Automobile brake control method and device, controller, automobile and medium

Abstract

The invention discloses an automobile brake control method and device, a controller, an automobile and a medium, which are used for solving the problems that in the traditional scheme, an automobile body easily tilts back and forth, a brake nodding phenomenon is generated and the like. The method comprises: monitoring a driving state of a vehicle; according to the driving state, whether the vehicle is in non-emergency braking or not is judged; when non-emergency braking is judged, the vehicle is controlled to enter an intelligent parking braking function; the intelligent parking braking function comprises the steps that the output torque of a driving system is limited, the rear wheel braking torque is increased, and the front wheel braking torque is reduced. By means of the intelligent parking brake control function, the comfort and stability of parking brake of the whole automobile can be improved, the braking nodding phenomenon and parking rear wheel sound are reduced, the automobile body posture is improved when the automobile is parked, the automobile is parked more stably and comfortably, and the comfort and driving safety of a driver and passengers are improved.

Description

Technical Field

[0001] The invention relates to the field of automobile chassis braking, and in particular to an automobile braking control method, device, controller, automobile and medium. Background Art

[0002] The driving stability and ride comfort of a car are crucial to the safety and experience of the driver and passengers. The inventors have found that when a car encounters a traffic light or stops, the driver will often cause the car body to pitch forward and backward when the driver applies light braking to stop the car, resulting in a braking nodding phenomenon, which will cause the driver or passengers to feel dizzy and other discomfort. The existing technical solutions have problems such as uneven distribution of braking force, resulting in instability of the vehicle body during braking, reduced braking comfort and safety, etc. At the same time, the existing solutions often fail to coordinate the control of the power system, resulting in instability of the vehicle body during braking, affecting ride comfort. Summary of the invention

[0003] The present invention provides a vehicle braking control method, device, controller, vehicle and medium to solve the technical problem that the vehicle body is easily pitched forward and backward and a braking nodding phenomenon occurs in the traditional solution.

[0004] In a first aspect, a vehicle braking control method is provided, comprising:

[0005] Monitor the driving status of the vehicle;

[0006] According to the driving state, determining whether the vehicle is in non-emergency braking;

[0007] When it is determined to be non-emergency braking, controlling the vehicle to enter an intelligent parking brake function;

[0008] The intelligent parking brake function includes: limiting the output torque of the drive system, increasing the rear wheel braking torque and reducing the front wheel braking torque.

[0009] In one embodiment, limiting the output torque of the drive system includes:

[0010] The output torque of the drive system is reduced to a target output torque according to a pre-calibrated reduction speed.

[0011] In one embodiment, increasing the rear wheel braking torque includes:

[0012] Controlling the rear wheel braking torque to be smaller than the first torque and larger than the second torque;

[0013] The first torque is a first multiple of the rear wheel locking torque, the second torque is a second multiple of the rear wheel locking torque, and the first multiple is greater than the second multiple.

[0014] In one embodiment, increasing the rear wheel braking torque further comprises:

[0015] The torque increase slope of the rear wheel braking torque is controlled to be greater than a first calibrated minimum value and less than a first calibrated maximum value.

[0016] In one embodiment, reducing the front wheel braking torque includes:

[0017] Controlling the front wheel braking torque to be smaller than the third torque and larger than the fourth torque;

[0018] The third torque is a third multiple of the front wheel locking torque, the fourth torque is a fourth multiple of the front wheel locking torque, and the third multiple is greater than the fourth multiple.

[0019] In one embodiment, reducing the front wheel braking torque further includes:

[0020] The torque reduction slope of the front wheel braking torque is controlled to be greater than a second calibrated minimum value and less than a second calibrated maximum value.

[0021] In one embodiment, after controlling the vehicle to enter the intelligent parking brake function, the method further includes:

[0022] When the vehicle meets the exit condition of the intelligent parking brake function, controlling the vehicle to exit the intelligent parking brake function;

[0023] The exit condition includes any one of the following conditions:

[0024] The vehicle speed is less than a first preset vehicle speed;

[0025] The vehicle speed is greater than a second preset vehicle speed, and the brake pedal stroke increasing rate is greater than a preset increasing rate;

[0026] The vehicle speed is greater than the second preset vehicle speed, and the brake pedal stroke is greater than the preset pedal stroke.

[0027] In a second aspect, a controller is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the vehicle braking control method as described in any one of the above items when executing the computer program.

[0028] According to a third aspect, a car is provided, comprising the aforementioned controller.

[0029] In a fourth aspect, a computer-readable storage medium stores a computer program, wherein the computer program, when executed by a processor, implements the steps of the vehicle braking control method as described in any one of the above items.

