Vehicle braking method and related device

Abstract

The invention discloses a vehicle braking method and a related device, and the method comprises the steps: determining a target braking deceleration corresponding to a target stroke according to a corresponding relation between a brake pedal stroke and the braking deceleration; wherein the target pedal speed can reflect whether a driver has an emergency braking intention or not, the higher the current vehicle speed is, the larger the braking force is at the moment that the vehicle is quickly stopped, the phenomena of pitching and the like possibly occur, and the vehicle distance can reflect whether the current vehicle distance is sufficient and safe or not. The requirement of the current working condition of the vehicle for the braking force can be determined through the target pedal speed, the current vehicle speed and the vehicle distance, a correction coefficient is determined in a fuzzy control mode according to the target pedal speed, the current vehicle speed and the vehicle distance, and the correction coefficient is used for correcting the target braking deceleration, that is, according to the correction coefficient and the target braking deceleration, the braking force is corrected. And the actual braking deceleration is determined, so that the actual braking deceleration can be more suitable for the current working condition of the vehicle, and vehicle braking is controlled based on the actual braking deceleration.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular to a vehicle braking method and related devices. Background Art

[0002] Braking refers to the action of stopping or slowing down a moving vehicle. The driver will step on the brake pedal to brake the vehicle. In the related art, the stroke of the driver's stepping on the brake pedal is detected, and the braking deceleration corresponding to the stroke of the stepped brake pedal is determined based on the predetermined corresponding relationship between the brake pedal stroke and the braking deceleration, and then the vehicle braking is controlled based on the braking deceleration.

[0003] However, due to the complex working conditions of vehicles, different braking functions are set for different working conditions, such as auxiliary braking function for emergency braking conditions, and comfortable braking function for slow stopping at low speeds. However, the above-mentioned auxiliary braking function and comfortable braking function are generally triggered only after certain vehicle state variables reach the preset precise threshold values, which may cause a slight change in the state variables to change whether the function is triggered or not, and ultimately significantly change the braking deceleration. For example, one of the triggering conditions for the auxiliary braking function is that the brake pedal is pressed down by at least 20mm, but if the driver fails to press the brake pedal down a sufficient distance and only presses it down to 19.5mm, the emergency braking function will not be triggered, the braking distance will be greatly increased, and it may cause safety risks.

[0004] Therefore, the vehicle braking method in the related art has a relatively small application range. Summary of the invention

[0005] In response to the above problems, the present application provides a vehicle braking method and related devices to expand the scope of application and thus cover more working conditions.

[0006] Based on this, the embodiments of the present application disclose the following technical solutions:

[0007] On the one hand, an embodiment of the present application provides a braking method for a vehicle, the method comprising:

[0008] Obtaining a target travel of a brake pedal, a target pedal speed of the brake pedal, a current vehicle speed, and a vehicle distance;

[0009] Determining a target braking deceleration corresponding to the target stroke according to a correspondence between a brake pedal stroke and a braking deceleration;

[0010] Determining a correction coefficient through a fuzzy control model according to the target pedal speed, the current vehicle speed and the vehicle distance;

[0011] determining an actual braking deceleration according to the correction coefficient and the target braking deceleration;

[0012] Vehicle braking is controlled based on the actual braking deceleration.

[0013] Optionally, the method further includes:

[0014] Get fuzzy rules;

[0015] Determining the fuzzy control model according to the fuzzy rules;

[0016] Among them, in the fuzzy rule, the higher the target pedal speed, the larger the correction coefficient; the greater the current vehicle speed, the larger the correction coefficient; the shorter the vehicle distance, the larger the correction coefficient.

[0017] Optionally, determining the fuzzy control model according to the fuzzy rule includes:

[0018] Dividing the pedal speed interval of the brake pedal to obtain a plurality of fuzzy subsets for the pedal speed interval, and establishing a first membership function corresponding to the fuzzy subsets for the pedal speed interval;

[0019] Dividing the speed interval of the vehicle to obtain a plurality of fuzzy subsets for the speed interval, and establishing a second membership function corresponding to the fuzzy subsets for the speed interval;

[0020] Dividing the distance interval between the vehicle and the obstacle ahead to obtain a plurality of fuzzy subsets for the distance interval, and establishing a third membership function corresponding to the fuzzy subsets for the distance interval;

[0021] Dividing the coefficient interval where the correction coefficient is located to obtain a plurality of fuzzy subsets for the coefficient interval, and establishing a fourth membership function corresponding to the fuzzy subsets for the coefficient interval;

[0022] The fuzzy control model is determined based on a membership function set and the fuzzy rules, wherein the membership function set includes the first membership function, the second membership function, the third membership function and the fourth membership function.

[0023] Optionally, determining the correction coefficient through a fuzzy control model according to the target pedal speed, the current vehicle speed and the vehicle distance includes:

[0024] determining a first continuous input value corresponding to the target pedal speed according to the first membership function;

[0025] determining, according to the second membership function, a second continuous input value corresponding to the current vehicle speed;

[0026] Determining a third continuous input value corresponding to the vehicle distance according to the third membership function;

[0027] The first continuous input value, the second continuous input value and the third continuous input value are input into the fuzzy control model to obtain the correction coefficient.

[0028] Optionally, determining the correction coefficient through a fuzzy control model according to the target pedal speed, the current vehicle speed and the vehicle distance includes:

[0029] If it is determined that the vehicle is not in an over-braking state or an under-braking state, a correction coefficient is determined through a fuzzy control model according to the target pedal speed, the current vehicle speed and the vehicle distance.

[0030] Optionally, the fuzzy control model is pre-determined offline.

[0031] On the other hand, the present application provides a braking device for a vehicle, the device comprising: an acquisition unit, a determination unit, an adjustment unit and a control unit;

[0032] The acquisition unit is used to acquire a target travel of the brake pedal, a target pedal speed of the brake pedal, a current vehicle speed and a vehicle distance;

[0033] The determining unit is used to determine the target braking deceleration corresponding to the target stroke according to the corresponding relationship between the brake pedal stroke and the braking deceleration;

[0034] The determination unit is further used to determine a correction coefficient through a fuzzy control model according to the target pedal speed, the current vehicle speed and the vehicle distance;

[0035] The adjustment unit is used to determine the actual braking deceleration according to the correction coefficient and the target braking deceleration;

[0036] The control unit is used to control vehicle braking based on the actual braking deceleration.

