Braking assisting method and device based on distributed hub motor and storage medium

Abstract

The invention discloses a distributed hub motor-based brake assisting method and device and a storage medium, relates to the technical field of vehicle control, and discloses a distributed hub motor-based brake assisting method, which comprises the following steps of: when a vehicle is started, acquiring a deflection angle multi-dimensional lookup table from an Internet of Vehicles platform, obtaining the current speed of the vehicle running on the road; when the current vehicle speed is larger than a vehicle speed threshold value, the current obstacle distance is obtained, and a target steering angle is determined from the deflection angle multi-dimensional lookup table according to the current vehicle speed and the current obstacle distance; and a front guide wheel of the vehicle is controlled to deflect inwards by the target steering angle through a distributed hub motor, so that vehicle braking assistance is completed. And the vehicle sliding phenomenon caused by insufficient friction force can be reduced, so that the braking distance is effectively shortened.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a brake assist method, device and storage medium based on a distributed hub motor. Background Art

[0002] The automobile braking system is a key component of vehicle safety, and its performance is directly related to driving safety. The traditional braking system mainly uses hydraulic or pneumatic pressure to act on the brake disc or brake drum to generate braking force on the wheels to slow down or stop the vehicle. However, this traditional braking method is prone to wheel locking or limited wheel steering angle on slippery roads or in emergency braking situations, resulting in a longer braking distance and failing to effectively avoid traffic accidents.

[0003] The existing technical solutions mainly improve the design and materials of the brakes, increase the response speed and braking torque of the brake system, and adopt an anti-lock braking system (ABS) to avoid wheel locking, but the braking distance will still be extended due to insufficient friction between the tires and the road.

[0004] How to reduce the extended braking distance of vehicles caused by insufficient friction between tires and roads has become a technical problem to be solved.

[0005] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0006] The main purpose of this application is to provide a brake assist method, device and storage medium based on a distributed hub motor, aiming to solve the technical problem of how to reduce the extended braking distance of a vehicle caused by insufficient friction between the tire and the road surface.

[0007] To achieve the above objectives, the present application proposes a brake assist method based on a distributed wheel hub motor, the method comprising:

[0008] When the vehicle is started, a multi-dimensional lookup table of deflection angles is obtained from the Internet of Vehicles platform, and the current speed of the vehicle on the road is obtained;

[0009] When the current vehicle speed is greater than the vehicle speed threshold, obtaining the current obstacle distance, and determining the target steering angle from the deflection angle multidimensional lookup table according to the current vehicle speed and the current obstacle distance;

[0010] The front steering wheel of the vehicle is controlled by a distributed wheel hub motor to deflect inwardly to the target steering angle to complete vehicle braking assistance.

[0011] In one embodiment, when the current vehicle speed is greater than the vehicle speed threshold, the step of obtaining the current obstacle distance, and determining the target steering angle from the deflection angle multidimensional lookup table according to the current vehicle speed and the current obstacle distance comprises:

[0012] When the current vehicle speed is greater than the vehicle speed threshold, obtaining the current obstacle distance;

[0013] When a braking instruction is received, a target steering angle is determined from the deflection angle multidimensional lookup table according to the current vehicle speed and the current obstacle distance.

[0014] In one embodiment, before the step of determining the target steering angle from the deflection angle multidimensional lookup table according to the current vehicle speed and the current obstacle distance when a braking instruction is received, the step includes:

[0015] Acquire the data synchronization frequency of the deflection angle multidimensional lookup table;

[0016] The lookup table data maintenance information is sent to the Internet of Vehicles platform according to the data synchronization frequency, and the updated deflection angle multi-dimensional lookup table fed back by the Internet of Vehicles platform based on the lookup table data maintenance information is received.

[0017] In one embodiment, before the step of sending the lookup table data maintenance information to the Internet of Vehicles platform according to the data synchronization frequency and receiving the updated deflection angle multidimensional lookup table fed back by the Internet of Vehicles platform based on the lookup table data maintenance information, the step further includes:

[0018] Collect at least two of vehicle speed data, obstacle distance data, vehicle status data, wear and tear data, and road surface status data;

[0019] Data processing is performed on at least two of the vehicle speed data, the obstacle distance data, the vehicle status data, the wear data, and the road surface status data to obtain lookup table data maintenance information.

[0020] In one embodiment, after the step of sending the lookup table data maintenance information to the Internet of Vehicles platform according to the data synchronization frequency, and receiving the updated deflection angle multidimensional lookup table fed back by the Internet of Vehicles platform based on the lookup table data maintenance information, the step further includes:

[0021] Obtain road condition monitoring data;

[0022] When the road surface condition monitoring data meets a preset condition, updating the road surface condition data;

[0023] The updated road surface status data is sent to the vehicle networking platform, and the updated deflection angle multi-dimensional lookup table fed back by the vehicle networking platform based on the road surface status data is received.

[0024] In one embodiment, the distributed hub motor includes a left hub motor and a right hub motor, and the front guide wheel includes a left guide wheel and a right guide wheel;

[0025] The step of controlling the front guide wheel of the vehicle to deflect inwardly by the target steering angle through the distributed wheel hub motor to complete the vehicle braking assistance includes:

[0026] Controlling the left steering wheel of the vehicle to deflect inwardly to the target steering angle by the left wheel hub motor;

[0027] The right steering wheel of the vehicle is controlled by the right wheel hub motor to deflect inwardly to the target steering angle to complete vehicle braking assistance.

