003 are implemented independently, the communication interface 1003, the memory 1001 and the processor 1002 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.10 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0115] Optionally, in a specific implementation, if the memory 1001, the processor 1002 and the communication interface 1003 are integrated on a chip, the memory 1001, the processor 1002 and the communication interface 1003 can communicate with each other through an internal interface.

[0116] The processor 1002 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0117] This embodiment also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned vehicle braking control method is implemented.

[0118] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the vehicle braking control method provided by an embodiment of the present invention.

[0119] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0120] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0121] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0122] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0123] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0124] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0125] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0126] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for controlling vehicle braking, characterized in that: The following steps are involved: receiving a brake control signal of a vehicle; In response to the brake control signal, judging whether the vehicle meets a preset comfort braking condition according to the braking parameters and current driving parameters of the vehicle; If the vehicle meets the preset comfort braking condition, the distance between the vehicle and the braking obstacle is obtained, the pressure relief slope of the vehicle's brake hydraulic pressure is determined based on the distance, and the pressure relief speed of the vehicle's wheel-end braking pressure is determined based on the pressure relief slope to control the vehicle's brake-by-wire system for braking.

2. The method according to claim 1, characterized in that: The preset comfort braking conditions include: The braking pressure of the vehicle is less than or equal to a first preset pressure threshold, and the braking pressure is greater than or equal to a second preset pressure threshold, wherein the second preset pressure threshold is less than the first preset pressure threshold; The comfort parking function of the vehicle is turned on; The current speed of the vehicle is less than a preset speed threshold; The current deceleration of the vehicle is within a preset deceleration range.

3. The method according to claim 1, characterized in that The step of determining a pressure relief slope of the brake fluid pressure of the vehicle based on the distance includes: If the distance is greater than or equal to a first preset distance threshold, and the distance is less than or equal to a second preset distance threshold, the pressure relief slope is calculated using the distance, wherein the second preset distance threshold is greater than the first preset distance threshold; If the distance is greater than the second preset distance threshold, the pressure relief slope is determined to be a lower limit value of the pressure relief slope of the brake fluid pressure.

4. The method according to claim 3, characterized in that After obtaining the distance between the vehicle and the braking obstacle, the method further includes: If the distance is less than the first preset distance threshold, braking pressure relief of the vehicle is prohibited.

5. The method according to claim 3, characterized in that: The calculating the pressure relief slope by using the distance includes: calculating a pressure relief slope factor of the brake fluid pressure of the vehicle using the distance; The pressure relief slope is calculated based on the pressure relief slope factor, the pressure relief slope lower limit value, and the pressure relief slope upper limit value of the brake fluid pressure.

6. A vehicle braking control device, characterized in that: include: A receiving module, used for receiving a braking control signal of a vehicle; a judgment module, configured to judge whether the vehicle satisfies a preset comfort braking condition according to a braking parameter and a current driving parameter of the vehicle in response to the braking control signal; A control module is used to obtain the distance between the vehicle and the braking obstacle when the vehicle meets the preset comfort braking condition, determine the pressure relief slope of the vehicle's brake hydraulic pressure based on the distance, and determine the pressure relief speed of the vehicle's wheel-end braking pressure based on the pressure relief slope, so as to control the vehicle's wire control brake system to brake.

7. The device according to claim 6, characterized in that The preset comfort braking conditions include: the braking pressure of the vehicle is less than or equal to a first preset pressure threshold, and the braking pressure is greater than or equal to a second preset pressure threshold, wherein the second preset pressure threshold is less than the first preset pressure threshold; the comfort parking function of the vehicle is in the on state; the current speed of the vehicle is less than the preset speed threshold; the current deceleration of the vehicle is in a preset deceleration range.

8. The device according to claim 6, characterized in that The control module comprises: a calculation unit, configured to calculate the pressure relief slope using the distance when the distance is greater than or equal to a first preset distance threshold and the distance is less than or equal to a second preset distance threshold, wherein the second preset distance threshold is greater than the first preset distance threshold; A determination unit is used to determine the pressure relief slope as a lower limit value of the pressure relief slope of the brake hydraulic pressure when the distance is greater than the second preset distance threshold.

9. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle braking control method as described in any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the vehicle braking control method as described in any one of claims 1 to 5.

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