[0037] Optionally, the acquisition unit is further used to acquire fuzzy rules;

[0038] The determining unit is further used to determine the fuzzy control model according to the fuzzy rule;

[0039] Among them, in the fuzzy rule, the higher the target pedal speed, the larger the correction coefficient; the greater the current vehicle speed, the larger the correction coefficient; the shorter the vehicle distance, the larger the correction coefficient.

[0040] Optionally, the determining unit is specifically configured to:

[0041] Dividing the pedal speed interval of the brake pedal to obtain a plurality of fuzzy subsets for the pedal speed interval, and establishing a first membership function corresponding to the fuzzy subsets for the pedal speed interval;

[0042] Dividing the speed interval of the vehicle to obtain a plurality of fuzzy subsets for the speed interval, and establishing a second membership function corresponding to the fuzzy subsets for the speed interval;

[0043] Dividing the distance interval between the vehicle and the obstacle ahead to obtain a plurality of fuzzy subsets for the distance interval, and establishing a third membership function corresponding to the fuzzy subsets for the distance interval;

[0044] Dividing the coefficient interval where the correction coefficient is located to obtain a plurality of fuzzy subsets for the coefficient interval, and establishing a fourth membership function corresponding to the fuzzy subsets for the coefficient interval;

[0045] The fuzzy control model is determined based on a membership function set and the fuzzy rules, wherein the membership function set includes the first membership function, the second membership function, the third membership function and the fourth membership function.

[0046] Optionally, the determining unit is specifically configured to:

[0047] determining a first continuous input value corresponding to the target pedal speed according to the first membership function;

[0048] determining, according to the second membership function, a second continuous input value corresponding to the current vehicle speed;

[0049] Determining a third continuous input value corresponding to the vehicle distance according to the third membership function;

[0050] The first continuous input value, the second continuous input value and the third continuous input value are input into the fuzzy control model to obtain the correction coefficient.

[0051] Optionally, the determining unit is specifically configured to:

[0052] If it is determined that the vehicle is not in an over-braking state or an under-braking state, a correction coefficient is determined through a fuzzy control model according to the target pedal speed, the current vehicle speed and the vehicle distance.

[0053] Optionally, the fuzzy control model is pre-determined offline.

[0054] In another aspect, the present application provides a computer device, the device comprising a processor and a memory:

[0055] The memory is used to store program code and transmit the program code to the processor;

[0056] The processor is used to execute the method described in the above aspects according to the instructions in the program code.

[0057] On the other hand, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method described in the above aspects.

[0058] On the other hand, an embodiment of the present application provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method described in the above aspects.

[0059] The advantages of the above technical solution of this application are:

[0060] Obtain the target travel of the brake pedal, the target pedal speed of the brake pedal, the current vehicle speed and the vehicle distance; determine the target braking deceleration corresponding to the target travel according to the corresponding relationship between the brake pedal travel and the braking deceleration. Among them, the target pedal speed can reflect whether the driver has an emergency braking intention. The greater the current vehicle speed, the greater the braking force when the vehicle is about to stop. If it does not match the current vehicle operation, pitching and other phenomena will occur. The vehicle distance can reflect whether the current vehicle distance is sufficient and safe. The vehicle distance can determine the braking force requirements of the vehicle's current working conditions through the target pedal speed, the current vehicle speed and the vehicle distance. According to the target pedal speed, the current vehicle speed and the vehicle distance, the correction coefficient is determined by fuzzy control. The correction coefficient is used to correct the target braking deceleration, that is, according to the correction coefficient and the target braking deceleration, the actual braking deceleration is determined, so that the actual braking deceleration can be more adapted to the vehicle's current working conditions, and the vehicle braking is controlled based on the actual braking deceleration. Therefore, the target braking deceleration obtained based on the corresponding relationship is corrected based on the correction coefficient, and the correction coefficient is determined based on the braking force requirement of the vehicle's current operating conditions, so that the corrected actual braking deceleration is more in line with the actual operating conditions, rather than changing the braking deceleration only after exceeding a fixed threshold value, thereby expanding the scope of application and covering more operating conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0062] Figure 1 A flowchart of a vehicle braking method provided in an embodiment of the present application;

[0063] Figure 2 A schematic diagram of a braking device for a vehicle provided in an embodiment of the present application;

[0064] Figure 3 A structural diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0065] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0066] Combine the following Figure 1 , a vehicle braking method provided by an embodiment of the present application is introduced. Figure 1 , this figure is a flow chart of a vehicle braking method provided in an embodiment of the present application, and the method may include S101-S105.

[0067] S101: Obtain a target travel of the brake pedal, a target pedal speed of the brake pedal, a current vehicle speed, and a vehicle distance.

[0068] The brake pedal is a pedal that limits power, i.e., the pedal of the foot brake (service brake). The brake pedal is used to slow down and stop the vehicle. The travel of the brake pedal refers to the depth of the brake pedal when the driver steps on it, i.e., the distance between the initial position of the brake pedal and the current position where it is stepped on. The target travel is the travel obtained at a certain moment.

[0069] The pedal speed refers to the speed at which the driver steps on the brake pedal. The faster the driver steps on the brake pedal, the greater the driver's braking requirements, such as the need for rapid braking. That is, the pedal speed can reflect the driver's braking intention. The target pedal speed is the pedal speed obtained at a certain moment.

[0070] Vehicle speed refers to the speed of the vehicle. The faster the current speed, the greater the braking force required and the greater the required distance. Moreover, the greater the current speed, the greater the braking force when the vehicle is about to stop. If it does not match the current vehicle operation, pitching and other phenomena will occur, which will give the driver and passengers an uncomfortable riding experience. The current vehicle speed is the speed obtained at a certain moment.

[0071] The vehicle distance refers to the distance between the current vehicle and the obstacle in front. The obstacle in front can be the vehicle in front, an immovable object, or other object that blocks the current vehicle from moving. The greater the vehicle distance, the farther the vehicle is from the obstacle in front, and the safer the current environment is.