[0028] In one embodiment, when the vehicle is started, the step of obtaining a multi-dimensional lookup table of deflection angles from the Internet of Vehicles platform includes:

[0029] When the vehicle is started, the vehicle model information is sent to the Internet of Vehicles platform;

[0030] Receive a multi-dimensional lookup table of deflection angles fed back by the Internet of Vehicles platform based on the vehicle model information.

[0031] In one embodiment, when the vehicle is started, the step of obtaining a multi-dimensional lookup table of deflection angles from the Internet of Vehicles platform includes:

[0032] When the vehicle is started, road information, tire size information, and tire wear information are sent to the Internet of Vehicles platform;

[0033] Receive a multi-dimensional lookup table of deflection angles fed back by the Internet of Vehicles platform based on the road surface information, the tire size information, and the tire wear information.

[0034] In addition, to achieve the above-mentioned purpose, the present application also proposes a brake assist device based on a distributed wheel hub motor, and the brake assist device based on a distributed wheel hub motor includes:

[0035] A vehicle speed monitoring module is used to obtain a multi-dimensional lookup table of deflection angles from the Internet of Vehicles platform when the vehicle is started, and to obtain the current speed of the vehicle on the road;

[0036] a parameter determination module, configured to obtain a current obstacle distance when the current vehicle speed is greater than a vehicle speed threshold, and determine a target steering angle from the deflection angle multidimensional lookup table according to the current vehicle speed and the current obstacle distance;

[0037] The brake assist module is used to control the front guide wheel of the vehicle to deflect inwardly to the target steering angle through the distributed wheel hub motor to complete vehicle braking assistance.

[0038] In addition, to achieve the above-mentioned objectives, the present application also proposes a braking assistance device based on a distributed hub motor, the device comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the braking assistance method based on a distributed hub motor as described above.

[0039] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the braking assist method based on the distributed hub motor as described above are implemented.

[0040] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the braking assist method based on the distributed hub motor as described above are implemented.

[0041] One or more technical solutions proposed in this application have at least the following technical effects:

[0042] When the vehicle is started, the multi-dimensional lookup table of deflection angles is obtained from the Internet of Vehicles platform, and the current speed of the vehicle on the road is obtained; when the current speed is greater than the speed threshold, the current obstacle distance is obtained, and the target steering angle is determined from the multi-dimensional lookup table of deflection angles according to the current speed and the current obstacle distance; the front guide wheel of the vehicle is controlled to deflect inwardly to the target steering angle through the distributed hub motor to complete the vehicle braking assistance. The multi-dimensional lookup table of deflection angles is obtained through the Internet of Vehicles platform, and the target angle that the front guide wheel of the vehicle should deflect under specific circumstances is intelligently calculated in combination with the real-time speed and obstacle distance information of the vehicle. When the speed exceeds the preset threshold, the system will determine the appropriate steering angle from the lookup table according to the speed and obstacle distance to optimize the braking performance of the vehicle. By independently controlling the inward deflection of the front guide wheel, the contact angle of the tire is changed during the braking process, the contact friction with the road surface is increased, and the vehicle sliding caused by insufficient friction is reduced, thereby effectively shortening the braking distance, improving the vehicle's controllability and stability in emergency situations, and thus improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0045] Figure 1 A schematic diagram of a process flow provided for the first embodiment of the brake assist method based on a distributed hub motor of the present application;

[0046] Figure 2 A schematic diagram of a multi-dimensional search representation provided in Embodiment 1 of the brake assist method based on a distributed hub motor of the present application;

[0047] Figure 3 A braking assistance scenario architecture diagram provided for Embodiment 1 of the braking assistance method based on distributed hub motors of this application;

[0048] Figure 4 A schematic diagram of a multi-dimensional lookup table synchronization provided in Embodiment 1 of the brake assist method based on a distributed hub motor of the present application;

[0049] Figure 5 A schematic diagram of a braking assistance process provided in Embodiment 1 of a braking assistance method based on a distributed hub motor of the present application;

[0050] Figure 6 A schematic diagram of a flow chart of a second embodiment of a brake assist method based on a distributed hub motor of the present application;

[0051] Figure 7 A schematic diagram of a brief process of a brake assist method based on a distributed hub motor provided in the second embodiment of the present application;

[0052] Figure 8 This is a schematic diagram of the module structure of a brake assist device based on a distributed wheel hub motor according to an embodiment of the present application;

[0053] Fig. 9 Schematic diagram of the equipment structure of the hardware operating environment involved in the brake assist method based on the distributed hub motor in the embodiment of the present application.

[0054] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0055] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0056] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0057] The main solution of the embodiment of the present application is: when the vehicle is started, a multi-dimensional lookup table of deflection angles is obtained from the Internet of Vehicles platform, and the current speed of the vehicle on the road is obtained; when the current speed is greater than the speed threshold, the current obstacle distance is obtained, and the target steering angle is determined from the multi-dimensional lookup table of deflection angles according to the current speed and the current obstacle distance; the front guide wheels of the vehicle are controlled to deflect inward by the target steering angle through distributed hub motors to complete vehicle braking assistance.

[0058] In this embodiment, for the convenience of description, the following description is made by taking the identification of the brake assist system as the execution subject.

[0059] The automobile braking system is a key component of vehicle safety, and its performance is directly related to driving safety. The traditional braking system mainly uses hydraulic or pneumatic pressure to act on the brake disc or brake drum to generate braking force on the wheels to slow down or stop the vehicle. However, this traditional braking method is prone to wheel locking or limited wheel steering angle on slippery roads or in emergency braking situations, resulting in a longer braking distance and failing to effectively avoid traffic accidents.

