A vehicle braking control method, device, controller, vehicle and medium

Abstract

The application discloses a kind of automobile brake control method, device, controller, automobile and medium, for solving the problems, such as being prone to cause vehicle body to pitch forward and backward, and produce brake nodding phenomenon in traditional scheme.Method includes: monitoring the driving state of vehicle;According to the driving state, determine whether the vehicle is non-emergency braking;When determining non-emergency braking, control the vehicle to enter intelligent parking brake function;Wherein, the intelligent parking brake function includes: limiting the output torque of drive system, and increasing rear wheel braking torque and reducing front wheel braking torque.The intelligent parking brake control function in the application can improve the comfort and stability of the whole vehicle parking brake, reduce the brake nodding phenomenon and the sound of rear wheel after parking, improve the vehicle body posture when parking, make the car park more stable and comfortable, improve the comfort and driving safety of driver and passenger.

Description

Technical Field

[0001] This invention relates to the field of automotive chassis braking, and more particularly to an automotive braking control method, device, controller, automotive vehicle, and medium. Background Technology

[0002] Vehicle stability and ride comfort are crucial to the safety and experience of drivers and passengers. The inventors' research revealed that when a car encounters traffic lights or stops, light braking often causes the vehicle to pitch forward or backward, resulting in a braking nose-diving phenomenon that can cause dizziness and other discomfort for the driver or passengers. Existing technologies suffer from uneven braking force distribution, leading to vehicle instability during braking and reduced braking comfort and safety. Furthermore, existing solutions often lack coordinated control of the powertrain, resulting in vehicle instability during braking and impacting ride comfort. Summary of the Invention

[0003] This invention provides a vehicle braking control method, device, controller, vehicle, and medium to solve the technical problem that traditional solutions easily lead to vehicle pitching and nose-diving during braking.

[0004] Firstly, a vehicle braking control method is provided, including:

[0005] Monitor the vehicle's driving status;

[0006] Based on the driving status, determine whether the vehicle is undergoing non-emergency braking;

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

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

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

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

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

[0012] The braking torque of the rear wheels is controlled to be less than the first torque and greater than the second torque;

[0013] Wherein, the first torque is a first multiple of the rear wheel lock-up torque, the second torque is a second multiple of the rear wheel lock-up torque, and the first multiple is greater than the second multiple.

[0014] In one embodiment, the increase in rear wheel braking torque further includes:

[0015] The slope of the increase in the torque controlling the rear wheel braking torque is greater than the first calibrated minimum value and less than the first calibrated maximum value.

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

[0017] The braking torque of the front wheels is controlled to be less than the third torque and greater than the fourth torque;

[0018] Wherein, the third torque is the third multiple of the front wheel lock-up torque, the fourth torque is the fourth multiple of the front wheel lock-up torque, and the third multiple is greater than the fourth multiple.

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

[0020] The slope of the reduction in the braking torque of the front wheels is greater than the second calibration minimum value and less than the second calibration 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 conditions of the intelligent parking brake function, control 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 the first preset speed;

[0025] The vehicle speed is greater than the second preset vehicle speed, and the brake pedal travel rise rate is greater than the preset rise rate.

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

[0027] In a second aspect, a controller is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the steps of the vehicle braking control method as described in any of the preceding claims.

[0028] Thirdly, a vehicle is provided, the vehicle including the aforementioned controller.

[0029] Fourthly, a computer-readable storage medium storing a computer program, characterized in that, when executed by a processor, the computer program implements the steps of the vehicle braking control method as described in any of the preceding claims.

[0030] In summary, this invention provides a vehicle braking control method, device, controller, vehicle, and medium. By monitoring the vehicle's driving state, it determines whether the vehicle has not undergone non-emergency braking. When non-emergency braking is determined, the vehicle is controlled 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 decreasing the front wheel braking torque. This vehicle braking control method improves driving safety while creating a safer, more stable, and more comfortable driving experience for the driver and passengers. Attached Figure Description

[0031] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a flowchart illustrating an intelligent braking control method for automobiles according to one embodiment of the present invention;