[0072] In practical applications, various state variables of the vehicle, such as travel, pedal speed, vehicle speed, etc., can be detected in real time during the operation of the vehicle. For example, when the vehicle is running, the state variables corresponding to time t may include target travel, target pedal speed, target vehicle speed, vehicle distance, etc.

[0073] S102: Determine a target braking deceleration corresponding to a target stroke according to a correspondence between a brake pedal stroke and a braking deceleration.

[0074] The correspondence between the brake pedal stroke and the braking deceleration is preset, and each stroke of the brake pedal corresponds to a braking deceleration, so that when the driver steps on the brake pedal, it is converted into a braking deceleration (or braking force) based on the brake pedal stroke.

[0075] S103: Determine a correction coefficient through a fuzzy control model according to the target pedal speed, the current vehicle speed and the vehicle distance.

[0076] As mentioned above, the target pedal speed can reflect the driver's braking intention, the current vehicle speed can affect the pitch of the vehicle, and the distance between vehicles can reflect whether the current vehicle condition is safe. Therefore, the requirements for braking force of the vehicle's current working condition can be determined by the target pedal speed, the current vehicle speed and the distance between vehicles. According to the target pedal speed, the current vehicle speed and the distance between vehicles, the correction coefficient is determined by fuzzy control. The correction coefficient is used to correct the target braking deceleration in order to obtain a braking deceleration suitable for the current working condition and bring a better riding experience to the driver and passengers.

[0077] As a possible implementation method, it is necessary to determine whether the vehicle is currently in an over-braking state or an under-braking state, wherein the over-braking state refers to a state in which the service brake control should not generate an excessive braking force, and the under-braking state refers to a state in which the service brake control should not generate an excessively small braking force. If it is determined that the vehicle is not in an over-braking state or an under-braking state, the correction coefficient is determined by the fuzzy control model according to the target pedal speed, the current vehicle speed and the vehicle distance, so as to ensure that the obtained correction coefficient has a high accuracy.

[0078] S104: Determine the actual braking deceleration according to the correction coefficient and the target braking deceleration.

[0079] As a possible implementation, the coefficient range of the correction coefficient is 0.7-1.3, so that the target braking deceleration can be adjusted downward and upward to obtain the actual braking deceleration suitable for the current working condition.

[0080] As a possible implementation manner, actual braking deceleration=correction coefficient*target braking deceleration.

[0081] S105: Control vehicle braking based on actual braking deceleration.

[0082] It can be seen from the above technical solution that the target stroke of the brake pedal, the target pedal speed of the brake pedal, the current vehicle speed and the vehicle distance are obtained; according to the corresponding relationship between the brake pedal stroke and the braking deceleration, the target braking deceleration corresponding to the target stroke is determined. The target pedal speed can reflect whether the driver has an emergency braking intention. The greater the current vehicle speed, the greater the braking force when the vehicle is about to stop. If it does not match the current vehicle operation, pitching and other phenomena will occur. The vehicle distance can reflect whether the current vehicle distance is sufficient and safe. The vehicle distance can determine the braking force requirements of the vehicle's current working condition through the target pedal speed, the current vehicle speed and the vehicle distance. According to the target pedal speed, the current vehicle speed and the vehicle distance, the correction coefficient is determined by fuzzy control. The correction coefficient is used to correct the target braking deceleration, that is, according to the correction coefficient and the target braking deceleration, the actual braking deceleration is determined, so that the actual braking deceleration can be more adapted to the vehicle's current working condition, and the vehicle braking is controlled based on the actual braking deceleration. Therefore, the target braking deceleration obtained based on the corresponding relationship is corrected based on the correction coefficient, and the correction coefficient is determined based on the braking force requirement of the vehicle's current operating conditions, so that the corrected actual braking deceleration is more in line with the actual operating conditions, rather than changing the braking deceleration only after exceeding a fixed threshold value, thereby expanding the scope of application and covering more operating conditions.

[0083] As a possible implementation method, the embodiment of the present application provides a specific implementation method of S104, that is, a specific implementation method of determining the actual braking deceleration based on the correction coefficient and the target braking deceleration, which is described in detail below.

[0084] Method 1: Obtain fuzzy rules; determine the fuzzy control model based on the fuzzy rules.

[0085] The higher the target pedal speed, or the higher the current vehicle speed, or the shorter the vehicle distance, the greater the braking force required for timely braking, and the larger the corresponding correction coefficient, so that the actual braking deceleration obtained based on the correction coefficient is greater. Based on this, in the fuzzy rule, the higher the target pedal speed, the greater the correction coefficient; the greater the current vehicle speed, the greater the correction coefficient; the shorter the vehicle distance, the greater the correction coefficient.

[0086] Method 2: Determine the fuzzy control model based on the membership function set and fuzzy rules.

[0087] In order to describe the fuzzy relationship in fuzzy rules, the membership function is introduced. The membership function stipulates:

[0088] (1) When an element belongs to a set, the element membership is 1;

[0089] (2) When an element does not belong to a set, the element membership is 0;

[0090] (3) When an element partially belongs to a set and partially does not belong to the set, the degree of membership of the element is a number between (0,1).

[0091] The embodiments of the present application do not specifically limit the form of the membership function, for example, double S-shaped membership function (dsigmf), joint Gaussian membership function (gauss2mf), Gaussian membership function (gaussmf), generalized bell-shaped membership function (gbellmf), type II membership function (pimf), double S-shaped product membership function (psigmf), S-shaped membership function (smf), S-shaped membership function (sigmf), trapezoidal membership function (trapmf), triangle membership function (trimf), Z-shaped membership function (zmf). As a possible implementation method, the membership function included in the membership function set is a symmetric function, such as a triangle membership function.

[0092] The membership function set includes a first membership function, a second membership function, a third membership function and a fourth membership function. Each membership function is described below.

[0093] First membership function: the pedal speed interval of the brake pedal is divided to obtain a plurality of fuzzy subsets for the pedal speed intervals, and a first membership function corresponding to the fuzzy subsets for the pedal speed intervals is established.