[0060] The existing technical solutions mainly improve the design and materials of the brakes, increase the response speed and braking torque of the brake system, and adopt an anti-lock braking system (ABS) to avoid wheel locking, but the braking distance will still be extended due to insufficient friction between the tires and the road.

[0061] The present application provides a solution, which obtains a multi-dimensional lookup table of deflection angles through the Internet of Vehicles platform, and combines the vehicle's real-time speed and obstacle distance information to quickly query the target angle that the vehicle's front guide wheel should deflect in the corresponding situation from the multi-dimensional lookup table of deflection angles to ensure response speed. When the vehicle speed exceeds the preset threshold, the system will determine the appropriate steering angle from the lookup table based on the vehicle speed and obstacle distance to optimize the vehicle's braking performance. By independently controlling the inward deflection of the front guide wheel to change the tire's contact angle during braking, the contact friction with the road surface is increased, and the vehicle sliding caused by insufficient friction is reduced, thereby effectively shortening the braking distance, improving the vehicle's controllability and stability in emergency situations, and thus improving driving safety.

[0062] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a brake assist system, etc. The following takes the brake assist system as an example to illustrate this embodiment and the following embodiments.

[0063] Based on this, the embodiment of the present application provides a brake assist method based on a distributed wheel hub motor, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the brake assist method based on distributed hub motors of the present application.

[0064] In this embodiment, the brake assist method based on the distributed hub motor includes steps S10 to S30:

[0065] Step S10, when the vehicle is started, obtaining a multi-dimensional lookup table of deflection angles from the Internet of Vehicles platform, and obtaining the current speed of the vehicle on the road;

[0066] It should be noted that the Internet of Vehicles platform is a centralized data processing and management center that can collect, analyze and exchange various types of vehicle data in real time. It is connected to the database and the vehicle's on-board communication control unit (TelematicsBox, TBOX) to support information exchange between the vehicle and the external environment (such as traffic signals, weather conditions, etc.) and other vehicles. The Internet of Vehicles platform can transmit vehicle data to the cloud for processing through wireless communication technologies (such as LTE, 5G, etc.), and send instructions or data to the vehicle as needed. The current speed of the vehicle on the road can be obtained by measuring its own speed through the speed sensor.

[0067] It should be understood that the deflection angle multidimensional lookup table is a data structure stored in a database connected to the Internet of Vehicles platform, which is used to provide the vehicle with a corresponding recommended inward steering angle for brake assist control during emergency braking. The corresponding deflection angle value can be queried from the deflection angle multidimensional lookup table according to multiple parameters (such as speed, distance road conditions, tire size, type, loss, pressure, vehicle acceleration, and vehicle model, etc.). The deflection angle multidimensional lookup table is maintained by the big data capabilities of the Internet of Vehicles platform and the support of massive driving data in the database. When the vehicle is started, the multidimensional search acquisition information will be sent to the Internet of Vehicles platform through TBOX, so that the Internet of Vehicles platform can obtain the corresponding deflection angle multidimensional lookup table from the database and send it to TBOX. At this time, the deflection angle multidimensional lookup table is initialized by the Internet of Vehicles platform through big data and historical behavior analysis of the driver.

[0068] For example, the multidimensional lookup table may be a basic grid with vehicle speed and distance as axes, referring to Figure 2, Figure 2 This is a schematic diagram of a multi-dimensional search provided in Example 1 of the braking assistance method based on distributed hub motors of the present application, where each grid represents a recommended inward steering angle for braking its hub motor at a certain speed and distance.

[0069] In a feasible implementation, step S10 may include: when starting the vehicle, sending vehicle model information to the Internet of Vehicles platform; receiving a multi-dimensional lookup table of deflection angles fed back by the Internet of Vehicles platform based on the vehicle model information.

[0070] It should be understood that the vehicle model information reflects the quality information of the vehicle. The multi-dimensional lookup table of deflection angles maintained in the database of the Internet of Vehicles platform can be a basic grid with vehicle speed, distance and vehicle model as axes, and each grid represents the recommended inward turning angle of the wheel hub motor of a specific vehicle model when braking at a certain speed and distance, as shown in Table 1.

[0071] Table 1

[0072]

[0073] It should be understood that the query parameters of the deflection angle multidimensional lookup table maintained by the database include not only the vehicle speed and obstacle distance that must be used when the system queries the recommended inward steering angle, but also vehicle model information. In order to reduce the cost of TBOX maintaining the deflection angle multidimensional lookup table, the deflection angle multidimensional lookup table maintained by TBOX does not include vehicle model information. When the vehicle is started, after the vehicle model information is sent to the Internet of Vehicles platform through TBOX, the Internet of Vehicles platform will feedback the deflection angle multidimensional lookup table that only contains the vehicle speed and obstacle distance query information corresponding to the model based on the vehicle model information. Taking into account that in general, the volume and mass of SUVs are greater than those of sedans, they require a larger wheel deflection angle.

