Vehicle brake control method, brake control device and brake control system

Abstract

The invention provides a vehicle braking control method, braking control equipment and a braking control system, and relates to the technical field of vehicle control, the method comprises the steps that vehicle state information and a braking request sent by a vehicle-mounted upper computer of a target vehicle are received, and the braking request comprises target deceleration; if the vehicle state information indicates that the target vehicle is in the self-adaptive cruise control mode, whether the target deceleration is larger than the preset maximum braking deceleration or not is determined according to the target deceleration and the preset maximum braking deceleration; if the target deceleration is greater than or equal to the preset maximum braking deceleration, correcting the target deceleration according to preset deceleration correction configuration information to obtain a first target braking deceleration; and controlling a braking system of the target vehicle to brake according to the first target braking deceleration. When the target vehicle is controlled to be normally braked, the safety of the target vehicle and a driver is guaranteed.

Description

Technical Field

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

[0002] Adaptive Cruise Control (ACC) can monitor the speed and distance of the vehicle in front through sensors such as radar and cameras, and automatically adjust the speed of the vehicle to maintain a safe distance.

[0003] The braking strategy in the current adaptive cruise control process is to brake according to the target deceleration sent by the host computer until it is about to stop, and then enter static control according to the braking request sent by the host computer. From the time the vehicle starts to brake and decelerate to the time it is about to stop, the braking system brakes completely according to the deceleration given by the host computer.

[0004] However, during the braking process, if the host computer fails and no longer issues deceleration, or the deceleration is too small, the pressure on the brake actuator will be insufficient and the deceleration will be insufficient, which may easily lead to a dangerous situation where the vehicle cannot be stopped or collides with the vehicle in front. Summary of the invention

[0005] The purpose of the present application is to provide a vehicle braking control method, a braking control device and a braking control system to address the deficiencies in the above-mentioned prior art, so as to ensure the safety of the target vehicle and the driver when controlling the target vehicle to stop normally.

[0006] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0007] In a first aspect, an embodiment of the present application provides a vehicle braking control method, the method comprising:

[0008] Receiving vehicle status information and a brake request sent by a vehicle-mounted host computer of a target vehicle, wherein the brake request includes: a target deceleration;

[0009] If the vehicle state information indicates that the target vehicle is in an adaptive cruise control mode, determining whether the target deceleration is greater than the preset maximum braking deceleration according to the target deceleration and the preset maximum braking deceleration;

[0010] If the target deceleration is greater than or equal to the preset maximum braking deceleration, the target deceleration is corrected according to the preset deceleration correction configuration information to obtain a first target braking deceleration;

[0011] According to the first target braking deceleration, a braking system of the target vehicle is controlled to perform braking.

[0012] Optionally, the preset deceleration correction configuration information includes: a preset correction increase deceleration for a single operating cycle;

[0013] The step of correcting the target deceleration according to the preset deceleration correction configuration information to obtain a first target braking deceleration includes:

[0014] Accumulate the accumulated corrected increasing deceleration of the previous operation cycle and the preset corrected increasing deceleration of the single operation cycle to obtain the accumulated corrected increasing deceleration of the current operation cycle;

[0015] Determining a target corrected increasing deceleration of the current operating cycle according to the accumulated corrected increasing deceleration of the current operating cycle;

[0016] The target deceleration is corrected according to the target correction increase deceleration of the current operation cycle to obtain the first target braking deceleration.

[0017] Optionally, the preset deceleration correction configuration information further includes: a preset total correction increase deceleration;

[0018] Determining the target corrected increasing deceleration of the current operating cycle according to the accumulated corrected increasing deceleration of the current operating cycle includes:

[0019] determining whether the accumulated corrected increasing deceleration is less than or equal to the preset total corrected increasing deceleration;

[0020] If the accumulated corrected increasing deceleration is less than or equal to the preset total corrected increasing deceleration, determining the accumulated corrected increasing deceleration as the target corrected increasing deceleration of the current operation cycle;

[0021] If the accumulated corrected increasing deceleration is greater than the preset total corrected increasing deceleration, the preset total corrected increasing deceleration is determined as the target corrected increasing deceleration of the current operation cycle.

[0022] Optionally, the increasing the deceleration according to the target correction of the current operation cycle, correcting the target deceleration to obtain the first target braking deceleration, includes:

[0023] The target corrected additional deceleration of the current operation cycle is summed with the target deceleration to obtain an initial corrected deceleration;

[0024] Determining whether the initial corrected deceleration is greater than the preset maximum braking deceleration;

[0025] If the initial corrected deceleration is greater than the preset maximum braking deceleration, then the target corrected increasing deceleration of the current operating cycle and the preset corrected increasing deceleration of the single operating cycle are summed to obtain a first corrected increasing deceleration;

[0026] The target deceleration is corrected according to the first corrected increased deceleration to obtain the first target braking deceleration.