[0094] For example, the pedal speed interval of the brake pedal is divided into five fuzzy subsets for the pedal speed interval, namely: fast, relatively fast, moderate, relatively slow and slow. The corresponding quantization domain is X = {-2, -1, 0, 1, 2}. The quantization domain refers to the range corresponding to the numerical value after the fuzzy subset is quantized. The first membership function is shown in Table 1:

[0095] Table 1

[0096]

[0097] Second membership function: the speed interval of the vehicle is divided to obtain a plurality of fuzzy subsets for the speed intervals, and a second membership function corresponding to the fuzzy subsets for the speed intervals is established.

[0098] For example, the speed interval of the vehicle is divided into five fuzzy subsets for the speed interval, namely: high speed, relatively high speed, medium speed, relatively low speed, and low speed. The corresponding quantization domain is Y = {-2, -1, 0, 1, 2}, and the second membership function is shown in Table 2:

[0099] Table 2

[0100]

[0101] The third membership function: the distance interval between the vehicle and the obstacle ahead is divided to obtain a plurality of fuzzy subsets for the distance interval, and a third membership function corresponding to the fuzzy subsets for the distance interval is established.

[0102] For example, the distance interval between the vehicle and the obstacle ahead is divided into five fuzzy subsets for the distance interval, namely: far, far, moderate, close, and near. The corresponding quantization domain is Z = {-2, -1, 0, 1, 2}. The third membership function is shown in Table 3:

[0103] Table 3

[0104]

[0105] Fourth membership function: the coefficient interval in which the correction coefficient is located is divided to obtain a plurality of fuzzy subsets for the coefficient interval, and a fourth membership function corresponding to the fuzzy subsets for the coefficient interval is established.

[0106] For example, by dividing the coefficient interval where the correction coefficient is located, 7 fuzzy subsets for the coefficient interval are obtained, namely: large, relatively large, relatively large, moderate, relatively small, relatively small, and small. The corresponding quantitative domain is U = {0.7 0.8 0.9 1 1.1 1.21.3}, and the fourth membership function is shown in Table 4:

[0107] Table 4

[0108]

[0109] After establishing the membership function, a fuzzy rule is established. In the fuzzy rule, the higher the target pedal speed, the greater the correction coefficient; the greater the current vehicle speed, the greater the correction coefficient; the shorter the vehicle distance, the greater the correction coefficient. The following are some examples of fuzzy rules.

[0110] If the current vehicle speed is high and the target pedal speed is fast and the distance between vehicles is far, the correction coefficient is large;

[0111] If the current vehicle speed is high and the target pedal speed is fast and the distance between vehicles is far, the correction coefficient takes a larger value;

[0112] If the current vehicle speed is high and the target pedal speed is moderate and the distance between vehicles is far, the correction coefficient takes a moderate value;

[0113] If the current vehicle speed is high and the target pedal speed is slow and the distance between vehicles is far, the correction coefficient takes a moderate value;

[0114] If the current vehicle speed is high and the target pedal speed is slow and the distance between vehicles is far, the correction coefficient takes a moderate value;

[0115] If the current vehicle speed is high and the target pedal speed is fast and the distance between vehicles is far, the correction coefficient takes a larger value;

[0116] If the current vehicle speed is high and the target pedal speed is fast and the distance between vehicles is far, the correction coefficient takes a larger value;

[0117] If the current vehicle speed is high and the target pedal speed is moderate and the distance between vehicles is far, the correction coefficient takes a moderate value;

[0118] If the current vehicle speed is high and the target pedal speed is slow and the distance between vehicles is far, the correction coefficient takes a moderate value;

[0119] If the current vehicle speed is high and the target pedal speed is slow and the distance between vehicles is far, the correction coefficient takes a moderate value;

[0120] If the current vehicle speed is moderate and the target pedal speed is fast and the distance between vehicles is far, the correction coefficient takes a larger value;

[0121] If the current vehicle speed is moderate and the target pedal speed is fast and the distance between vehicles is far, the correction coefficient takes a larger value;

[0122] If the current vehicle speed is moderate and the target pedal speed is moderate and the distance between vehicles is far, the correction coefficient takes a moderate value;

[0123] If the current vehicle speed is moderate and the target pedal speed is slow and the distance between vehicles is far, the correction coefficient takes a moderate value;

[0124] If the current vehicle speed is moderate and the target pedal speed is slow and the distance between vehicles is far, the correction coefficient takes a moderate value;

[0125] If the current vehicle speed is low and the target pedal speed is fast and the distance between vehicles is far, the correction coefficient takes a larger value;

[0126] If the current vehicle speed is low and the target pedal speed is high and the distance between vehicles is far, the correction coefficient takes a larger value;

[0127] If the current vehicle speed is low and the target pedal speed is moderate and the distance between vehicles is far, the correction coefficient takes a moderate value;

[0128] If the current vehicle speed is low and the target pedal speed is slow and the distance between vehicles is far, the correction coefficient takes a moderate value;

[0129] If the current vehicle speed is low and the target pedal speed is slow and the distance between vehicles is far, the correction coefficient takes a moderate value;

[0130] If the current vehicle speed is low and the target pedal speed is fast and the distance between vehicles is far, the correction coefficient is a larger value;

[0131] If the current vehicle speed is low and the target pedal speed is fast and the distance between vehicles is far, the correction coefficient takes a moderate value;

[0132] If the current vehicle speed is low and the target pedal speed is moderate and the distance between vehicles is far, the correction coefficient takes a smaller value;

[0133] If the current vehicle speed is low and the target pedal speed is slow and the distance between vehicles is far, the correction coefficient takes a smaller value;

[0134] If the current vehicle speed is low and the target pedal speed is slow and the distance between vehicles is far, the correction coefficient takes a small value;

[0135] If the current vehicle speed is high and the target pedal speed is fast and the distance between vehicles is far, the correction coefficient takes a larger value;

