Vehicle control method, vehicle control device, vehicle and storage medium

Abstract

The invention provides a vehicle control method, a vehicle control device, a vehicle and a storage medium, the method is applied to the technical field of vehicle control, and the method comprises the steps that when it is detected that a user operates a brake pedal in the vehicle, the displacement of the brake pedal is obtained; determining a target rotating speed of a servo motor in the vehicle based on the displacement of the brake pedal; and controlling the servo motor to operate based on the target rotating speed. According to the method, noise in the vehicle braking process can be reduced, and the driving experience of a user is improved.

Description

Technical Field

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

[0002] With the continuous development of automobile control technology, Integrated Brake Controller (IBC) is widely used in different models. In the existing IBC system, during the braking process, the servo motor drives the related mechanical components to generate braking force. However, as the braking frequency increases, the rapid forward and reverse movement of the servo motor and the sound of the valve being energized and closed during braking will generate a lot of noise, affecting the user's driving experience.

[0003] Therefore, how to reduce the noise of the braking system is an urgent problem to be solved. Summary of the invention

[0004] The present application provides a vehicle control method, a vehicle control device, a vehicle and a storage medium, wherein the method can reduce noise during vehicle braking.

[0005] In a first aspect, a vehicle control method is provided, the method comprising:

[0006] When a user's operation on a brake pedal in a vehicle is detected, the displacement of the brake pedal is obtained; based on the displacement of the brake pedal, a target speed of a servo motor in the vehicle is determined; and based on the target speed, the operation of the servo motor is controlled.

[0007] In the embodiment of the present application, when it is detected that the user operates the brake pedal of the vehicle, the displacement of the brake pedal is obtained, and the target speed of the servo motor is determined based on the displacement to control the operation of the servo motor. That is, in the scheme of the present application, the detection of the user's operation on the brake pedal is coupled with the speed of the servo motor; the servo motor speed is flexibly adjusted; because in this scheme, the speed of the servo motor can be flexibly adjusted based on the operation of the brake pedal, compared with the fixed speed of the servo motor in the prior art, the speed of the servo motor can be reduced in some cases; thereby reducing the noise of the braking system.

[0008] The speed of the servo motor is adjusted by the displacement of the brake pedal. When it is determined to be a non-emergency situation, the speed of the servo motor is reduced to slow down the speed at which the piston in the braking system pushes the brake fluid, slowing down the process of building hydraulic pressure, thereby reducing noise during braking and improving the user's driving experience.

[0009] In combination with the first aspect, in some possible implementations, determining a target rotation speed of a servo motor in a vehicle based on a displacement of a brake pedal includes:

[0010] When the brake pedal is depressed, the target speed is determined based on the displacement of the brake pedal and the acceleration of the brake pedal; or when the brake pedal is released, the target speed is determined based on the displacement of the brake pedal.

[0011] In an embodiment of the present application, in one implementation, when it is detected that the user has stepped on the brake pedal, the user's braking demand is judged in combination with the displacement of the brake pedal and the acceleration when it is stepped on, so as to determine the target speed of the servo motor according to the user's current braking demand, and a reasonable speed can be set while taking into account the braking performance. In another implementation, when it is detected that the user has released the brake pedal, the speed of the servo motor is determined in combination with the return displacement of the brake pedal, and the state of the braking system is restored according to the situation, so that the drag force of the brake can be adjusted to improve the user's driving experience.

[0012] In combination with the first aspect and the above implementations, in some possible implementations, when the operation of the brake pedal is an operation of stepping on the brake pedal, determining the target speed based on the displacement of the brake pedal and the acceleration of the brake pedal includes:

[0013] If the displacement of the brake pedal is less than a first preset displacement, and the acceleration of the brake pedal is less than a preset acceleration, the first speed is determined as the target speed; if the displacement of the brake pedal is greater than or equal to the first preset displacement, and / or the acceleration of the brake pedal is less than the preset acceleration, the second speed is determined as the target speed; wherein the second speed is greater than the first speed.

[0014] In an embodiment of the present application, when the operation of the brake pedal is to step on it, the target speed of the servo motor is adjusted based on the displacement and acceleration of the brake pedal. When the displacement of the brake pedal is less than the first preset displacement, and the acceleration is less than the preset acceleration, it can be determined that the current state is a non-emergency braking situation, and there is no need to establish a large braking force at this time. Controlling the servo motor to operate at a lower speed can reduce the noise of the motor. Since the speed of the servo motor is reduced, the speed at which the piston in the brake system pushes the brake fluid is slowed down, so that the process of establishing hydraulic pressure is slowed down, thereby reducing the noise during the braking process. When the displacement of the brake pedal is greater than or equal to the first preset displacement, and / or the acceleration is less than the preset acceleration, it can be determined that the driver wants to brake quickly, and the vehicle needs a large and fast braking force. At this time, the servo motor is controlled to operate at a higher speed to ensure that the braking system can quickly establish braking force and ensure driving safety.

[0015] In combination with the first aspect and the above implementations, in some possible implementations, when the operation of the brake pedal is an operation of releasing the brake pedal, determining the target speed based on the displacement of the brake pedal includes:

[0016] If the displacement of the brake pedal is less than the second preset displacement, the third speed is determined as the target speed; if the displacement of the brake pedal is greater than or equal to the second preset displacement, the fourth speed is determined as the target speed; wherein the fourth speed is greater than the third speed.

[0017] In the embodiment of the present application, when the operation of the brake pedal is to release the brake pedal, if the displacement distance of the released brake pedal is small, the servo motor is controlled to rotate in the reverse direction at a lower speed, which can slow down the reverse switching and friction between mechanical parts and reduce noise and vibration. If the displacement distance of the released brake pedal is large, the servo motor is controlled to rotate in the reverse direction at a higher speed, which can quickly release the braking state, ensure that the vehicle returns to normal driving in a short time, reduce drag and power interruption, and improve the user's driving experience.

[0018] In combination with the first aspect and the above implementations, in some possible implementations, the present invention further includes:

[0019] Obtain the current position of the brake pedal; if the current position is a preset position, determine the current state of the target valve in the braking system based on the duration that the brake pedal is in the preset position; wherein the target valve includes a first valve and a second valve; the first valve is used to control the wheel cylinder in the braking system for braking; the second valve is used to control the wheel cylinder in the braking system for braking when the first valve fails.

[0020] In the embodiment of the present application, the current state of the target valve in the braking system is determined by obtaining the current position of the brake pedal and based on the duration of the current position being in the preset position. When the brake pedal is in a specific preset position for a period of time, the on-off state of the valve can be dynamically adjusted according to the situation to achieve precise braking control.

[0021] In combination with the first aspect and the above implementations, in some possible implementations, determining the current state of the target valve in the braking system based on the duration of the brake pedal being in the preset position includes:

[0022] If the duration is less than the preset duration, it is determined that the current state of the target valve is the power-on state; if the duration is greater than or equal to the preset duration, it is determined that the current state of the target valve is the power-off state.