[0030] In summary, the present invention provides a vehicle braking control method, device, controller, vehicle and medium, which monitors the driving state of the vehicle to determine whether the vehicle is not in non-emergency braking. When it is determined to be non-emergency braking, the vehicle is controlled to enter the intelligent parking brake function, wherein the intelligent parking brake function includes: limiting the output torque of the drive system, increasing the rear wheel braking torque and reducing the front wheel braking torque. The vehicle braking control method of the present invention not only improves driving safety, but also creates a safer, more stable and comfortable driving experience for drivers and passengers. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0032] Figure 1 It is a flow chart of a method for controlling an automobile intelligent braking in one embodiment of the present invention;

[0033] Figure 2 It is another schematic flow chart of an automobile intelligent braking control method in one embodiment of the present invention;

[0034] Figure 3 It is a structural schematic diagram of a controller in one embodiment of the present invention. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] The embodiment of the present invention mainly provides a method for controlling automobile braking, which is applied to various automobiles. The automobile is an automobile equipped with an intelligent parking brake control function. For example, the automobile can be equipped with a fast active suspension configuration that uses a motor system as a power source and realizes real-time adjustment of the vertical force of the suspension through a hydraulic system or a mechanical system. Moreover, the vehicle devices such as the lights, doors and windows, door locks, rearview mirrors, audio and video systems, and speakers of the entire vehicle are interconnected through a network. At the same time, it is equipped with functions such as a reversing camera or a reversing radar, automatic braking, automatic steering, and a vehicle auxiliary system. The automobile braking control method can be specifically configured to be implemented through a main controller or an independent controller of the automobile, and there is no specific limitation. The embodiment of the present invention provides a new automobile braking control method that can bring emotional interaction and novel experience to users. Among them, its independent control means for the front and rear wheels is a control method that has not been involved in traditional solutions. The following is a detailed description of an automobile braking control method provided by the present invention through various embodiments.

[0037] See also Figure 1 As shown, in one embodiment, a vehicle braking control method is provided, which mainly includes the following steps:

[0038] S10: Monitor the driving status of the vehicle.

[0039] During the driving process of the vehicle, the operation and status of the vehicle are understood by sensing, monitoring and analyzing the parameters and data related to the vehicle. There may be many specific parameters, which are not limited by the present invention. For example, in some embodiments, these parameters may include the speed of the vehicle, the depth of the accelerator pedal, the steering wheel angle, the gear position, the power torque, the brake pedal travel and the travel slope, etc. By monitoring and analyzing these data, the current driving status of the vehicle can be obtained, and it can be judged whether the driving status of the vehicle needs to take braking measures according to the actual situation of the vehicle.

[0040] It should be noted that the above parameters can be collected through, but not limited to, vehicle-mounted equipment, sensors, CAN networks and software systems, among which sensors may include vehicle speed sensors, acceleration sensors, brake pedal sensors, steering sensors, transmission sensors, body posture sensors and power system sensors, etc., which can obtain key parameters such as vehicle speed, accelerator pedal depth, steering wheel angle, gear position, power torque, brake pedal travel and travel slope in real time. By monitoring and analyzing these data, the current driving state of the vehicle and the driver's driving intention can be obtained, so that corresponding control strategies can be adopted.

[0041] S20: Determine whether the vehicle is in non-emergency braking according to the driving state.

[0042] After obtaining the driving status of the above-mentioned vehicle, the vehicle speed, accelerator pedal depth, steering wheel angle, gear position, power torque, brake pedal travel and travel slope and other parameters are analyzed to determine whether the vehicle is performing non-emergency braking. The specific judgment conditions are as follows:

[0043] As an embodiment, when the vehicle speed is less than 10km / h and the vehicle gear is in a non-reverse gear state, it indicates that the driver intends to brake. At this time, the system will obtain the vehicle speed information through the sensor or CAN network, and monitor whether the driver has stepped on the brake pedal and whether the rate of increase of the brake pedal stroke is less than the threshold value through the brake pedal sensor, so as to determine whether there is a braking demand. At the same time, the controller will monitor the brake pedal stroke and stroke slope in real time, that is, the value of the stroke increase or decrease in unit time, to analyze the driver's braking behavior. For example, the brake pedal stroke increases slowly in a short period of time, and the stroke slope is not large, which indicates that the driver is lightly braking the vehicle and does not need to perform emergency braking operations. In this embodiment, the vehicle speed is less than 10km / h, and the vehicle gear is in a non-reverse gear state, the accelerator pedal position is zero, the brake pedal stroke is greater than 10mm, and the driver lightly steps on the brake pedal to brake. By real-time monitoring of the brake pedal stroke and stroke slope, the brake pedal stroke rising rate is less than or equal to 15mm / s, and the brake pedal stroke falling rate is less than or equal to 25mm / s. The system will determine that the brake pedal stroke increases slowly in a short period of time, and the stroke slope is not large, which meets the conditions of non-emergency braking. Then, the intelligent parking brake control function will be activated, and the braking control unit will release the braking force on the front wheels and compensate the braking force on the rear wheels, thereby suppressing the pitch of the vehicle body, reducing the brake nodding phenomenon, and improving the comfort and safety of parking braking. The above specific values ​​are only for exemplary explanation, such as the number of vehicles can also be less than 15km / h, the brake pedal stroke can also be greater than 12mm, etc., and the present invention does not make specific limitations.