[0136] If the current vehicle speed is high, the target pedal speed is fast, and the distance between vehicles is far, the correction coefficient takes a larger value; if the current vehicle speed is high, the target pedal speed is moderate, and the distance between vehicles is far, the correction coefficient takes a moderate value; if the current vehicle speed is high, the target pedal speed is slow, and the distance between vehicles is far, the correction coefficient takes a moderate value; if the current vehicle speed is high, the target pedal speed is slow, and the distance between vehicles is far, the correction coefficient takes a moderate value;

[0137] If the current vehicle speed is high and the target pedal speed is fast and the distance between vehicles is far, the correction coefficient takes a larger value;

[0138] If the current vehicle speed is high, the target pedal speed is fast, and the distance between vehicles is far, the correction coefficient takes a larger value; if the current vehicle speed is high, the target pedal speed is moderate, and the distance between vehicles is far, the correction coefficient takes a moderate value; if the current vehicle speed is high, the target pedal speed is slow, and the distance between vehicles is far, the correction coefficient takes a moderate value; if the current vehicle speed is high, the target pedal speed is slow, and the distance between vehicles is far, the correction coefficient takes a moderate value; if the current vehicle speed is moderate, the target pedal speed is fast, and the distance between vehicles is far, the correction coefficient takes a larger value;

[0139] If the current vehicle speed is moderate, the target pedal speed is fast, and the distance between vehicles is far, the correction coefficient takes a larger value; if the current vehicle speed is moderate, the target pedal speed is moderate, and the distance between vehicles is far, the correction coefficient takes a moderate value; if the current vehicle speed is moderate, the target pedal speed is slow, and the distance between vehicles is far, the correction coefficient takes a moderate value; if the current vehicle speed is moderate, the target pedal speed is slow, and the distance between vehicles is far, the correction coefficient takes a moderate value; if the current vehicle speed is low, the target pedal speed is fast, and the distance between vehicles is far, the correction coefficient takes a large value;

[0140] If the current vehicle speed is low, the target pedal speed is fast, and the distance between vehicles is far, the correction coefficient takes a larger value; if the current vehicle speed is low, the target pedal speed is moderate, and the distance between vehicles is far, the correction coefficient takes a moderate value; if the current vehicle speed is low, the target pedal speed is slow, and the distance between vehicles is far, the correction coefficient takes a moderate value; if the current vehicle speed is low, the target pedal speed is slow, and the distance between vehicles is far, the correction coefficient takes a moderate value; if the current vehicle speed is low, the target pedal speed is fast, and the distance between vehicles is far, the correction coefficient takes a larger value;

[0141] If the current vehicle speed is low and the target pedal speed is fast and the distance between vehicles is far, the correction coefficient takes a moderate value; if the current vehicle speed is low and the target pedal speed is moderate and the distance between vehicles is far, the correction coefficient takes a small value; if the current vehicle speed is low and the target pedal speed is slow and the distance between vehicles is far, the correction coefficient takes a small value; if the current vehicle speed is low and the target pedal speed is slow and the distance between vehicles is far, the correction coefficient takes a small value;

[0142] If the current vehicle speed is high and the target pedal speed is fast and the vehicle distance is moderate, the correction coefficient takes a large value;

[0143] If the current vehicle speed is high, the target pedal speed is fast, and the distance between vehicles is moderate, the correction coefficient takes a larger value; if the current vehicle speed is high, the target pedal speed is moderate, and the distance between vehicles is moderate, the correction coefficient takes a moderate value; if the current vehicle speed is high, the target pedal speed is slow, and the distance between vehicles is moderate, the correction coefficient takes a moderate value; if the current vehicle speed is high, the target pedal speed is slow, and the distance between vehicles is moderate, the correction coefficient takes a moderate value;

[0144] If the current vehicle speed is high and the target pedal speed is fast and the vehicle distance is moderate, the correction coefficient takes a large value;

[0145] If the current vehicle speed is high, the target pedal speed is fast, and the distance between vehicles is moderate, the correction coefficient takes a larger value; if the current vehicle speed is high, the target pedal speed is moderate, and the distance between vehicles is moderate, the correction coefficient takes a moderate value; if the current vehicle speed is high, the target pedal speed is slow, and the distance between vehicles is moderate, the correction coefficient takes a moderate value; if the current vehicle speed is high, the target pedal speed is slow, and the distance between vehicles is moderate, the correction coefficient takes a moderate value; if the current vehicle speed is moderate, the target pedal speed is fast, and the distance between vehicles is moderate, the correction coefficient takes a larger value;

[0146] If the current vehicle speed is moderate, the target pedal speed is fast, and the distance between vehicles is moderate, the correction coefficient takes a larger value; if the current vehicle speed is moderate, the target pedal speed is moderate, and the distance between vehicles is moderate, the correction coefficient takes a moderate value; if the current vehicle speed is moderate, the target pedal speed is slow, and the distance between vehicles is moderate, the correction coefficient takes a moderate value; if the current vehicle speed is moderate, the target pedal speed is slow, and the distance between vehicles is moderate, the correction coefficient takes a moderate value; if the current vehicle speed is low, the target pedal speed is fast, and the distance between vehicles is moderate, the correction coefficient takes a larger value;

[0147] If the current vehicle speed is low, the target pedal speed is fast, and the vehicle distance is moderate, the correction coefficient takes a larger value; if the current vehicle speed is low, the target pedal speed is moderate, and the vehicle distance is moderate, the correction coefficient takes a moderate value; if the current vehicle speed is low, the target pedal speed is slow, and the vehicle distance is moderate, the correction coefficient takes a moderate value; if the current vehicle speed is low, the target pedal speed is slow, and the vehicle distance is moderate, the correction coefficient takes a moderate value; if the current vehicle speed is low, the target pedal speed is fast, and the vehicle distance is moderate, the correction coefficient takes a larger value;

[0148] If the current vehicle speed is low, the target pedal speed is fast, and the distance between vehicles is moderate, the correction coefficient takes a moderate value; if the current vehicle speed is low, the target pedal speed is moderate, and the distance between vehicles is moderate, the correction coefficient takes a smaller value; if the current vehicle speed is low, the target pedal speed is slow, and the distance between vehicles is moderate, the correction coefficient takes a smaller value; if the current vehicle speed is low, the target pedal speed is slow, and the distance between vehicles is moderate, the correction coefficient takes a smaller value;