[0074] Step S20, when the current vehicle speed is greater than the vehicle speed threshold, obtaining the current obstacle distance, and determining the target steering angle from the deflection angle multidimensional lookup table according to the current vehicle speed and the current obstacle distance;

[0075] It should be understood that the vehicle speed threshold is a preset speed limit used to trigger the brake assist system. The auxiliary braking scheme of this solution is activated only when the speed exceeds the preset threshold. On the one hand, it can reduce the damage to the physical structure and wheels of the vehicle; on the other hand, it can reduce the cost of maintaining the multi-dimensional lookup table on the vehicle side. The current obstacle distance is the distance between the vehicle and the obstacle in front (such as vehicles and pedestrians, etc.), which can be obtained by measuring the distance to the obstacle in front through the radar sensor on the front of the vehicle. Figure 3 , Figure 3This is a diagram of the braking assistance scenario architecture provided for the first embodiment of the braking assistance method based on distributed wheel hub motors in this application. When the current vehicle speed is greater than the vehicle speed threshold, if the vehicle has emergency braking, the corresponding angle that the front guide wheel of the vehicle should deflect can be determined from the deflection angle multidimensional lookup table according to the current vehicle speed and the current obstacle distance, that is, the target steering angle, so as to control the wheel hub direction according to the preset scheme and achieve effective braking assistance.

[0076] In a feasible implementation, step S20 may include steps S21 to S22:

[0077] Step S21, when the current vehicle speed is greater than the vehicle speed threshold, obtaining the current obstacle distance;

[0078] It should be understood that the vehicle speed threshold is the threshold for enabling the brake assist solution based on the distributed hub motor, and the current obstacle distance will only be obtained when the current vehicle speed is greater than the vehicle speed threshold.

[0079] Step S22, when a braking command is received, determining a target steering angle from the deflection angle multidimensional lookup table according to the current vehicle speed and the current obstacle distance.

[0080] It should be understood that when no braking command is received, it means that the driver has not taken any braking measures and is not in a situation where braking is required. The vehicle speed, obstacle distance, road surface status information, vehicle status information and loss information will continue to be collected. When a braking command is received, the corresponding target steering angle needs to be queried from the deflection angle multidimensional lookup table maintained in the TBOX according to the current vehicle speed and the current obstacle distance.

[0081] In a feasible implementation manner, before step S22, steps A11 to A12 may be included:

[0082] Step A11, obtaining the data synchronization frequency of the deflection angle multidimensional lookup table;

[0083] It should be noted that during the driving process of the vehicle, the multi-dimensional lookup table maintained by the Internet of Vehicles platform will be synchronized to the vehicle's TBOX at regular intervals. The data synchronization frequency is the frequency at which TBOX and the Internet of Vehicles platform exchange multi-dimensional lookup table information.

[0084] Step A12, sending lookup table data maintenance information to the Internet of Vehicles platform according to the data synchronization frequency, and receiving the updated deflection angle multi-dimensional lookup table fed back by the Internet of Vehicles platform based on the lookup table data maintenance information.

[0085] It should be understood that in the process of timing synchronization of the deflection angle multidimensional lookup table, each time the vehicle TBOX is synchronized, only part of the information in the table (i.e., the updated deflection angle multidimensional lookup table) is synchronized to reduce the amount of information transmitted. The lookup table data maintenance information is used to update the parameter information of the deflection angle multidimensional lookup table maintained by TBOX. The parameter information is the update information collected by the vehicle after the last synchronization of the deflection angle multidimensional lookup table by TBOX (such as current vehicle speed, obstacle distance, road condition, vehicle status, loss, etc.). After receiving the lookup table data maintenance information, the Internet of Vehicles platform will update the data of the multidimensional lookup table through a combination of big data and driver historical behavior analysis, and synchronize the updated multidimensional lookup table to the vehicle's TBOX.

[0086] In a feasible implementation, before step A12, it may also include: collecting at least two of the vehicle speed data, obstacle distance data, vehicle status data, loss data and road surface status data; performing data processing on at least two of the vehicle speed data, obstacle distance data, vehicle status data, loss data and road surface status data to obtain lookup table data maintenance information.

[0087] It should be noted that during the normal driving of the vehicle, at least two of the vehicle speed data, obstacle distance data, vehicle status data, loss data and road surface status data will be continuously collected, among which the vehicle speed data (current vehicle speed) and obstacle distance data (i.e., the distance from the obstacle in front) are at least the data that need to be collected, which are used to query the corresponding target steering angle in real time during the braking assistance process. In addition to the vehicle speed data and obstacle distance data, vehicle status data, loss data and road surface status data and other information can also be collected. After processing this information, the lookup table data maintenance information will be obtained. The lookup table data maintenance information only includes the current vehicle speed, obstacle distance, etc. for updating the deflection angle multidimensional lookup table maintained by TBOX. For example, the deflection angle multidimensional lookup table maintained by TBOX only includes the current vehicle speed of 71km / h, 72km / h and 73km / h, and the updated current vehicle speed is 74km / h, then the updated 74km / h is sent to the Internet of Vehicles platform as the lookup table data maintenance information.

[0088] In a feasible implementation, after step A12, it may also include: acquiring road surface condition monitoring data; updating the road surface condition data when the road surface condition monitoring data meets preset conditions; sending the updated road surface condition data to the Internet of Vehicles platform, and receiving the updated deflection angle multi-dimensional lookup table fed back by the Internet of Vehicles platform based on the road surface condition data.

[0089] It should be noted that in addition to the multi-dimensional lookup table data of the synchronized deflection angle when the vehicle starts to shift for the first time and the multi-dimensional lookup table of the synchronized deflection angle periodically during vehicle driving, the vehicle will also actively synchronize data to the Internet of Vehicles platform when the vehicle sensors detect changes in the road surface or other abnormal conditions, and notify the Internet of Vehicles platform to update the multi-dimensional lookup table.