[0044] S30: When it is determined to be non-emergency braking, the vehicle is controlled to enter an intelligent parking brake function.

[0045] When the vehicle is judged as non-emergency braking based on the vehicle's driving state, this indicates that the vehicle is performing general light braking or deceleration to stop, rather than emergency braking. Based on the above driving state judgment conditions (such as the vehicle speed is less than 10km / h, the driver steps on the brake pedal, and the brake pedal travel increases slowly in a short period of time, and the travel slope is not large), the system determines that the vehicle does not need emergency braking at present.

[0046] In this embodiment, based on parameters such as vehicle speed and brake pedal travel, the system determines that the vehicle is in non-emergency braking, which meets the conditions of S20. Because the vehicle is in a low-speed driving state, the driver only lightly steps on the brake pedal and does not need to brake suddenly. In this case, the system will trigger the intelligent parking brake function and perform corresponding control operations according to the description of S40.

[0047] S40: The intelligent parking brake function includes: limiting the output torque of the drive system, increasing the rear wheel braking torque and reducing the front wheel braking torque.

[0048] In this embodiment, when the intelligent parking brake function is activated, the system will adjust the vehicle's drive system to limit the torque output. By limiting the power output of the drive system, the vehicle's acceleration ability will be weakened, making it easier for the vehicle to slow down and stop, and increasing the braking torque of the rear wheels. Because the rear wheel is one of the driving wheels of the vehicle, increasing the braking torque of the rear wheel can more effectively improve the vehicle's braking force, which is more helpful to prevent the vehicle from slipping or losing control during braking, thereby making the vehicle more stable and improving the safety of the vehicle during driving. At the same time, the braking torque of the front wheel will be reduced. The front wheel is mainly responsible for the steering of the vehicle. By reducing the braking torque of the front wheel, the sinking of the front of the vehicle can be effectively reduced, thereby reducing the nodding phenomenon, which is more helpful to improve the riding comfort and avoid discomfort to the driver and passengers. By comprehensively controlling the drive system and the braking system, the intelligent parking brake function can optimize the braking performance of the vehicle during non-emergency braking. The system will dynamically adjust the distribution of the drive and braking torques according to the real-time vehicle status and driving needs to provide a smoother and more comfortable parking process while maintaining the stability and driving safety of the vehicle.

[0049] As an example, in the intelligent parking brake function, the system will limit the output torque of the drive system, thereby reducing the power output of the vehicle and making it easier for the vehicle to slow down and stop. At the same time, the system will increase the braking torque of the rear wheels and reduce the braking torque of the front wheels to optimize the vehicle's posture and improve braking comfort. These operations will be precisely controlled according to the specific conditions of the vehicle when the intelligent parking brake function is activated to provide a better driving experience and driving safety.

[0050] In one embodiment, step S40, i.e. limiting the output torque of the driving system, includes the following steps:

[0051] S41: reducing the output torque of the drive system to a target output torque according to a pre-calibrated decreasing speed.

[0052] The intelligent parking brake control method in the present invention adjusts the output torque of the drive system according to the pre-calibrated descent speed and reduces it to the target output torque. Such control means can achieve smooth deceleration and stable parking of the vehicle during braking. Among them, the pre-calibrated descent speed refers to the speed drop of the vehicle within a certain period of time. The specific speed drop amount is not limited by the present invention. For example, this speed drop amount can be obtained through actual vehicle testing and data analysis, usually in units of kilometers per hour or meters per hour. The specific drop factors may be affected by many factors, including vehicle condition, driving style, road conditions, etc. The pre-calibration of the descent speed is to ensure smooth deceleration of the vehicle and avoid the discomfort and danger caused by too sudden braking.