[0149] If the current vehicle speed is high and the target pedal speed is fast and the distance between vehicles is close, the correction coefficient takes a larger value;

[0150] If the current vehicle speed is high and the target pedal speed is fast and the distance between vehicles is short, the correction coefficient takes a larger value; if the current vehicle speed is high and the target pedal speed is moderate and the distance between vehicles is short, the correction coefficient takes a larger value; if the current vehicle speed is high and the target pedal speed is slow and the distance between vehicles is short, the correction coefficient takes a moderate value; if the current vehicle speed is high and the target pedal speed is slow and the distance between vehicles is short, the correction coefficient takes a moderate value;

[0151] If the current vehicle speed is high and the target pedal speed is fast and the distance between vehicles is close, the correction coefficient takes a larger value;

[0152] If the current vehicle speed is high, the target pedal speed is fast, and the distance between vehicles is short, the correction coefficient takes a larger value; if the current vehicle speed is high, the target pedal speed is moderate, and the distance between vehicles is short, the correction coefficient takes a larger value; if the current vehicle speed is high, the target pedal speed is slow, and the distance between vehicles is short, the correction coefficient takes a moderate value; if the current vehicle speed is high, the target pedal speed is slow, and the distance between vehicles is short, the correction coefficient takes a moderate value; if the current vehicle speed is moderate, the target pedal speed is fast, and the distance between vehicles is short, the correction coefficient takes a large value;

[0153] If the current vehicle speed is moderate, the target pedal speed is fast, and the distance between vehicles is short, the correction coefficient takes a larger value; if the current vehicle speed is moderate, the target pedal speed is moderate, and the distance between vehicles is short, the correction coefficient takes a larger value; if the current vehicle speed is moderate, the target pedal speed is slow, and the distance between vehicles is short, the correction coefficient takes a moderate value; if the current vehicle speed is moderate, the target pedal speed is slow, and the distance between vehicles is short, the correction coefficient takes a moderate value; if the current vehicle speed is low, the target pedal speed is fast, and the distance between vehicles is short, the correction coefficient takes a large value;

[0154] If the current vehicle speed is low and the target pedal speed is fast and the vehicle distance is close, the correction coefficient takes a larger value; if the current vehicle speed is low and the target pedal speed is moderate and the vehicle distance is close, the correction coefficient takes a larger value; if the current vehicle speed is low and the target pedal speed is slow and the vehicle distance is close, the correction coefficient takes a moderate value; if the current vehicle speed is low and the target pedal speed is slow and the vehicle distance is close, the correction coefficient takes a moderate value; if the current vehicle speed is low and the target pedal speed is fast and the vehicle distance is close, the correction coefficient takes a larger value;

[0155] If the current vehicle speed is low and the target pedal speed is fast and the distance between vehicles is short, the correction coefficient takes a larger value; if the current vehicle speed is low and the target pedal speed is moderate and the distance between vehicles is short, the correction coefficient takes a larger value; if the current vehicle speed is low and the target pedal speed is slow and the distance between vehicles is short, the correction coefficient takes a moderate value; if the current vehicle speed is low and the target pedal speed is slow and the distance between vehicles is short, the correction coefficient takes a moderate value;

[0156] If the current vehicle speed is high and the target pedal speed is fast and the distance between vehicles is close, the correction coefficient takes a larger value;

[0157] If the current vehicle speed is high and the target pedal speed is fast and the distance between vehicles is short, the correction coefficient takes a larger value; if the current vehicle speed is high and the target pedal speed is moderate and the distance between vehicles is short, the correction coefficient takes a larger value; if the current vehicle speed is high and the target pedal speed is slow and the distance between vehicles is short, the correction coefficient takes a moderate value;

[0158] If the current vehicle speed is high and the target pedal speed is slow and the distance between vehicles is close, the correction coefficient takes a moderate value;

[0159] If the current vehicle speed is high and the target pedal speed is fast and the distance between vehicles is close, the correction coefficient takes a larger value;

[0160] If the current vehicle speed is high and the target pedal speed is fast and the distance between vehicles is short, the correction coefficient takes a larger value; if the current vehicle speed is high and the target pedal speed is moderate and the distance between vehicles is short, the correction coefficient takes a larger value; if the current vehicle speed is high and the target pedal speed is slow and the distance between vehicles is short, the correction coefficient takes a moderate value; if the current vehicle speed is high and the target pedal speed is slow and the distance between vehicles is short, the correction coefficient takes a moderate value;

[0161] If the current vehicle speed is moderate and the target pedal speed is fast and the distance between vehicles is close, the correction coefficient takes a larger value;

[0162] If the current vehicle speed is moderate and the target pedal speed is fast and the distance between vehicles is short, the correction coefficient takes a larger value; if the current vehicle speed is moderate and the target pedal speed is moderate and the distance between vehicles is short, the correction coefficient takes a larger value; if the current vehicle speed is moderate and the target pedal speed is slow and the distance between vehicles is short, the correction coefficient takes a moderate value; if the current vehicle speed is moderate and the target pedal speed is slow and the distance between vehicles is short, the correction coefficient takes a moderate value;

[0163] If the current vehicle speed is low and the target pedal speed is fast and the distance between vehicles is close, the correction coefficient takes a larger value;

[0164] If the current vehicle speed is low and the target pedal speed is high and the distance between vehicles is close, the correction coefficient takes a larger value;

[0165] If the current vehicle speed is low and the target pedal speed is moderate and the distance between vehicles is close, the correction coefficient takes a larger value;

[0166] If the current vehicle speed is low and the target pedal speed is slow and the distance between vehicles is close, the correction coefficient takes a moderate value;

[0167] If the current vehicle speed is low and the target pedal speed is slow and the distance between vehicles is close, the correction coefficient takes a moderate value;

[0168] If the current vehicle speed is low and the target pedal speed is fast and the distance between vehicles is close, the correction coefficient is a larger value;

[0169] If the current vehicle speed is low and the target pedal speed is fast and the distance between vehicles is close, the correction coefficient takes a larger value;

[0170] If the current vehicle speed is low and the target pedal speed is moderate and the distance between vehicles is close, the correction coefficient takes a larger value;

[0171] If the current vehicle speed is low and the target pedal speed is slow and the distance between vehicles is close, the correction coefficient takes a moderate value;

[0172] If the current vehicle speed is low and the target pedal speed is slow and the distance between vehicles is close, the correction coefficient is a moderate value.