[0033] Figure 2 This is another flowchart illustrating an intelligent braking control method for automobiles according to one embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of a controller according to one embodiment of the present invention. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] This invention primarily provides a vehicle braking control method applicable to various types of automobiles, specifically those equipped with intelligent parking brake control. For example, this vehicle may feature a fast active suspension configuration using an electric motor system as a power source, achieving real-time adjustment of vertical suspension force through a hydraulic or mechanical system. Furthermore, all vehicle devices, including lights, windows, door locks, rearview mirrors, audio-visual systems, and horns, are interconnected via a network. It also includes functions such as a reversing camera or reversing radar, automatic braking, automatic steering, and vehicle assistance systems. Specifically, this vehicle braking control method can be configured to be implemented through the vehicle's main controller or an independent controller, without limitation. This invention provides a novel vehicle braking control method that offers users emotional interaction and a unique experience. Its independent front and rear wheel control is a control method not previously addressed in traditional solutions. The following detailed description of the vehicle braking control method provided by this invention is based on various embodiments.

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

[0038] S10: Monitor the vehicle's driving status.

[0039] During vehicle operation, the vehicle's running status and condition are understood by sensing, monitoring, and analyzing relevant parameters and data. Specific parameters can be varied and are not limited in this invention. For example, in some embodiments, these parameters may include vehicle speed, accelerator pedal depth, steering wheel angle, gear position, power torque, brake pedal travel and travel slope, etc. By monitoring and analyzing this data, the vehicle's current driving state can be obtained, and based on the actual situation, it can be determined whether braking measures are necessary.

[0040] It should be noted that the above parameters can be collected through, but are not limited to, onboard equipment, sensors, CAN networks, and software systems. Sensors can include vehicle speed sensors, acceleration sensors, brake pedal sensors, steering sensors, transmission sensors, vehicle attitude sensors, and powertrain sensors, which can acquire key parameters such as vehicle speed, accelerator pedal depth, steering wheel angle, gear position, torque, brake pedal travel, and travel slope in real time. By monitoring and analyzing this data, the current driving status of the vehicle and the driver's driving intentions can be determined, thereby enabling appropriate control strategies to be implemented.

[0041] S20: Based on the driving status, determine whether the vehicle is undergoing non-emergency braking.

[0042] After obtaining the vehicle's driving status, the system analyzes parameters such as vehicle speed, accelerator pedal depth, steering wheel angle, gear position, power torque, brake pedal travel and travel slope to determine whether the vehicle is performing non-emergency braking. Specific judgment criteria are as follows:

[0043] As one embodiment, when the vehicle speed is less than 10 km / h and the vehicle is in a non-reverse gear, it indicates that the driver intends to brake. At this time, the system acquires vehicle speed information through sensors or the CAN network and monitors whether the driver has pressed the brake pedal and whether the rate of increase of the brake pedal travel is less than a threshold value via the brake pedal sensor to determine if braking is required. Simultaneously, the controller monitors the brake pedal travel and travel slope in real time—that is, the value of the travel increase or decrease per unit time—to analyze the driver's braking behavior. For example, if the brake pedal travel increases slowly in a short period and the travel slope is not large, it indicates that the driver is lightly braking the vehicle and no emergency braking operation is needed. In this embodiment, the vehicle speed is less than 10 km / h, the vehicle is in a non-reverse gear, the accelerator pedal is at zero, the brake pedal travel is greater than 10 mm, and the driver lightly presses the brake pedal. By monitoring the brake pedal travel and its slope in real time, if the brake pedal travel increase rate is less than or equal to 15 mm / s and the brake pedal travel decrease rate is less than or equal to 25 mm / s, the system will determine that the brake pedal travel increases slowly in a short period of time and the slope is not large, meeting the conditions for non-emergency braking. In this case, the intelligent parking brake control function will be activated. The brake control unit will release braking force to the front wheels and compensate for braking force to the rear wheels, thereby suppressing vehicle pitch, reducing brake dive, and improving the comfort and safety of parking braking. The specific values ​​mentioned above are only illustrative examples; for instance, the vehicle speed could also be less than 15 km / h, and the brake pedal travel could also be greater than 12 mm, etc. This invention does not impose specific limitations.

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

[0045] When the vehicle's driving status is determined to be non-emergency braking, this indicates that the vehicle is performing normal light braking or deceleration to a stop, rather than emergency braking. Based on the driving status judgment conditions mentioned above (e.g., vehicle speed less than 10 km / h, driver pressing the brake pedal, and the brake pedal travel increasing slowly and with a small travel slope within a short period of time), the system determines that the vehicle does not currently require emergency braking.