[0023] In an embodiment of the present application, by detecting the time that the brake pedal stays in a preset position, if the continuous stay time is short, that is, the driver steps on the brake pedal again within the preset time, the target valve remains energized, avoiding the noise caused by repeated power-off and power-on of the target valve, and can quickly respond to braking needs, thereby improving the user's driving experience; if the continuous stay time is long, it is judged that the driver will not take braking operations for a short time, and the target valve is controlled to be powered off, which can save energy consumption of the braking system.

[0024] In combination with the first aspect and the above implementations, in some possible implementations, the present invention further includes:

[0025] Based on the target information, a first preset displacement and a preset acceleration are determined; wherein the target information includes at least one of the current vehicle speed, the current vehicle load and the road condition.

[0026] In an embodiment of the present application, by acquiring information such as the vehicle's current speed, load condition, and road condition, the first preset displacement and preset acceleration can be dynamically adjusted based on this information, so that the vehicle's braking system can better adapt to different driving conditions, thereby ensuring the user's driving safety.

[0027] In a second aspect, a vehicle control device is provided, the device comprising:

[0028] An acquisition module, used for acquiring the displacement of the brake pedal when detecting the user's operation on the brake pedal in the vehicle;

[0029] The processing module is used to determine a target speed of a servo motor in the vehicle based on the displacement of the brake pedal; and control the operation of the servo motor based on the target speed.

[0030] It should be understood that the expansion, limitation, explanation and description of the relevant contents in the above-mentioned first aspect also apply to the same contents in the second aspect.

[0031] In a third aspect, a car is provided, comprising a memory and a processor; the memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0032] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0033] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a schematic diagram of a vehicle braking structure device provided in an embodiment of the present application;

[0035] Figure 2is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0036] Figure 3 is a schematic flow chart of another vehicle control method provided in an embodiment of the present application;

[0037] Figure 4 is a schematic flow chart of another vehicle control method provided in an embodiment of the present application;

[0038] Figure 5 is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0039] Figure 6 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0041] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0042] With the widespread application of IBC system, the response speed of vehicle braking has been improved. IBC system controls the operation of servo motor to drive ball screw and planetary gear to push piston cylinder to build brake pressure. In actual application, when the driver steps on the brake pedal, the operation of servo motor, the meshing between components and the power on and off of valves in the brake system will generate noise. Especially when the brake pedal is stepped on repeatedly and quickly, the servo motor switches forward and reverse frequently, and the noise increases significantly, affecting the user's driving experience.

[0043] In view of this, the present application provides a vehicle control method, when it is detected that the user operates the brake pedal of the vehicle, the displacement of the brake pedal is obtained, and the target speed of the servo motor is determined based on the displacement to control the operation of the servo motor. That is, in the scheme of the present application, the detection of the user's operation on the brake pedal is coupled with the speed of the servo motor; the servo motor speed is flexibly adjusted; because in this scheme, the speed of the servo motor can be flexibly adjusted based on the operation of the brake pedal, compared with the fixed speed of the servo motor in the prior art, the speed of the servo motor can be reduced in some cases; thereby reducing the noise of the braking system.

[0044] Combine the following Figure 1 A device of a vehicle brake structure is described.

[0045] Figure 1 Schematic diagram of a vehicle braking structure provided in an embodiment of the present application; Figure 1 As shown, the vehicle 100 includes a master cylinder displacement sensor 110 , an acceleration sensor 120 , a vehicle speed sensor 130 , a load sensor 140 , an ECU 150 , a servo motor 160 , a brake pressure regulator 170 , a wire-controlled boost valve 180 and a mechanical backup valve 190 .

[0046] The master cylinder displacement sensor 110 is used to detect the displacement change of the master cylinder, and can be used to detect the displacement of the brake pedal, and send the displacement data to the ECU 150;

[0047] The acceleration sensor 120 is used to detect the acceleration of the user stepping on the brake pedal and send the acceleration data to the ECU 150;

[0048] The vehicle speed sensor 130 is used to detect the vehicle's running speed and send a vehicle speed signal to the ECU 150;

[0049] The load sensor 140 is used to detect the load condition of the vehicle and send the load data to the ECU 150;

[0050] The ECU 150 is used to receive signals from various sensors, perform comprehensive processing and analysis, and issue instructions to various components to realize the operation of the vehicle;

[0051] The servo motor 160 is used to receive the command from the ECU and adjust the speed of the motor so that the brake pressure regulator 170 builds up the brake pressure;

[0052] The brake pressure regulator 170 is used to regulate the hydraulic pressure in the brake system;

[0053] The wire-controlled boost valve 180 is used to control the hydraulic pressure according to the received signal, and control the wheel cylinder in the brake system to brake;

[0054] The mechanical backup valve 190 is used to control the hydraulic pressure according to the received signal when the line-controlled boost valve 180 fails, so as to control the wheel cylinder in the brake system to brake.

[0055] Combine the following Figure 2 A vehicle control method provided in an embodiment of the present application is described in detail.

[0056] Figure 2 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application. Figure 2 As shown, the method 200 includes S210 to S230, and S210 to S230 are described in detail below.

[0057] S210: When detecting that a user operates a brake pedal in a vehicle, obtaining a displacement of the brake pedal.

[0058] In an embodiment of the present application, a master cylinder displacement sensor may be configured in the vehicle to detect a displacement signal of a brake pedal. If it is detected that the user has stepped on or released the brake pedal, the operation is detected and the displacement information of the brake pedal is obtained.

[0059] For example, when a user steps on the brake pedal, the master cylinder displacement sensor detects the displacement data of the pedal, converts the displacement data into an electronic signal, and sends it to the electronic control unit (ECU) or other control systems of the vehicle.

[0060] S220: Determine a target rotation speed of a servo motor in the vehicle based on the displacement of the brake pedal.

[0061] Among them, the servo motor is an electric motor in the vehicle braking system that is used to accurately control the position, speed and torque, and can quickly adjust its own motion state according to the input signal.

[0062] For example, after the driver steps on the brake pedal, the master cylinder displacement sensor detects that the displacement of the brake pedal is 10 mm, converts the displacement data into an electronic signal and sends it to the ECU. After receiving the displacement information, the ECU determines that the target speed of the servo motor is 300 revolutions per minute (RPM) based on the displacement information.

[0063] In one implementation, the method includes:

[0064] When the brake pedal is depressed, the target speed is determined based on the displacement of the brake pedal and the acceleration of the brake pedal; or when the brake pedal is released, the target speed is determined based on the displacement of the brake pedal.