[0173] As a possible implementation method, considering the driving braking safety, when establishing the fuzzy rules, it should be satisfied that the vehicle is not in an over-braking state or an under-braking state.

[0174] Therefore, after determining the membership function set and fuzzy rules, the fuzzy control model can be determined based on the membership function set and fuzzy rules. The fuzzy control model only requires limited area division of the input, which can effectively solve the problem of multi-dimensional data explosion.

[0175] As a possible implementation method, the correspondence between discrete inputs (target pedal speed, current vehicle speed and vehicle distance) and discrete outputs (correction coefficients) can be made continuous, that is, a fuzzy control model that can be made continuous can be obtained, so that the output corresponding to any input can be obtained. As a possible implementation method, MATLAB software can be used for calculation to obtain a three-dimensional matrix for online calculation.

[0176] Correspondingly, after obtaining the target pedal speed, current vehicle speed and vehicle distance corresponding to a certain moment, they can be made continuous, and the correction coefficient can be obtained through the fuzzy control model that can be made continuous. As a possible implementation method, according to the first membership function, the first continuous input value corresponding to the target pedal speed is determined; according to the second membership function, the second continuous input value corresponding to the current vehicle speed is determined; according to the third membership function, the third continuous input value corresponding to the vehicle distance is determined; the first continuous input value, the second continuous input value and the third continuous input value are input into the fuzzy control model to obtain the correction coefficient.

[0177] For example, when the target pedal speed is 700 mm / s, the target pedal speed is a faster pedal speed based on Table 5, and the target pedal speed is converted into the first continuous input value, i.e., -1.5, according to the first membership function. For another example, the first continuous input value corresponding to 600 mm / s is -1, and the first continuous input value corresponding to 800 mm / s is -2.

[0178] Table 5

[0179]

[0180] By analogy, the current vehicle speed and vehicle distance are also respectively based on the second membership function and the third membership function to obtain the second continuous input value and the third continuous input value.

[0181] As a possible implementation method, the fuzzy control model is pre-determined offline so that the target pedal speed, current vehicle speed, and vehicle distance can be obtained in real time later to achieve real-time calculation of the actual braking deceleration.

[0182] In addition to the vehicle braking method provided in the embodiment of the present application, a vehicle braking device is also provided, such as Figure 2 As shown, it includes: an acquisition unit 201, a determination unit 202, an adjustment unit 203 and a control unit 204;

[0183] The acquisition unit 201 is used to acquire a target travel of the brake pedal, a target pedal speed of the brake pedal, a current vehicle speed and a vehicle distance;

[0184] The determining unit 202 is used to determine the target braking deceleration corresponding to the target stroke according to the corresponding relationship between the brake pedal stroke and the braking deceleration;

[0185] The determination unit 202 is further configured to determine a correction coefficient through a fuzzy control model according to the target pedal speed, the current vehicle speed and the vehicle distance;

[0186] The adjustment unit 203 is used to determine the actual braking deceleration according to the correction coefficient and the target braking deceleration;

[0187] The control unit 204 is used to control vehicle braking based on the actual braking deceleration.

[0188] It can be seen from the above technical solution that the target stroke of the brake pedal, the target pedal speed of the brake pedal, the current vehicle speed and the vehicle distance are obtained; according to the corresponding relationship between the brake pedal stroke and the braking deceleration, the target braking deceleration corresponding to the target stroke is determined. Among them, the target pedal speed can reflect whether the driver has an emergency braking intention. The greater the current vehicle speed, the greater the braking force when the vehicle is about to stop. If it does not match the current vehicle operation, pitching and other phenomena will occur. The vehicle distance can reflect whether the current vehicle distance is sufficient and safe. The vehicle distance can determine the braking force requirements of the current working condition of the vehicle through the target pedal speed, the current vehicle speed and the vehicle distance. According to the target pedal speed, the current vehicle speed and the vehicle distance, the correction coefficient is determined by fuzzy control. The correction coefficient is used to correct the target braking deceleration, that is, according to the correction coefficient and the target braking deceleration, the actual braking deceleration is determined, so that the actual braking deceleration can be more adapted to the current working condition of the vehicle, and the vehicle braking is controlled based on the actual braking deceleration. Therefore, the target braking deceleration obtained based on the corresponding relationship is corrected based on the correction coefficient, and the correction coefficient is determined based on the braking force requirement of the vehicle's current operating conditions, so that the corrected actual braking deceleration is more in line with the actual operating conditions, rather than changing the braking deceleration only after exceeding a fixed threshold value, thereby expanding the scope of application and covering more operating conditions.

[0189] As a possible implementation, the acquisition unit 201 is further used to acquire fuzzy rules;

[0190] The determining unit 202 is further configured to determine the fuzzy control model according to the fuzzy rule;

[0191] Among them, in the fuzzy rule, the higher the target pedal speed, the larger the correction coefficient; the greater the current vehicle speed, the larger the correction coefficient; the shorter the vehicle distance, the larger the correction coefficient.

[0192] As a possible implementation manner, the determining unit 202 is specifically configured to:

[0193] Dividing the pedal speed interval of the brake pedal to obtain a plurality of fuzzy subsets for the pedal speed interval, and establishing a first membership function corresponding to the fuzzy subsets for the pedal speed interval;

[0194] Dividing the speed interval of the vehicle to obtain a plurality of fuzzy subsets for the speed interval, and establishing a second membership function corresponding to the fuzzy subsets for the speed interval;

[0195] Dividing the distance interval between the vehicle and the obstacle ahead to obtain a plurality of fuzzy subsets for the distance interval, and establishing a third membership function corresponding to the fuzzy subsets for the distance interval;

[0196] Dividing the coefficient interval where the correction coefficient is located to obtain a plurality of fuzzy subsets for the coefficient interval, and establishing a fourth membership function corresponding to the fuzzy subsets for the coefficient interval;

[0197] The fuzzy control model is determined based on a membership function set and the fuzzy rules, wherein the membership function set includes the first membership function, the second membership function, the third membership function and the fourth membership function.