[0046] In this embodiment, based on parameters such as vehicle speed and brake pedal travel, the system determines that the vehicle is undergoing non-emergency braking, thus meeting the conditions of S20. Because the vehicle is traveling at a low speed, the driver is only lightly pressing the brake pedal and does not need to brake suddenly. In this situation, the system will trigger the intelligent parking brake function and execute the corresponding control operation as described in S40.

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

[0048] In this embodiment, when the intelligent parking brake function is activated, the system adjusts the vehicle's drive system, limiting its output torque. By limiting the power output of the drive system, the vehicle's acceleration capability is reduced, making it easier to decelerate and stop. The system also increases the braking torque of the rear wheels, as they are among the vehicle's drive wheels. Increasing the braking torque of the rear wheels more effectively improves the vehicle's braking force, helping to prevent skidding or loss of control during braking, thus allowing for more stable deceleration and improving vehicle safety. Simultaneously, the system reduces the braking torque of the front wheels. Since the front wheels are primarily responsible for steering, reducing the braking torque of the front wheels effectively reduces nose-diving, thus reducing the nose-diving phenomenon and improving passenger comfort, avoiding discomfort for the driver and passengers. By comprehensively controlling the drive and braking systems, the intelligent parking brake function optimizes the vehicle's braking performance during non-emergency braking. The system dynamically adjusts the distribution of drive and braking torque based on real-time vehicle status and driving needs to provide a smoother and more comfortable parking process while maintaining vehicle stability and driving safety.

[0049] As an example, in the intelligent parking brake function, the system limits the output torque of the drive system, thereby reducing the vehicle's power output and making it easier to decelerate and stop. Simultaneously, the system increases the braking torque of the rear wheels and reduces the braking torque of the front wheels to optimize vehicle posture and improve braking comfort. These operations are precisely controlled according to the specific vehicle conditions when the intelligent parking brake function is activated to provide a better driving experience and driving safety.

[0050] In one embodiment, step S40, namely limiting the output torque of the drive system, includes the following steps:

[0051] S41: Reduce the output torque of the drive system to the target output torque according to the pre-calibrated descent speed.

[0052] The intelligent parking brake control method in this invention adjusts the output torque of the drive system according to a pre-calibrated descent speed, reducing it to the target output torque. This control method enables smooth deceleration and stable vehicle stopping during braking. The pre-calibrated descent speed refers to the amount of speed reduction of the vehicle within a certain time period. This invention does not limit the specific amount of speed reduction; for example, this speed reduction can be obtained through real-vehicle testing and data analysis, typically expressed as a reduction in kilometers per hour or meters per hour. The specific descent speed may be affected by various factors, including vehicle condition, driving style, and road conditions. Pre-calibrating the descent speed ensures smooth vehicle deceleration, avoiding discomfort and danger caused by sudden braking.

[0053] Secondly, the system gradually reduces the output torque of the drive system to a preset target output torque. This adjustment allows the vehicle to decelerate smoothly and maintain braking stability and comfort during braking. Simultaneously, to maintain the balance of the vehicle's overall braking torque, the system also increases the braking torque of the rear wheels to prevent rear wheel slippage, thereby improving vehicle stability. By adjusting the output torque of the drive system according to a pre-calibrated descent speed, the intelligent parking brake control method of this invention ensures smooth deceleration of the vehicle during braking, maintains braking comfort, improves the driving experience, and guarantees vehicle braking safety.

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

[0055] For example, initially, the vehicle travels at a low speed with an output torque of 100 Nm, while the target output torque is 10 Nm. Based on a pre-calibrated descent rate, the intelligent parking brake function gradually reduces the output torque to the target output torque. The output torque can also be 200 Nm, 150 Nm, etc., and the target output torque can also be 5 Nm, 0 Nm, etc. Various specific output torques and target output torques are possible, and this invention does not limit them.