[0027] Optionally, the increasing the deceleration according to the target correction of the current operation cycle, correcting the target deceleration to obtain the first target braking deceleration, further includes:

[0028] If the initial corrected deceleration is less than the preset maximum braking deceleration, subtracting the target corrected increasing deceleration of the current operating cycle and the preset corrected increasing deceleration of the single operating cycle to obtain the second corrected increasing deceleration;

[0029] The target deceleration is corrected according to the second corrected increased deceleration to obtain the first target braking deceleration.

[0030] Optionally, the increasing the deceleration according to the target correction of the current operation cycle, correcting the target deceleration to obtain the first target braking deceleration, further includes:

[0031] If the initial corrected deceleration is equal to the preset maximum braking deceleration, the initial corrected deceleration is determined as the first target braking deceleration.

[0032] Optionally, the method further comprises:

[0033] If the target deceleration is less than the preset maximum braking deceleration, determining the target deceleration to be a second target braking deceleration;

[0034] According to the second target braking deceleration, a braking system of the target vehicle is controlled to brake.

[0035] Optionally, the method further comprises:

[0036] If a starting request sent by the vehicle-mounted host computer is received, the target corrected increased deceleration of the current operation cycle is cleared.

[0037] In a second aspect, another embodiment of the present application provides a vehicle braking control device, the device comprising:

[0038] A receiving module, used for receiving vehicle status information and a brake request sent by a vehicle-mounted host computer of a target vehicle, wherein the brake request includes: a target deceleration;

[0039] a determination module, configured to determine whether the target deceleration is greater than the preset maximum braking deceleration according to the target deceleration and the preset maximum braking deceleration if the vehicle state information indicates that the target vehicle is in an adaptive cruise control mode;

[0040] a correction module, configured to correct the target deceleration according to preset deceleration correction configuration information to obtain a first target braking deceleration if the target deceleration is greater than or equal to the preset maximum braking deceleration;

[0041] A control module is used to control a braking system of the target vehicle to brake according to the first target braking deceleration.

[0042] In the third aspect, another embodiment of the present application provides a braking control device, comprising: a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the braking control device is running, the processor communicates with the storage medium through the bus, and the processor executes the machine-readable instructions to perform the steps of the vehicle braking control method as described in any one of the first aspects above.

[0043] In a fourth aspect, another embodiment of the present application provides a storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the vehicle braking control method as described in any one of the above-mentioned first aspects are executed.

[0044] The beneficial effects of this application are:

[0045] The present application provides a vehicle braking control method, a braking control device and a braking control system. By receiving vehicle status information and a braking request sent by a vehicle-mounted host computer of a target vehicle, if the vehicle status information indicates that the target vehicle is in an adaptive cruise control mode, the target deceleration is determined to be greater than the preset maximum braking deceleration according to the target deceleration and the preset maximum braking deceleration. If the target deceleration is greater than or equal to the preset maximum braking deceleration, the target deceleration is corrected according to the preset deceleration correction configuration information to obtain a first target braking deceleration, and the braking system of the target vehicle is controlled to brake according to the first target braking deceleration. In the present application, by comparing the target deceleration with the preset maximum braking deceleration, the target vehicle is braked according to the comparison result, so as to avoid the problem that the target vehicle is in a dangerous working condition when the vehicle-mounted host computer is not planned reasonably when the target vehicle is controlled only according to the target deceleration sent by the vehicle-mounted host computer. In the adaptive cruise control mode, the braking function of the target vehicle can be satisfied, and the safety of the target vehicle and the driver can be ensured when the target vehicle is normally braked. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 A schematic flow chart of a vehicle braking control method provided in an embodiment of the present application;

[0048] Figure 2 A schematic diagram of a flow chart for determining a first target braking speed in a vehicle braking control method provided in an embodiment of the present application;

[0049] Figure 3 A schematic diagram of a flow chart for determining a target correction increase in deceleration in a vehicle braking control method provided in an embodiment of the present application;

[0050] Figure 4 A schematic diagram of a process for determining a first target braking deceleration in a second vehicle braking control method provided in an embodiment of the present application;

[0051] Figure 5 A schematic diagram of a process for determining a first target braking deceleration in a third vehicle braking control method provided in an embodiment of the present application;

[0052] Figure 6 A schematic diagram of a process of braking a target vehicle in a vehicle braking control method provided in an embodiment of the present application;

[0053] Figure 7 A schematic diagram of the structure of a vehicle braking control device provided in an embodiment of the present application;