[0053] Secondly, the system will gradually reduce the output torque of the drive system to the preset target output torque. Such adjustments can make the vehicle decelerate smoothly and maintain the stability and comfort of braking during braking. At the same time, in order to maintain the balance of the braking torque of the whole vehicle, the system will also increase the braking torque of the rear wheels to prevent the rear wheels from slipping, thereby improving the stability of the vehicle. By adjusting the output torque of the drive system according to the pre-calibrated descent speed, the intelligent parking brake control method of the present invention can ensure that the vehicle decelerates smoothly during braking, maintains braking comfort, improves the driving experience, and ensures the safety of vehicle braking.

[0054] For example, suppose a car is equipped with a smart parking brake function. When the driver is driving the vehicle on a city road and encounters a traffic light or needs to stop, the driver lightly presses the brake pedal to indicate a non-emergency braking requirement. At this time, the smart parking brake function will be activated.

[0055] For example, at the beginning, the vehicle is traveling at a low speed, the output torque is 100Nm, and the target output torque is 10Nm. According to the pre-calibrated descent speed, the intelligent parking brake function will gradually reduce the output torque to the target output torque. Among them, the output torque can also be 200Nm, 150Nm, etc., and the target output torque can also be 5Nm, 0Nm, etc. The specific output torque and target output torque can be various, and the present invention does not limit them.

[0056] In this embodiment, the vehicle controller monitors the driving state of the vehicle, including the vehicle speed, the brake pedal travel and the driver's operation. When it is determined to be non-emergency braking, the intelligent parking brake function will control the output torque of the drive system to decrease by a pre-calibrated descent rate (e.g., 5Nm / s) per second until the output torque drops to the target output torque (e.g., 10Nm). By gradually reducing the output torque, the intelligent parking brake function can effectively reduce the braking nodding phenomenon of the vehicle and improve braking comfort. Among them, the pre-calibrated descent speed is only an exemplary explanation, and it can also be the descent speed set by the car factory, etc. In addition, the specific descent speed can also be multiple, such as 10Nm / s, 15Nm / s, etc. The above invention is not specifically limited.

[0057] In one embodiment, step S40, i.e., increasing the rear wheel braking torque, includes the following steps:

[0058] S42: Controlling the rear wheel braking torque to be smaller than the first torque and larger than the second torque;

[0059] S43: wherein the first torque is a first multiple of the rear wheel locking torque, the second torque is a second multiple of the rear wheel locking torque, and the first multiple is greater than the second multiple.

[0060] In this embodiment, the control condition of the rear wheel torque is specified, requiring the rear wheel braking torque to be less than the first torque and greater than the second torque. The first torque is the first multiple of the rear wheel locking torque, the second torque is the second multiple of the rear wheel locking torque, and the first multiple is greater than the second multiple. For example, the first multiple and the second multiple can be less than or equal to 1, wherein the first multiple and the second multiple can be set in a variety of ways, for example, the first multiple and the second multiple can be less than or equal to 1.5, etc., and the present invention does not make specific limitations.

[0061] In addition, the above settings can control the rear wheel braking torque within a certain range to achieve precise adjustment of the vehicle body posture. For example, the upper limit of the first torque is 1 times the rear wheel locking torque, which can ensure that the rear wheel will not lock excessively during braking, avoiding excessive braking and causing the vehicle to lose control. The lower limit of the second torque is 0.8 times the rear wheel locking torque, which can ensure that the rear wheel still maintains a certain braking force during braking, ensuring that the vehicle can still maintain a stable braking state.

[0062] Among them, the upper limit of the first torque is a multiple of the rear wheel locking torque, which can also be 0.9 times, 0.8 times, etc., and the lower limit of the second torque is a multiple of the rear wheel locking torque, which can also be 0.7 times, 0.6 times, etc. The specific multiples can be obtained based on actual vehicle tests or factory settings of the car, and the above-mentioned present invention does not make specific limitations.

[0063] For example, assuming that the rear wheel locking torque is 1000Nm (first torque), the first multiple can be set to 1, and the second multiple can be set to 0.8. The above values ​​are only examples, and there can be many specific multiples, for example, the first multiple can also be set to 0.9, and the second multiple can also be set to 0.7, etc. The present invention does not make specific limitations.

[0064] When the vehicle needs to perform intelligent parking brake, it is determined as non-emergency braking based on information such as vehicle speed and brake pedal travel. At this time, the intelligent parking brake function is activated.

[0065] According to the set multiples, calculate the first moment and the second moment:

[0066] First torque = 1000Nm × 1.0 = 1000Nm

[0067] Second torque = 1000 Nm × 0.8 = 800 Nm

[0068] The rear wheel braking torque is controlled between 800Nm and 1000Nm. According to the actual situation of the vehicle, the size of the rear wheel braking torque is adjusted so that the vehicle body posture is accurately controlled to achieve the effect of reducing the braking nodding phenomenon.