[0065] Implementation method 1:

[0066] In an embodiment of the present application, if the driver steps on the brake pedal, the rotation speed of the servo motor is determined based on the displacement degree of the brake pedal and the acceleration of the brake pedal.

[0067] For example, the master cylinder displacement sensor can detect the displacement of the brake pedal and the acceleration when the brake pedal is pressed, or the vehicle can be equipped with an accelerator sensor for the brake pedal, which can obtain the displacement of the brake pedal and the acceleration when the driver presses the brake pedal. The sensor converts the corresponding data into electronic signals and sends them to the ECU. The ECU determines the speed of the servo motor based on the received data.

[0068] In the above scheme, when it is detected that the user has stepped on the brake pedal, the user's braking demand is judged based on the displacement of the brake pedal and the acceleration when it is stepped on, so that the target speed of the servo motor is determined according to the user's current braking demand, and a reasonable speed can be set while taking into account the braking performance.

[0069] Implementation method 2:

[0070] In an embodiment of the present application, if the driver releases the brake pedal, the rotation speed of the servo motor is determined based on the displacement degree of the brake pedal.

[0071] Exemplarily, when the driver releases the brake pedal, the master cylinder displacement sensor detects the displacement of the brake pedal, and the sensor converts the corresponding data into an electronic signal and sends it to the ECU. The ECU determines the rotation speed of the servo motor based on the received data.

[0072] In the above scheme, when it is detected that the user releases the brake pedal, the rotation speed of the servo motor is determined in combination with the return displacement of the brake pedal, and the state of the braking system is restored according to the situation. The braking drag force can be adjusted to enhance the user's driving experience.

[0073] In one implementation, the method includes:

[0074] When the operation of the brake pedal is to press the brake pedal, if the displacement of the brake pedal is less than a first preset displacement and the acceleration of the brake pedal is less than the preset acceleration, the first speed is determined as the target speed; if the displacement of the brake pedal is greater than or equal to the first preset displacement, and / or the acceleration of the brake pedal is less than the preset acceleration, the second speed is determined as the target speed.

[0075] Among them, the second rotational speed is greater than the first rotational speed; the first preset displacement, the preset acceleration, the first rotational speed and the second rotational speed may be calibrated before the vehicle leaves the factory.

[0076] For example, the master cylinder displacement sensor detects that the displacement of the brake pedal is 5 mm, and detects that the acceleration of the brake pedal is 1.5 m / s. 2 The sensor sends the displacement data and acceleration data to the ECU in the form of electronic signals. The ECU compares these data with the first preset displacement (such as 10mm) and the preset acceleration (such as 2m / s 2 ) is compared and it is found that the displacement is less than the first preset displacement and the acceleration is less than the preset acceleration. At this time, the first speed (such as 300RPM) is determined as the target speed.

[0077] For example, the master cylinder displacement sensor detects that the displacement of the brake pedal is 15 mm, and detects that the acceleration of the brake pedal is 2.5 m / s. 2 The sensor sends the displacement data and acceleration data to the ECU in the form of electronic signals. The ECU compares these data with the first preset displacement (such as 10mm) and the preset acceleration (such as 2m / s 2 ) is compared and it is found that the displacement is greater than the first preset displacement and the acceleration is greater than the preset acceleration. At this time, the second speed (such as 600RPM) is determined as the target speed.

[0078] For example, the master cylinder displacement sensor detects that the displacement of the brake pedal is 5 mm, and detects that the acceleration of the brake pedal is 2.5 m / s. 2 The sensor sends the displacement data and acceleration data to the ECU in the form of electronic signals. The ECU compares these data with the first preset displacement (such as 10mm) and the preset acceleration (such as 2m / s 2 ) is compared and it is found that the displacement is less than the first preset displacement and the acceleration is greater than the preset acceleration. At this time, the second speed (such as 600RPM) is determined as the target speed.

[0079] For example, the master cylinder displacement sensor detects that the displacement of the brake pedal is 15 mm, and detects that the acceleration of the brake pedal is 1.5 m / s. 2 The sensor sends the displacement data and acceleration data to the ECU in the form of electronic signals. The ECU compares these data with the first preset displacement (such as 10mm) and the preset acceleration (such as 2m / s 2 ) is compared and it is found that the displacement is greater than the first preset displacement and the acceleration is less than the preset acceleration. At this time, the second speed (such as 600RPM) is determined as the target speed.

[0080] It should be understood that the above is an example of the first preset displacement and the preset acceleration, which can be set differently by professionals in this field according to specific requirements. It is only an illustrative description here without specific limitation.

[0081] In the above scheme, when the operation of the brake pedal is to step on it, the target speed of the servo motor is adjusted based on the displacement and acceleration of the brake pedal. When the displacement of the brake pedal is less than the first preset displacement, and the acceleration is less than the preset acceleration, it can be determined that the current state is a non-emergency braking situation, and there is no need to establish a large braking force at this time. Controlling the servo motor to run at a lower speed can reduce the noise of the motor. Since the speed of the servo motor is reduced, the speed at which the piston in the brake system pushes the brake fluid is slowed down, so that the process of establishing hydraulic pressure is slowed down, thereby reducing the noise during the braking process. When the displacement of the brake pedal is greater than or equal to the first preset displacement, and / or the acceleration is less than the preset acceleration, it can be determined that the driver wants to brake quickly, and the vehicle needs a large and fast braking force. At this time, the servo motor is controlled to operate at a higher speed to ensure that the brake system can quickly establish braking force and ensure driving safety.

[0082] In one implementation, the method further includes:

[0083] Based on the target information, a first preset displacement and a preset acceleration are determined.

[0084] The target information includes at least one of the current speed of the vehicle, the current load of the vehicle and the road condition.

[0085] In an embodiment of the present application, the first preset displacement and the preset acceleration may be determined according to the current speed of the vehicle, the current load condition of the vehicle, or the current driving road condition.

[0086] For example, the first preset displacement may be negatively correlated with the current vehicle speed. When the vehicle is traveling at high speed, from the perspective of increasing the braking distance, a smaller first preset distance may be set when the vehicle speed is high. At this time, the driver only needs a smaller pedal displacement to trigger a larger braking force. For example, when the vehicle speed is 30 km / h, the first preset displacement may be 15 mm, and when the vehicle speed is 120 km / h, the first preset displacement may be 7 mm.

[0087] For example, the preset acceleration may be positively correlated with the current vehicle speed to ensure that the braking system can provide braking force more quickly when driving at high speed to ensure safe deceleration. For example, when the vehicle speed is 30 km / h, the preset acceleration may be 1.5 m / s 2 When the vehicle speed is 120km / h, the preset acceleration can be 3.5m / s 2 .