[0054] Figure 8 A schematic diagram of the structure of a brake control device provided in an embodiment of the present application;

[0055] Fig. 9 A schematic diagram of the structure of a brake control system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] 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. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0057] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0058] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0059] At present, the common braking and stopping strategy in the adaptive cruise control process is to brake according to the target deceleration sent by the host computer until it is about to stop, and then enter static control according to the braking request sent by the host computer. From the time the vehicle starts to brake and has deceleration to the time it is about to stop, the brake control device brakes completely according to the deceleration given by the host computer. If the host computer fails during this process and no longer sends deceleration or the deceleration plan is too small, the brake control device will not have enough pressure to execute and the deceleration will be insufficient, which may easily lead to dangerous conditions such as failure to stop or collision with the vehicle in front.

[0060] To this end, the present application provides a vehicle braking control method, which is applied to a vehicle braking control device, by receiving vehicle status information and a braking request sent by an onboard host computer of a target vehicle, if the vehicle status information indicates that the target vehicle is in an adaptive cruise control mode, according to the target deceleration and the preset maximum braking deceleration, it is determined whether the target deceleration is greater than the preset maximum braking deceleration, if the target deceleration is greater than the preset maximum braking deceleration, then according to the preset deceleration correction configuration information, the target deceleration is corrected to obtain a first target braking deceleration, and according to the first target braking deceleration, the braking system of the target vehicle is controlled to brake. The vehicle braking control method provided by the present application avoids the dangerous working conditions that the braking control device cannot stop as expected or collides with the vehicle in front due to the unreasonable target deceleration planned by the host computer when the vehicle starts to brake and decelerates before stopping in the vehicle adaptive cruise control mode, thereby improving the safety in the adaptive cruise control mode.

[0061] Figure 1 A flow chart of a vehicle braking control method provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the method includes:

[0062] Step 101: Receive vehicle status information and a brake request sent by a vehicle-mounted host computer of a target vehicle.

[0063] Among them, the target vehicle can be any vehicle including a braking control device and a host computer, and the braking control device in the target vehicle is a wire control brake system. The wire control brake system does not rely on the traditional mechanically connected braking system, but controls the brake actuator through electronic signals. The braking control of each wheel of the target vehicle is completely independent and does not interfere with each other. The brake request is used to control the braking or stopping of the target vehicle. The brake request includes: target deceleration. The target deceleration can be determined by calculation based on the distance, speed and relative motion of the target vehicle to the vehicle in front detected by the sensor on the target vehicle, or the target deceleration can be determined by a control strategy or a controller, and the embodiments of the present application do not limit this. The on-board host computer of the target vehicle is a computer system for processing, displaying and transmitting target vehicle information. The vehicle status information includes the current control mode of the target vehicle.

[0064] Optionally, vehicle status information, a brake request, and a target acceleration of the target vehicle sent by an onboard host computer of the target vehicle are received.

[0065] Step 102: If the vehicle state information indicates that the target vehicle is in the adaptive cruise control mode, determine whether the target deceleration is greater than the preset maximum braking deceleration according to the target deceleration and the preset maximum braking deceleration.

[0066] Among them, the adaptive cruise control mode uses sensors such as radar or cameras to monitor the traffic conditions in front of the vehicle in real time, and automatically adjusts the vehicle speed and following distance according to the speed and distance of the vehicle in front, without manual control. The preset maximum braking deceleration is determined based on the target vehicle's braking system capabilities, the performance of the vehicle stability control system and other target vehicle braking-related parameters. The embodiment of the application does not limit the method for determining the preset maximum braking deceleration, which is determined based on actual conditions.

[0067] Optionally, if the vehicle status information indicates that the target vehicle is in adaptive cruise control mode, it means that the cruise control system of the target vehicle has been activated, allowing the target vehicle to automatically maintain its speed within a certain speed range, and receiving a braking request and target deceleration sent by the on-board host computer of the target vehicle, then based on the target deceleration and the preset maximum braking deceleration, it is determined whether the target deceleration is greater than the preset maximum braking deceleration.

[0068] Step 103: If the target deceleration is greater than or equal to the preset maximum braking deceleration, the target deceleration is corrected according to the preset deceleration correction configuration information to obtain a first target braking deceleration.

[0069] Optionally, if the target deceleration is greater than or equal to the preset maximum braking deceleration, since the target deceleration and the preset maximum braking deceleration are both negative numbers, that is to say, the absolute value of the target deceleration is less than the absolute value of the preset maximum braking deceleration, this indicates that the target deceleration sent by the on-board host computer is insufficient to brake the target vehicle, and the target deceleration needs to be corrected to obtain the first target braking deceleration.