[0069] In some embodiments, in the above step S40, the increasing the rear wheel braking torque further includes the following steps:

[0070] S44: Controlling the torque increase slope of the rear wheel braking torque to be greater than a first calibrated minimum value and less than a first calibrated maximum value.

[0071] In this embodiment, the control conditions for the increase slope of the rear wheel braking torque are also specified, requiring that the torque increase slope of the rear wheel braking torque be greater than the first calibrated minimum value and less than the first calibrated maximum value. In the braking system of a car, the rear wheel braking torque is the braking force applied to the rear wheel during braking. In the intelligent parking brake control method, the rear wheel braking torque of the vehicle is not fixed, but changes with the passage of time. The so-called torque increase slope refers to the rate at which the rear wheel braking torque changes over time, which can also be understood as the rate of increase of the rear wheel braking torque.

[0072] Among them, the first calibrated minimum value and the first calibrated maximum value are two pre-set limits, which are used to limit the reasonable range of the increase slope of the rear wheel braking torque. The specific first calibrated minimum value and the first calibrated maximum value can be various ways such as actual vehicle tests or factory settings, and the present invention does not limit them. If the increase slope of the rear wheel braking torque is greater than the first calibrated maximum value, the braking process may be too sharp, and the rear of the vehicle may produce an unstable lifting phenomenon, thereby affecting the braking comfort and driving stability. On the contrary, if the increase slope of the rear wheel braking torque is less than the first calibrated minimum value, the braking process may be too slow, affecting the efficiency and safety of braking.

[0073] Therefore, by limiting the increase slope of the rear wheel braking torque to between the first calibrated minimum value and the first calibrated maximum value, the intelligent parking control system can ensure the smoothness and comfort of the braking process. The system will adjust the rear wheel braking torque in real time according to the real-time monitoring data, making the braking process smoother and more stable, providing a better driving experience and driving safety.

[0074] For example, suppose a smart braking car is performing parking braking. During the braking process, the system will monitor the changes in the rear wheel braking torque in real time. If the pre-set first calibration minimum value is 50Nm / s2 and the first calibration maximum value is 100Nm / s2, and the system calculates that the current rear wheel braking torque increase slope is 70Nm / s2, then the increase slope is between the first calibration minimum value and the first calibration maximum value, which meets the requirements, and the system will maintain the current rear wheel braking torque torque increase slope. On the contrary, if the torque increase slope of the rear wheel braking torque is less than the first calibration minimum value or exceeds the first calibration maximum value, the smart parking control system will adjust the current rear wheel braking torque output accordingly, so as to ensure that the increase slope of the rear wheel braking torque is always maintained within the reasonable range of the first calibration minimum value to the first calibration maximum value, reduce the rear wheel noise during parking, and improve the comfort and stability of vehicle braking.

[0075] It should be noted that the above numerical value is only an example, and there may be multiple specific numerical values. For example, the first calibration minimum value may also be 40Nm / s2, 30Nm / s2, etc., and the first calibration maximum value may also be 150Nm / s2, 200Nm / s2, etc. The present invention does not make specific limitations.

[0076] In one embodiment, after step S40, reducing the front wheel braking torque comprises the following steps:

[0077] S45: controlling the front wheel braking torque to be smaller than the third torque and larger than the fourth torque;

[0078] S46: wherein the third torque is the third multiple of the front wheel locking torque, the fourth torque is the fourth multiple of the front wheel locking torque, and the third multiple is greater than the fourth multiple.

[0079] In this embodiment, the control condition of the dynamic torque of the front wheel is specified, requiring the front wheel braking torque to be less than the third torque and greater than the fourth torque. Wherein, similar to step S43, the third torque is the third multiple of the front wheel locking torque, the fourth torque is the fourth multiple of the front wheel locking torque, and the third multiple must be greater than the fourth multiple. Exemplarily, the third multiple and the fourth multiple can be less than or equal to 1, wherein the third multiple and the fourth multiple can be set in a variety of ways, for example, the third multiple and the fourth multiple can be less than or equal to 1.5, etc., and the present invention does not make specific limitations.

[0080] In addition, the above settings can control the front wheel braking torque within a certain range to achieve stable parking control of the vehicle. Exemplarily, the upper limit of the third torque is 0.6 times the front wheel locking torque. When the braking torque reaches this value, the front wheel will lock, that is, the wheel stops rotating. The lower limit of the fourth torque is 0.3 times the front wheel locking torque. The purpose of setting the fourth torque is to avoid excessive locking of the front wheel when the vehicle brakes, causing the wheel to stop rotating completely, thereby causing instability of the vehicle when braking. The setting of the fourth torque ensures that the braking torque of the front wheel will not exceed this value, thereby maintaining the stability of the vehicle.