[0056] In this embodiment, the vehicle controller monitors the vehicle's driving status, including vehicle speed, brake pedal travel, and driver operation. When non-emergency braking is detected, the intelligent parking brake function controls the output torque of the drive system to decrease at a pre-calibrated rate (e.g., 5 Nm / s) per second until the output torque drops to a target output torque (e.g., 10 Nm). By gradually reducing the output torque, the intelligent parking brake function can effectively reduce vehicle braking dive and improve braking comfort. The pre-calibrated rate of decrease is only an example and could also be the factory-set rate. Furthermore, the specific rate of decrease can be varied, such as 10 Nm / s, 15 Nm / s, etc. The present invention does not impose any specific limitations on these parameters.

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

[0058] S42: Control the rear wheel braking torque to be less than the first torque and greater than the second torque;

[0059] S43: Wherein, the first torque is a first multiple of the rear wheel lock-up torque, the second torque is a second multiple of the rear wheel lock-up torque, and the first multiple is greater than the second multiple.

[0060] In this embodiment, control conditions for the rear wheel torque are specified, requiring the rear wheel braking torque to be less than a first torque and greater than a second torque. The first torque is a first multiple of the rear wheel lock-up torque, and the second torque is a second multiple of the rear wheel lock-up torque, with the first multiple being greater than the second multiple. For example, the first and second multiples can be less than or equal to 1. The setting of the first and second multiples can be varied, such as being less than or equal to 1.5, etc. This invention does not impose specific limitations.

[0061] Furthermore, the aforementioned settings allow for control of the rear wheel braking torque within a certain range, enabling precise adjustment of the vehicle's attitude. For example, the upper limit of the first torque is one times the rear wheel lock-up torque, ensuring that the rear wheels do not lock excessively during braking, preventing overly abrupt braking that could lead to loss of vehicle control. The lower limit of the second torque is 0.8 times the rear wheel lock-up torque, ensuring that the rear wheels maintain a certain braking force during braking, thus maintaining a stable braking state for the vehicle.

[0062] The upper limit of the first torque is a multiple of the rear wheel lock-up torque, which can also be 0.9 times, 0.8 times, etc. The lower limit of the second torque is a multiple of the rear wheel lock-up torque, which can also be 0.7 times, 0.6 times, etc. The specific multiples can be obtained through actual vehicle testing or vehicle factory settings, etc. The present invention does not impose any specific limitations on the above.

[0063] For example, assuming the rear wheel locking torque is 1000 Nm (first torque), the first multiple can be set to 1, and the second multiple can be set to 0.8. The above values ​​are just 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. This invention does not impose specific limitations.

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

[0065] Calculate the first torque and the second torque based on the set multiplier:

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

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

[0068] The rear wheel braking torque is controlled between 800Nm and 1000Nm. The magnitude of the rear wheel braking torque is adjusted according to the actual situation of the vehicle, so that the vehicle body posture is accurately controlled, thereby reducing the phenomenon of braking dive.

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

[0070] S44: The slope of the increase in the braking torque of the rear wheel is greater than the first calibrated minimum value and less than the first calibrated maximum value.

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

[0072] The first calibration minimum and the first calibration maximum are two pre-set limits used to define a reasonable range for the increase in rear wheel braking torque. The specific first calibration minimum and maximum can be determined through various methods, such as real-vehicle testing or factory settings; this invention does not impose any limitations. If the increase in rear wheel braking torque exceeds the first calibration maximum, the braking process may be too abrupt, potentially causing unstable lifting of the rear of the vehicle, thus affecting braking comfort and driving stability. Conversely, if the increase in rear wheel braking torque is less than the first calibration minimum, the braking process may be too slow, affecting braking efficiency and safety.

[0073] Therefore, by limiting the increase in rear wheel braking torque slope between a first calibrated minimum and a first calibrated maximum value, the intelligent parking control system ensures smoothness and comfort during braking. The system adjusts the rear wheel braking torque in real time based on monitored data, resulting in a smoother and more stable braking process, providing a better driving experience and enhanced safety.