[0070] Step 104: Control the braking system of the target vehicle to brake according to the first target braking deceleration.

[0071] Optionally, the first target braking deceleration is a speed required to brake the target vehicle. The target vehicle can be braked by controlling the braking system of the target vehicle according to the first target braking deceleration.

[0072] The present application provides a vehicle braking control method, which receives vehicle status information and a brake request sent by an onboard host computer of a target vehicle. If the vehicle status information indicates that the target vehicle is in an adaptive cruise control mode, the target deceleration is determined to be greater than the preset maximum brake deceleration according to the target deceleration and the preset maximum brake deceleration. If the target deceleration is greater than or equal to the preset maximum brake deceleration, the target deceleration is corrected according to the preset deceleration correction configuration information to obtain a first target brake deceleration, and the brake system of the target vehicle is controlled to brake according to the first target brake deceleration. In the present application, by comparing the target deceleration with the preset maximum brake deceleration, the target vehicle is braked according to the comparison result, which avoids the problem that the target vehicle is in a dangerous working condition when the onboard host computer is not planned reasonably when the target vehicle is controlled only according to the target deceleration sent by the onboard host computer. In the adaptive cruise control mode, the brake function of the target vehicle can be satisfied, and the safety of the target vehicle and the driver can be guaranteed when the target vehicle is normally braked.

[0073] Based on the above embodiment, the preset deceleration correction configuration information includes: a preset correction increase deceleration of a single operation cycle. To this end, the present application provides a process for determining a first target braking speed in a vehicle braking control method, Figure 2 A schematic diagram of a process for determining a first target braking speed in a vehicle braking control method provided in an embodiment of the present application, such as Figure 2 As shown, in the above step 103, the target deceleration is corrected according to the preset deceleration correction configuration information to obtain the first target braking deceleration, including:

[0074] Step 201: Accumulate the accumulated corrected increasing deceleration of the previous operation cycle and the preset corrected increasing deceleration of a single operation cycle to obtain the accumulated corrected increasing deceleration of the current operation cycle.

[0075] Among them, the preset corrected increased deceleration for a single operating cycle is the preset corrected increased deceleration for a loop (cycle), and the preset corrected increased deceleration for each operating cycle is the same. The preset corrected increased deceleration for a single operating cycle can be determined based on the target vehicle parameter information such as the performance of the target vehicle braking system, the mass of the target vehicle, and the aerodynamic characteristics of the target vehicle. This application does not limit the specific method for determining the preset corrected increased deceleration for a single operating cycle.

[0076] Step 202: Determine the target corrected increasing deceleration of the current operating cycle according to the accumulated corrected increasing deceleration of the current operating cycle.

[0077] Optionally, the target corrected increasing deceleration of the current operating cycle is determined based on the accumulated corrected increasing deceleration of the current operating cycle. The target corrected increasing deceleration can be determined by taking the accumulated corrected increasing deceleration of the current operating cycle as the target corrected increasing deceleration, or taking the accumulated corrected increasing deceleration of the current operating cycle as a reference.

[0078] Step 203: According to the target correction increase deceleration of the current operation cycle, the target deceleration is corrected to obtain a first target braking deceleration.

[0079] For example, the first target braking deceleration is obtained by adding the target corrected increasing deceleration of the current operation cycle to the target corrected increasing deceleration, or the first target braking deceleration is calculated based on the target corrected increasing deceleration and the target deceleration.

[0080] In an embodiment of the present application, the target corrected increased deceleration of the current cycle is determined based on the accumulated corrected increased deceleration, and the target deceleration is corrected based on the target corrected increased deceleration to obtain the first target braking deceleration. The present application can accurately control the first target braking deceleration, can decelerate quickly and smoothly, and improve the ability to deal with emergencies.

[0081] On the basis of the above embodiment, the preset deceleration correction configuration information further includes: preset total correction increase deceleration. To this end, the present application provides a process for determining a target correction increase deceleration in a vehicle braking control method. Figure 3 A schematic diagram of a process for determining a target correction increase in deceleration in a vehicle braking control method provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, in the above step 202, determining the target corrected increasing deceleration of the current operating cycle according to the accumulated corrected increasing deceleration of the current operating cycle includes:

[0082] Step 301: Determine whether the accumulated corrected increasing deceleration is less than or equal to the preset total corrected increasing deceleration.

[0083] The preset total corrected added deceleration can be determined by the dynamic characteristics of the target vehicle, such as the mass of the target vehicle, the performance of the braking system, the friction coefficient between the tire and the ground, etc., and the present application does not limit the method for determining the preset total corrected added deceleration. The preset total corrected added deceleration is the maximum corrected added deceleration for the target deceleration.