[0081] Among them, the upper limit of the third torque is a multiple of the rear wheel locking torque, which can also be 0.5 times, 0.4 times, etc. The lower limit of the fourth torque is a multiple of the rear wheel locking torque, which can also be 0.2 times, 0.1 times, etc. The specific multiples can be obtained based on actual vehicle tests or factory settings of the car, and the above-mentioned present invention does not make specific limitations.

[0082] In some embodiments, in the above step S40, the reducing the front wheel braking torque further includes the following steps:

[0083] S47: Control the torque reduction slope of the front wheel braking torque to be greater than the second calibrated minimum value and less than the second calibrated maximum value.

[0084] In this embodiment, the control condition for the reduction slope of the front wheel braking torque is also specified, requiring the torque reduction slope of the front wheel braking torque to be greater than the second calibrated minimum value and less than the second calibrated maximum value. When the vehicle is braking, the reduction slope of the front wheel braking torque is used to achieve stable parking control of the vehicle. In this process, the pre-calibrated second minimum value and second maximum value are involved, which limit and adjust the reduction slope of the front wheel braking torque.

[0085] Among them, the second calibrated minimum value and the second calibrated maximum value are also two limits, which are used to limit the reduction rate of the front wheel braking torque. The specific second calibrated minimum value and the second calibrated maximum value can be various ways such as actual vehicle testing or factory settings, and the present invention does not limit it. When the vehicle decelerates and brakes, the front wheel braking torque will gradually decrease. The second calibrated minimum value ensures that the reduction rate of the braking torque will not be too slow, so as to avoid causing a long braking distance or poor braking effect. On the contrary, the second calibrated maximum value ensures that the reduction of the braking torque will not be too fast, avoiding the situation of sudden braking when the vehicle brakes, thereby maintaining a smooth and comfortable ride.

[0086] Therefore, the torque reduction slope of the front wheel braking torque is controlled to be greater than the second calibrated minimum value and less than the second calibrated maximum value. The reduction rate of the front wheel braking torque is controlled by the pre-calibrated second calibrated minimum value and the second calibrated maximum value, thereby achieving stable braking and driving comfort of the vehicle during braking.

[0087] For example, suppose the car is traveling at a certain speed and the driver steps on the brake pedal to stop the car. The intelligent parking control system starts to detect various parameters and states during the braking process. The system pre-calibrates the second calibration minimum value and the second calibration maximum value to determine the reasonable range of the front wheel braking torque reduction slope. If the second calibration minimum value is set to 0.5Nm / s2, the second calibration maximum value is set to 1.5Nm / s2. During the braking process, the intelligent parking control system monitors the reduction slope of the front wheel braking torque in real time. The braking torque and time information obtained by the vehicle sensor are used for calculation to obtain the value of the reduction slope.

[0088] Next, the system limits and adjusts the reduction slope of the front wheel braking torque according to the pre-calibrated second calibration minimum value and the second calibration maximum value. If the calculated reduction slope is less than the second calibration minimum value (for example, 0.5Nm / s2), the system will appropriately adjust the distribution of the braking torque to increase the reduction rate of the front wheel braking torque to 0.5Nm / s2. On the contrary, if the reduction slope exceeds the second calibration maximum value (for example, 1.5Nm / s2), the system will reduce the braking torque accordingly to reduce the reduction rate to 1.5Nm / s2. By controlling the reduction slope of the front wheel braking torque, the intelligent parking control system ensures the stability and smoothness of the vehicle braking process. The vehicle's braking torque gradually decreases, allowing the vehicle to stop smoothly without sudden braking, thereby improving the comfort of the driver and passengers and the braking efficiency of the vehicle, and further increasing driving safety.

[0089] Among them, the above numerical value is only an example, and there can be many specific numerical values. For example, the second calibration minimum value can also be 0.2Nm / s2, 0.1Nm / s2, etc., and the second calibration maximum value can also be 2.0Nm / s2, 2.5Nm / s2, etc. The present invention does not make specific limitations.

[0090] In one embodiment, after step S40, after controlling the vehicle to enter the intelligent parking brake function, the method further includes the following steps:

[0091] S50: When the vehicle meets the exit condition of the intelligent parking brake function, control the vehicle to exit the intelligent parking brake function.