[0090] For example, when the road surface status monitoring data changes (such as the vehicle sensor detects rainfall, and the road surface status changes from dry to slippery), the updated road surface status data will be sent to the Internet of Vehicles platform. At this time, the Internet of Vehicles platform will retrieve the rainfall road surface strategy constructed based on big data in the database and synchronize it to the vehicle TBOX to ensure that the vehicle promptly adopts the auxiliary braking strategy on slippery roads. TBOX receives the updated deflection angle multidimensional lookup table based on the feedback of the road surface status data from the Internet of Vehicles platform. In addition, when the Internet of Vehicles platform maintains the multidimensional lookup table, if obvious abnormal data is found, the multidimensional lookup table will be immediately updated to the vehicle TBOX to ensure that the auxiliary braking strategy responds to the real-time vehicle conditions in a timely manner.

[0091] Specifically, refer to Figure 4 , Figure 4 A schematic diagram of the synchronization of a multidimensional lookup table provided in the first embodiment of the brake assist method based on a distributed wheel hub motor of this application. When the vehicle starts, TBOX sends a startup message to the Internet of Vehicles platform, and then the Internet of Vehicles platform initializes the multidimensional lookup table and sets the synchronization frequency (i.e., data synchronization frequency) and the strategy threshold (i.e., vehicle speed threshold). The lookup table is used to determine the control strategy of the vehicle based on the vehicle speed and obstacle distance. During driving, TBOX continuously uploads the vehicle's instantaneous speed and distance information from the obstacle in front to the Internet of Vehicles platform to monitor the vehicle status in real time. When the vehicle sensor detects a change in conditions, TBOX notifies the Internet of Vehicles platform, which updates the multidimensional lookup table based on this information and maintains this data to ensure its accuracy. The Internet of Vehicles platform will also update the multidimensional lookup table according to the established frequency and the information uploaded by TBOX, and update the latest lookup table to TBOX, so that in emergency braking, TBOX can control the direction of the vehicle's wheel hub according to the latest lookup table to achieve vehicle braking assistance, thereby improving driving safety.

[0092] Step S30, controlling the front guide wheel of the vehicle to deflect inwardly to the target steering angle through the distributed wheel hub motor to complete vehicle braking assistance.

[0093] It should be noted that after obtaining the target steering angle, the distributed hub motor will be used to control the front guide wheel of the vehicle to deflect inward to the corresponding target steering angle. Among them, the distributed hub motor is a drive system that directly integrates the motor into the wheel. Each wheel of the distributed hub motor can independently control its speed and steering angle. The distributed hub motor specifically includes components such as the motor, the control system, and the drive circuit. The distributed hub motor can accurately control the driving force and steering force of each wheel, so that the front guide wheel is controlled to deflect inward to the target steering angle.

[0094] It should be understood that referring to Figure 5 , Figure 5 The schematic diagram of the braking assistance process provided in Example 1 of the braking assistance method based on the distributed hub motor of the present application shows that the guide wheel will deflect and cause the decomposition of force. On the one hand, the driving force that is not completely braked is decomposed, and the horizontal force can be offset by the action of the left and right driving wheels and converted into the loss of metal materials. On the other hand, the change in direction affects the inertia, reducing the influence of the inertia in the same direction of travel and shortening the braking distance.

[0095] In a feasible implementation, the distributed hub motor includes a left hub motor and a right hub motor, and the front guide wheel includes a left guide wheel and a right guide wheel. Step S30 may include: controlling the left guide wheel of the vehicle to deflect inward by the target steering angle by the left hub motor; and controlling the right guide wheel of the vehicle to deflect inward by the target steering angle by the right hub motor to complete vehicle braking assistance.

[0096] It should be understood that for vehicles equipped with a distributed wheel hub motor system, the left wheel hub motor and the right wheel hub motor can control the wheel drive on the left and right sides of the vehicle respectively. The left wheel hub motor controls the left guide wheel, and the right wheel hub motor controls the right guide wheel. The deflection of the guide wheel increases the contact area between the wheel and the ground, which can improve the vehicle's grip, increase the overall friction coefficient, and thus shorten the braking distance.

[0097] This embodiment provides a braking assistance method based on distributed wheel hub motors. When the vehicle is started, a deflection angle multidimensional lookup table is obtained from the vehicle networking platform, and the current speed of the vehicle on the road is obtained; when the current speed is greater than the speed threshold, the current obstacle distance is obtained, and the target steering angle is determined from the deflection angle multidimensional lookup table according to the current speed and the current obstacle distance; the front guide wheel of the vehicle is controlled by the distributed wheel hub motor to deflect inward to the target steering angle to complete vehicle braking assistance. The deflection angle multidimensional lookup table is obtained through the vehicle networking platform, and combined with the real-time speed and obstacle distance information of the vehicle, the target angle that the front guide wheel of the vehicle should deflect in the corresponding situation can be quickly queried from the deflection angle multidimensional lookup table to ensure the response speed. When the vehicle speed exceeds the preset threshold, the system will determine the appropriate steering angle from the lookup table according to the vehicle speed and obstacle distance to optimize the braking performance of the vehicle. By independently controlling the inward deflection of the front guide wheel, the tire's contact angle with the road surface is changed during braking, increasing the contact friction with the road surface and reducing the vehicle's sliding caused by insufficient friction, thereby effectively shortening the braking distance and improving the vehicle's controllability and stability in emergency situations, thereby enhancing driving safety.