[0074] For example, suppose a smart braking vehicle is performing a parking brake operation. During the braking process, the system monitors the changes in rear wheel braking torque in real time. If the pre-set minimum calibration value is 50 Nm / s² and the first maximum calibration value is 100 Nm / s², and the system calculates that the current increase slope of the rear wheel braking torque is 70 Nm / s², then this increase slope is between the first minimum and the first maximum calibration values, which meets the requirements. The system will then maintain the current increase slope of the rear wheel braking torque. Conversely, if the increase slope of the rear wheel braking torque is less than the first minimum calibration value or exceeds the first maximum calibration value, the smart parking control system will adjust the current output of the rear wheel braking torque accordingly. This ensures that the increase slope of the rear wheel braking torque always remains within the reasonable range between the first minimum and the first maximum calibration values, reducing rear wheel noise during parking and improving the comfort and stability of vehicle braking.

[0075] It should be noted that the above values ​​are just examples, and there can be many specific values. For example, the minimum value of the first calibration can also be 40 Nm / s2, 30 Nm / s2, etc., and the maximum value of the first calibration can also be 150 Nm / s2, 200 Nm / s2, etc. This invention does not impose specific limitations.

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

[0077] S45: Control the front wheel braking torque to be less than the third torque and greater than the fourth torque;

[0078] S46: Wherein, the third torque is the third multiple of the front wheel lock-up torque, the fourth torque is the fourth multiple of the front wheel lock-up torque, and the third multiple is greater than the fourth multiple.

[0079] In this embodiment, control conditions for the front wheel's torque are specified, requiring the front wheel braking torque to be less than a third torque and greater than a fourth torque. Similar to step S43, the third torque is a third multiple of the front wheel lock-up torque, and the fourth torque is a fourth multiple of the front wheel lock-up torque, with the third multiple being greater than the fourth multiple. For example, the third and fourth multiples can be less than or equal to 1. The setting of the third and fourth multiples can be varied, such as less than or equal to 1.5, etc. This invention does not impose specific limitations.

[0080] Furthermore, the aforementioned settings allow for control of the front wheel braking torque within a certain range, achieving stable vehicle stopping control. For example, the upper limit of the third torque is 0.6 times the front wheel lock-up torque. When the braking torque reaches this value, the front wheels will lock up, meaning the wheels will stop rotating. The lower limit of the fourth torque is 0.3 times the front wheel lock-up torque. This fourth torque setting aims to prevent excessive front wheel lock-up during braking, which could cause the wheels to stop completely and lead to vehicle instability. The fourth torque setting ensures that the front wheel braking torque does not exceed this value, thus maintaining vehicle stability.

[0081] The upper limit of the third torque is a multiple of the rear wheel lock-up 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 lock-up torque, which can also be 0.2 times, 0.1 times, etc. The specific multiples can be obtained through actual vehicle testing or vehicle factory settings, etc. The present invention does not impose any specific limitations on the above.

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

[0083] S47: The slope of the reduction of the braking torque of the front wheel is greater than the second calibration minimum value and less than the second calibration maximum value.

[0084] In this embodiment, control conditions for the reduction slope of the front wheel braking torque are also specified, requiring that the reduction slope of the front wheel braking torque be greater than a second calibrated minimum value and less than a second calibrated maximum value. When the vehicle brakes, the reduction slope of the front wheel braking torque achieves stable stopping control of the vehicle. This process involves pre-calibrated second calibrated minimum and maximum values, which limit and adjust the reduction slope of the front wheel braking torque.

[0085] The second calibration minimum and second calibration maximum are also two boundaries used to limit the rate of reduction of the front wheel braking torque. The specific second calibration minimum and maximum values ​​can be determined through various methods, such as real-vehicle testing or factory settings; this invention does not impose any limitations. When the vehicle decelerates and brakes, the front wheel braking torque gradually decreases. The second calibration minimum ensures that the rate of reduction of the braking torque is not too slow, thus preventing excessively long braking distances or poor braking performance. Conversely, the second calibration maximum ensures that the reduction of the braking torque is not too rapid, avoiding sudden braking and maintaining a smooth and comfortable ride.

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

[0087] For example, suppose a car is traveling at a certain speed and the driver presses the brake pedal to stop. The intelligent parking control system begins to detect various parameters and states during the braking process. The system pre-calibrates a second calibration minimum and a second calibration maximum to determine a reasonable range for the reduction slope of the front wheel braking torque. If the second calibration minimum is set to 0.5 Nm / s², the second calibration maximum is set to 1.5 Nm / s². During braking, the intelligent parking control system monitors the reduction slope of the front wheel braking torque in real time. It uses braking torque and time information obtained from vehicle sensors to calculate the numerical value of the reduction slope.