[0198] As a possible implementation manner, the determining unit 202 is specifically configured to:

[0199] determining a first continuous input value corresponding to the target pedal speed according to the first membership function;

[0200] determining, according to the second membership function, a second continuous input value corresponding to the current vehicle speed;

[0201] Determining a third continuous input value corresponding to the vehicle distance according to the third membership function;

[0202] The first continuous input value, the second continuous input value and the third continuous input value are input into the fuzzy control model to obtain the correction coefficient.

[0203] As a possible implementation manner, the membership functions included in the membership function set are symmetric functions.

[0204] As a possible implementation manner, the determining unit 202 is specifically configured to:

[0205] If it is determined that the vehicle is not in an over-braking state or an under-braking state, a correction coefficient is determined through a fuzzy control model according to the target pedal speed, the current vehicle speed and the vehicle distance.

[0206] As a possible implementation manner, the fuzzy control model is pre-determined offline.

[0207] The present application also provides a computer device, see Figure 3 , which shows a structural diagram of a computer device provided in an embodiment of the present application, such as Figure 3 As shown, the device includes a memory 310 and a processor 320:

[0208] The memory 310 is used to store program codes and transmit the program codes to the processor;

[0209] The processor 320 is used to execute any vehicle braking method provided in the above embodiments according to the instructions in the program code.

[0210] An embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, wherein the computer program is used to execute any one of the vehicle braking methods provided in the above embodiments.

[0211] The embodiment of the present application also provides a computer program product or a computer program, which includes a computer instruction stored in a computer-readable storage medium. The processor of the computer device reads the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes the vehicle braking method provided in various optional implementations of the above aspects.

[0212] It should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other. For the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0213] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0214] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0215] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0216] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle braking method, characterized in that: The method comprises: Obtaining a target travel of a brake pedal, a target pedal speed of the brake pedal, a current vehicle speed, and a vehicle distance; Determining a target braking deceleration corresponding to the target stroke according to a correspondence between a brake pedal stroke and a braking deceleration; Determining a correction coefficient through a fuzzy control model according to the target pedal speed, the current vehicle speed and the vehicle distance; determining an actual braking deceleration according to the correction coefficient and the target braking deceleration; Vehicle braking is controlled based on the actual braking deceleration.

2. The method according to claim 1, characterized in that The method further comprises: Get fuzzy rules; Determining the fuzzy control model according to the fuzzy rules; Among them, in the fuzzy rule, the higher the target pedal speed, the larger the correction coefficient; the greater the current vehicle speed, the larger the correction coefficient; the shorter the vehicle distance, the larger the correction coefficient.

3. The method according to claim 2, characterized in that Determining the fuzzy control model according to the fuzzy rule comprises: Dividing the pedal speed interval of the brake pedal to obtain a plurality of fuzzy subsets for the pedal speed interval, and establishing a first membership function corresponding to the fuzzy subsets for the pedal speed interval; Dividing the speed interval of the vehicle to obtain a plurality of fuzzy subsets for the speed interval, and establishing a second membership function corresponding to the fuzzy subsets for the speed interval; Dividing the distance interval between the vehicle and the obstacle ahead to obtain a plurality of fuzzy subsets for the distance interval, and establishing a third membership function corresponding to the fuzzy subsets for the distance interval; Dividing the coefficient interval where the correction coefficient is located to obtain a plurality of fuzzy subsets for the coefficient interval, and establishing a fourth membership function corresponding to the fuzzy subsets for the coefficient interval; The fuzzy control model is determined based on a membership function set and the fuzzy rules, wherein the membership function set includes the first membership function, the second membership function, the third membership function and the fourth membership function.

4. The method according to claim 3, characterized in that: The determining of the correction coefficient by a fuzzy control model according to the target pedal speed, the current vehicle speed and the vehicle distance comprises: determining a first continuous input value corresponding to the target pedal speed according to the first membership function; determining, according to the second membership function, a second continuous input value corresponding to the current vehicle speed; Determining a third continuous input value corresponding to the vehicle distance according to the third membership function; The first continuous input value, the second continuous input value and the third continuous input value are input into the fuzzy control model to obtain the correction coefficient.

5. The method according to any one of claims 1 to 4, characterized in that: The determining of the correction coefficient by a fuzzy control model according to the target pedal speed, the current vehicle speed and the vehicle distance comprises: If it is determined that the vehicle is not in an over-braking state or an under-braking state, a correction coefficient is determined through a fuzzy control model according to the target pedal speed, the current vehicle speed and the vehicle distance.

6. The method according to any one of claims 1 to 4, characterized in that: The fuzzy control model is pre-determined offline.

7. A braking device for a vehicle, characterized in that: The device comprises: an acquisition unit, a determination unit, an adjustment unit and a control unit; The acquisition unit is used to acquire a target travel of the brake pedal, a target pedal speed of the brake pedal, a current vehicle speed and a vehicle distance; The determining unit is used to determine the target braking deceleration corresponding to the target stroke according to the corresponding relationship between the brake pedal stroke and the braking deceleration; The determination unit is further used to determine a correction coefficient through a fuzzy control model according to the target pedal speed, the current vehicle speed and the vehicle distance; The adjustment unit is used to determine the actual braking deceleration according to the correction coefficient and the target braking deceleration; The control unit is used to control vehicle braking based on the actual braking deceleration.

8. The device according to claim 7, characterized in that The acquisition unit is also used to acquire fuzzy rules; The determining unit is further used to determine the fuzzy control model according to the fuzzy rule; Among them, in the fuzzy rule, the higher the target pedal speed, the larger the correction coefficient; the greater the current vehicle speed, the larger the correction coefficient; the shorter the vehicle distance, the larger the correction coefficient.

9. A computer device, characterized in that: The device comprises a processor and a memory: The memory is used to store program code and transmit the program code to the processor; The processor is used to execute the method according to any one of claims 1 to 6 according to the instructions in the program code.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method according to any one of claims 1 to 6.

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