[0098] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 6 , step S10 may include steps S11 to S12:

[0099] Step S11, when the vehicle is started, road surface information, tire size information and tire wear information are sent to the Internet of Vehicles platform;

[0100] It should be noted that the road surface information is the road surface type (such as asphalt) of the road section where the vehicle is currently traveling, the tire size information is the tire size (such as 21 inches), and the tire wear information is the vehicle mileage (such as 10,000 kilometers). The multi-dimensional lookup table of deflection angles maintained in the database by the Internet of Vehicles platform can be a basic grid with vehicle speed, distance, wear, tire size, and road surface as axes, and each grid represents the recommended inward steering angle for braking its wheel hub motor at a certain speed and distance under specific road conditions, tire size, and wear, as shown in Table 2.

[0101] Table 2

[0102]

[0103] Step S12, receiving a multi-dimensional lookup table of deflection angles fed back by the Internet of Vehicles platform based on the road surface information, the tire size information, and the tire wear information.

[0104] It should be understood that the query parameters of the deflection angle multidimensional lookup table maintained by the database may include road surface information, tire size information, and tire wear information in addition to the vehicle speed and obstacle distance that must be used when the system queries the recommended inward steering angle. In order to reduce the cost of TBOX maintaining the deflection angle multidimensional lookup table, the deflection angle multidimensional lookup table maintained by TBOX does not include road surface information, tire size information, and tire wear information. When the vehicle is started, after the road surface information, tire size information, and tire wear information are sent to the Internet of Vehicles platform through TBOX, the Internet of Vehicles platform will feedback the deflection angle multidimensional lookup table based on the road surface information, tire size information, and tire wear information, which only contains the road surface condition, tire size, and the speed and obstacle distance query information corresponding to the wear. Specifically, after receiving the road surface information, tire size information, and tire wear information sent by TBOX, the Internet of Vehicles platform will determine the current vehicle status and road conditions based on this information, and calculate the corresponding deflection angle in combination with the big data of the Internet of Vehicles platform to initialize the deflection angle multidimensional lookup table, and send the initialized deflection angle multidimensional lookup table to the vehicle TBOX, that is, a multidimensional lookup table within a certain redundant range. After receiving the deflection angle multidimensional lookup table, TBOX can query the multidimensional lookup table in combination with the real-time collected vehicle speed and distance to ensure the response speed.

[0105] It should be understood that there are two types of deflection angle multi-dimensional lookup table synchronization strategies: the first is to synchronize data when the vehicle starts and the first displacement occurs, and the second is to synchronize data regularly while the vehicle is driving. Both strategies can ensure the immediacy of multi-dimensional lookup table data, and can also be adaptively adjusted through the big data capabilities of the Internet of Vehicles platform. When the vehicle is turned off, the multi-dimensional lookup table cached by the vehicle's TBOX is immediately destroyed and will not occupy the vehicle's data storage space for a long time.

[0106] This embodiment provides a brake assist method based on distributed wheel hub motors. When the vehicle is started, road surface information, tire size information and tire wear information are sent to the Internet of Vehicles platform; a multi-dimensional lookup table of deflection angles fed back by the Internet of Vehicles platform based on the road surface information, tire size information and tire wear information is received. By obtaining the corresponding multi-dimensional lookup table of deflection angles through the Internet of Vehicles platform when the vehicle is started, the braking response time and the dependence on hardware computing power can be reduced.

[0107] For example, in order to help understand the implementation process of the brake assist method based on the distributed hub motor obtained by combining this embodiment with the above-mentioned embodiment 1, please refer to Figure 7 , Figure 7 A brief schematic diagram of a brake assist method based on a distributed wheel hub motor is provided, specifically:

[0108] The Internet of Vehicles platform and database collect data, build a multidimensional lookup table based on historical data and test data, and update and maintain it. When the vehicle starts, the Internet of Vehicles platform initializes the multidimensional lookup table based on the current vehicle status and road conditions, combined with the big data of the Internet of Vehicles platform, and sends the multidimensional lookup table to the vehicle TBOX; during the vehicle driving process, the multidimensional lookup table is calculated and updated in real time based on the data sent back to the Internet of Vehicles platform by the current vehicle, and synchronized to the vehicle TBOX at a regular time. The vehicle TBOX will monitor the distance and speed through sensors, and determine whether the speed exceeds the preset threshold. If not, it is determined that the original braking performance of the vehicle is sufficient to cope with the current road conditions, and there is no need for the brake assist system to intervene; if it exceeds, the brake assist system needs to intervene and start collecting information such as driving speed, distance to the obstacle in front, and road conditions. Determine whether the owner takes braking measures. If not, keep the collection state and continue to monitor; if adopted, query and read the guide wheel deflection strategy under the current conditions from the multidimensional lookup table. After braking is completed, the data from the start to the end of braking is sent back to the Internet of Vehicles platform as real data, which can be used for the subsequent maintenance of the multidimensional lookup table and the training of the artificial intelligence large model. By maintaining a multidimensional lookup table and periodically synchronizing the multidimensional lookup table, the basic condition of using query data instead of real-time calculation can be met, reducing the braking response time and dependence on hardware computing power, improving real-time performance and reducing hardware costs, increasing response speed, and indirectly shortening the time to complete the braking process, that is, shortening the braking distance.

[0109] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the brake assist method based on distributed hub motors of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0110] This application also provides a brake assist device based on a distributed wheel hub motor, please refer to Figure 8 , the brake assist device based on the distributed wheel hub motor comprises:

[0111] The vehicle speed monitoring module 10 is used to obtain a multi-dimensional lookup table of deflection angles from the Internet of Vehicles platform when the vehicle is started, and to obtain the current speed of the vehicle on the road;

[0112] a parameter determination module 20, configured to obtain a current obstacle distance when the current vehicle speed is greater than a vehicle speed threshold, and determine a target steering angle from the deflection angle multidimensional lookup table according to the current vehicle speed and the current obstacle distance;

[0113] The brake assist module 30 is used to control the front guide wheel of the vehicle to deflect inwardly to the target steering angle through the distributed wheel hub motor to complete the vehicle braking assistance.