[0088] Next, the system limits and adjusts the reduction slope of the front wheel braking torque based on the pre-calibrated second minimum and second maximum values. If the calculated reduction slope is less than the second minimum value (e.g., 0.5 Nm / s²), the system will appropriately adjust the distribution of braking torque to increase the front wheel braking torque reduction rate to 0.5 Nm / s². Conversely, if the reduction slope exceeds the second maximum value (e.g., 1.5 Nm / s²), the system will correspondingly reduce the braking torque to reduce the reduction rate to 1.5 Nm / 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's 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, as well as the vehicle's braking efficiency, and further enhancing driving safety.

[0089] The above values ​​are just examples, and there can be many specific values. For example, the minimum value of the second calibration can also be 0.2 Nm / s2, 0.1 Nm / s2, etc., and the maximum value of the second calibration can also be 2.0 Nm / s2, 2.5 Nm / s2, etc. This invention does not impose 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 conditions 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 monitors data such as vehicle speed and brake pedal travel in real time to determine whether the vehicle meets the exit conditions. Once any exit condition is met, the system immediately issues a command to control the vehicle to disengage the intelligent parking brake function and restore the vehicle to normal braking status. In this way, the intelligent parking brake function can automatically disengage at appropriate times, ensuring the safety and reliability of vehicle operation. Furthermore, the exit conditions are set considering different driving conditions, ensuring the effectiveness and applicability of the intelligent parking brake function in various situations, and improving the overall driving comfort and safety of the vehicle.

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

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

[0095] The vehicle speed is greater than the second preset vehicle speed, and the brake pedal travel rise rate is greater than the preset rise rate.

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

[0097] In this embodiment, the intelligent parking brake function will automatically disengage when the vehicle speed drops below a first preset speed. This preset speed is typically set to a low value (e.g., 1 km / h) to ensure that the vehicle can properly disengage the intelligent parking brake function at low speeds. For example, if the vehicle speed is high and the rate of increase in brake pedal travel exceeds a threshold (e.g., brake pedal travel rate of increase greater than 15 mm / s), it indicates that the driver may need to brake urgently. Therefore, the intelligent parking brake function will disengage to allow the driver to perform emergency braking, preventing loss of vehicle control and ensuring vehicle stability and safety. When the vehicle speed exceeds a second preset speed and the brake pedal travel is large (e.g., brake pedal travel greater than 30 mm), it also indicates that the driver may need to brake urgently. Therefore, in this case, the intelligent parking brake function will also disengage to ensure that the driver can perform emergency braking. The above values ​​are merely examples; various specific values ​​are possible, and this invention does not impose specific limitations.

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

[0099] First, the system checks if the vehicle speed is less than a first preset speed, which can be set to 1 km / h. If the current speed is 10 km / h, which is greater than the first preset speed, this condition is not met, and the system continues to check the next condition.

[0100] Secondly, the system will determine whether the vehicle speed is greater than the second preset speed and whether the brake pedal travel rate of increase is greater than the preset rate of increase. Here, the second preset speed is set to 1 km / h, and the preset rate of increase is 15 mm / s. Under the current circumstances, the vehicle speed is greater than 1 km / h, and the brake pedal travel rate of increase is 20 mm / s, thus meeting this condition.

[0101] Since exit condition two has been met, the intelligent parking control system will immediately issue a command to deactivate the intelligent parking brake function and restore the vehicle to normal braking status. 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 travel is greater than the preset pedal travel. That is, if the vehicle speed is greater than 1 km / h and the brake pedal travel is greater than 35 mm, the intelligent parking brake function will be deactivated. If the deactivation conditions are not met, the system will determine the vehicle pitch angle. If the vehicle pitch angle is less than a pre-calibrated value (e.g., less than 3 degrees), the intelligent parking brake function will be deactivated. The specific vehicle pitch angle calibration can be achieved through various methods such as real vehicle testing or factory setting, and this invention does not limit this.

[0103] It should be noted that the above values ​​are just examples, and there can be many specific values. This invention does not impose any specific limitations.

[0104] It should be understood that the sequence number of each step in the above embodiments does not imply 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 embodiments of the present invention.