[0084] Step 302: If the accumulated corrected increasing deceleration is less than or equal to the preset total corrected increasing deceleration, the accumulated corrected increasing deceleration is determined to be the target corrected increasing deceleration of the current operation cycle.

[0085] Optionally, if the accumulated corrected increasing deceleration is less than or equal to the preset total corrected increasing deceleration, it means that the accumulated corrected increasing deceleration has not reached the maximum corrected increasing deceleration for the target deceleration, and the accumulated corrected increasing deceleration is determined to be the target corrected increasing deceleration for the current operating cycle.

[0086] Step 303: If the accumulated corrected increasing deceleration is greater than the preset total corrected increasing deceleration, the preset total corrected increasing deceleration is determined as the target corrected increasing deceleration of the current operation cycle.

[0087] Optionally, if the accumulated corrected increased deceleration is greater than the preset total corrected increased deceleration, the accumulated corrected increased deceleration in the manual is greater than the maximum corrected increased deceleration of the target deceleration, and the target deceleration cannot be corrected based on the accumulated corrected increased deceleration, then the preset total corrected increased deceleration is determined as the target corrected increased deceleration for the current operating cycle.

[0088] In an embodiment of the present application, based on the comparison result of the accumulated corrected increased deceleration and the preset total corrected increased deceleration, the smaller value between the accumulated corrected increased deceleration and the preset total corrected increased deceleration is used as the target corrected increased deceleration to prevent the risk of vehicle loss of control due to excessive deceleration.

[0089] Based on the above embodiments, the present application also provides a process for determining the first target braking deceleration in a second vehicle braking control method. Figure 4 A schematic diagram of a process for determining a first target braking deceleration in a second vehicle braking control method provided in an embodiment of the present application, such as Figure 4 As shown, as in the above step 203, the target deceleration is corrected and increased according to the target correction of the current operation cycle to obtain the first target braking deceleration, including:

[0090] Step 401: Sum the target corrected increased deceleration and the target deceleration of the current operation cycle to obtain an initial corrected deceleration.

[0091] Optionally, the sum of the target corrected increasing deceleration and the target deceleration of the current cycle is taken as the initial corrected deceleration.

[0092] Step 402: Determine whether the initial corrected deceleration is greater than a preset maximum braking deceleration.

[0093] Optionally, the initial corrected deceleration is compared with a preset maximum braking deceleration to determine whether the initial corrected deceleration is greater than the preset maximum braking deceleration.

[0094] Step 403: If the initial corrected deceleration is greater than the preset maximum braking deceleration, the target corrected increasing deceleration of the current operating cycle and the preset corrected increasing deceleration of a single operating cycle are summed to obtain a first corrected increasing deceleration.

[0095] Optionally, if the initial corrected deceleration is greater than the preset maximum braking deceleration, since the initial corrected deceleration and the preset maximum braking deceleration are both negative numbers, that is to say, the absolute value of the initial corrected deceleration is less than the absolute value of the preset maximum braking deceleration, it means that the initial corrected deceleration is insufficient to brake the target vehicle, and the target deceleration needs to be corrected. The target corrected increased deceleration of the current operating cycle and the preset corrected increased deceleration of a single operating cycle are summed to obtain a first corrected increased deceleration, so that the first corrected increased deceleration is equal to the preset maximum braking deceleration.

[0096] Step 404: Correct the target deceleration according to the first corrected increased deceleration to obtain a first target braking deceleration.

[0097] Optionally, the target deceleration is corrected according to the first corrected increasing deceleration so that the target deceleration is equal to the first corrected increasing deceleration, and the corrected target deceleration is used as the first target braking deceleration.

[0098] In the embodiment of the present application, the deceleration after the initial correction is compared with the preset maximum braking deceleration, and the first correction increase deceleration is obtained according to the comparison result. The target deceleration is corrected according to the first correction increase deceleration, so as to obtain the first target braking deceleration. This prevents the target vehicle from being unable to brake due to the insufficient first target braking deceleration, thereby improving driving safety.

[0099] Based on the above embodiments, the present application also provides a process for determining the first target braking deceleration in a third vehicle braking control method, Figure 5 A schematic diagram of a process for determining a first target braking deceleration in a third vehicle braking control method provided in an embodiment of the present application, such as Figure 5 As shown, as in the above step 403, the target deceleration is corrected and increased according to the target correction of the current operation cycle to obtain the first target braking deceleration, and further includes:

[0100] Step 501: If the initial corrected deceleration is less than the preset maximum braking deceleration, subtract the target corrected increasing deceleration of the current operating cycle and the preset corrected increasing deceleration of a single operating cycle to obtain a second corrected increasing deceleration.