[0114] In one embodiment, the parameter determination module 20 is also used to obtain the current obstacle distance when the current vehicle speed is greater than the vehicle speed threshold; when a braking command is received, the target steering angle is determined from the deflection angle multidimensional lookup table according to the current vehicle speed and the current obstacle distance.

[0115] In one embodiment, the parameter determination module 20 is also used to collect at least two of the vehicle speed data, obstacle distance data, vehicle status data, loss data and road surface status data; and perform data processing on at least two of the vehicle speed data, obstacle distance data, vehicle status data, loss data and road surface status data to obtain lookup table data maintenance information.

[0116] In one embodiment, the parameter determination module 20 is also used to collect at least two of the vehicle speed data, obstacle distance data, vehicle status data, loss data and road surface status data; and perform data processing on at least two of the vehicle speed data, obstacle distance data, vehicle status data, loss data and road surface status data to obtain lookup table data maintenance information.

[0117] In one embodiment, the parameter determination module 20 is also used to obtain road surface condition monitoring data; when the road surface condition monitoring data meets preset conditions, update the road surface condition data; send the updated road surface condition data to the Internet of Vehicles platform, and receive the updated deflection angle multi-dimensional lookup table fed back by the Internet of Vehicles platform based on the road surface condition data.

[0118] In one embodiment, the brake assist module 30 is further used to control the left guide wheel of the vehicle to deflect inwardly to the target steering angle through the left wheel hub motor; and to control the right guide wheel of the vehicle to deflect inwardly to the target steering angle through the right wheel hub motor to complete vehicle braking assistance.

[0119] In one embodiment, the vehicle speed monitoring module 10 is also used to send vehicle model information to the Internet of Vehicles platform when the vehicle is started; and receive a multi-dimensional lookup table of deflection angles fed back by the Internet of Vehicles platform based on the vehicle model information.

[0120] In one embodiment, the vehicle speed monitoring module 10 is also used to send road surface information, tire size information and tire wear information to the Internet of Vehicles platform when the vehicle is started; and receive a multi-dimensional lookup table of deflection angles fed back by the Internet of Vehicles platform based on the road surface information, tire size information and tire wear information.

[0121] The brake assist device based on the distributed wheel hub motor provided by the present application adopts the brake assist method based on the distributed wheel hub motor in the above embodiment, which can solve the technical problem of how to reduce the extended braking distance of the vehicle caused by insufficient friction between the tire and the road surface. Compared with the prior art, the beneficial effects of the brake assist device based on the distributed wheel hub motor provided by the present application are the same as the beneficial effects of the brake assist method based on the distributed wheel hub motor provided by the above embodiment, and the other technical features of the brake assist device based on the distributed wheel hub motor are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0122] The present application provides a brake assist device based on a distributed wheel hub motor, and the brake assist device based on a distributed wheel hub motor includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the brake assist method based on the distributed wheel hub motor in the above-mentioned embodiment one.

[0123] Reference below Fig. 9 , which shows a schematic diagram of the structure of a brake assist device based on a distributed wheel hub motor suitable for implementing the embodiment of the present application. The brake assist device based on a distributed wheel hub motor in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Fig. 9 The brake assist device based on the distributed hub motor shown is only an example and should not bring any limitation to the function and scope of use of the embodiments of the present application.

[0124] like Fig. 9As shown, the brake assist device based on the distributed wheel hub motor may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM: Read Only Memory) 1002 or the program loaded from the storage device 1003 to the random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the brake assist device based on the distributed wheel hub motor are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. The input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the brake assist device based on the distributed wheel hub motor to communicate with other devices wirelessly or wired to exchange data. Although the figure shows a brake assist device based on a distributed wheel hub motor with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0125] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0126] The brake assist device based on the distributed wheel hub motor provided by the present application adopts the brake assist method based on the distributed wheel hub motor in the above embodiment, which can solve the technical problem of how to reduce the extended braking distance of the vehicle due to insufficient friction between the tire and the road surface. Compared with the prior art, the beneficial effects of the brake assist device based on the distributed wheel hub motor provided by the present application are the same as the beneficial effects of the brake assist method based on the distributed wheel hub motor provided by the above embodiment, and the other technical features of the brake assist device based on the distributed wheel hub motor are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0127] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0128] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0129] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the brake assist method based on the distributed hub motor in the above-mentioned embodiment.

[0130] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0131] The computer-readable storage medium may be included in a brake assist device based on a distributed wheel hub motor; or may exist independently without being assembled into a brake assist device based on a distributed wheel hub motor.

[0132] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the brake assist device based on the distributed wheel hub motor, the brake assist device based on the distributed wheel hub motor: when starting the vehicle, obtains a multi-dimensional lookup table of deflection angles from the Internet of Vehicles platform, and obtains the current speed of the vehicle on the road; when the current speed is greater than the speed threshold, obtains the current obstacle distance, and determines the target steering angle from the multi-dimensional lookup table of deflection angles according to the current speed and the current obstacle distance; and controls the front guide wheel of the vehicle to deflect inward by the target steering angle through the distributed wheel hub motor to complete vehicle braking assistance.