[0088] For example, the first preset displacement and the preset acceleration may be negatively correlated with the current load. Since a heavier load may increase the braking distance, the heavier the load, the smaller the first preset displacement and the preset acceleration. For example, when the current load of the vehicle is 300kg, the first preset displacement may be 15mm, and the preset acceleration may be 2m / s. 2 ; When the current load of the vehicle is 600kg, the first preset displacement can be 10mm and the preset acceleration can be 1.5m / s 2 .

[0089] Optionally, in some embodiments, the braking process may be controlled more smoothly under heavy load conditions to prevent vehicle instability during emergency braking. The first preset displacement and the preset acceleration may be positively correlated with the current load.

[0090] It should be understood that the above is an example of the first preset displacement and the preset acceleration, which can be set differently by professionals in this field according to specific requirements. It is only an illustrative description here without specific limitation.

[0091] In the above scheme, by obtaining information such as the vehicle's current speed, load condition, and road condition, the first preset displacement and preset acceleration can be dynamically adjusted based on this information, so that the vehicle's braking system can better adapt to different driving conditions, thereby ensuring the user's driving safety.

[0092] In one implementation, the method includes:

[0093] When the operation of the brake pedal is to release the brake pedal, if the displacement of the brake pedal is less than the second preset displacement, the third speed is determined as the target speed; if the displacement of the brake pedal is greater than or equal to the second preset displacement, the fourth speed is determined as the target speed.

[0094] The fourth speed is greater than the third speed; the third speed and the fourth speed may be calibrated before the vehicle leaves the factory.

[0095] Exemplarily, the master cylinder displacement sensor detects that the brake pedal is released and detects that the displacement of the brake pedal is 5 mm, which is less than the second preset displacement (such as 15 mm). At this time, the third speed (such as 200 RPM) is determined as the target speed.

[0096] Exemplarily, the master cylinder displacement sensor detects that the brake pedal is released and detects that the displacement of the brake pedal is 20 mm, which is less than the second preset displacement (such as 15 mm). At this time, the fourth speed (such as 400 RPM) is determined as the target speed.

[0097] Optionally, the second speed may be equal to the fourth speed or may not be equal to the fourth speed; similarly, the first speed may be equal to the third speed or may not be equal to the third speed, and different settings may be made by professional and technical personnel in this field according to specific circumstances.

[0098] It should be noted that when the brake pedal is pressed, the rotation direction of the servo motor is forward, and when the brake pedal is released, the rotation direction of the servo motor is reverse.

[0099] In the above scheme, when the brake pedal is released, if the displacement distance of the released brake pedal is small, the servo motor is controlled to rotate in the reverse direction at a lower speed, which can slow down the reverse switching and friction between mechanical parts and reduce noise and vibration. If the displacement distance of the released brake pedal is large, the servo motor is controlled to rotate in the reverse direction at a higher speed, which can quickly release the braking state, ensure that the vehicle returns to normal driving in a short time, reduce drag and power interruption, and improve the user's driving experience.

[0100] S230: Based on the target speed, control the operation of the servo motor.

[0101] Exemplarily, the ECU determines that the target speed is 1000RPM based on the data sent by the master cylinder displacement sensor or the brake pedal displacement sensor and the acceleration sensor, and the ECU sends the speed adjustment instruction to the drive control module of the servo motor. After receiving the speed adjustment instruction, the drive control module of the servo motor adjusts the speed of the servo motor to reach 1000RPM, thereby driving the ball screw to rotate, pushing the vehicle's brake master cylinder piston, and establishing braking pressure.

[0102] In one implementation, the method further includes:

[0103] The current position of the brake pedal is obtained; if the current position is a preset position, the current state of the target valve in the brake system is determined based on the duration that the brake pedal is in the preset position.

[0104] Among them, the target valve includes a first valve and a second valve; the first valve is used to control the brake wheel cylinder in the braking system for braking; the second valve is used to control the brake wheel cylinder in the braking system for braking when the first valve fails; the first valve can be a wire-controlled boost valve; the second valve can be a mechanical backup valve; the preset position is the zero position to which the brake pedal returns; the current state is a power-on state or a power-off state; the brake wheel cylinder can be a hydraulic brake wheel cylinder, which usually includes planetary gears, pistons, sealing rings, springs, wheel cylinder housings, push rods and other components, and the piston can be pushed by hydraulic pressure to enable the piston to further push the brake pad or brake shoe to contact the brake disc or brake drum, thereby generating friction and achieving braking.

[0105] Exemplarily, if it is detected that the brake pedal returns to the zero position, the current states of the wire-controlled boost valve and the mechanical backup valve are determined based on the duration of the brake pedal returning to the zero position.

[0106] In the above scheme, the current state of the target valve in the braking system is determined by obtaining the current position of the brake pedal and based on the duration of the current position in the preset position. When the brake pedal is in a specific preset position for a period of time, the on-off state of the valve can be dynamically adjusted according to the situation to achieve precise braking control.

[0107] In one implementation, the method includes:

[0108] If the brake pedal is in the preset position for a duration less than the preset time, the current state of the target valve is determined to be the power-on state; if the brake pedal is in the preset position for a duration greater than or equal to the preset time, the current state of the target valve is determined to be the power-off state.

[0109] Exemplarily, when the brake pedal is released and returns to zero position, the IBC control system detects the duration of the brake pedal returning to zero position. If the driver is not detected pressing the brake pedal within a preset time (such as 10 seconds), the target valve is controlled to be de-energized.

[0110] Exemplarily, when the brake pedal is released and returns to the zero position, the IBC control system detects the duration of the brake pedal returning to the zero position. If the driver is detected to have stepped on the brake pedal within a preset time (such as 10 seconds), the control target valve remains energized.

[0111] Optionally, in one embodiment, the position of the brake pedal can be detected by a brake pedal displacement sensor or a master cylinder displacement sensor, and when it is detected that it has returned to the zero position, a brake pedal return to zero position signal is sent to the ECU. After the ECU receives the signal, if it does not detect a signal from the sensor indicating that the driver has stepped on the brake pedal within a preset time, a power-off signal is sent to a target valve control module in the IBC system, and the target valve control module controls the target valve to cut off power.

[0112] In an embodiment of the present application, by detecting the time that the brake pedal stays in a preset position, if the continuous stay time is short, that is, the driver steps on the brake pedal again within the preset time, the target valve remains energized, avoiding the noise caused by repeated power-off and power-on of the target valve, and can quickly respond to braking needs, thereby improving the user's driving experience; if the continuous stay time is long, it is judged that the driver will not take braking operations for a short time, and the target valve is controlled to be powered off, which can save energy consumption of the braking system.

[0113] In the above embodiment, when it is detected that the user operates the brake pedal of the vehicle, the displacement of the brake pedal is obtained, and the target speed of the servo motor is determined based on the displacement to control the operation of the servo motor. That is, in the solution of the present application, the detection of the user's operation on the brake pedal is coupled with the speed of the servo motor; the servo motor speed is flexibly adjusted; because in this solution, the speed of the servo motor can be flexibly adjusted based on the operation of the brake pedal, compared with the fixed speed of the servo motor in the prior art, the speed of the servo motor can be reduced in some cases; thereby reducing the noise of the braking system.