[0092] In this embodiment, the intelligent parking brake function performs real-time monitoring based on data such as vehicle speed and brake pedal travel to determine whether the vehicle meets the exit conditions. Once any exit condition is met, the system will immediately issue a command to control the vehicle to exit the intelligent parking brake function and restore the vehicle to a normal braking state. In this way, the intelligent parking brake function can automatically exit at the appropriate time to ensure the safety and reliability of vehicle driving. At the same time, the setting of the exit condition also takes into account the conditions under different driving conditions, ensuring the effectiveness and applicability of the intelligent parking brake function in various situations, and improving the driving comfort and safety of the entire vehicle.

[0093] In one embodiment, if Figure 2 As shown, in step S50, the exit condition includes any one of the following conditions:

[0094] The vehicle speed is less than a first preset vehicle speed;

[0095] The vehicle speed is greater than a second preset vehicle speed, and the brake pedal stroke increasing rate is greater than a preset increasing rate;

[0096] The vehicle speed is greater than the second preset vehicle speed, and the brake pedal stroke is greater than the preset pedal stroke.

[0097] In this embodiment, the intelligent parking brake function will automatically exit when the vehicle speed drops below the first preset speed. This preset speed is usually set to a lower value (e.g., 1km / h) to ensure that the vehicle can normally exit the intelligent parking brake function when driving at a low speed. Exemplarily, if the brake pedal stroke rises sharply at a higher speed than the threshold value (e.g., the brake pedal stroke rise rate is greater than 15mm / s), it means that the driver may need emergency braking. Therefore, the intelligent parking brake function will exit to allow the driver to perform emergency braking to avoid vehicle loss of control, thereby ensuring the stability and safety of the vehicle. When the vehicle speed exceeds the second preset speed and the brake pedal stroke is large (e.g., the brake pedal stroke is greater than 30mm), it also indicates that the driver may need emergency braking. Therefore, in this case, the intelligent parking brake function will also exit to ensure that the driver can implement emergency braking. The above values ​​are only an example, and there can be many specific values, which are not specifically limited in the present invention.

[0098] For example, suppose a vehicle is driving normally at a speed of 10km / h, and the driver presses the brake pedal to slow down and stop the vehicle. The intelligent parking control system starts to monitor the vehicle's driving status and brake pedal travel.

[0099] First, the system will determine whether the vehicle speed is less than the first preset speed, which can be set to 1km / h. Since the current vehicle speed is 10km / h, which is greater than the first preset speed, this condition is not met, and the next condition is determined.

[0100] Secondly, the system will determine whether the vehicle speed is greater than the second preset speed and whether the brake pedal stroke increase rate is greater than the preset increase rate. Here, the second preset speed is set to 1km / h and the preset increase rate is 15mm / s. In the current case, the vehicle speed is greater than 1km / h and the brake pedal stroke increase rate is 20mm / s, which meets this condition.

[0101] Since the exit condition 2 is met, the intelligent parking control system will immediately issue a command to exit the intelligent parking brake function and restore the vehicle to the normal braking state. At this time, the driver can continue to control the vehicle's braking to complete the parking process.

[0102] Finally, if none of the above conditions are met, the system will determine whether the vehicle speed is greater than the second preset vehicle speed and whether the brake pedal stroke is greater than the preset pedal stroke. That is, the vehicle speed is greater than 1km / h and the brake pedal stroke is greater than 35mm. If the conditions are met, the intelligent parking brake function will be exited. If the exit conditions are still not met, the vehicle body pitch angle will be determined. If the vehicle body pitch angle is less than a pre-calibrated value (for example, the vehicle body pitch angle is less than 3 degrees), the intelligent parking brake function will be exited. The specific vehicle body pitch angle calibration can be a variety of methods such as actual vehicle testing or factory settings, which are not limited in the present invention.

[0103] It should be noted that the above numerical value is only an example, there may be many specific numerical values, and the present invention does not make any specific limitation.

[0104] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0105] In one embodiment, a controller is provided, whose internal structure diagram can be as follows: Figure 3 As shown. The controller includes a processor, a memory, and a network interface connected through a system bus. The processor of the controller is used to provide computing and control capabilities. The memory of the controller includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. When the computer program is executed by the processor, a vehicle braking control method is implemented.

[0106] In one embodiment, a controller is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:

[0107] Monitor the driving status of the vehicle;

[0108] According to the driving state, determining whether the vehicle is in non-emergency braking;

[0109] When it is determined to be non-emergency braking, controlling the vehicle to enter an intelligent parking brake function;

[0110] The intelligent parking brake function includes: limiting the output torque of the drive system, increasing the rear wheel braking torque and reducing the front wheel braking torque.

[0111] In one embodiment, when the processor executes the computer program, the processor further specifically implements the following steps:

[0112] The output torque of the drive system is reduced to a target output torque according to a pre-calibrated reduction speed.