[0101] Optionally, if the initial corrected deceleration is less than the preset maximum braking deceleration, it means that the correction of the target vehicle is excessive. The target corrected increased deceleration of the current operating cycle and the preset corrected increased deceleration of a single operating cycle are subtracted to obtain a second corrected increased deceleration, so that the second corrected increased deceleration is equal to the preset maximum braking deceleration.

[0102] Step 502: Correct the target deceleration according to the second corrected increased deceleration to obtain a first target braking deceleration.

[0103] Optionally, the target deceleration is corrected according to the second corrected increasing deceleration so that the target deceleration is equal to the second corrected increasing deceleration, and the corrected target deceleration is used as the first target braking deceleration.

[0104] In the embodiment of the present application, if the initial corrected deceleration is less than the preset maximum braking deceleration, the target corrected increased deceleration of the current operating cycle and the preset corrected increased deceleration of a single operating cycle are subtracted to obtain a second corrected increased deceleration, and then the target deceleration is corrected according to the second corrected increased deceleration to obtain the first target braking deceleration. The present application can more accurately control the braking behavior of the vehicle, improve the control accuracy of the system, and avoid the risk of vehicle loss of control due to excessive deceleration.

[0105] On the basis of the above embodiment, the present application also provides a process for determining a first target braking deceleration in a fourth vehicle braking control method, wherein in the above step 403, the deceleration is increased according to the target correction of the current operation cycle, the target deceleration is corrected, and the first target braking deceleration is obtained, and the process also includes:

[0106] If the initial corrected deceleration is equal to the preset maximum braking deceleration, the initial corrected deceleration is determined as the first target braking deceleration.

[0107] Optionally, if the initial corrected deceleration is equal to the preset maximum braking deceleration, it means that the initial corrected deceleration meets the preset maximum braking deceleration of the target vehicle and can effectively brake the target vehicle, and the initial corrected deceleration is determined as the first target braking deceleration.

[0108] In the embodiment of the present application, if the initial corrected deceleration is equal to the preset maximum braking deceleration, the initial corrected deceleration is determined as the first target braking deceleration. The target braking deceleration can be quickly determined, thereby quickly responding to emergency situations or sudden traffic changes, improving the reaction speed of the system, and avoiding excessive adjustment and occupation of system resources.

[0109] Based on the above embodiments, the present application also provides a process of braking a target vehicle in a vehicle braking control method. Figure 6A schematic diagram of a process of braking a target vehicle in a vehicle braking control method provided in an embodiment of the present application, such as Figure 6 As shown, based on the above steps 101 to 104, the method further includes:

[0110] Step 601: If the target deceleration is less than the preset maximum braking deceleration, determine the target deceleration as the second target braking deceleration.

[0111] Optionally, if the target deceleration is less than the preset maximum braking deceleration, it means that the target deceleration is sufficient to meet the braking request of the target vehicle, and the target deceleration is determined to be the second target braking deceleration.

[0112] Step 602: Control the braking system of the target vehicle to brake according to the second target braking deceleration.

[0113] Optionally, a braking instruction is generated according to the second target braking deceleration, thereby controlling a braking system of the target vehicle to brake.

[0114] In the embodiment of the present application, if the target deceleration is less than the preset maximum braking deceleration, the target deceleration is determined to be the second target braking deceleration, and the braking system of the target vehicle is controlled to brake according to the second target braking deceleration. The present application can reduce unnecessary energy consumption and improve the endurance of the target vehicle.

[0115] Based on the above embodiment, the present application further provides a process of adding a deceleration correction to a target correction in a vehicle braking control method. Based on the above steps 201 to 204, the method further includes:

[0116] If a start request is received from the vehicle-mounted host computer, the target correction increase deceleration of the current operation cycle is cleared.

[0117] Optionally, if a start request is received from the vehicle-mounted host computer, it means that there is no need to correct the target deceleration, the target correction increase deceleration of the current operation cycle is cleared, and the target vehicle is controlled according to the target deceleration.

[0118] In the embodiment of the present application, if a start request is received from the vehicle-mounted host computer, the target correction increase deceleration of the current operation cycle is cleared, which can simplify the control logic of the system and improve the response speed and efficiency of the system.