[0114] Combine the following Figure 3 Another vehicle control method provided in an embodiment of the present application is illustrated by way of example.

[0115] Figure 3 is a schematic flow chart of another vehicle control method provided in an embodiment of the present application; Figure 3 As shown, the method 300 includes S301 to S316, and S301 to S316 are described in detail below.

[0116] S301: Detecting the user's operation on the brake pedal.

[0117] Exemplarily, when a user steps on the brake pedal, a brake pedal displacement sensor or a master cylinder displacement sensor detects displacement data of the pedal, converts the displacement data into an electronic signal, and sends it to the vehicle's electronic control unit (ECU) or other vehicle control systems.

[0118] Optionally, the implementation of S301 can refer to Figure 2 The relevant description of the implementation method in S210 will not be repeated here.

[0119] S302, detecting whether the user's operation on the brake pedal is to step on the brake pedal; if so, executing S303; if not, executing S308.

[0120] In an embodiment of the present application, if it is detected that the user's operation on the brake pedal is to press down, it means that the user has a braking demand, and further combined with the displacement and acceleration of the brake pedal to determine whether the braking demand is urgent. The specific implementation method is shown in S303; if it is detected that the user's operation on the brake pedal is not to press down, then it is determined whether the drag force needs to be adjusted based on the release displacement of the brake pedal by the user. The specific implementation method is shown in S308.

[0121] Optionally, the implementation of S302 can refer to Figure 2 The relevant description of the implementation method in S220 will not be repeated here.

[0122] S303: Obtain the displacement and acceleration of the brake pedal.

[0123] Exemplarily, a brake pedal displacement sensor or a master cylinder displacement sensor receives the displacement data of the brake pedal, an acceleration sensor detects the acceleration of the brake pedal being depressed, and the sensor sends the data to the ECU in the form of an electrical signal.

[0124] Optionally, the implementation of S303 can refer to Figure 2 The relevant description of the implementation method in S210 will not be repeated here.

[0125] S304: Is the displacement of the brake pedal less than a first preset displacement and the acceleration less than a preset acceleration? If so, execute S305; if not, execute S306.

[0126] In the embodiment of the present application, if it is detected that the displacement of the brake pedal is less than the first preset displacement and the acceleration is less than the preset acceleration, it is considered that the braking demand is not urgent, and the first speed is determined as the target speed at this time. The specific implementation method is shown in S305; if it is detected that the displacement of the brake pedal is greater than or equal to the first preset displacement or the acceleration is greater than the preset acceleration, it is considered that the braking demand is urgent, and the second speed is determined as the target speed at this time. The specific implementation method is shown in S306;

[0127] Optionally, the implementation of S305 can refer to Figure 2 The relevant description of the implementation method in S220 will not be repeated here.

[0128] S305: Determine the first rotation speed as the target rotation speed.

[0129] Exemplarily, the ECU determines a preset first speed (such as 500RPM) corresponding to the information sent by the relevant sensors of the brake pedal based on these data information, determines the first speed as the target speed, and sends it to the drive control module of the servo motor.

[0130] Optionally, the implementation of S305 can refer to Figure 2 The relevant description of the implementation method in S220 will not be repeated here.

[0131] S306: Determine the second rotation speed as the target rotation speed.

[0132] Exemplarily, the ECU determines the corresponding preset second speed (such as 800RPM) based on the information sent by the relevant sensors of the brake pedal, determines the second speed as the target speed, and sends it to the drive control module of the servo motor.

[0133] Optionally, the implementation of S306 can refer to Figure 2The relevant description of the implementation method in S220 will not be repeated here.

[0134] S307: Control the operation of the servo motor based on the target speed.

[0135] Exemplarily, the ECU determines that the target speed is 1000RPM based on the data sent by the master cylinder displacement sensor or the brake pedal displacement sensor and the acceleration sensor, and the ECU sends the speed adjustment instruction to the drive control module of the servo motor. After receiving the speed adjustment instruction, the drive control module of the servo motor adjusts the speed of the servo motor to reach 1000RPM, thereby driving the ball screw to rotate, pushing the vehicle's brake master cylinder piston, and establishing braking pressure.

[0136] Optionally, the implementation of S307 can refer to Figure 2 The relevant description of the implementation method in S230 will not be repeated here.

[0137] Optionally, after executing S307, the user's operation on the brake pedal may continue to be detected. If it is detected that the user operates the brake pedal, the specific implementation method is shown in S301.

[0138] S308: Obtain the displacement of the brake pedal.

[0139] Exemplarily, a brake pedal displacement sensor or a master cylinder displacement sensor receives the displacement data of the brake pedal, and the sensor sends the data to the ECU in the form of an electrical signal.

[0140] Optionally, the implementation of S308 can refer to Figure 2 The relevant description of the implementation method in S210 will not be repeated here.

[0141] S309, detecting whether the displacement of the brake pedal is less than a second preset displacement; if so, executing S310; if not, executing S311.

[0142] In the embodiment of the present application, if it is detected that the displacement of the brake pedal is less than the second preset displacement, the third speed is determined as the target speed at this time, and the specific implementation method is shown in S310; if it is detected that the displacement of the brake pedal is greater than or equal to the second preset displacement, the fourth speed is determined as the target speed at this time, and the specific implementation method is shown in S311;

[0143] Optionally, the implementation of S309 can be found in Figure 2 The relevant description of the implementation method in S220 will not be repeated here.

[0144] S310: Determine the third speed as the target speed.

[0145] Exemplarily, the ECU determines a corresponding preset third speed (such as 400RPM) based on information sent by relevant sensors of the brake pedal, determines the third speed as the target speed, and sends it to the drive control module of the servo motor.

[0146] Optionally, the implementation of S310 can refer to Figure 2 The relevant description of the implementation method in S220 will not be repeated here.

[0147] S311. Determine the fourth speed as the target speed.

[0148] Exemplarily, the ECU determines the corresponding preset fourth speed (such as 800RPM) based on the information sent by the relevant sensors of the brake pedal, determines the fourth speed as the target speed, and sends it to the drive control module of the servo motor.

[0149] Optionally, the implementation of S311 can be found in Figure 2 The relevant description of the implementation method in S220 will not be repeated here.

[0150] S312: Control the operation of the servo motor based on the target speed.

[0151] Optionally, the implementation of S312 can refer to Figure 3 The relevant description of the implementation method in S306 will not be repeated here.

[0152] Optionally, after executing S312, the user's operation on the brake pedal may continue to be detected. If it is detected that the user operates the brake pedal, the specific implementation method is shown in S301.