[0113] In one embodiment, when the processor executes the computer program, the processor further specifically implements the following steps:

[0114] Controlling the rear wheel braking torque to be smaller than the first torque and larger than the second torque;

[0115] The first torque is a first multiple of the rear wheel locking torque, the second torque is a second multiple of the rear wheel locking torque, and the first multiple is greater than the second multiple.

[0116] In one embodiment, when the processor executes the computer program, the processor further specifically implements the following steps:

[0117] The torque increase slope of the rear wheel braking torque is controlled to be greater than a first calibrated minimum value and less than a first calibrated maximum value.

[0118] In one embodiment, when the processor executes the computer program, the processor further specifically implements the following steps:

[0119] Controlling the front wheel braking torque to be smaller than the third torque and larger than the fourth torque;

[0120] The third torque is a third multiple of the front wheel locking torque, the fourth torque is a fourth multiple of the front wheel locking torque, and the third multiple is greater than the fourth multiple.

[0121] In one embodiment, when the processor executes the computer program, the processor further specifically implements the following steps:

[0122] The torque reduction slope of the front wheel braking torque is controlled to be greater than a second calibrated minimum value and less than a second calibrated maximum value.

[0123] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0124] When the vehicle meets the exit condition of the smart parking function, controlling the vehicle to exit the smart parking function;

[0125] The exit condition includes any one of the following conditions:

[0126] The vehicle speed is less than a first preset vehicle speed;

[0127] The vehicle speed is greater than a second preset vehicle speed, and the brake pedal stroke increasing rate is greater than a preset increasing rate;

[0128] The vehicle speed is greater than the second preset vehicle speed, and the brake pedal stroke is greater than the preset pedal stroke.

[0129] In one embodiment, a vehicle is provided, comprising the above-mentioned controller.

[0130] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the vehicle braking control method mentioned in any of the above embodiments is implemented, which will not be repeated here. The computer-readable storage medium can be non-volatile or volatile.

[0131] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0132] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0133] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A vehicle braking control method, characterized in that: include: Monitor the driving status of the vehicle; According to the driving state, determining whether the vehicle is in non-emergency braking; When it is determined to be non-emergency braking, controlling the vehicle to enter an intelligent parking brake function; The intelligent parking brake function includes: limiting the output torque of the drive system, increasing the rear wheel braking torque and reducing the front wheel braking torque.

2. The vehicle braking control method according to claim 1, characterized in that: The limiting the output torque of the driving system comprises: The output torque of the drive system is reduced to a target output torque according to a pre-calibrated reduction speed.

3. The vehicle braking control method according to claim 1, characterized in that: The increasing rear wheel braking torque comprises: Controlling the rear wheel braking torque to be smaller than the first torque and larger than the second torque; The first torque is a first multiple of the rear wheel locking torque, the second torque is a second multiple of the rear wheel locking torque, and the first multiple is greater than the second multiple.

4. The vehicle braking control method according to claim 3, characterized in that: The increasing rear wheel braking torque further comprises: The torque increase slope of the rear wheel braking torque is controlled to be greater than a first calibrated minimum value and less than a first calibrated maximum value.

5. The vehicle braking control method according to any one of claims 1 to 4, characterized in that: The reducing the front wheel braking torque comprises: Controlling the front wheel braking torque to be smaller than the third torque and larger than the fourth torque; The third torque is a third multiple of the front wheel locking torque, the fourth torque is a fourth multiple of the front wheel locking torque, and the third multiple is greater than the fourth multiple.

6. The vehicle brake control method according to claim 5, characterized in that: The reducing the front wheel braking torque also includes: The torque reduction slope of the front wheel braking torque is controlled to be greater than a second calibrated minimum value and less than a second calibrated maximum value.

7. The vehicle brake control method according to claim 1, characterized in that: After controlling the vehicle to enter the intelligent parking brake function, the method further includes: When the vehicle meets the exit condition of the intelligent parking brake function, controlling the vehicle to exit the intelligent parking brake function; The exit condition includes any one of the following conditions: The vehicle speed is less than a first preset vehicle speed; The vehicle speed is greater than a second preset vehicle speed, and the brake pedal stroke increasing rate is greater than a preset increasing rate; The vehicle speed is greater than the second preset vehicle speed, and the brake pedal stroke is greater than the preset pedal stroke.

8. A controller comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the vehicle braking control method according to any one of claims 1 to 7 are implemented.

9. A vehicle, characterized in that: Comprising a controller as claimed in claim 8.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the vehicle braking control method according to any one of claims 1 to 7 are implemented.

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