[0105] In one embodiment, a controller is provided, the internal structure of which can be shown in the diagram below. Figure 3 As shown, the controller includes a processor, memory, and network interface connected via a system bus. The processor provides computational and control capabilities. The controller's memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. When the computer program is executed by the processor, it implements a vehicle braking control method.

[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. When the processor executes the computer program, it performs the following steps:

[0107] Monitor the vehicle's driving status;

[0108] Based on the driving status, determine whether the vehicle is undergoing non-emergency braking;

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

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

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

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

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

[0114] The braking torque of the rear wheels is controlled to be less than the first torque and greater than the second torque;

[0115] Wherein, the first torque is a first multiple of the rear wheel lock-up torque, the second torque is a second multiple of the rear wheel lock-up torque, and the first multiple is greater than the second multiple.

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

[0117] The slope of the increase in the torque controlling the rear wheel braking torque is greater than the first calibrated minimum value and less than the first calibrated maximum value.

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

[0119] The braking torque of the front wheels is controlled to be less than the third torque and greater than the fourth torque;

[0120] Wherein, the third torque is the third multiple of the front wheel lock-up torque, the fourth torque is the fourth multiple of the front wheel lock-up torque, and the third multiple is greater than the fourth multiple.

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

[0122] The slope of the reduction in the braking torque of the front wheels is greater than the second calibration minimum value and less than the second calibration maximum value.

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

[0124] When the vehicle meets the exit conditions of the intelligent parking function, control the vehicle to exit the intelligent parking function;

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

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

[0127] The vehicle speed is greater than the second preset vehicle speed, and the brake pedal travel rise rate is greater than the preset rise rate.

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

[0129] In one embodiment, a vehicle is provided that includes the controller described above.

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

[0131] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, 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. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0132] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to 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 above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. An automobile brake control method characterized by comprising: The method comprises: monitoring a driving state of the vehicle; judging whether the vehicle is in a non-emergency braking according to the driving state; controlling the vehicle to enter an intelligent parking braking function when it is judged that the vehicle is in the non-emergency braking; wherein the intelligent parking braking function comprises limiting an output torque of a drive system, and increasing a rear wheel braking torque and reducing a front wheel braking torque; the limiting of the output torque of the drive system comprises lowering the output torque of the drive system to a target output torque at a pre-marked lowering speed; the increasing of the rear wheel braking torque comprises controlling the rear wheel braking torque to be less than a first torque and greater than a second torque; wherein the first torque is a first multiple of a rear wheel lockup torque, and the second torque is a second multiple of the rear wheel lockup torque, the first multiple being greater than the second multiple.

2. The automobile brake control method according to claim 1, characterized by, the increasing of the rear wheel braking torque further comprises: controlling a torque increasing slope of the rear wheel braking torque to be greater than a first marked minimum value and less than a first marked maximum value.

3. The automobile brake control method according to any one of claims 1 to 2, characterized by, the reducing of the front wheel braking torque comprises: controlling the front wheel braking torque to be less than a third torque and greater than a fourth torque; wherein the third torque is a third multiple of a front wheel lockup torque, and the fourth torque is a fourth multiple of the front wheel lockup torque, the third multiple being greater than the fourth multiple.

4. The automobile brake control method according to claim 3, characterized by, the reducing of the front wheel braking torque further comprises: controlling a torque reducing slope of the front wheel braking torque to be greater than a second marked minimum value and less than a second marked maximum value.

5. The automobile brake control method according to claim 1, characterized by, after the controlling of the vehicle to enter the intelligent parking braking function, the method further comprises: controlling the vehicle to exit the intelligent parking braking function when the vehicle satisfies an exit condition of the intelligent parking braking function; wherein the exit condition comprises any one of the following conditions: a vehicle speed is less than a first preset vehicle speed; the vehicle speed is greater than a second preset vehicle speed, and a brake pedal stroke rising rate is greater than a preset rising rate; the vehicle speed is greater than the second preset vehicle speed, and a brake pedal stroke is greater than a preset pedal stroke.

6. A controller comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the steps of the automobile braking control method according to any one of claims 1 to 5.

7. A vehicle characterized by comprising: The controller according to claim 6.

8. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 7. The computer program is executed by the processor to implement the steps of the automobile braking control method according to any one of claims 1 to 5.

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