[0119] Based on the same inventive concept, a vehicle braking control device corresponding to the vehicle braking control method is also provided in the embodiment of the present application. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the above-mentioned vehicle braking control method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0120] Figure 7 A schematic diagram of the structure of a vehicle braking control device provided in an embodiment of the present application, the device includes:

[0121] The receiving module 701 is used to receive the vehicle state information and the brake request sent by the vehicle-mounted host computer of the target vehicle, and the brake request includes: target deceleration;

[0122] A determination module 702 is used to determine whether the target deceleration is greater than the preset maximum braking deceleration according to the target deceleration and the preset maximum braking deceleration if the vehicle state information indicates that the target vehicle is in the adaptive cruise control mode;

[0123] A first correction module 703 is used to correct the target deceleration according to preset deceleration correction configuration information to obtain a first target braking deceleration if the target deceleration is greater than or equal to the preset maximum braking deceleration;

[0124] The control module 704 is used to control the braking system of the target vehicle to brake according to the first target braking deceleration.

[0125] Optionally, the preset deceleration correction configuration information includes: a preset correction increase deceleration of a single operation cycle; a first correction module 703, specifically configured to: accumulate the accumulated correction increase deceleration of the previous operation cycle and the preset correction increase deceleration of the single operation cycle to obtain the accumulated correction increase deceleration of the current operation cycle;

[0126] Determine the target corrected increased deceleration rate of the current operation cycle according to the accumulated corrected increased deceleration rate of the current operation cycle;

[0127] The target deceleration is corrected and increased according to the target correction of the current operation cycle to obtain a first target braking deceleration.

[0128] Optionally, the preset deceleration correction configuration information further includes: a preset total correction increase deceleration; a first correction module 703, specifically used to: determine whether the accumulated correction increase deceleration is less than or equal to the preset total correction increase deceleration;

[0129] If the accumulated corrected increasing deceleration is less than or equal to the preset total corrected increasing deceleration, determining the accumulated corrected increasing deceleration as the target corrected increasing deceleration for the current operation cycle;

[0130] If the accumulated corrected increasing deceleration is greater than the preset total corrected increasing deceleration, the preset total corrected increasing deceleration is determined as the target corrected increasing deceleration of the current operation cycle.

[0131] Optionally, the first correction module 703 is specifically configured to: sum the target correction increase deceleration and the target deceleration of the current operation cycle to obtain an initial corrected deceleration;

[0132] Determine whether the initial corrected deceleration is greater than the preset maximum braking deceleration;

[0133] If the initial corrected deceleration is greater than the preset maximum braking deceleration, the target corrected increased deceleration of the current operating cycle and the preset corrected increased deceleration of a single operating cycle are summed to obtain a first corrected increased deceleration;

[0134] The target deceleration is corrected according to the first corrected increased deceleration to obtain a first target braking deceleration.

[0135] Optionally, the first correction module 703 is further configured to: if the initial corrected deceleration is less than the preset maximum braking deceleration, subtract the target corrected increasing deceleration of the current operating cycle and the preset corrected increasing deceleration of a single operating cycle to obtain a second corrected increasing deceleration;

[0136] The target deceleration is corrected according to the second corrected increased deceleration to obtain the first target braking deceleration.

[0137] Optionally, the first correction module 703 is further configured to: if the initial corrected deceleration is equal to a preset maximum braking deceleration, determine the initial corrected deceleration as the first target braking deceleration.

[0138] Optionally, the vehicle braking control device further includes: a control module, the control module being specifically configured to: if the target deceleration is less than a preset maximum braking deceleration, determine the target deceleration to be a second target braking deceleration;

[0139] According to the second target braking deceleration, the braking system of the target vehicle is controlled to brake.

[0140] Optionally, the vehicle braking control device further includes: a second correction module, the second correction module is specifically used for: if a starting request sent by the vehicle-mounted host computer is received, then the target correction increase deceleration of the current operation cycle is cleared.

[0141] For descriptions of the processing flow of each module in the device and the interaction flow between each module, reference may be made to the relevant descriptions in the above method embodiment, which will not be described in detail here.

[0142] The present application also provides a brake control device, Figure 8A schematic diagram of a brake control device structure provided in an embodiment of the present application includes: a processor 801, a storage medium 802, and optionally, a bus 803. The storage medium 802 stores machine-readable instructions executable by the processor 801. When the brake control device is running, the processor 801 communicates with the storage medium 802 via the bus 803. When the machine-readable instructions are executed by the processor 801, the steps of the above-mentioned vehicle brake control method are executed.

[0143] The embodiment of the present application also provides a brake control system, Fig. 9 A schematic diagram of the structure of a braking control system provided in an embodiment of the present application, the braking control system at least includes: a braking control device 800, and a braking system 900, the braking control device 800 is connected to the braking system 900, and the braking control device 800 is used to execute the steps of the above-mentioned vehicle braking control method.

[0144] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned vehicle braking control method are executed.

[0145] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0146] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or part of the technical solution that contributes to the prior art or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), disk or optical disk and other media that can store program code.