[0153] S313, check whether the brake pedal is in the preset position; if so, execute S314; if not, execute S313 again after a certain period of time.

[0154] In an embodiment of the present application, if the brake pedal is detected to be in the zero position, the duration of the brake pedal being in the zero position is then detected. See S314 for the specific implementation method. If the brake pedal is not detected to be in the zero position, the brake pedal is re-detected after a certain period of time to see whether it is in the zero position. See S313 for the specific implementation method.

[0155] Optionally, in one implementation, if the brake pedal is not detected to be in the zero position, the user's operation on the brake pedal is redetected; if the user's operation on the brake pedal is detected, the vehicle is controlled based on the operation, that is, if the brake pedal is not detected to be in the zero position, execute S301.

[0156] Optionally, the implementation of S313 can be found in Figure 2The relevant description of the implementation method in S230 will not be repeated here.

[0157] S314: Whether the duration of the brake pedal being in the preset position is less than the preset duration; if so, execute S316; if not, execute S315.

[0158] In an embodiment of the present application, if it is detected that the brake pedal is in the zero position for a duration less than a preset duration, the target valve is controlled to remain energized. See S316 for the specific implementation method; if it is detected that the brake pedal is in the zero position for a duration greater than or equal to the preset duration, the target valve is controlled to be de-energized. See S315 for the specific implementation method.

[0159] Optionally, the implementation of S314 can refer to Figure 2 The relevant description of the implementation method in S230 will not be repeated here.

[0160] S315, control the target valve to cut off power.

[0161] For example, if it is detected that the brake pedal is at the zero position for a duration (15 seconds) greater than a preset duration (10 seconds), the ECU controls the target valves (mechanical backup valve and wire-controlled boost valve) to cut off power to reduce energy consumption.

[0162] Optionally, the implementation of S315 can be found in Figure 2 The relevant description of the implementation method in S230 will not be repeated here.

[0163] Optionally, after executing S315, the user's operation on the brake pedal may continue to be detected. If it is detected that the user operates the brake pedal, see S301 for a specific implementation method.

[0164] S316, control the target valve to be energized.

[0165] For example, if it is detected that the brake pedal is in the zero position for a duration (3 seconds) that is less than the preset duration (10 seconds), the ECU controls the target valve (mechanical backup valve and wire-controlled boost valve) to be energized to ensure that the pressure in the braking system is maintained at an appropriate level so that it can respond quickly when braking again in a short period of time, and no noise will be generated due to frequent power off and on.

[0166] Optionally, the implementation of S316 can be found in Figure 2 The relevant description of the implementation method in S230 will not be repeated here.

[0167] Optionally, after executing S316, the user's operation on the brake pedal may continue to be detected. If it is detected that the user operates the brake pedal, the specific implementation method is shown in S301.

[0168] In the above embodiment, when it is detected that the user operates the brake pedal of the vehicle, the displacement of the brake pedal is obtained, and the target speed of the servo motor is determined based on the displacement to control the operation of the servo motor. That is, in the scheme of the present application, the detection of the user's operation on the brake pedal is coupled with the speed of the servo motor; the servo motor speed is flexibly adjusted; because in this scheme, the speed of the servo motor can be flexibly adjusted based on the operation of the brake pedal, compared with the fixed speed of the servo motor in the prior art, the speed of the servo motor can be reduced in some cases; thereby reducing the noise of the braking system.

[0169] Combine the following Figure 4 Another vehicle control method provided in an embodiment of the present application is illustrated by way of example.

[0170] Figure 4 is a schematic flow chart of another vehicle control method provided in an embodiment of the present application; Figure 4 As shown, the embodiment of the present application takes the process of detecting that a user presses the brake pedal, releases the brake pedal, and finally the brake pedal returns to zero position as an example. Method 400 includes S401 to S412, and S401 to S412 are described in detail below.

[0171] S401: Detect that a user steps on the brake pedal.

[0172] Exemplarily, when a user steps on the brake pedal, a brake pedal displacement sensor or a master cylinder displacement sensor detects displacement data of the pedal, converts the displacement data into an electronic signal, and sends it to the vehicle's electronic control unit (ECU) or other vehicle control systems.

[0173] Optionally, the implementation of S401 can refer to Figure 2 The relevant description of the implementation method in S210 will not be repeated here.

[0174] S402, detecting whether the displacement of the brake pedal is less than a first preset displacement and the acceleration is less than a preset acceleration; if so, executing S403; if not, executing S404.

[0175] In the embodiment of the present application, when it is detected that the brake pedal is stepped on, if it is detected that the displacement of the brake pedal is less than the first preset displacement and the acceleration is less than the preset acceleration, it is considered that the braking demand is not urgent, and the first speed is determined as the target speed at this time. The specific implementation method is shown in S403; if it is detected that the displacement of the brake pedal is greater than or equal to the first preset displacement or the acceleration is greater than the preset acceleration, it is considered that the braking demand is urgent, and the second speed is determined as the target speed at this time. The specific implementation method is shown in S404;

[0176] Optionally, the implementation of S402 can refer to Figure 2 The relevant description of the implementation method in S220 will not be repeated here.

[0177] S403: Control the servo motor based on the first rotation speed.

[0178] Exemplarily, the ECU determines a preset first speed (such as 500RPM) corresponding to the information sent by the relevant sensors of the brake pedal based on these data information, determines the first speed as the target speed, and sends it to the drive control module of the servo motor. After receiving the speed adjustment instruction, the drive control module of the servo motor adjusts the speed of the servo motor to reach the first speed, thereby driving the ball screw to rotate, pushing the vehicle's brake master cylinder piston, and establishing braking pressure.

[0179] Optionally, the implementation of S403 can refer to Figure 2 The relevant description of the implementation method in S230 will not be repeated here.

[0180] S404: Control the servo motor based on the second rotation speed.

[0181] Exemplarily, the ECU determines a corresponding preset second speed (such as 800RPM) based on information sent by relevant sensors of the brake pedal, determines the second speed as the target speed, and sends it to the drive control module of the servo motor. After receiving the speed adjustment instruction, the drive control module of the servo motor adjusts the speed of the servo motor to reach the second speed, thereby driving the ball screw to rotate, pushing the vehicle's brake master cylinder piston, and establishing braking pressure.

[0182] Optionally, the implementation of S404 can refer to Figure 2 The relevant description of the implementation method in S230 will not be repeated here.

[0183] S405: Detect that the user releases the brake pedal.

[0184] Exemplarily, when the user releases the brake pedal, the brake pedal displacement sensor or the master cylinder displacement sensor detects the displacement data of the pedal, converts the displacement data into an electronic signal, and sends it to the vehicle's Electronic Control Unit (ECU) or other vehicle control systems.

[0185] Optionally, the implementation of S405 can refer to Figure 2 The relevant description of the implementation method in S210 will not be repeated here.