[0133] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0134] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0135] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0136] The readable storage medium provided in this application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned brake assist method based on distributed wheel hub motors, and can solve the technical problem of how to reduce the extended braking distance of the vehicle due to insufficient friction between the tire and the road surface. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the brake assist method based on distributed wheel hub motors provided in the above-mentioned embodiments, and will not be repeated here.

[0137] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned distributed hub motor-based braking assistance method when executed by a processor.

[0138] The computer program product provided by the present application can solve the technical problem of how to reduce the extended braking distance of a vehicle caused by insufficient friction between the tire and the road surface. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the brake assist method based on the distributed hub motor provided by the above embodiment, and will not be repeated here.

[0139] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A brake assist method based on distributed wheel hub motors, characterized in that: The brake assist method based on the distributed wheel hub motor includes: When the vehicle is started, a multi-dimensional lookup table of deflection angles is obtained from the Internet of Vehicles platform, and the current speed of the vehicle on the road is obtained; When the current vehicle speed is greater than the vehicle speed threshold, obtaining the current obstacle distance, and determining the target steering angle from the deflection angle multidimensional lookup table according to the current vehicle speed and the current obstacle distance; The front steering wheel of the vehicle is controlled by a distributed wheel hub motor to deflect inwardly to the target steering angle to complete vehicle braking assistance.

2. The method according to claim 1, characterized in that The step of obtaining the current obstacle distance when the current vehicle speed is greater than the vehicle speed threshold, and determining the target steering angle from the deflection angle multidimensional lookup table according to the current vehicle speed and the current obstacle distance, comprises: When the current vehicle speed is greater than the vehicle speed threshold, obtaining the current obstacle distance; When a braking instruction is received, a target steering angle is determined from the deflection angle multidimensional lookup table according to the current vehicle speed and the current obstacle distance.

3. The method according to claim 2, characterized in that Before the step of determining the target steering angle from the deflection angle multidimensional lookup table according to the current vehicle speed and the current obstacle distance when a braking instruction is received, the method includes: Acquire the data synchronization frequency of the deflection angle multidimensional lookup table; The lookup table data maintenance information is sent to the Internet of Vehicles platform according to the data synchronization frequency, and the updated deflection angle multi-dimensional lookup table fed back by the Internet of Vehicles platform based on the lookup table data maintenance information is received.

4. The method according to claim 3, characterized in that Before the step of sending the lookup table data maintenance information to the Internet of Vehicles platform according to the data synchronization frequency and receiving the updated deflection angle multidimensional lookup table fed back by the Internet of Vehicles platform based on the lookup table data maintenance information, the step further includes: Collect at least two of vehicle speed data, obstacle distance data, vehicle status data, wear and tear data, and road surface status data; Data processing is performed on at least two of the vehicle speed data, the obstacle distance data, the vehicle status data, the wear data, and the road surface status data to obtain lookup table data maintenance information.

5. The method according to claim 3, characterized in that After the step of sending the lookup table data maintenance information to the Internet of Vehicles platform according to the data synchronization frequency, and receiving the updated deflection angle multidimensional lookup table fed back by the Internet of Vehicles platform based on the lookup table data maintenance information, the step further includes: Obtain road condition monitoring data; When the road surface condition monitoring data meets a preset condition, updating the road surface condition data; The updated road surface status data is sent to the vehicle networking platform, and the updated deflection angle multi-dimensional lookup table fed back by the vehicle networking platform based on the road surface status data is received.

6. The method according to claim 1, characterized in that The distributed wheel hub motor includes a left wheel hub motor and a right wheel hub motor, and the front guide wheel includes a left guide wheel and a right guide wheel; The step of controlling the front guide wheel of the vehicle to deflect inwardly by the target steering angle through the distributed wheel hub motor to complete the vehicle braking assistance includes: Controlling the left steering wheel of the vehicle to deflect inwardly to the target steering angle by the left wheel hub motor; The right steering wheel of the vehicle is controlled by the right wheel hub motor to deflect inwardly to the target steering angle to complete vehicle braking assistance.

7. The method according to claim 1, characterized in that The step of obtaining a multi-dimensional lookup table of deflection angles from the Internet of Vehicles platform when starting the vehicle includes: When the vehicle is started, the vehicle model information is sent to the Internet of Vehicles platform; Receive a multi-dimensional lookup table of deflection angles fed back by the Internet of Vehicles platform based on the vehicle model information.

8. The method according to claim 1, characterized in that The step of obtaining a multi-dimensional lookup table of deflection angles from the Internet of Vehicles platform when starting the vehicle includes: When the vehicle is started, road information, tire size information, and tire wear information are sent to the Internet of Vehicles platform; Receive a multi-dimensional lookup table of deflection angles fed back by the Internet of Vehicles platform based on the road surface information, the tire size information, and the tire wear information.

9. A brake assist device based on a distributed wheel hub motor, characterized in that: The device comprises: A vehicle speed monitoring module is used to obtain a multi-dimensional lookup table of deflection angles from the Internet of Vehicles platform when the vehicle is started, and to obtain the current speed of the vehicle on the road; a parameter determination module, configured to obtain a current obstacle distance when the current vehicle speed is greater than a vehicle speed threshold, and determine a target steering angle from the deflection angle multidimensional lookup table according to the current vehicle speed and the current obstacle distance; The brake assist module is used to control the front guide wheel of the vehicle to deflect inwardly to the target steering angle through the distributed wheel hub motor to complete vehicle braking assistance.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the brake assist method based on a distributed hub motor as described in any one of claims 1 to 8 are implemented.

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