[0147] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A vehicle braking control method, characterized in that: Applied to a brake control device, the method comprises: Receiving vehicle status information and a brake request sent by a vehicle-mounted host computer of a target vehicle, wherein the brake request includes: a target deceleration; If the vehicle state information indicates that the target vehicle is in an adaptive cruise control mode, determining whether the target deceleration is greater than the preset maximum braking deceleration according to the target deceleration and the preset maximum braking deceleration; If the target deceleration is greater than or equal to the preset maximum braking deceleration, the target deceleration is corrected according to the preset deceleration correction configuration information to obtain a first target braking deceleration; According to the first target braking deceleration, a braking system of the target vehicle is controlled to perform braking.

2. The vehicle braking control method according to claim 1, characterized in that: The preset deceleration correction configuration information includes: a preset correction increase deceleration for a single operation cycle; The step of correcting the target deceleration according to the preset deceleration correction configuration information to obtain a first target braking deceleration includes: Accumulate the accumulated corrected increasing deceleration of the previous operation cycle and the preset corrected increasing deceleration of the single operation cycle to obtain the accumulated corrected increasing deceleration of the current operation cycle; Determining a target corrected increasing deceleration of the current operating cycle according to the accumulated corrected increasing deceleration of the current operating cycle; The target deceleration is corrected according to the target correction increase deceleration of the current operation cycle to obtain the first target braking deceleration.

3. The vehicle braking control method according to claim 2, characterized in that: The preset deceleration correction configuration information also includes: a preset total correction increase deceleration; Determining the target corrected increasing deceleration of the current operating cycle according to the accumulated corrected increasing deceleration of the current operating cycle includes: determining whether the accumulated corrected increasing deceleration is less than or equal to the preset total corrected increasing deceleration; If the accumulated corrected increasing deceleration is less than or equal to the preset total corrected increasing deceleration, determining the accumulated corrected increasing deceleration as the target corrected increasing deceleration of the current operation cycle; If the accumulated corrected increasing deceleration is greater than the preset total corrected increasing deceleration, the preset total corrected increasing deceleration is determined as the target corrected increasing deceleration of the current operation cycle.

4. The vehicle braking control method according to claim 2, characterized in that: The step of increasing the deceleration according to the target correction of the current operation cycle and correcting the target deceleration to obtain the first target braking deceleration includes: The target corrected additional deceleration of the current operation cycle is summed with the target deceleration to obtain an initial corrected deceleration; Determining whether the initial corrected deceleration is greater than the preset maximum braking deceleration; If the initial corrected deceleration is greater than the preset maximum braking deceleration, then the target corrected increasing deceleration of the current operating cycle and the preset corrected increasing deceleration of the single operating cycle are summed to obtain a first corrected increasing deceleration; The target deceleration is corrected according to the first corrected increased deceleration to obtain the first target braking deceleration.

5. The vehicle braking control method according to claim 4, characterized in that: The step of increasing the deceleration according to the target correction of the current operation cycle, correcting the target deceleration to obtain the first target braking deceleration, further comprises: If the initial corrected deceleration is less than the preset maximum braking deceleration, subtracting the target corrected increasing deceleration of the current operating cycle and the preset corrected increasing deceleration of the single operating cycle to obtain the second corrected increasing deceleration; The target deceleration is corrected according to the second corrected increased deceleration to obtain the first target braking deceleration.

6. The vehicle braking control method according to claim 4, characterized in that: The step of increasing the deceleration according to the target correction of the current operation cycle, correcting the target deceleration to obtain the first target braking deceleration, further comprises: If the initial corrected deceleration is equal to the preset maximum braking deceleration, the initial corrected deceleration is determined as the first target braking deceleration.

7. The vehicle braking control method according to claim 1, characterized in that: The method further comprises: If the target deceleration is less than the preset maximum braking deceleration, determining the target deceleration to be a second target braking deceleration; According to the second target braking deceleration, a braking system of the target vehicle is controlled to brake.

8. The vehicle braking control method according to claim 2, characterized in that: The method further comprises: If a starting request sent by the vehicle-mounted host computer is received, the target corrected increased deceleration of the current operation cycle is cleared.

9. A brake control device, characterized in that: The braking control device includes: a processor, a storage medium and a bus, the storage medium stores machine-readable instructions executable by the processor, when the braking control device is running, the processor and the storage medium communicate through the bus, and the processor executes the machine-readable instructions to execute any one of the vehicle braking control methods of claims 1-8.

10. A braking control system, characterized in that: The braking control system at least comprises: a braking control device and a braking system, The brake control device is connected to the brake system, and the brake control device is used to execute the vehicle brake control method according to any one of claims 1-8.

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