[0186] S406, detecting whether the displacement of the brake pedal is less than a second preset displacement; if so, executing S407; if not, executing S408.

[0187] In the embodiment of the present application, when it is detected that the user releases the brake pedal, if it is detected that the displacement of the brake pedal is less than the second preset displacement, the third speed is determined as the target speed at this time, and the specific implementation method is shown in S407; if it is detected that the displacement of the brake pedal is greater than or equal to the second preset displacement, the fourth speed is determined as the target speed at this time, and the specific implementation method is shown in S408;

[0188] Optionally, the implementation of S406 can refer to Figure 2 The relevant description of the implementation method in S220 will not be repeated here.

[0189] S407 , controlling the servo motor based on the third speed.

[0190] Exemplarily, the ECU determines a corresponding preset third speed (such as 400RPM) based on information sent by relevant sensors of the brake pedal, determines the third speed as the target speed, and sends it to the drive control module of the servo motor. After receiving the speed adjustment instruction, the drive control module of the servo motor adjusts the speed of the servo motor to reverse and reach the third speed, thereby driving the ball screw to rotate in the opposite direction, causing the vehicle's master cylinder piston to retract and release the braking pressure.

[0191] Optionally, the implementation of S407 can be found in Figure 2 The relevant description of the implementation method in S220 will not be repeated here.

[0192] S408 , controlling the servo motor based on the fourth rotation speed.

[0193] Exemplarily, the ECU determines a corresponding preset fourth speed (such as 800RPM) based on information sent by relevant sensors of the brake pedal, determines the fourth speed as the target speed, and sends it to the drive control module of the servo motor. After receiving the speed adjustment instruction, the drive control module of the servo motor adjusts the speed of the servo motor to reverse and reach the fourth speed, thereby driving the ball screw to rotate in the opposite direction, causing the vehicle's master cylinder piston to retract and release the braking pressure.

[0194] Optionally, the implementation of S408 can refer to Figure 2 The relevant description of the implementation method in S220 will not be repeated here.

[0195] S409: Detect that the brake pedal is in a preset position.

[0196] Exemplarily, the position of the brake pedal is detected by a master cylinder displacement sensor or a brake pedal displacement sensor, and the position is sent to the ECU. The ECU determines whether the current position is consistent with the preset position. If the detection brake pedal is in the preset position, a signal is sent to the timing module to instruct the timing module to start timing.

[0197] Optionally, the implementation of S409 can be found in Figure 2 The relevant description of the implementation method in S210 will not be repeated here.

[0198] S410: Detect whether the duration of the brake pedal being in the preset position is less than the preset duration. If yes, execute S411; if no, execute S412.

[0199] In an embodiment of the present application, if it is detected that the brake pedal is in the zero position for a duration less than a preset duration, the target valve is controlled to remain energized. See S411 for the specific implementation method; if it is detected that the brake pedal is in the zero position for a duration greater than or equal to the preset duration, the target valve is controlled to be de-energized. See S412 for the specific implementation method.

[0200] Optionally, the implementation of S410 can refer to Figure 2 The relevant description of the implementation method in S230 will not be repeated here.

[0201] S411, control the target valve to be energized.

[0202] For example, if it is detected that the brake pedal is at the zero position for a duration (15 seconds) greater than a preset duration (10 seconds), the ECU controls the target valves (mechanical backup valve and wire-controlled boost valve) to cut off power to reduce energy consumption.

[0203] Optionally, the implementation of S411 can be found in Figure 2 The relevant description of the implementation method in S230 will not be repeated here.

[0204] S412, control the target valve to cut off power.

[0205] For example, if it is detected that the brake pedal is in the zero position for a duration (3 seconds) that is less than the preset duration (10 seconds), the ECU controls the target valve (mechanical backup valve and wire-controlled boost valve) to be energized to ensure that the pressure in the braking system is maintained at an appropriate level so that it can respond quickly when braking again in a short period of time, and no noise will be generated due to frequent power off and on.

[0206] Optionally, the implementation of S412 can refer to Figure 2 The relevant description of the implementation method in S230 will not be repeated here.

[0207] In the above embodiment, when it is detected that the user operates the brake pedal of the vehicle, the displacement of the brake pedal is obtained, and the target speed of the servo motor is determined based on the displacement to control the operation of the servo motor. That is, in the scheme of the present application, the detection of the user's operation on the brake pedal is coupled with the speed of the servo motor; the servo motor speed is flexibly adjusted; because in this scheme, the speed of the servo motor can be flexibly adjusted based on the operation of the brake pedal, compared with the fixed speed of the servo motor in the prior art, the speed of the servo motor can be reduced in some cases; thereby reducing the noise of the braking system.

[0208] Combination of the above Figures 1 to 4 A vehicle control method provided by an embodiment of the present application is described in detail; Figure 5 and Figure 6 The device embodiments of the present application are described in detail. It should be understood that the device in the embodiments of the present application can execute the various methods of the aforementioned embodiments of the present application, that is, the specific working processes of the following various products can refer to the corresponding processes in the aforementioned method embodiments.

[0209] Figure 5 5 is a schematic diagram of a vehicle control device provided in an embodiment of the present application, wherein the device 500 includes an acquisition module 510 and a processing module 520 .

[0210] The acquisition module is used to acquire the displacement of the brake pedal when detecting the user's operation on the brake pedal in the vehicle;

[0211] The processing module is used to determine a target speed of a servo motor in the vehicle based on the displacement of the brake pedal; and control the operation of the servo motor based on the target speed.

[0212] Optionally, as an embodiment, the processing module 520 is specifically configured to:

[0213] When the brake pedal is depressed, the target speed is determined based on the displacement of the brake pedal and the acceleration of the brake pedal; or when the brake pedal is released, the target speed is determined based on the displacement of the brake pedal.

[0214] Optionally, as an embodiment, the processing module 520 is specifically configured to:

[0215] If the displacement of the brake pedal is less than a first preset displacement, and the acceleration of the brake pedal is less than a preset acceleration, the first speed is determined as the target speed; if the displacement of the brake pedal is greater than or equal to the first preset displacement, and / or the acceleration of the brake pedal is less than the preset acceleration, the second speed is determined as the target speed; wherein the second speed is greater than the first speed.

[0216] Optionally, as an embodiment, the processing module 520 is specifically configured to:

[0217] If the displacement of the brake pedal is less than the second preset displacement, the third speed is determined as the target speed; if the displacement of the brake pedal is greater than or equal to the second preset displacement, the fourth speed is determined as the target speed; wherein the fourth speed is greater than the third speed.

[0218] Optionally, as an embodiment, the processing module 520 is further configured to:

[0219] Obtain the current position of the brake pedal; if the current position is a preset position, determine the current state of the target valve in the braking system based on the duration that the brake pedal is in the preset position; wherein the target valve includes a first valve and a second valve; the first valve is used to control the wheel cylinder in the braking system for braking; the second valve is used to control the wheel cylinder in the braking system for braking when the first valve fails.

[0220] Optionally, as an embodiment, the processing module 520 is specifically configured to:

[0221] If the duration is less than the preset duration, it is determined that the current state of the target valve is the power-on state; if the duration is greater than or equal to the preset duration, it is determined that the current state of the target valve is the power-off state.

[0222] Optionally, as an embodiment, the processing module 520 is further configured to:

[0223] Based on the target information, a first preset displacement and a preset acceleration are determined; wherein the target information includes at least one of the current vehicle speed, the current vehicle load and the road condition.

[0224] It should be noted that the above-mentioned vehicle control device 500 is embodied in the form of a functional unit. The term "module" here can be implemented in the form of software and / or hardware, and is not specifically limited to this.

[0225] For example, a "module" may be a software program, a hardware circuit, or a combination of the two that implements the above functions. The hardware circuit may include an application-specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combined logic circuit, and / or other suitable components that support the described functions.

[0226] Therefore, the units of each example described in the embodiments of the present application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0227] Figure 6 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0228] Exemplarily, vehicle 600 includes: a processor 610 , a memory 620 , and executable program code 630 .

[0229] Exemplarily, the vehicle 600 includes one or more processors 610, which can support the vehicle 600 to implement the vehicle generation method in the method embodiment. The processor 610 can be a general-purpose processor or a special-purpose processor. For example, the processor 610 can be a central processing unit (CPU), a digital signal processor (DSP), an application-specific integrated circuit, a field programmable gate array (FPGA), or other programmable logic devices, such as discrete gates, transistor logic devices, or discrete hardware components.

[0230] Exemplarily, the processor 610 may be used to control the vehicle 600, execute software programs, and process data of the software programs. The vehicle 600 may also include a communication unit to implement input (reception) and output (transmission) of signals.

[0231] Exemplarily, the vehicle 600 may include one or more memories 620 on which executable program code 630 is stored. The executable program code 630 can be executed by the processor 610 to generate instructions, so that the processor 610 executes the generation method described in the above method embodiment according to the instructions.

[0232] Optionally, data may be stored in the memory 620. Optionally, the processor 610 may read data stored in the memory 620, which may be stored at the same storage address as the executable program code 630, or may be stored at a different storage address from the executable program code 630.

[0233] Exemplarily, the processor 610 and the memory 620 may be provided separately or integrated together, for example, integrated on a system on chip (System On Chip, SOC) of the terminal device.

[0234] Exemplarily, the memory 620 can be used to store relevant programs of the vehicle generation method provided in the embodiment of the present application, and the processor 620 can be used to call the executable program code 630 stored in the memory 620 when controlling the vehicle to execute the vehicle control method of the embodiment of the present application.

[0235] The present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle control method of any of the aforementioned embodiments.

[0236] Among them, computer-readable storage media may include but are not limited to any type of disk, including floppy disks, optical disks, digital versatile disks (Digital Video Disc, DVD), compact disc read-only memory (Compact Disc Read-Only Memory, CD-ROM), microdrives and magneto-optical disks, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable programmable read only memory (Electrically Erasable Programmable read only memory, EEPROM), dynamic random access memory (Dynamic Random Access Memory, DRAM), video random access memory (Video Random Access Memory, VRAM), flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0237] The present application also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a vehicle control method in the above-mentioned embodiment.

[0238] In addition, the electronic device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the electronic device may include a connected processor and a memory; wherein the memory is used to store instructions, and when the electronic device is running, the processor may call and execute instructions so that the chip executes a vehicle control method in the above-mentioned embodiments.

[0239] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in the present application are all used to execute the corresponding vehicle control method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding vehicle control method provided above, and will not be repeated here.

[0240] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0241] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, 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 interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0242] The above contents 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 included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: When detecting a user's operation on a brake pedal in a vehicle, obtaining a displacement of the brake pedal; determining a target speed of a servo motor in the vehicle based on the displacement of the brake pedal; Based on the target rotation speed, the servo motor is controlled to operate.

2. The method according to claim 1, characterized in that The step of determining a target rotation speed of a servo motor in the vehicle based on the displacement of the brake pedal comprises: When the operation of the brake pedal is an operation of stepping on the brake pedal, the target speed is determined based on the displacement of the brake pedal and the acceleration of the brake pedal; or When the operation of the brake pedal is an operation of releasing the brake pedal, the target rotation speed is determined based on the displacement of the brake pedal.

3. The method according to claim 2, characterized in that When the operation of the brake pedal is an operation of stepping on the brake pedal, determining the target speed based on the displacement of the brake pedal and the acceleration of the brake pedal includes: If the displacement of the brake pedal is less than a first preset displacement, and the acceleration of the brake pedal is less than a preset acceleration, determining the first rotation speed as the target rotation speed; If the displacement of the brake pedal is greater than or equal to a first preset displacement, and / or the acceleration of the brake pedal is less than a preset acceleration, a second rotational speed is determined as the target rotational speed; wherein the second rotational speed is greater than the first rotational speed.

4. The method according to claim 2, characterized in that: When the operation of the brake pedal is an operation of releasing the brake pedal, determining the target speed based on the displacement of the brake pedal includes: If the displacement of the brake pedal is less than the second preset displacement, determining the third speed as the target speed; If the displacement of the brake pedal is greater than or equal to the second preset displacement, a fourth speed is determined as the target speed; wherein the fourth speed is greater than the third speed.

5. The method according to any one of claims 1 to 4, characterized in that Also includes: Obtaining the current position of the brake pedal; If the current position is a preset position, the current state of the target valve in the braking system is determined based on the duration that the brake pedal is in the preset position; wherein the target valve includes a first valve and a second valve; the first valve is used to control the wheel cylinder in the braking system for braking; and the second valve is used to control the wheel cylinder in the braking system for braking when the first valve fails.

6. The method according to claim 5, characterized in that The determining of the current state of the target valve in the braking system based on the duration of the brake pedal being in the preset position includes: If the duration is less than a preset duration, determining that the current state of the target valve is a power-on state; If the duration is greater than or equal to the preset duration, it is determined that the current state of the target valve is a power-off state.

7. The method according to claim 3, characterized in that Also includes: Based on target information, the first preset displacement and the preset acceleration are determined; wherein the target information includes at least one of the current vehicle speed, the current load of the vehicle, and the road condition.

8. A vehicle control device, characterized in that: The device comprises: An acquisition module, configured to acquire the displacement of the brake pedal when detecting an operation of the brake pedal by a user in the vehicle; The processing module is used to determine the target speed of the servo motor in the vehicle based on the displacement of the brake pedal; and control the operation of the servo motor based on the target speed.

9. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 7 is implemented.

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